CN102331784B - Online adjusting system and method for attitude aligning and positioning before assembly of nose gear of airplane - Google Patents
Online adjusting system and method for attitude aligning and positioning before assembly of nose gear of airplane Download PDFInfo
- Publication number
- CN102331784B CN102331784B CN2011101994843A CN201110199484A CN102331784B CN 102331784 B CN102331784 B CN 102331784B CN 2011101994843 A CN2011101994843 A CN 2011101994843A CN 201110199484 A CN201110199484 A CN 201110199484A CN 102331784 B CN102331784 B CN 102331784B
- Authority
- CN
- China
- Prior art keywords
- adjustment
- module
- locating shaft
- calculating
- nose
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Automatic Assembly (AREA)
Abstract
The invention discloses an online adjusting system and method for attitude aligning and positioning before assembly of a nose gear of an airplane. In the system, the output end of a measuring system module is connected with the input end of a computer control feedback module; the output end of the computer control feedback module is connected with the input end of an attitude aligning mechanism; an attitude aligning and positioning device is arranged on a support platform; and a landing gear is preassembled on the attitude aligning and positioning device. In the method, aberrant source diagnosis of a functional size is realized on the basis of measured data of the retraction performance and functional size of the landing gear as well as measured data of the position of each positioning shaft of the landing gear, a positioning shaft adjusting scheme is designed according to a diagnosis result, the process is circulated till the functional size is in a range required by an engineering design, a corresponding process is determined according to final position data of each positioning shaft after the process, and connection and matching of the nose gear and a nose assembly are completed. On the basis of hanging point procedure adjusting time of the system before implementation, the assembly deployment efficiency is increased by nearly 40 percent.
Description
Technical field
What the present invention relates to is online Adjustment System and the method thereof in a kind of mechanical assembly technique field, and what be specifically related to is that online Adjustment System and method thereof are located in posture adjustment before a kind of aircraft nose-gear assembling.
Background technology
Aircraft landing gear system is the most important bearing of aircraft, is all one of present generation aircraft four large Major Systems with body, engine, avionics system.Nose-gear is mainly connected by hole-shaft-hole match through the fork ear by a series of load leverages, and wherein main propulsion system are retractable actuating cylinder.Retractable actuating cylinder is handled gear down and is packed up its performance direct relation undercarriage sports coordination, dependability and security.Take off with the landing process in by retractable actuating cylinder dispensing power so that the nose-gear leverage reaches and put down and collapsed state requires the position, retractable actuating cylinder also needs to land the shock absorber of shock load as landing process front-wheel simultaneously.Therefore, in design and installation process, the nose-gear system is positioned at fully put down/retractable actuating cylinder remainder stroke during the stowed position (the omnidistance length of pressurized strut piston rod and impulse stroke poor) has clear and definite index request.Must cooperate with positioning shaft hole in the front cabin and guarantee this functional dimension of retractable actuating cylinder remainder stroke by adjusting the nose-gear leverage in the process in cabin of before nose-gear is mounted to, rising and falling.The posture adjustment location is the process of a complexity before the nose-gear assembling, degree of accuracy requires very high, each coordination intersection point that need to be connected with head system part (join and contain the hole) position need to accurately be located in advance on the undercarriage, and the undercarriage control performance reaches design and engine request after the guarantee assembling.
The structure of prior art as shown in Figure 1a, nose-gear main movement member is comprised of main pillar, front strut, lock connecting rod (comprising upper locking bar and lower locking bar) and retractable actuating cylinder.All rod members in twos positioning shaft hole through end are separately connected by register pin and go into revolute pair.On the main pillar on positioning shaft hole P1 and positioning shaft hole P2 and the front strut positioning shaft hole P3 and positioning shaft hole P4 realize hole-shaft-hole matchs by two pairs of corresponding in register pin and the cabin of before rising and falling positioning shaft holes, realize being connected nose-gear parts and head part.Front strut and lower supporting rod form support link jointly, and wherein lower supporting rod one end is connected with main pillar, and the other end and front strut are connected to form a pair of revolute pair, and its Main Function is to provide support when being in complete down state for nose-gear.The lock connecting rod is comprised of upper locking bar and lower locking bar, wherein descend locking bar to be connected with lower supporting rod with front strut and is connected, and upper locking bar passes through positioning shaft hole P6 and is connected with nose assembly, the state of undercarriage leverage when it act as and locks nose-gear and be released into complete down state.Then as putting down and the power source of packing up undercarriage leverage member, the one end is connected with main pillar retractable actuating cylinder, and the other end is connected with nose assembly by positioning shaft hole P5.Positioning shaft hole-locating shaft-the positioning shaft hole that is of above-mentioned rod member end cooperates, and forms revolute pair.Therefore by analyzing actual syndeton is converted to linkage assembly synoptic diagram as shown in Fig. 1 b.
The undercarriage installation method step of prior art is as follows:
1. before nose assembly, play the positioning shaft hole of making in advance P1 on the design drawing, P2 point position in the cabin, guarantee the symmetry of two holes under the fuselage coordinate system, then the relative coordinate distance that the P1/2 point that is drawn by drawing and P3/4 are ordered adopts bore hole type frame to make the positioning shaft hole of P3 and P4 position on the design drawing in front cabin;
2. the upper end positioning shaft hole with main strut assemblies is adjusted to drawing P1 and P2 point position, uses location axle pin that this assembly is in place, and simultaneously lower supporting rod lower end and main pillar is set up by the location axle pin connection;
3. retractable actuating cylinder upper end positioning shaft hole is adjusted to drawing P5 point position, uses register pin that this assembly upper end is in place, simultaneously the location axle pin connection is passed through in retractable actuating cylinder lower end and main pillar;
4. front strut is set up the upper end positioning shaft hole and be adjusted to drawing P3 and P4 point position, use location axle pin that this assembly is in place;
5. will lock link assembly upper end positioning shaft hole and be adjusted to drawing P6 point position, and use location axle pin this assembly to be installed to the prefabricated positioning shaft hole place of this position on the nose assembly;
6. use location axle pin will lock the connecting rod lower end, the positioning shaft hole connection of front strut lower end and lower supporting rod upper end is tentatively finished undercarriage the location is installed;
7. the nose-gear member is fixed to the desired position of complete down state, measure the retractable actuating cylinder remainder stroke, if engineering demands, then enter next step, otherwise according to on-site experience, undercarriage and head system hanging point position are processed special eccentric bush by demand, be mounted to the nose assembly pre-manufactured hole, connect the cooperation requirement in the hope of satisfying the hole axis hole;
8. the nose-gear member is fixed to the desired position of complete collapsed state, measures the retractable actuating cylinder remainder stroke, if engineering demands, then finish installation, otherwise continue the 7. work of middle fine setting positioning shaft hole of step, the processing eccentric bush is finished hole axis hole connection and is cooperated.
The defective of above-mentioned prior art is: 1) manufacturer by a few system's hanging point positioning shaft hole in the cabin of rising and falling before guaranteeing with respect to the coordinate position of head part, other position of positioning hole then determine by relative distance, cause that the relative position of pilot hole and nose assembly positioning shaft hole can't accurately guarantee in the undercarriage leverage; 2) after undercarriage installs, position, mode of motion and function are fully by 1) in the positioning shaft hole position of system hanging point decide, lack error accumulation direction and deviation source diagnostic analysis link to assembling process, be difficult to before assembling is finished the functional dimension of required control overproof prediction the whether, cause after the assembling stage problem occurs, lack technique and adjust guidance method, cause assemble flow to stagnate; 3) dead axle position Kong Ruxu does over again in front cabin, because leaving the fuselage global coordinate system, has lost positioning datum, so be difficult to the root that finds rapidly deviation to produce.
Through relevant to the locating shaft method of adjustment that guarantees functional dimension (retractable actuating cylinder remainder stroke) in the aircraft nose-gear structure or the open source literature of system to not yet finding in the prior art literature search, also there are no the open source literature of or closely related technical scheme identical with the present invention.
Summary of the invention
The object of the invention is to overcome the deficiency of undercarriage conventional mounting method in the prior art, propose the front posture adjustment of a kind of aircraft nose-gear assembling and locate online Adjustment System and method thereof.The present invention is on the basis of undercarriage control performance functional dimension measurement data and each locating shaft position measurement of undercarriage, the deviation source diagnosis of practical function size, according to diagnostic result Design Orientation axial adjustment scheme, the circulation said process until functional dimension in the engineering design claimed range, after said process finishes, determine corresponding technique according to locating shaft final position data, finish the cooperation that is connected of nose-gear and nose assembly.
The present invention is achieved by the following technical solutions:
Online Adjustment System is located in posture adjustment before the present invention relates to a kind of aircraft nose-gear assembling, comprise: measuring system module, calculating control feedback module, posture adjustment locating device, support stand, pose_adjuster and undercarriage, wherein: measuring system module output terminal links to each other with the input end of computer control feedback module, the output terminal of computer control feedback module links to each other with the input end of pose_adjuster, the posture adjustment locating device is arranged on the support stand, and undercarriage is contained on the posture adjustment locating device in advance.
Be provided with positioning unit in the described posture adjustment locating device, positioning unit is arranged on the pose_adjuster.
Described undercarriage is contained on the positioning unit in advance, the point position data of the reflection folding and unfolding performance functional dimension of the undercarriage that the input end of measuring system module input is obtained by surveying instrument and each locating shaft point position data of positioning unit.
The input end input of described measuring system module is by the point position data of reflection undercarriage control performance functional dimension and each locating shaft point position data of positioning unit, output terminal links to each other with the input end of computer control feedback module, output through behind the coordinate transformation the respective coordinates of measuring point under the fuselage coordinate system.
Described calculating control feedback module comprises deviation source diagnosis unit module and locating shaft adjustment conceptual design unit module, and deviation source diagnosis unit module is calculated the sensitivity coefficient of required control functional dimension, the deviation source diagnosis of practical function size; Locating shaft is adjusted the conceptual design unit module and is calculated the gained diagnostic result according to deviation source diagnosis unit module, the Design Orientation shaft position is adjusted scheme, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and send to the posture adjustment locating device, position the three-dimensional of axle pose and adjust in real time.
The present invention obtains these functional dimension data of the remainder stroke of retractable actuating cylinder when putting down with the stowed position fully of the folding and unfolding performance of reflection undercarriage by measurement, obtained each the locating shaft center data on the positioning unit that is placed in the posture adjustment locating device by the measuring system module, differentiate on this basis remainder stroke and whether meet the demands.If institute's brake size is undesirable, then find the solution real-time acquisition by deviation source diagnosis unit module in the calculating control feedback module according to above-mentioned gained locating shaft center data and calculate the sensitivity coefficient to required control functional dimension of each locating shaft (being the deviation effects coefficient), the deviation source diagnosis of practical function size.Calculate the gained diagnostic result according to deviation source diagnosis unit module, by calculating locating shaft adjustment conceptual design unit module Design Orientation shaft position adjustment scheme in the control feedback module, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and sending to the posture adjustment locating device, drive motor positions the three-dimensional of axle pose and adjusts in real time.The circulation said process, the most at last each the locating shaft center adjustment in the undercarriage member until functional dimension satisfy simultaneously put down fully with the state of packing up fully under all meet in the engineering design claimed range.Provide final position, locating shaft center data as foundation according to system at last, determine the coordinate of system's hanging point positioning shaft hole on the nose assembly, choose suitable technique and finish the hole-axle of located in connection axle on undercarriage and the head system component-hole and be connected cooperation, finish undercarriage and install.
Online method of adjustment is located in posture adjustment before the present invention relates to a kind of aircraft nose-gear assembling, comprises the steps:
Step 1: system's hanging point of each moving component in the nose-gear member is mounted to positioning unit and finishes the structure dress;
Step 2: the nose-gear member is contained on the positioning unit in advance, and the adjustment member makes nose-gear be complete down state and places on the support stand;
Step 3: measuring and obtaining retractable actuating cylinder remainder stroke numerical value is functional dimension, be installed on each locating shaft point position data on the positioning unit by the measurement of measuring system module, through obtain behind the coordinate transformation the respective coordinates of measuring point under the fuselage coordinate system, these data are sent to the computer control feedback module;
Step 4: differentiate retractable actuating cylinder remainder stroke number and whether satisfy the Practical Project requirement:
Then enter step 6 as satisfying;
If engineering demands not, then find the solution calculating by deviation source diagnosis unit module in the calculating control feedback module according to above-mentioned gained locating shaft center data, obtain the sensitivity coefficient to required control functional dimension (being the deviation effects coefficient) of each locating shaft under the complete down state, the deviation source diagnosis of practical function size;
Step 5: according to calculating deviation source diagnosis unit module calculating gained sensitivity coefficient in the control feedback module, by calculating locating shaft adjustment conceptual design unit module Design Orientation shaft position adjustment scheme in the control feedback module, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and send to the posture adjustment locating module, drive motor positions the three-dimensional of axle pose and adjusts in real time, the action of repeating step three and step 4;
Step 6: adjust the undercarriage member locating shaft is rotatablely moved at positioning unit, until make nose-gear be complete collapsed state, measure and obtain that retractable actuating cylinder remainder stroke numerical value is functional dimension under the complete collapsed state;
Step 7: differentiate retractable actuating cylinder remainder stroke number and whether satisfy the Practical Project requirement:
Then enter step 9 as satisfying;
If engineering demands not, then find the solution calculating by deviation source diagnosis unit module in the calculating control feedback module according to above-mentioned gained locating shaft center data, obtain the sensitivity coefficient to required control functional dimension (being the deviation effects coefficient) of each locating shaft under the complete collapsed state, the deviation source diagnosis of practical function size;
Step 8: according to calculating deviation source diagnosis unit module calculating gained sensitivity coefficient in the control feedback module, by calculating locating shaft adjustment conceptual design unit module Design Orientation shaft position adjustment scheme in the control feedback module, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and send to the posture adjustment locating module, drive motor positions the three-dimensional of axle pose and adjusts in real time, and repeating step three is to the action of step 8;
Step 9: system provides the final position, system hanging point locating shaft center that is connected with head part on the nose-gear parts, finishes.
Of the present invention based on functional dimension the locating shaft method of adjustment and TT﹠C system compared with prior art, have the following advantages: 1. by measuring the overproof problem of functional dimension of in time finding in the assembling process, computing velocity is fast, and automatic feedback is adjusted positioning unit; 2. avoided the blindness of traditional handicraft experience adjustments, chosen the larger factor of impact by analysis and preferentially adjust, the adjustment scheme has scientific basis, fast convergence rate; 3. the posture adjustment locating device can accomplish that three-dimensional is adjustable, and the diameter of axle of the locating shaft on the positioning unit is adjustable, applicable to multiple undercarriage.4. through aircraft nose-gear assembly station field conduct, to implement the front time that system's hanging point is adjusted operation as benchmark, the efficient of assembling allotment has improved nearly 40%.
Description of drawings
Fig. 1 aircraft nose-gear structure and motion sketch drawing;
Wherein: a is aircraft nose-gear construction profile synoptic diagram; B is aircraft nose-gear kinematic pair synoptic diagram.
Fig. 2 system of systems structure of the present invention and data flowchart.
The posture adjustment locating device of Fig. 3 system of the present invention and measuring system structural drawing;
Wherein: a is the posture adjustment locating device synoptic diagram of system of the present invention; B is measuring system structural representation of the present invention.
The process flow diagram of the investigating method of Fig. 4 the inventive method.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 2, online Adjustment System was located in posture adjustment before present embodiment related to a kind of aircraft nose-gear assembling, comprise: measuring system module 1, calculating control feedback module 2, posture adjustment locating device 3 and support stand 4, wherein: posture adjustment locating device 3 is installed on the support stand 4, positioning unit 5 in the posture adjustment locating device 3 is installed on the pose_adjuster 6, and undercarriage is contained on the positioning unit 5 in advance;
Obtain these functional dimension data of the remainder stroke of retractable actuating cylinder when putting down with the stowed position fully of the folding and unfolding performance of reflection undercarriage by measurement, obtained each the locating shaft center data on the positioning unit 5 that is placed in posture adjustment locating device 3 by measuring system module 1, differentiate on this basis remainder stroke and whether meet the demands.If being inconsistent, institute's brake size do not contain requirement, then find the solution real-time acquisition by deviation source diagnosis unit module 7 in the calculating control feedback module 2 according to above-mentioned gained locating shaft center data and calculate the sensitivity coefficient to required control functional dimension of each locating shaft (being the deviation effects coefficient), the deviation source diagnosis of practical function size.Calculate the gained diagnostic result according to deviation source diagnosis unit module 7, by calculating locating shaft adjustment conceptual design unit module 8 Design Orientation shaft positions adjustment scheme in the control feedback module 2, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and sending to posture adjustment locating module 3, drive motor positions the three-dimensional of axle pose and adjusts in real time.The circulation said process, the most at last the individual locating shaft center adjustment in the undercarriage member until functional dimension satisfy simultaneously put down fully with the state of packing up fully under all meet in the engineering design claimed range.Provide final position, locating shaft center data as foundation according to system at last, determine the coordinate of system's hanging point positioning shaft hole on the nose assembly, choose suitable technique and finish the hole-axle of located in connection axle on undercarriage and the head system component-hole and be connected cooperation, finish undercarriage and install.
Shown in Fig. 3 a, set X, Y among the figure and consist of the surface level coordinate, Z is the coordinate of vertical level.Shown in Fig. 3 a, 3b, support platform 9, attitude-adjusting unit support 10, X-direction motion guide rail 11, X-direction guide wheel 12, Y-direction screw mechanism and driver element 13, Z-direction screw mechanism and driver element 14, OTP hole 15, location axle pin 16, X-direction drive motor 17, Measurement and Data Processing computing machine 18 and laser tracker 19.
Described measuring system module 1 comprises laser tracker 19, OTP hole 15 and measurement data acquisition computing machine 18, instrument ball etc.Be mainly used to measure attitude-adjusting unit and support the locating shaft coordinate position that location axle pin 16 is located on 10.The instrument ball is placed in the OTP hole 15, and laser tracker records the instrument ball position, namely gets the locating shaft centre coordinate through coordinate transformation, and locating shaft centre coordinate data are sent to computer control feedback module 2, as the input data of this module.
Shown in Fig. 3 a, support platform 9 and X-direction motion guide rail 11, support platform 9 is installed on the column, and X-direction motion guide rail 11 is installed on the support platform 9, the support stand 4 described in the pie graph 2;
Described posture adjustment locating device 3 comprises positioning unit 5 and pose_adjuster 6.Wherein:
Location axle pin 16 and corresponding X-direction guide wheel 12, location axle pin 16 and corresponding units are installed on the X-direction motion guide rail of support stand the positioning unit 5 described in the pie graph 2 with the X-direction guide wheel;
The feedback module of computer control described in Fig. 22 comprises deviation source diagnosis unit module 7 and locating shaft adjustment conceptual design unit module 8.
Present embodiment contrast prior art advantage is as follows: the device that online Adjustment System adopts described in 1.0 present embodiments is matured product, and reliability is high, invests littlely, and field conduct is simple; 2. can satisfy for the system of different types of nose-gear assembly the affirmation of pre-structure attitude is installed by the posture adjustment locating device arrangement of configuration varying number, realize flexible clamping; 3. the posture adjustment locating device can satisfy according to relevant moving component functional dimension demand, and to the timely feedback adjusting of positioning shaft hole three dimensional space coordinate, automatic feedback adjustment positioning unit is towards mechanism kinematic functional promotion assembly quality according to the on-the-spot institute data of surveying; 4. overproof by the functional dimension of measuring in the Real-Time Monitoring assembling process in the present embodiment, than traditional assembly technology rapidly and efficiently.
Online method of adjustment was located in posture adjustment before present embodiment related to a kind of aircraft nose-gear assembling, as shown in Figure 4, comprised the steps:
1, with system's hanging point (main pillar P1 as shown in fig. 1, the P2 point of each moving component in the nose-gear member; Front strut P3, P4 point; Retractable actuating cylinder P5 point and upper locking bar P6 point) be mounted to location axle pin 16 shown in Figure 3, and finish all the other locating shafts connection structure dresses
2, the nose-gear member is contained in attitude-adjusting unit in advance through several location axle pin 16 and supports on 10, the adjustment member makes nose-gear be complete down state and places (shown in Figure 3) on the support platform 9;
3, measure that to obtain retractable actuating cylinder remainder stroke numerical value be functional dimension, be installed on each locating shaft point position data on the location axle pin 16 shown in Figure 3 by the measurement of measuring system module, through obtain behind the coordinate transformation the respective coordinates of measuring point under the fuselage coordinate system, these data are sent to the computer control feedback module;
4, differentiate retractable actuating cylinder remainder stroke number and whether satisfy the Practical Project requirement, then enter 6 as satisfying; If engineering demands not, then find the solution calculating by deviation source diagnosis unit module 7 in the control of calculating shown in Fig. 2 feedback module 2 according to above-mentioned gained locating shaft center data, obtain the sensitivity coefficient to required control functional dimension (being the deviation effects coefficient) of each locating shaft under the complete down state, the deviation source diagnosis of practical function size;
5, according to calculating deviation source diagnosis unit module calculating gained sensitivity coefficient in the control feedback module, by calculating locating shaft adjustment conceptual design unit module 8 Design Orientation shaft positions adjustment scheme in the control feedback module 2 shown in Fig. 2, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and send to posture adjustment locating module 3, drive motor positions the three-dimensional of axle pose and adjusts in real time, repeats 3 and 4 action;
6, adjust the undercarriage member locating shaft is rotatablely moved at positioning unit, until make nose-gear be complete collapsed state, measure and obtain that retractable actuating cylinder remainder stroke numerical value is functional dimension under the complete collapsed state;
7, differentiate retractable actuating cylinder remainder stroke number and whether satisfy the Practical Project requirement, then enter 9 as satisfying; If engineering demands not, then find the solution calculating by deviation source diagnosis unit module 7 in the control of calculating shown in Fig. 2 feedback module 2 according to above-mentioned gained locating shaft center data, obtain the sensitivity coefficient to required control functional dimension (being the deviation effects coefficient) of each locating shaft under the complete collapsed state, the deviation source diagnosis of practical function size;
8, according to calculating diagnosis unit module 7 calculating gained sensitivity coefficients in deviation source in the control feedback module 2 shown in Fig. 2, by calculating locating shaft adjustment conceptual design unit module 8 Design Orientation shaft positions adjustment scheme in the control feedback module 2, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and send to posture adjustment locating module 3, drive motor positions the three-dimensional of axle pose and adjusts in real time, repeats 3～8 action
9, system provides the final position, system hanging point locating shaft center that is connected with head part on the nose-gear parts, finishes.
Annotate: if do not satisfy the remainder stroke requirement always, cyclic process is 5 times at the most, withdraws from method flow, and the pedestrian worker that goes forward side by side intervenes.
The functional dimension of described down state refers to: the remainder stroke of retractable actuating cylinder when undercarriage puts down fully.
The functional dimension of described collapsed state refers to: the remainder stroke of retractable actuating cylinder when undercarriage is packed up fully.
Described input data refer to: measuring system module 1 shown in Figure 2 is the X of each locating shaft point position of its positioning unit that records, Y, and the Z coordinate conversion is the coordinate figure under the fuselage complete machine coordinate system, and is input to as the input data and calculates control feedback module 2.
Described preprocessed data refers to: present embodiment analytic target nose-gear is carried out the motion analysis, can be considered 8 bars, 10 slave connecting rod mechanisms, there is the plane of symmetry in this mechanism at directions X, is the Y-Z plane mechanism so simplify the leverage motion; Gear down, the place plane approximation Parallel Symmetric face of the functional dimension of collapsed state, be projected as the Y-Z planar dimension so simplify the functional dimension that is positioned at the X-Y-Z space.
Whether described differentiation remainder stroke meets the demands and refer to: whether the remainder stroke of retractable actuating cylinder required numerical value more than or equal to engineering design when undercarriage put down fully; Whether the remainder stroke of retractable actuating cylinder required numerical value more than or equal to engineering design when undercarriage was packed up fully.
The diagnosis of the deviation source of described functional dimension refers to: set up the dimension chain equation of closed loop according to analysis of mechanism, draw with gear down and pack up the functional dimension L of two states
1, L
2Be dependent variable, with each locating shaft point position P of positioning unit
i(y, z) is constraint expression formula F1, the F2 of two states of independent variable, adopts mechanism kinematic linear analysis method, calculates in the reflect structure each motion assembly to functional dimension deviation effects degree matrix of coefficients J=[J
1J
2], J
1, J
2Be respectively the complete down state of nose-gear and fully under the collapsed state each locating shaft point position to the sensitivity coefficient of retractable actuating cylinder functional dimension deviation, to in the sensitivity coefficient matrix J every comprise influence degree size and comprise the sensitivity coefficient that changes positive negative direction analyze, can determine that to little each locating shaft point position is to the locating shaft point position y of functional dimension influence degree from large, the z coordinate, this work realizes by calculating feedback control module.
Described output location adjustment scheme refers to: when remainder stroke does not satisfy engineering demand, need to change the pressurized strut remainder stroke according to the position coordinates that sensitivity coefficient is adjusted each locating shaft, that adjusts as required puts down and the complete remainder stroke amount Δ L of collapsed state fully
1, Δ L
2And the sensitivity coefficient matrix J, the employing generalized inverse calculates the y of each locating shaft, the position coordinates adjustment amount Δ P on the z direction
i(y, z), this work realizes by calculating feedback control module, and it is outputed to pose_adjuster.
The advantage of the existing equipment adjustment method of present embodiment contrast has 1. to adopt the present embodiment method, the blindness that can avoid relying on conventional on-site technique experience and carry out equipment adjustment, by analyzing the large assembling key element of accurate screening influence factor, adjust successively, the adjustment scheme has scientific basis, and calculates fast convergence rate; 2. present embodiment can be realized quantitatively calculating the equipment adjustment scheme for a type games mechanism assembly according to the kinematic analysis of mechanism method; 3. adopt the present embodiment method, can carry out deviation compensation according to assembling parts actual condition with bring assembling deviation into because of upstream process, realize the component level assembling Quality Control; 4. through aircraft nose-gear assembly station field conduct, to implement the front time that system's hanging point is adjusted operation as benchmark, the efficient of assembling allotment has improved nearly 40%.
Claims (9)
1. online Adjustment System is located in the front posture adjustment of aircraft nose-gear assembling, comprise: support stand, pose_adjuster and undercarriage, it is characterized in that, also comprise: measuring system module, calculating control feedback module, posture adjustment locating device, measuring system module output terminal links to each other with the input end that calculates the control feedback module, the output terminal that calculates the control feedback module links to each other with the input end of pose_adjuster, and the posture adjustment locating device is arranged on the support stand, and undercarriage is contained on the posture adjustment locating device in advance;
Described calculating control feedback module comprises deviation source diagnosis unit module and locating shaft adjustment conceptual design unit module, and deviation source diagnosis unit module is calculated the sensitivity coefficient of required control functional dimension, the deviation source diagnosis of practical function size; Locating shaft is adjusted the conceptual design unit module and is calculated the gained diagnostic result according to deviation source diagnosis unit module, the Design Orientation shaft position is adjusted scheme, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and send to the posture adjustment locating device, position the three-dimensional of axle pose and adjust in real time.
2. online Adjustment System is located in posture adjustment before the aircraft nose-gear assembling according to claim 1, it is characterized in that be provided with positioning unit in the described posture adjustment locating device, positioning unit is arranged on the pose_adjuster.
3. online Adjustment System is located in the front posture adjustment of described aircraft nose-gear assembling according to claim 1, it is characterized in that, described undercarriage is contained on the positioning unit in advance, the point position data of the reflection folding and unfolding performance functional dimension of the undercarriage that the input end of measuring system module input is obtained by surveying instrument and each locating shaft point position data of positioning unit.
4. online Adjustment System is located in posture adjustment according to claim 1 or before the assembling of 3 described aircraft nose-gears, it is characterized in that, the input end input of described measuring system module is by the point position data of reflection undercarriage control performance functional dimension and each locating shaft point position data of positioning unit, output terminal links to each other with the input end that calculates the control feedback module, output pass through behind the coordinate transformation the respective coordinates of measuring point under the fuselage coordinate system.
5. online method of adjustment is located in the front posture adjustment of aircraft nose-gear assembling, it is characterized in that, comprises the steps:
Step 1: system's hanging point of each moving component in the nose-gear member is mounted to positioning unit and finishes the structure dress;
Step 2: the nose-gear member is contained on the positioning unit in advance, and the adjustment member makes nose-gear be complete down state and places on the support stand;
Step 3: measuring and obtaining retractable actuating cylinder remainder stroke numerical value is functional dimension, be installed on each locating shaft point position data on the positioning unit by the measurement of measuring system module, through obtaining the institute's respective coordinates of measuring point under the fuselage coordinate system behind the coordinate transformation, these data are sent to calculating control feedback module;
Step 4: differentiate retractable actuating cylinder remainder stroke numerical value and whether satisfy the Practical Project requirement;
Step 5: according to calculating deviation source diagnosis unit module calculating gained sensitivity coefficient in the control feedback module;
Step 6: adjust the undercarriage member locating shaft is rotatablely moved at positioning unit, until make nose-gear be complete collapsed state, measure and obtain that retractable actuating cylinder remainder stroke numerical value is functional dimension under the complete collapsed state;
Step 7: differentiate retractable actuating cylinder remainder stroke numerical value and whether satisfy the Practical Project requirement;
Step 8: according to calculating deviation source diagnosis unit module calculating gained sensitivity coefficient in the control feedback module;
Step 9: system provides the final position, system hanging point locating shaft center that is connected with head part on the nose-gear parts, finishes.
6. online method of adjustment is located in posture adjustment before the aircraft nose-gear assembling according to claim 5, it is characterized in that whether the differentiation retractable actuating cylinder remainder stroke numerical value described in the step 4 satisfies Practical Project requires to refer to:
Then enter step 6 as satisfying;
If engineering demands not, then find the solution calculating by deviation source diagnosis unit module in the calculating control feedback module according to above-mentioned gained locating shaft center data, obtain the sensitivity coefficient to required control functional dimension of each locating shaft under the complete down state, the deviation source diagnosis of practical function size.
7. online method of adjustment is located in posture adjustment before the aircraft nose-gear assembling according to claim 5, it is characterized in that, calculate the gained sensitivity coefficient according to calculating in the control feedback module deviation source diagnosis unit module described in the step 5, by calculating locating shaft adjustment conceptual design unit module Design Orientation shaft position adjustment scheme in the control feedback module, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and send to the posture adjustment locating module, drive motor positions the three-dimensional of axle pose and adjusts in real time, the action of repeating step three and step 4.
8. online method of adjustment is located in posture adjustment before the aircraft nose-gear assembling according to claim 5, it is characterized in that whether the differentiation retractable actuating cylinder remainder stroke numerical value described in the step 7 satisfies Practical Project requires to refer to:
Then enter step 9 as satisfying;
If engineering demands not, then find the solution calculating by deviation source diagnosis unit module in the calculating control feedback module according to above-mentioned gained locating shaft center data, obtain the sensitivity coefficient to required control functional dimension of each locating shaft under the complete collapsed state, the deviation source diagnosis of practical function size.
9. online method of adjustment is located in posture adjustment before the aircraft nose-gear assembling according to claim 5, it is characterized in that, calculate the gained sensitivity coefficient according to calculating in the control feedback module deviation source diagnosis unit module described in the step 8, by calculating locating shaft adjustment conceptual design unit module Design Orientation shaft position adjustment scheme in the control feedback module, calculate and output locating shaft coordinate position adjustment direction and adjusted value size, and send to the posture adjustment locating module, drive motor positions the three-dimensional of axle pose and adjusts in real time, and repeating step three is to the action of step 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101994843A CN102331784B (en) | 2011-07-15 | 2011-07-15 | Online adjusting system and method for attitude aligning and positioning before assembly of nose gear of airplane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101994843A CN102331784B (en) | 2011-07-15 | 2011-07-15 | Online adjusting system and method for attitude aligning and positioning before assembly of nose gear of airplane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102331784A CN102331784A (en) | 2012-01-25 |
| CN102331784B true CN102331784B (en) | 2013-05-01 |
Family
ID=45483588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101994843A Active CN102331784B (en) | 2011-07-15 | 2011-07-15 | Online adjusting system and method for attitude aligning and positioning before assembly of nose gear of airplane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102331784B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745340B (en) * | 2012-07-05 | 2014-12-31 | 浙江大学 | Digital positioning device of main intersection box of airplane and installation method |
| CN107350785B (en) * | 2017-08-14 | 2019-09-17 | 上海卫星装备研究所 | A kind of High-precision multi-dimensional degree linkage structure assembly device and assembly method |
| CN111025311B (en) * | 2018-10-09 | 2022-03-25 | 中国农业机械化科学研究院 | Device and method for detecting welded body of grain cleaning sieve box |
| CN112362095B (en) * | 2020-09-30 | 2022-04-08 | 成都飞机工业（集团）有限责任公司 | Undercarriage equipment and detection integration equipment |
| CN115195998B (en) * | 2022-09-16 | 2022-12-23 | 成都纵横大鹏无人机科技有限公司 | Undercarriage winding and unwinding devices and aircraft |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2848527A1 (en) * | 2002-12-12 | 2004-06-18 | Alkan Sa | Method for placing landing gear under aircraft comprises fixing landing gear front axle to rear of trolley and transferring gear by running on its wheels to mounting post under aircraft, then adjusting landing gear attitude |
| EP2008934A2 (en) * | 2007-06-26 | 2008-12-31 | Honeywell International Inc. | Closed-loop cabin pressure control system test method with actual pressure feedback |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN102001451A (en) * | 2010-11-12 | 2011-04-06 | 浙江大学 | Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method |
-
2011
- 2011-07-15 CN CN2011101994843A patent/CN102331784B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2848527A1 (en) * | 2002-12-12 | 2004-06-18 | Alkan Sa | Method for placing landing gear under aircraft comprises fixing landing gear front axle to rear of trolley and transferring gear by running on its wheels to mounting post under aircraft, then adjusting landing gear attitude |
| EP2008934A2 (en) * | 2007-06-26 | 2008-12-31 | Honeywell International Inc. | Closed-loop cabin pressure control system test method with actual pressure feedback |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN102001451A (en) * | 2010-11-12 | 2011-04-06 | 浙江大学 | Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method |
Non-Patent Citations (2)
| Title |
|---|
| 郑小翠等.飞机起落架作动筒剩余行程偏差建模与容差优化.《机械设计与研究》.2011,第27卷(第2期), |
| 飞机起落架作动筒剩余行程偏差建模与容差优化;郑小翠等;《机械设计与研究》;20110430;第27卷(第2期);80-82,90 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102331784A (en) | 2012-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102331784B (en) | Online adjusting system and method for attitude aligning and positioning before assembly of nose gear of airplane | |
| CN101907893B (en) | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method | |
| CN102001451B (en) | Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method | |
| CN106043736A (en) | Series-parallel connection mechanical structure for posture adjustment of components of airplane and posture adjusting method | |
| CN103496449B (en) | A kind of aircraft side walls parts assembling posture adjustment method for planning track | |
| CN112008492A (en) | Method for identifying perpendicularity error of translational shaft of gantry numerical control machine tool | |
| CN102175444B (en) | Device for measuring load of multiple throttle rods | |
| CN108163229B (en) | System and method for synchronously detecting lift thrust and wing motion information of flapping-wing robot | |
| CN109366503A (en) | The processing technology towards large-scale component based on mobile series-parallel robot | |
| CN108204879B (en) | A kind of measuring method and system of rotary inertia | |
| CN107063103A (en) | A kind of thin-wall part multi-point flexibly positioning and deformation measurement experimental provision | |
| CN103950552B (en) | Based on the digitalisation calibrating method of the aircraft target ship assembly deflections of six Shaft and NC Machining Test steady arms | |
| CN103921954B (en) | Based on the digitalisation calibrating method of the aircraft target ship assembly deflections of three-axis numerical control steady arm | |
| CN110803301A (en) | Novel ejection speed measuring method for ejection of ejection seat out of cabin | |
| Chen et al. | Position and orientation best-fitting based on deterministic theory during large scale assembly | |
| Gräser et al. | On the influence of the flexure hinge orientation in planar compliant mechanisms for ultra-precision applications | |
| CN204269086U (en) | The automatic three-dimension measuring system of a kind of high-precision blade of aviation engine | |
| EP3812699A1 (en) | Scanning apparatus and method of scanning | |
| CN115290295B (en) | High-speed wind tunnel interstage separation and grid force measurement test control system and application method | |
| CN114476116A (en) | Flexible butt joint system for large helicopter assembly | |
| Liu et al. | Kinematic Analysis of a Flapping-wing Micro-aerial-vehicle with Watt Straight-line Linkage | |
| CN208254810U (en) | The two axle track road simulating bench test tools for subframe | |
| CN106840587A (en) | Six degree of freedom wind tunnel test end position and attitude error compensation method based on six-dimensional force measurement | |
| CN111891382A (en) | Spherical hinge center calibration method for adjusting attitude of large part of airplane | |
| CN109870253A (en) | A kind of aircraft assembling process stress monitor method based on profile measurement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lin Zhongqin Inventor after: Jiang Liping Inventor after: Chen Guanlong Inventor after: Jiang Jian Inventor after: Jin Sun Inventor after: Chen Lei Inventor after: Chen Wei Inventor after: Lu Gu Inventor before: Lin Zhongqin Inventor before: Jiang Liping Inventor before: Chen Guanlong Inventor before: Jiang Jian Inventor before: Jin Sun Inventor before: Chen Lei Inventor before: Chen Wei Inventor before: Lu Gu |
|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |