CN109305387A - A kind of airplane wheel automation disassemblerassembler and automation assembly and disassembly methods - Google Patents
A kind of airplane wheel automation disassemblerassembler and automation assembly and disassembly methods Download PDFInfo
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- CN109305387A CN109305387A CN201811286985.3A CN201811286985A CN109305387A CN 109305387 A CN109305387 A CN 109305387A CN 201811286985 A CN201811286985 A CN 201811286985A CN 109305387 A CN109305387 A CN 109305387A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/40—Maintaining or repairing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/50—Handling or transporting aircraft components
Abstract
The invention discloses a kind of airplane wheel automation disassemblerassembler and automation assembly and disassembly methods, and airplane wheel automates disassemblerassembler, and it includes vehicle frame, is equipped with pitching positioning component on vehicle frame, and the lower end of vehicle frame and pitching positioning component is separately installed with universal wheel；Airplane wheel automation assembly and disassembly methods include that airplane wheel automation disassemblerassembler is moved to target wheel adjacent position, with the position of image recording sensor wheel and wheel shaft, after image processor and single-chip microcontroller processing, the positional relationship of airplane wheel disassembly equipment and wheel is calculated.The present invention is able to solve lacks the problem of capableing of the equipment of all kinds of airplane wheels of automatic dismantling in the prior art, high degree of automation, highly reliable.
Description
Technical field
The present invention relates to aircraft maintenance fields, and in particular to a kind of airplane wheel automation disassemblerassembler and automation dismounting
Method.
Background technique
In aeronautical maintenance field, in the maintenance and repair of undercarriage, tearing open for undercarriage wheel is often carried out
Work is filled, the basic step of dismantlement work is to first pass through wheel shaft screw jack to jack up undercarriage, then removes the tight of wheel
After fixing bolt, wheel is removed from wheel shaft.
Installment work needs two or three people's lifting machine wheel or levers up wheel using crowbar to be mounted on wheel shaft, due to civil aviaton
Wheel volume, the weight of passenger plane are all bigger, and when manually lifting wheel, both hands grasping is inconvenient and laborious, and working strength is higher,
It controls bad, be easy to cause personnel and equipment damage.
Therefore, it now with some for dismantling the device of wheel, but since different airplane wheel installation sites are different, leads
Provision for disengagement poor universality is caused, reliability is insufficient.
Summary of the invention
The present invention be directed to above-mentioned deficiency in the prior art, provide one kind be able to solve in the prior art lack can from
The airplane wheel automation disassemblerassembler and automation assembly and disassembly methods of the problem of equipment of dynamic all kinds of airplane wheels of disassembly.
In order to solve the above technical problems, present invention employs following technical proposals:
Providing a kind of airplane wheel automation disassemblerassembler comprising vehicle frame is equipped with pitching positioning component on vehicle frame,
The lower end of vehicle frame and pitching positioning component is separately installed with universal wheel；
Connection, axially position component are engaged with the axial lead screw on axially position component by axial turbo-dynamo on vehicle frame
Including longitudinal Vortex wheel seat, longitudinal Vortex wheel seat and longitudinal turbo-dynamo are sequentially connected；The longitudinal Vortex wheel seat and vertical shaft positioning component
On longitudinal leadscrew engage connection, vertical shaft positioning component includes cross motor push rod, cross motor push rod and horizontal axis positioning component
It is fixedly connected；Wheel bracket is installed on horizontal axis positioning component；
Control equipment is installed, control equipment includes power supply, controller and imaging sensor, power supply and controller on vehicle frame
It is connect respectively with imaging sensor, pitching positioning component, axial turbo-dynamo, longitudinal turbo-dynamo and cross motor push rod, electricity
Source is connect with controller；Image processor and single-chip microcontroller interconnected are provided in controller.
In above-mentioned technical proposal, it is preferred that vehicle frame includes positive face frame, and imaging sensor is fixedly installed on by imaging bracket
In positive face frame；The two sides of the one side of positive face frame are symmetrically arranged with side frame, and universal wheel, positive face frame are symmetrically arranged under two side framves
Another side is provided with rear side mounting rack, and pitching positioning component and axial turbo-dynamo are set on rear side mounting rack；Side frame
Upper and lower part is arranged in parallel there are two outside sliding bar.
In above-mentioned technical proposal, it is preferred that pitching positioning component includes the longitudinal electricity being fixedly installed on rear side mounting rack
Dynamic push rod, the output shaft of longitudinal electric push rod are connect with substrate, and substrate lower end is fixedly installed with universal wheel.
In above-mentioned technical proposal, it is preferred that the lower rearward side of axially position component is provided with to be fixedly connected with axial lead screw
Axial bearing plate, the upper and lower part of axially position component two sides be arranged in parallel with respectively with outside sliding bar socket axial direction
Sliding sleeve；Axially position component two sides pass through longitudinal bearing plate respectively and set gradually that there are two longitudinal sliding sleeves.
In above-mentioned technical proposal, it is preferred that the upper center of vertical shaft positioning component, which is provided with, engages company with longitudinal Vortex wheel seat
The longitudinal leadscrew connect, the two sides of vertical shaft positioning component are respectively arranged with the longitudinal sliding motion bar with longitudinal sliding sleeve cooperation, vertical shaft positioning
The two sides up and down that component deviates the one side of longitudinal sliding motion bar, which are arranged in parallel with, slides laterally bar, and cross motor push rod is set to vertical shaft
The lower part of positioning component.
In above-mentioned technical proposal, it is preferred that one side the upper side and lower side that horizontal axis positioning component deviates wheel bracket leads to respectively
Cross lateral bearing plate be symmetrical arranged there are two with the lateral sliding sleeve that slides laterally bar cooperation；Wheel bracket is respectively to be arranged in parallel in
Two L brackets of horizontal axis positioning component the same face two sides.
In above-mentioned technical proposal, it is preferred that controller be set to rear side mounting rack on display screen connect, display screen and
Power supply connection.
The present invention also provides a kind of automation assembly and disassembly methods based on above-mentioned airplane wheel automation disassemblerassembler, packets
Include following steps:
S1, airplane wheel automation disassemblerassembler is moved to target wheel adjacent position, is taken the photograph using imaging sensor
Picture, and by obtaining the position coordinates of wheel and wheel shaft after image processor and single-chip microcontroller processing, calculate airplane wheel disassembly dress
The standby positional relationship with wheel arbor；
S2, driving pitching positioning component, vertical shaft positioning component and horizontal axis positioning component make wheel movement of bracket to setting position
It sets；
S3, longitudinal turbo-dynamo driving vertical shaft positioning component rise to setting height, when dismantling wheel, make wheel bracket
Simultaneously stress is contacted with wheel；When installing wheel, make wheel and wheel shaft aligned in position；
S4, disassembly wheel or installation wheel, fulfil assignment.
Further, pitching positioning component, vertical shaft positioning component and horizontal axis positioning component are driven, makes wheel movement of bracket extremely
Specific steps below wheel include:
S1, imaged using imaging sensor, and by image processor and single-chip microcontroller processing after obtain imaging sensor with
The real-time range of wheel shaft judges whether real-time range is equal with set distance by single-chip microcontroller；
S2, when real-time range and set distance not etc. whens, by axial turbo-dynamo driving axial positioning component, make in real time
Distance is equal with set distance；
S3, it is imaged using imaging sensor, and corresponding by obtaining wheel bracket after image processor and single-chip microcontroller processing
The predeterminated position in the wheel center of circle and actual arbor center location, judge whether predeterminated position weighs with physical location by single-chip microcontroller
It closes；
S4, predeterminated position and physical location not etc. whens, drive vertical shaft fixed by longitudinal turbo-dynamo and cross motor push rod
Hyte part and horizontal axis positioning component, are overlapped predeterminated position with physical location；
S5, it is imaged using imaging sensor, and straight by obtaining actual wheel shaft after image processor and single-chip microcontroller processing
Diameter is compared by single-chip microcontroller and preset wheel shaft diameter, judges whether preset diameters are equal with actual diameter；
S6, preset diameters and actual diameter not etc. whens, the angle of vehicle frame is adjusted by pitching positioning component, until default straight
Diameter is equal with actual diameter.
Further, imaged using imaging sensor, and by image processor and single-chip microcontroller processing after obtain wheel and
The position of wheel shaft, the method for calculating the positional relationship of airplane wheel disassembly equipment and wheel are as follows:
S1, image is shot by imaging sensor, and is transmitted to image processor；
S2, the boundary that wheel and wheel shaft are detected by image processor；
S3, the center location of wheel and wheel shaft is obtained by Hough transformation algorithm；
S4, central coordinate of circle and radius are obtained by center location and feature modeling and exported.
The main beneficial effect of above-mentioned airplane wheel automation disassemblerassembler provided by the invention is:
The present invention is fixed by the way that pitching positioning component, axially position component, horizontal axis positioning component and vertical shaft are arranged on vehicle frame
Hyte part can adjust automation disassemblerassembler and airplane wheel from four angles such as pitch angle and three-dimensional space position
It, to play effective position and lifting wheel, is conveniently torn open to effectively cooperate the airplane wheel of different structure and size relative position
The effect unloaded；By setting single-chip microcontroller, image processor and imaging sensor, the data that can be monitored according to imaging sensor,
The position of automatic adjusting machine wheel carrier bracker, to realize the automatic dismantling of airplane wheel.
Since wheel is heavier, the angle of wheel bracket is be easy to cause to offset downward, so that installation is inconvenient, passes through setting
Pitching positioning component adjusts the tilt angle of vehicle frame, so that wheel is overlapped with the center line of corresponding wheel shaft, to guarantee to install
With the effect of disassembly.
By will control equipment be set to rear side mounting rack can play balance weight when putting wheel on wheel bracket
The effect of amount；By setting two L brackets being parallel to each other for wheel bracket, so as to the lifting machine directly from ground
Wheel, to avoid needing manually to lift wheel to the complicated procedures of forming on wheel bracket.
By setting display screen, the image datas such as the position that imaging sensor and image processor obtain can be observed, from
And it can be by manual operation controller, so that manually manipulation automation disassemblerassembler dismounts wheel.
The main beneficial effect of above-mentioned airplane wheel automation assembly and disassembly methods provided by the invention is:
By imaging sensor, image processor and single-chip microcontroller cooperate, adjust pitching positioning component, vertical shaft positioning component,
The position of vertical shaft positioning component and horizontal axis positioning component can be realized the automatic of airplane wheel position to wheel bracket and thereon
It adjusts, and realizes Auto-matching with wheel wheel shaft position, to complete automatic adjustment operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that airplane wheel automates disassemblerassembler.
Fig. 2 is that the airplane wheel of another angle automates disassemblerassembler structural schematic diagram.
Fig. 3 is the structural schematic diagram of vehicle frame.
Fig. 4 is the body frame structure for automotive schematic diagram of another angle.
Fig. 5 is the structural schematic diagram of axially position component.
Fig. 6 is the structural schematic diagram of vertical shaft positioning component.
Fig. 7 is the vertical shaft positioning component structural schematic diagram of another angle.
Fig. 8 is the structural schematic diagram of horizontal axis positioning component.
Fig. 9 is the flow chart of the automation assembly and disassembly methods of airplane wheel.
Figure 10 is the method flow diagram for calculating the positional relationship of airplane wheel disassembly equipment and wheel.
Wherein, 1, vehicle frame, 11, side frame, 111, universal wheel, 112, locking folder, 12, positive face frame, 13, rear side mounting rack,
14, outside sliding bar, 15, pitching positioning component, 151, longitudinal electric push rod, 152, substrate, 16, axial turbo-dynamo, 161,
Axial lead screw, 17, handle, 2, axially position component, 21, axial bearing plate, 22, axial sliding sleeve, 23, longitudinal sliding sleeve, 231, vertical
To bearing plate, 24, longitudinal Vortex wheel seat, 241, longitudinal turbo-dynamo, 242, longitudinal drive rod, 243, longitudinally mounted plate, 3, vertical shaft
Positioning component, 31, longitudinal sliding motion bar, 32, slide laterally bar, 33, cross motor push rod, 34, longitudinal leadscrew, 4, horizontal axis positioning group
Part, 41, wheel bracket, 42, lateral sliding sleeve, 43, lateral bearing plate, 5, control equipment, 51, power supply, 52, imaging sensor,
521, bracket, 53, controller, 54, display screen are imaged.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As depicted in figs. 1 and 2, the structural schematic diagram of disassemblerassembler is automated for airplane wheel.
Airplane wheel automation disassemblerassembler of the invention includes vehicle frame 1, and as shown in Figure 3 and Figure 4, vehicle frame 1 includes front
Frame 12, the two sides of the one side of positive face frame 12 are symmetrically arranged with side frame 11, are symmetrically arranged with universal wheel 111 under two side framves 11,
Positive 12 another side of face frame is provided with rear side mounting rack 13；The upper and lower part of side frame 11 is arranged in parallel there are two outside sliding bar
14。
Pitching positioning component 15 is installed, pitching positioning component 15 includes being fixedly installed on rear side mounting rack 13 on vehicle frame 1
On longitudinal electric push rod 151, the output shaft of longitudinal electric push rod 151 connect with substrate 152, and 152 lower end of substrate is fixedly mounted
There is universal wheel 111.By the way that three universal wheels 111 are arranged, the movement of vehicle frame 1 can be facilitated；By the way that two universal wheels 111 are arranged
In 11 lower part of side frame, the weight of wheel can be effectively shared.
Preferably, locking folder 112 is both provided on each universal wheel 111.Existing universal wheel 111 can be selected in locking folder 112
Permanent organization the position of vehicle frame 1 can be fixed, as a result, when vehicle frame 1 moves to setting position to easily load and unload
Wheel.
As shown in Fig. 5 to 8, pass through axial turbo-dynamo 16 and the axial lead screw 161 on axially position component 2 on vehicle frame 1
Engagement connection, axially position component 2 include longitudinal Vortex wheel seat 24, and longitudinal Vortex wheel seat 24 and longitudinal turbo-dynamo 241 are sequentially connected；
The lower rearward side of axially position component 2 is provided with the axial bearing plate 21 being fixedly connected with axial lead screw 161, axially position component
The upper and lower part of 2 two sides is arranged in parallel with the axial sliding sleeve 22 being socketed with outside sliding bar 14 respectively；2 liang of axially position component
Side passes through longitudinal bearing plate 231 respectively and sets gradually that there are two longitudinal sliding sleeves 23.
By the way that axial sliding sleeve 22 and four outside sliding bars 14 are arranged between vehicle frame 1 and axially position component 2, convenient for axial
Positioning component 2 is axially moveable, and can effectively ensure that the positioning of axially position component 2；Pass through axial turbo-dynamo 241 and axis
It drives axially position component 2 to move to lead screw 161, the torque that axially position component 2 can transmit is effectively increased, to guarantee to load and unload
The reliability of process.
Longitudinal Vortex wheel seat 24 engages connection with the longitudinal leadscrew 34 on vertical shaft positioning component 3, and vertical shaft positioning component 3 includes cross
To motor push rod 33, cross motor push rod 33 is fixedly connected with horizontal axis positioning component 4；The upper center of vertical shaft positioning component 3 is set
It is equipped with the longitudinal leadscrew 34 that connection is engaged with longitudinal Vortex wheel seat 24, the two sides of vertical shaft positioning component 3 are respectively arranged with to be slided with longitudinal
The longitudinal sliding motion bar 31 of 23 cooperation of set, the two sides up and down that vertical shaft positioning component 3 deviates the one side of longitudinal sliding motion bar 31 are arranged in parallel
Bar 32 is slid laterally, cross motor push rod 33 is set to the lower part of vertical shaft positioning component 3.
By the way that longitudinal sliding sleeve 23 and longitudinal sliding motion bar 31 are arranged between axially position component 2 and vertical shaft positioning component 3, it is convenient for
The relative movement and positioning of vertical shaft positioning component 3 and axially position component 2；By the way that longitudinal Vortex wheel seat 24 is arranged, can effectively rise
To the effect of longitudinal movement located lateral component 4.
As shown in figure 8, being equipped with wheel bracket 41 on horizontal axis positioning component 4；Horizontal axis positioning component 4 deviates wheel bracket 41
One side the upper side and lower side pass through lateral bearing plate 43 respectively and be symmetrical arranged that there are two sliding with the transverse direction that slides laterally the cooperation of bar 32
Set 42；Wheel bracket 41 is respectively two L brackets for being arranged in parallel in 4 the same face two sides of horizontal axis positioning component.
It is influenced less, to pass through cross motor push rod by wheel gravity since horizontal axis positioning component 4 is horizontally moved
33 can guarantee the transverse shifting of horizontal axis positioning component 4, while improve mobile efficiency.
Control equipment 5 is installed, control equipment 5 includes power supply 51, controller 53 and imaging sensor 52, figure on vehicle frame 1
As sensor 52 is fixedly installed on positive face frame 12 by imaging bracket 522.Imaging sensor 52 can be selected Kinect camera or
Raspberry pie camera, the included distance identification of this kind of equipment and position-measuring functions.
Power supply 51 and controller 53 respectively with imaging sensor 52, pitching positioning component 15, axial turbo-dynamo 16, longitudinal
Turbo-dynamo 241 and cross motor push rod 33 connect, and power supply 51 is connect with controller 53；Interconnection is provided in controller 53
Image processor and single-chip microcontroller.Preferably, after control equipment 5, pitching positioning component 15 and axial turbo-dynamo 16 are set to
On side mounting rack 13, to play the role of 1 weight of balance frame.
Controller 53 is connect with the display screen 54 being set on rear side mounting rack 13, and display screen 54 is connect with power supply 51.It is excellent
Choosing, further include hand held console on controller 53, by hand held console, can automate disassemblerassembler with manual manipulation.
The present invention also provides a kind of automations of airplane wheel based on above-mentioned airplane wheel automation disassemblerassembler to tear open
Dress method, as shown in fig. 9, it includes following steps:
S1, airplane wheel automation disassemblerassembler is moved to target wheel adjacent position, using imaging sensor 52
Camera shooting, and by obtaining the position of wheel and wheel shaft after image processor and single-chip microcontroller processing, calculate airplane wheel disassembly equipment
With the positional relationship of wheel.
When installing wheel, remember that the center of circle of wheel shaft is M, radius BM, the center of circle of wheel is N, radius AN；In demountor
When wheel, note sets the center of circle of wheel as M, and radius BM, the center of circle of practical wheel is N, radius AN.Pass through imaging sensor 52
Wheel and the positional relationship of wheel shaft on the image are recorded, obtains radius and position coordinate data after handling by image processor,
The variation of tilt angle of this data according to imaging sensor 52 at a distance from wheel shaft and on a vertical plane and change, therefore
By recording the difference of the BM value of real-time BM value and setting, to judge disassembly equipment at a distance from wheel shaft.
Further, it is imaged using imaging sensor 52, and by obtaining wheel after image processor and single-chip microcontroller processing
With the position of wheel shaft, the method for calculating the positional relationship of airplane wheel disassembly equipment and wheel is as shown in Figure 10 comprising as follows
Step:
S1-1, image is shot by imaging sensor, and is transmitted to image processor.
S1-2, the boundary that wheel and wheel shaft are detected by image processor.
S1-3, the center location of wheel and wheel shaft is obtained by Hough transformation algorithm.
Hough transformation algorithm is that commonly detection is round and the method for straight line in image conversion process, relative to other methods,
Noise jamming can preferably be reduced.
S1-4, central coordinate of circle and radius are obtained by center location and feature modeling and exported.
S2, driving pitching positioning component 15, vertical shaft positioning component 3 and horizontal axis positioning component 4, move to wheel bracket 41
Setting position.
Specific step is as follows:
S2-1, it is imaged using imaging sensor 52, and by obtaining image sensing after image processor and single-chip microcontroller processing
The real-time range of device 52 and wheel shaft judges whether real-time range is equal with set distance by single-chip microcontroller.
S2-2, when real-time range and set distance not etc. whens, by axial 16 driving axial positioning component 2 of turbo-dynamo,
Keep real-time range equal with set distance.
S2-3, it is imaged using imaging sensor 52, and by obtaining wheel bracket after image processor and single-chip microcontroller processing
The predeterminated position and actual wheel center location in the 41 corresponding wheel centers of circle, judge predeterminated position and physical location by single-chip microcontroller
Whether it is overlapped.Center location is respectively the coordinate value of M and N.
S2-4, predeterminated position and physical location not etc. whens, pass through longitudinal turbo-dynamo 241 and cross motor push rod 33 drive
Vertical shaft positioning component 3 and horizontal axis positioning component 4, are overlapped predeterminated position with physical location.
S2-5, it is imaged using imaging sensor 52, and by obtaining actual wheel after image processor and single-chip microcontroller processing
Shaft diameter is compared by single-chip microcontroller and preset wheel shaft diameter, judges whether preset diameters are equal with actual diameter.Diameter
That is the value of BM and AN.
S2-6, preset diameters and actual diameter not etc. whens, the angle of vehicle frame 1 is adjusted by pitching positioning component 15, until
Preset diameters are equal with actual diameter.
In actual use, since the thickness of wheel and wheel shaft is larger, generally at least 40cm, therefore wheel is placed in
When on wheel bracket 41, for entire disassemblerassembler under the action of wheel gravity, the height of one end of neighbouring wheel can be lower than deviation
One end, lead to will appear during the installation process alignment and be unsatisfactory for expected situation；The angle of imaging sensor 52 is also sent out at this time
Raw inclination, thus the obtained wheel shaft diameter of record can and actual diameter generate deviation and make by adjusting the pitch angle of vehicle frame 1
Record obtain wheel shaft diameter it is identical with actual diameter when, i.e., when imaging sensor 52 is in horizontality, at this time wheel and
Wheel shaft is also at horizontal aligument state.
S3, longitudinal turbo-dynamo 241 drive vertical shaft positioning component 3 to rise to setting height, when dismantling wheel, make wheel
Bracket 41 is contacted with wheel and stress；When installing wheel, make wheel and wheel shaft aligned in position.
S4, disassembly wheel or installation wheel, fulfil assignment.
A specific embodiment of the invention is described above, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
Claims (10)
1. a kind of airplane wheel automates disassemblerassembler, which is characterized in that including vehicle frame (1), it is fixed that pitching is equipped on vehicle frame (1)
The lower end of hyte part (15), vehicle frame (1) and pitching positioning component (15) is separately installed with universal wheel (111)；
Connection is engaged with the axial lead screw (161) on axially position component (2) by axial turbo-dynamo (16) on vehicle frame (1),
Axially position component (2) includes longitudinal Vortex wheel seat (24), and longitudinal Vortex wheel seat (24) and longitudinal turbo-dynamo (241) are sequentially connected；
The longitudinal Vortex wheel seat (24) engages connection, the vertical shaft positioning component with the longitudinal leadscrew (34) on vertical shaft positioning component (3)
It (3) include cross motor push rod (33), cross motor push rod (33) is fixedly connected with horizontal axis positioning component (4)；The horizontal axis is fixed
Wheel bracket (41) are installed on hyte part (4)；
Control equipment (5) is installed, the control equipment (5) includes that power supply (51), controller (53) and image pass on vehicle frame (1)
Sensor (52), power supply (51) and controller (53) are electric with imaging sensor (52), pitching positioning component (15), axial turbine respectively
Machine (16), longitudinal turbo-dynamo (241) and cross motor push rod (33) connection, power supply (51) are connect with controller (53)；It is described
Image processor and single-chip microcontroller interconnected are provided in controller (53).
2. airplane wheel according to claim 1 automates disassemblerassembler, which is characterized in that the vehicle frame (1) includes just
Face frame (12), described image sensor (52) are fixedly installed on positive face frame (12) by imaging bracket (522)；Positive face frame (12)
Two sides on one side are symmetrically arranged with side frame (11), are symmetrically arranged with universal wheel (111) on two side framves (11), positive face frame (12)
Another side is provided with rear side mounting rack (13), the control equipment (5), pitching positioning component (15) and axial turbo-dynamo (16)
It is set on rear side mounting rack (13)；The upper and lower part of side frame (11) is arranged in parallel there are two outside sliding bar (14).
3. airplane wheel according to claim 2 automates disassemblerassembler, which is characterized in that the pitching positioning component
It (15) include the longitudinal electric push rod (151) being fixedly installed on rear side mounting rack (13), the output of longitudinal electric push rod (151)
Axis is connect with substrate (152), and substrate (152) lower end is fixedly installed with universal wheel (111).
4. airplane wheel according to claim 2 automates disassemblerassembler, which is characterized in that the axially position component
(2) lower rearward side is provided with the axial bearing plate (21) being fixedly connected with axial lead screw (161), axially position component (2) two
The upper and lower part of side is arranged in parallel with the axial sliding sleeve (22) with outside sliding bar (14) socket respectively；Axially position component
(2) two sides pass through longitudinal bearing plate (231) respectively and set gradually that there are two longitudinal sliding sleeves (23).
5. airplane wheel according to claim 4 automates disassemblerassembler, which is characterized in that the vertical shaft positioning component
(3) upper center be provided with engaged with longitudinal Vortex wheel seat (24) connection longitudinal leadscrew (34), the two of vertical shaft positioning component (3)
Side is respectively arranged with the longitudinal sliding motion bar (31) cooperated with longitudinal sliding sleeve (23), and the vertical shaft positioning component (3) is deviateed longitudinal sliding
The two sides up and down of the one side of lever (31), which are arranged in parallel with, to be slid laterally bar (32), and the cross motor push rod (33) is set to vertical
The lower part of axis positioning component (3).
6. airplane wheel according to claim 5 automates disassemblerassembler, which is characterized in that the horizontal axis positioning component
(4) deviate wheel bracket (41) one side the upper side and lower side respectively by lateral bearing plate (43) be symmetrical arranged there are two with transverse direction
The lateral sliding sleeve (42) of sliding bar (32) cooperation；The wheel bracket (41) is respectively to be arranged in parallel in horizontal axis positioning component (4)
Two L brackets of the same face two sides.
7. airplane wheel according to claim 1 automates disassemblerassembler, which is characterized in that the controller (53) with set
Display screen (54) connection being placed on rear side mounting rack (13), display screen (54) are connect with power supply (51).
8. a kind of automation of the airplane wheel using any airplane wheel automation disassemblerassembler of claim 1 to 7
Assembly and disassembly methods, which is characterized in that it includes the following steps:
S1, airplane wheel automation disassemblerassembler is moved to target wheel adjacent position, is taken the photograph using imaging sensor (52)
Picture, and by obtaining the position of wheel and wheel shaft after image processor and single-chip microcontroller processing, calculate airplane wheel disassembly equipment with
The positional relationship of wheel arbor；
S2, driving pitching positioning component (15), vertical shaft positioning component (3) and horizontal axis positioning component (4), transport wheel bracket (41)
It moves to setting position；
S3, when dismantling wheel, longitudinal turbo-dynamo (241) driving vertical shaft positioning component (3) rises to setting height, makes wheel
Bracket (41) is contacted with wheel and stress；When installing wheel, make wheel and wheel shaft aligned in position；
S4, disassembly wheel or installation wheel, fulfil assignment.
9. the automation assembly and disassembly methods of airplane wheel according to claim 8, which is characterized in that the driving pitching positioning component
(15), vertical shaft positioning component (3) and horizontal axis positioning component (4), make wheel bracket (41) move to the specific steps below wheel
Include:
S1, it is imaged using imaging sensor (52), and by obtaining imaging sensor after image processor and single-chip microcontroller processing
(52) with the real-time range of wheel shaft, judge whether real-time range is equal with set distance by single-chip microcontroller；
S2, when real-time range and set distance not etc. whens, by axial turbo-dynamo (16) driving axial positioning component (2), make
Real-time range is equal with set distance；
S3, it is imaged using imaging sensor (52), and by obtaining wheel bracket (41) after image processor and single-chip microcontroller processing
The predeterminated position and actual arbor center location in the corresponding wheel center of circle, judge that predeterminated position is with physical location by single-chip microcontroller
No coincidence；
S4, predeterminated position and physical location not etc. whens, driven by longitudinal turbo-dynamo (241) and cross motor push rod (33) vertical
Axis positioning component (3) and horizontal axis positioning component (4), are overlapped predeterminated position with physical location；
S5, it is imaged using imaging sensor (52), and straight by obtaining actual wheel shaft after image processor and single-chip microcontroller processing
Diameter is compared by single-chip microcontroller and preset wheel shaft diameter, judges whether preset diameters are equal with actual diameter；
S6, preset diameters and actual diameter not etc. whens, by the angle of pitching positioning component (15) adjustment vehicle frame (1), until pre-
If diameter is equal with actual diameter.
10. the automation assembly and disassembly methods of airplane wheel according to claim 9, which is characterized in that described to use imaging sensor
(52) it images, and by obtaining the position of wheel and wheel shaft after image processor and single-chip microcontroller processing, calculates airplane wheel disassembly
The method of equipment and the positional relationship of wheel are as follows:
S1, image is shot by imaging sensor (52), and is transmitted to image processor；
S2, the boundary that wheel and wheel shaft are detected by image processor；
S3, the center location of wheel and wheel shaft is obtained by Hough transformation algorithm；
S4, central coordinate of circle and radius are obtained by center location and feature modeling and exported.
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