CN116443260A - Lifting type aeroengine in-place installation method - Google Patents
Lifting type aeroengine in-place installation method Download PDFInfo
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Abstract
The invention discloses a lifting type aeroengine in-place installation method, wherein in the lifting type aeroengine installation process, an initial carry path is set according to the initial space position of the aeroengine and the target position of the aeroengine, and the initial carry path ensures that the in-place head of the aeroengine is not contacted with the inlet of an aircraft nacelle; according to the method, the aircraft engine is pushed into the aircraft nacelle according to the initial carry path, the current space position of the aircraft engine is obtained at the same time, the current space position of the aircraft engine is compared with the space position of the aircraft nacelle, interference between the current space position of the aircraft engine in the process of entering the aircraft engine and the space position of the aircraft nacelle is avoided, interference between the aircraft engine and the periphery of the aircraft nacelle in the installation process of the aircraft engine can be avoided, the aircraft engine is smoothly sent into the engine target position of the aircraft nacelle, alignment and alignment of an engine connection intersection point are achieved, installation of the engine in the nacelle is further completed, and balanced installation load distribution is achieved.
Description
Technical Field
The invention belongs to the technical field of aero-engine installation, and particularly relates to a lifting aero-engine in-place installation method.
Background
Aeroengine installation is a significant process for aircraft assembly integration, embodying the technical level of aircraft assembly. For civil aircraft, the quality of the installation of the engines directly affects the safety, economy, comfort and quality of flight of the aircraft. In order to reduce wind resistance and oil consumption, the novel turboprop branch aircraft continuously compresses the space of an engine nacelle, and the minimum gap between the engine and the nacelle structure is less than 20mm; the nacelle truss is arranged in advance in the nacelle; meanwhile, the engine must complete the ground repair of the accessory and pipeline assembly. The accurate alignment of the five space holes of the engine and the nacelle is carried out simultaneously in a narrow and complicated space, so that the engine installation is finished, and the balanced load distribution is ensured, which is a difficult problem to be solved in the engine installation process; the high-precision measurement technology must be mastered in the engine installation process, and the precise attitude adjustment and control method can ensure the precise hoisting position of the engine, so that the requirements of synchronous coordination and precise installation of a plurality of high-precision intersection points of the engine can be met. At present, most turboprop aircrafts adopt a traditional engine installation mode of a crane and a steel rope sling, and the engine pose and load are uncontrollable in the installation process and the installation quality fluctuates by means of manual identification and adjustment; the installation process needs many people to coordinate, and assembly efficiency is low grade drawback, can't satisfy the accurate installation requirement of novel vortex oar aeroengine.
Disclosure of Invention
The invention aims to solve the problems that the existing aeroengine is positioned manually, the installation accuracy is poor and the efficiency is low, and provides a lifting type aeroengine in-place installation method.
A hoisting type aeroengine in-place installation method comprises the following steps:
s1, hoisting an aeroengine to an inlet position of an aircraft nacelle to be installed, acquiring an initial spatial position of the aeroengine, and simultaneously acquiring a spatial position of the aircraft nacelle and an engine target position;
s2, setting an initial carry path according to the initial space position of the aero-engine and the target position of the engine, wherein the initial carry path ensures that the head of the aero-engine in-place is not contacted with the inlet of the nacelle;
s3, pushing the aeroengine into the aircraft nacelle according to the initial carry path, acquiring the current space position of the aeroengine, calculating the space position of the aeroengine in the next carry state and comparing the space position of the aircraft nacelle according to the current space position of the aeroengine and the initial carry path, and pushing the aeroengine into the aircraft nacelle according to the initial carry path if the space position of the aeroengine in the next carry state is not interfered with the space position of the aircraft nacelle; if the space position of the aero-engine in the next carry state interferes with the space position of the aircraft nacelle, the current space position of the aero-engine is adjusted, so that the space position of the aero-engine in the initial path next carry state does not interfere with the space position of the aircraft nacelle, and the aero-engine is pushed into the position according to the initial carry path until the aero-engine reaches the engine target position.
Preferably, the obtaining of the initial spatial position and the target position of the aero-engine specifically comprises the following steps: an auxiliary positioning assembly is arranged on the aero-engine, and the initial spatial position of the aero-engine is obtained according to the spatial position of the auxiliary positioning assembly; and acquiring the target position of the engine according to the space position of the nacelle of the aircraft.
Preferably, the obtaining of the initial spatial position of the aero-engine specifically comprises the following steps:
after hoisting the aero-engine to the inlet position of the nacelle of the aircraft to be installed, establishing a reference coordinate system according to the axial direction, the wingspan direction and the vertical direction of the aero-engine;
acquiring two-dimensional data of an aeroengine auxiliary positioning assembly, and establishing a working coordinate system;
a laser projection mode is adopted to project partial light beams to the auxiliary positioning component of the aeroengine to reflect to a reflection reference surface at the top of the aeroengine, and a reflection reference surface coordinate system is established on the reflection reference surface;
establishing a working surface coordinate system on a working surface of an aero-engine frame;
making the axes of the reference coordinate system, the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system parallel;
calibrating the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system corresponding to the reference coordinate system to obtain a conversion relation among the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system and the reference coordinate system;
irradiating a laser line to the wingspan direction of the aeroengine, and according to the distance of the laser line irradiated on the auxiliary positioning assembly and a working coordinate system, obtaining the distance of the laser line irradiated on the auxiliary positioning assembly in the wingspan direction of the aeroengine, thereby obtaining the displacement of the aeroengine in the axial direction of the aeroengine, the displacement of the aeroengine in the wingspan direction and the yaw angle of the aeroengine in the wingspan direction;
according to the laser line of the reflection reference surface reflected to the top of the aero-engine, combining the coordinate system of the reflection reference surface to obtain the displacement of the aero-engine in the vertical direction and the first component of the roll angle around the axis direction of the aero-engine;
according to the two-dimensional data of the auxiliary positioning component of the aero-engine, a working surface coordinate system is combined, and a second component of the rolling angle of the axis direction of the aero-engine and a pitch angle of the aero-engine in the vertical direction are obtained;
obtaining the roll angle of the axis direction of the aero-engine according to the first component of the roll angle of the axis direction of the aero-engine and the second component of the roll angle of the axis direction of the aero-engine;
according to the displacement amount in the axis direction of the aero-engine, the rolling angle in the axis direction, the displacement amount in the wingspan direction, the yaw angle in the wingspan direction, the displacement amount in the vertical direction and the pitch angle in the vertical direction, the conversion relation of the working coordinate system, the reflection reference plane coordinate system and the working plane coordinate system and the reference coordinate system is combined, and the initial space position of the aero-engine hoisting is obtained.
Preferably, the aircraft engine is propelled into the aircraft nacelle according to the initial carry path, and the aircraft engine space pose is adjusted specifically through the parallel flexible cable mechanism and the plane pose platform, and the parallel flexible cable mechanism is fixed on the plane pose platform.
Preferably, the establishment of the working coordinate system specifically comprises the following steps: taking the axis direction of the aero-engine as an X axis, taking the wingspan direction as a Y axis and taking the vertical direction as a Z axis, establishing a reference coordinate system O-XYZ, and establishing a working coordinate system according to the two-dimensional data of the auxiliary positioning component of the aero-engineO 1 -X 1 Y 1 Z 1 ；
O: fixing the gravity center of the platform;
x: the gravity center O of the fixed platform points to a point C, wherein the point C is a connection point of a first rope of the parallel flexible rope mechanism and the fixed platform;
z: a vertically upward direction;
y: determining by a right-hand rule;
: the geometric gravity center of the suspension point of the aero-engine;
X 1 : pointing to a point c along the geometric center of an aero-engine lifting point, wherein the point c is a connection point of a first rope of the parallel flexible rope mechanism and the aero-engine;
Z 1 : a vertically upward direction;
Y 1 : determined by right hand rules.
Preferably, when the space pose of the aero-engine is adjusted through the parallel flexible cable mechanism and the plane pose platform, the initial space position of the aero-engine is fitted into a reference coordinate system O-XYZ, and the method specifically comprises the following steps: the spatial pose of the aeroengine in the reference coordinate system O-XYZ is represented by:
：/>x coordinates in O-XYZ coordinate system；
：/>Y coordinates in an O-XYZ coordinate system;
：/>z coordinates in an O-XYZ coordinate system;
: roll angle of aero-engine;
: pitch angle of aero-engine;
: yaw angle of aeroengine.
Preferably, the adjusting the space pose of the aero-engine through the parallel flexible cable mechanism and the plane pose platform comprises the following steps: height direction adjustment of aero-engine and height position of aero-engine：
Pitch angle of aeroengine：
Roll angle of aeroengine：
in the formula ：representing the distance between the midpoint M of AB and the midpoint M of AB;
representing the distance between the origin of the coordinate system of the fixed platform and the midpoint M of the AB edge;
representing the distance between the origin of the working coordinate system and the midpoint m of the ab side;
representing the C point in the coordinate system O of the reflection reference plane 2 -X 2 Y 2 X coordinate values of (a);
representing the C point in the coordinate system O of the reflection reference plane 2 -X 2 Y 2 Y coordinate value of (B);
representing the coordinate system O of the m point on the reflection reference plane 2 -X 2 Y 2 X coordinate values of (a);
representing the coordinate system O of the m point on the reflection reference plane 2 -X 2 Y 2 Y coordinate value of (B);
representing the distance between the workpiece suspension points a, b;
the length of a rope between a lifting point A of the lifting point fixing platform and a lifting point a of a workpiece is represented;
the distance between the fixed platform lifting point B and the workpiece lifting point B is indicated.
Preferably, the method for calculating the displacement X in the axial direction of the aero-engine is as follows:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>For measuring the coordinate system relative to the reference coordinate systemOffset values on the X-axis;
displacement of aeroengine in spanwise directionThe calculation method of (2) is as follows:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Distance of laser line irradiation on the surface of auxiliary positioning component, +.>For measuring the coordinate system relative to the reference coordinate system>Deviation values on the axis;
the calculation method of the displacement Z of the aero-engine in the vertical direction comprises the following steps:
wherein ,is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is the firstThe corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is the deviation value of the coordinate system of the reflection reference plane relative to the global coordinate system on the Z axis.
Preferably, the aero-engine yaw angle in the spanwise directionThe calculation method of (2) is as follows:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>For the distance the laser line impinges on the surface of the auxiliary positioning member.
Preferably, the method comprises the steps of,rolling angle of aeroengine in axial directionThe calculation method of (2) is as follows:
wherein ,for a first component of the roll angle in the direction of the axis of the aero-engine, +.>Is the second component of the roll angle in the axis direction of the aero-engine.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides a lifting type aeroengine in-place installation method, which comprises the steps of setting an initial carry path according to an initial space position of an aeroengine and an engine target position in the lifting type aeroengine installation process, wherein the initial carry path ensures that an in-place head of the aeroengine is not contacted with an inlet of an aircraft nacelle; according to the method, the device and the system, the aircraft engine is pushed into the aircraft nacelle according to the initial carry path, the current space position of the aircraft engine is obtained at the same time, the current space position of the aircraft engine is compared with the space position of the aircraft nacelle, interference between the current space position of the aircraft engine in the entering process and the space position of the aircraft nacelle is avoided, the surrounding interference of the aircraft nacelle can be avoided, the engine is smoothly sent into the installation position, the alignment of space docking is realized, the installation of the engine in the nacelle is further completed, the balanced load distribution is realized, the method is rapid and convenient, manual interference is not needed, the space position of the aircraft engine is converted and compared with the space position of the aircraft nacelle, and the accuracy is high.
Preferably, the space position of the aero-engine is adjusted through the parallel flexible cable mechanism and the plane position platform, the current space position of the aero-engine is subjected to fitting conversion through the reference coordinate system and the working coordinate system, the precision is high, the artificial participation is avoided, and the installation efficiency can be greatly improved.
Drawings
Fig. 1 is a flow chart of the in-place installation of a hoisting type aeroengine in an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a parallel flexible cable mechanism according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a planar pose platform according to an embodiment of the present invention.
Fig. 4 is a schematic view of pitching motion in an embodiment of the present invention.
FIG. 5 is a graph showing roll angle versus rope length L for an aircraft engine in an embodiment of the invention 1 Schematic change.
FIG. 6 is a schematic representation of the degree of nonlinearity of the roll angle change of an aircraft engine in an embodiment of the present invention.
FIG. 7 is a graph showing the height position of an aircraft engine as a function of rope length L in an embodiment of the invention 3 Schematic change.
FIG. 8 is a schematic view of the degree of nonlinearity of the altitude position change of an aircraft engine in an embodiment of the invention.
FIG. 9 is a graph showing pitch angle of an aircraft engine as a function of rope length L in an embodiment of the invention 3 Schematic change.
FIG. 10 is a schematic view of the degree of nonlinearity of the pitch angle variation of an aircraft engine in an embodiment of the invention.
Fig. 11 is a schematic diagram illustrating analysis of pitch angle error of an aero-engine in an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, a method for installing a lifting type aeroengine in place comprises the following steps:
s1, hoisting an aeroengine to an inlet position of an aircraft nacelle to be installed, acquiring an initial spatial position of the aeroengine, and simultaneously acquiring a spatial position of the aircraft nacelle and an engine target position;
specifically, an auxiliary positioning assembly is arranged on the aero-engine, and the initial spatial position of the aero-engine is obtained according to the spatial position of the auxiliary positioning assembly.
S2, setting an initial carry path according to the initial space position of the aero-engine and the target position of the engine, wherein the initial carry path ensures that the head of the aero-engine in-place is not contacted with the inlet of the nacelle;
s3, pushing the aeroengine into the aircraft nacelle according to the initial carry path, acquiring the current space position of the aeroengine, calculating the space position of the aeroengine in the next carry state and comparing the space position of the aircraft nacelle according to the current space position of the aeroengine and the initial carry path, and pushing the aeroengine into the aircraft nacelle according to the initial carry path if the space position of the aeroengine in the next carry state is not interfered with the space position of the aircraft nacelle; if the space position of the aero-engine in the next carry state interferes with the space position of the aircraft nacelle, the current space position of the aero-engine is adjusted, so that the space position of the aero-engine in the initial path next carry state does not interfere with the space position of the aircraft nacelle, and the aero-engine is pushed into the position according to the initial carry path until the aero-engine reaches the engine target position.
Specifically, the spatial position of the aero-engine in the next carry state refers to the spatial position of the aero-engine when the aero-engine is propelled to the next spatial position according to the initial carry path; if the spatial position of the aeroengine interferes with the spatial position of the aircraft nacelle in the next carry state, namely, the aeroengine is overlapped with the spatial position of the aircraft nacelle when entering the next spatial position according to the initial carry path, the aeroengine is considered to be in contact with the inner wall of the aircraft nacelle in the entering process, which is not allowed in the installation process of the aeroengine, and the current spatial position of the aeroengine is required to be adjusted when the spatial position of the aeroengine is changed in the advancing process according to the initial path, whether the spatial position of the aeroengine interferes with the spatial position of the aircraft nacelle when the aeroengine advances to the next spatial position according to the initial carry path is calculated according to the adjusted current spatial position of the aeroengine, if no interference occurs, the adjusted spatial position of the aeroengine returns to the initial carry path, and the aeroengine is advanced according to the initial carry path.
The method for acquiring the initial spatial position and the target position of the aero-engine specifically comprises the following steps: and arranging an auxiliary positioning assembly on the aero-engine, acquiring an initial spatial position of the aero-engine according to the spatial position of the auxiliary positioning assembly, and acquiring an engine target position according to the spatial position of the nacelle of the aircraft. And the engine target position is the position of the aeroengine mounted on the nacelle, and the engine target position can be obtained after the space position of the nacelle is determined.
The method for acquiring the initial spatial position of the aero-engine specifically comprises the following steps:
after hoisting the aeroengine to the inlet position of the nacelle of the aircraft to be installed, establishing a reference coordinate system O-XYZ according to the axis direction, the wingspan direction and the vertical direction of the aeroengine;
acquiring two-dimensional data of an aeroengine auxiliary positioning component, and establishing a working coordinate systemO 1 -X 1 Y 1 Z 1 ；
Part of light beams projected to an auxiliary positioning component of the aircraft engine by adopting a laser projection mode are reflected to a reflection reference surface at the top of the aircraft engine, and a reflection reference surface coordinate system O is established on the reflection reference surface 2 -X 2 Y 2 ；
Establishing a working surface coordinate system on a working surface of an aero-engine frame;
making the axes of the reference coordinate system, the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system parallel;
calibrating the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system corresponding to the reference coordinate system to obtain a conversion relation among the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system and the reference coordinate system;
irradiating a laser line to the wingspan direction of the aeroengine, and according to the distance of the laser line irradiated on the auxiliary positioning assembly and a working coordinate system, obtaining the distance of the laser line irradiated on the auxiliary positioning assembly in the wingspan direction of the aeroengine, thereby obtaining the displacement of the aeroengine in the axial direction of the aeroengine, the displacement of the aeroengine in the wingspan direction and the yaw angle of the aeroengine in the wingspan direction;
according to the laser line of the reflection reference surface reflected to the top of the aero-engine, combining the coordinate system of the reflection reference surface to obtain the displacement of the aero-engine in the vertical direction and the first component of the roll angle around the axis direction of the aero-engine;
according to the two-dimensional data of the auxiliary positioning component of the aero-engine, a working surface coordinate system is combined, and a second component of the rolling angle of the axis direction of the aero-engine and a pitch angle of the aero-engine in the vertical direction are obtained;
obtaining the roll angle of the axis direction of the aero-engine according to the first component of the roll angle of the axis direction of the aero-engine and the second component of the roll angle of the axis direction of the aero-engine;
according to the displacement amount in the axis direction of the aero-engine, the rolling angle in the axis direction, the displacement amount in the wingspan direction, the yaw angle in the wingspan direction, the displacement amount in the vertical direction and the pitch angle in the vertical direction, the conversion relation of the working coordinate system, the reflection reference plane coordinate system and the working plane coordinate system and the reference coordinate system is combined, and the initial space position of the aero-engine hoisting is obtained. And establishing a working surface coordinate system by using a two-dimensional inclinometer.
In one embodiment of the application, a parallel flexible cable mechanism and a plane pose platform are adopted to adjust the space pose of the aeroengine, and the parallel flexible cable mechanism is fixed on the plane pose platform. The parallel flexible rope mechanism comprises a fixed platform and three ropes for connecting the fixed platform and the aero-engine, as shown in fig. 2, and A, B, C are respectively the connection points of the three ropes and the fixed platform; specifically, the point A is a connection point between a second rope of the parallel flexible rope mechanism and the fixed platform, and the point B is a connection point between a third rope of the parallel flexible rope mechanism and the fixed platform; and the point C is a connection point of a first rope of the parallel flexible rope mechanism and the fixed platform. a. b and c are respectively the connection points of the three ropes and the aeroengine; specifically, the point a is a connection point of a second rope of the parallel flexible rope mechanism and the aeroengine, the point b is a connection point of a third rope of the parallel flexible rope mechanism and the aeroengine, and the point c is a connection point of a first rope of the parallel flexible rope mechanism and the aeroengine; the lengths of the three ropes are respectively L 1 、L 2 、L 3 The method comprises the steps of carrying out a first treatment on the surface of the The parallel flexible rope mechanism is used for adjusting the height position of the aero-engine, the roll angle of the aero-engine and the roll angle of the aero-engine in the axial direction; the planar pose platform is used for adjusting the heading position (X direction) of the aero-engine, the wingspan position (Y direction) and the yaw angle of the aero-engine in the wingspan direction.
Establishing a reference coordinate system O-XYZ by taking the axis direction of the aero-engine as an X axis, the wingspan direction as a Y axis and the vertical direction as a Z axis; establishing a working coordinate system according to two-dimensional data of an aeroengine auxiliary positioning assemblyO 1 -X 1 Y 1 Z 1 。
In a reference coordinate system O-XYZ and a working coordinate systemO 1 -X 1 Y 1 Z 1 In (a):
o: fixing the gravity center of the platform;
x: pointing to a point C along the gravity center O of the fixed platform;
z: a vertically upward direction;
y: determining by a right-hand rule;
: the geometric gravity center of the suspension point of the aero-engine;
X 1 : pointing to a point c along the geometric center of the suspension point of the aero-engine;
Z 1 : a vertically upward direction;
Y 1 : determining by a right-hand rule;
M：O 1 -X 1 Z 1 an intersection point of the plane and AB;
m：O 1 -X 1 Z 1 intersection of plane with ab.
The plane pose platform adopts a three-dimensional adjustment platform and comprises an R rotation platform, an X rotation platform and a Y rotation platform, wherein the R rotation platform is used for adjusting the course position (X direction), the wingspan position (Y direction) and the yaw angle (Rz) of the aero-engine in the wingspan direction, and particularly as shown in fig. 3, the R rotation platform is fixed on an engine mounting frame, and the X rotation platform and the Y rotation platform are mounted on the R rotation platform.
Displacement of aeroengine in axial directionXThe calculation method of (2) is as follows:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>To measure the offset of the coordinate system relative to the reference coordinate system in the X-axis.
Displacement of aeroengine in spanwise directionThe calculation method of (2) is as follows:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Distance of laser line irradiation on the surface of auxiliary positioning component, +.>For measuring the deviation value of the coordinate system on the Y axis relative to the reference coordinate system.
Due to the working coordinate systemO 1 -X 1 Y 1 Z 1 Parallel to each axis of the reference coordinate system O-XYZ, the yaw angle of the aero-engine in the wingspan directionThe calculation method of (2) is as follows:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>For the distance the laser line impinges on the surface of the auxiliary positioning member.
Displacement of aeroengine in vertical directionZThe calculation method of (2) is as follows:
wherein ,Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is the firstThe corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is the deviation value of the coordinate system of the reflection reference plane relative to the global coordinate system on the Z axis.
First component R of roll angle in axial direction of aero-engine Y1 The calculation method of (2) is as follows:
wherein ,is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is the firstThe corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>For the effective width of the auxiliary positioning element, the effective width of the auxiliary positioning element is +.>The calculation method of (2) is as follows:
wherein ,for the number of calibration>Is a variable.
According to the two-dimensional data of the auxiliary positioning assembly and the working face coordinate system, the second component of the rolling angle of the axis direction of the aero-engine can be obtainedAnd pitch angle of the aero-engine in the vertical direction.
According to a first component of roll angle about the axis of the aircraft engineAnd a second component of the roll angle in the axial direction of the aircraft engine +.>The roll angle +.>. Rolling angle of aero-engine in axial direction>The calculation method of (2) is as follows:
wherein ,for a first component of the roll angle in the direction of the axis of the aero-engine, +.>Is the second component of the roll angle in the axis direction of the aero-engine.
Fitting the initial spatial position of the aeroengine into a reference coordinate system O-XYZ in which the spatial pose of the aeroengine comprises 6 degrees of freedom, the spatial pose of the aeroengine being represented by:
：/>x coordinates in a reference coordinate system O-XYZ;
：/>y coordinates in the reference coordinate system O-XYZ;
：/>z coordinates in a reference coordinate system O-XYZ, namely the height position of the aeroengine;
: roll angle of aero-engine;
: pitch angle of aero-engine;
: yaw angle of aeroengine.
And setting an initial carry path according to the initial space position of the aero-engine, and adjusting the space position of the aero-engine by utilizing the parallel flexible cable mechanism and the plane position platform until the space position of the aero-engine is installed in place.
Adjusting the height of the aircraft engine, i.e. adjusting the height position of the aircraft engine：
When three ropes shrink or stretch at the same time in equal proportion, the parallel flexible rope mechanism can translate along the Z axis according to the static balance principle; at this time, the geometric center of gravity of the suspension point of the aero-engineThe relative coordinates with the gravity center O of the fixed platform are as follows:
（1-1）
from the geometrical relationship of the spatial vectors, it is possible to:
（1-2）
representing the distance between the midpoint M of AB and the midpoint M of AB; />Representing the distance between the origin of the coordinate system of the fixed platform and the midpoint M of the AB edge; />Representing the distance between the origin of the working coordinate system and the mid point m of the ab edge.
Pitch angle of aeroengine：
When the rope L 1 Rope L 2 The length is unchanged, the rope L 3 The length is changed, the parallel flexible rope mechanism can be known to generate pitching motion according to the static balance principle, and the motion can be equivalent to that of the axis of the aero-engine on a coordinate system O of a reflecting reference surface 2 -X 2 Y 2 In, as shown in FIG. 4, the reflection reference plane coordinate system O 2 -X 2 Y 2 The central axis of the middle parallel flexible cable mechanism moves in a pitching way.
The coordinate of the point C is known as%0, 0), let m point coordinates be (++>，/>0), let c point coordinates be (+.>，/>0), obtainable according to the geometric conditions:
（1-3）
（1-4）
（1-5）
（1-6）
representing the C point in the coordinate system O of the reflection reference plane 2 -X 2 Y 2 X coordinate values of (a);
representing the C point in the coordinate system O of the reflection reference plane 2 -X 2 Y 2 Y coordinate value of (B);
representing the coordinate system O of the m point on the reflection reference plane 2 -X 2 Y 2 X coordinate values of (a);
representing the coordinate system O of the m point on the reflection reference plane 2 -X 2 Y 2 Y coordinate value of (B);
representing the coordinate system O of the reflecting reference plane 2 -X 2 Y 2 Origin O 2 Distance from point m;
representing the length of the rope between the fixed platform lifting point C and the workpiece lifting point C;
L mC representing the distance between point m and workpiece suspension point c;
L MC representing the distance between point M and fixed platform lifting point C;
representing edge O 2 The angle between C and side Cc.
From (1-4), (1-5), (1-6):
（1-7）
is obtained from (1-3):
（1-8）
and (3) making:
（1-9）
from (1-7), (1-8), (1-9):
（1-10）
according to an auxiliary angle formula, the method comprises the following steps:
（1-11）
（1-12）
（1-13）
（1-14）
（1-15）
representing the angle formed by the auxiliary angle formula; />Represents O 2 C and O 2 And an included angle between m.
(1-10) by the above simplification:
（1-16）
（1-17）
（1-18）
（1-19）
（1-20）
（1-21）
roll angle of aeroengine：
When the rope L 1 Rope L 2 When the relative length changes, the roll angle of the aero-engine changes, and the adjustment amplitude is tiny, so that the method comprises the following steps:
（1-22）
representing the length of the rope between the fixed platform lifting point A and the workpiece lifting point a;
representing the distance between the fixed platform lifting point B and the workpiece lifting point B;
indicating the distance between the workpiece suspension points a, b.
Based on the formula, the formula of the space 6-degree-of-freedom pose of the aeroengine can be obtained:
wherein ：
: roll angle of aero-engine;
: pitch angle of aero-engine;
: yaw angle of aero-engine;
: heading direction motor position;
: spanwise motor position;
: a deflection angle motor rotation angle;
L MC representing the distance between point M and fixed platform lifting point C.
The space pose of the aeroengine is adjusted by the parallel flexible rope mechanism and the plane pose platform to carry out operation simulation:
in order to verify the accuracy of the kinematic correct solution operation of the parallel flexible cable mechanism and the planar pose platform, the kinematic simulation is carried out on the installation operation of the parallel flexible cable mechanism and the planar pose platform. Due to heading position x of aeroengine O1 Span position y O1 And yaw angle gamma positive kinematics of the aero-engine are completely decoupled, and the motion input and the motion output are in linear relation, so that the yaw angle gamma positive kinematics mainly relate to the height position of the aero-engine onlyRoll angle of aero-engine>Pitch angle of aero-engine->The three degrees of freedom are used for kinematic simulation.
Wherein ab=1000, ac=bc=2500, ab=300, ac=bc=2200, l 1 、L 2 、L 3 The length input was 3000mm.
According to theoretical calculation, obtaining the roll angle of the aero-engine along with L through simulation 1 The change track is shown in fig. 5 and 6, the dotted line in fig. 5 is a connecting line between the head and tail points, and the solid line shows the roll angle of the aero-engine along with the length L of the rope 1 A curve of variation.
According to theoretical calculation, the altitude position of the aeroengine is obtained through simulationWith L 1 、L 2 、L 3 As shown in FIG. 7 and FIG. 8, the dashed line in FIG. 7 is the line connecting the first and the second points, and the solid line represents the height of the aircraft engine>Along with the length L of the rope 3 A curve of variation.
As shown in fig. 9 and 10, the dotted line in fig. 9 is a line between the end and the end, and the solid line shows the pitch angle β of the aero-engine along with the ropeLength L 3 Varying curve, pitch angle of aero-engine as a function of rope length L 3 And exhibit a decreasing trend. By enlarging pitch angle beta of aeroengine along with length L of rope 3 In the change trend graph, the pitch angle beta of the aero-engine can be seen to follow the length L of the rope 3 And the change of (2) is in a second-order nonlinear change trend.
Analysis of hoisting precision of an aeroengine by the parallel flexible rope mechanism and the plane pose platform:
the installation accuracy of the aero-engine influences the consistency of the installation quality of the engine, the parallel flexible cable mechanism and the plane pose platform are subjected to accuracy modeling, the installation accuracy of the parallel flexible cable mechanism and the plane pose platform is evaluated through mechanism error analysis, and a theoretical model and an accuracy data support are provided for accurate pose adjustment of the aero-engine installation.
The practical situation of the space pose of the parallel flexible rope mechanism and the plane pose platform is as follows,
wherein ：
Δm 1 : an error generated by the movement of the heading direction plane pose platform;
Δm 2 : an error generated by the movement of the spanwise planar pose platform;
Δm 3 : an error generated by yaw of the deflection angle plane pose platform;
Δl 1 rope L 1 Errors generated by the change of the length;
Δl 2 rope L 2 Errors generated by the change of the length;
Δl 3 rope L 3 Errors generated by the change of the length;
the precision of the parallel flexible cable mechanism and the plane pose platform is expressed as follows:
as can be seen from the above formula, the error of the course position, the span position and the degree of freedom of the yaw angle of the aero-engine are linearly related to the input error; the height position of the aero-engine, the roll angle of the aero-engine and the error of the degree of freedom of the pitch angle of the aero-engine are in nonlinear relation with the input error. For this purpose, the working accuracy of the degree of freedom of the altitude position of the aero-engine, the roll angle of the aero-engine and the pitch angle of the aero-engine is emphasized below.
And (3) precision analysis of the parallel flexible cable mechanism and the plane pose platform:
based on engineering design experience, the combined flexible rope mechanism system adopts a servo motor and a speed reducer to configure the length control of the rope. In consideration of the accuracy of the driving device and the transmission device, the stretching of the ropes and the systematic error, the input error (rope length error) of the three ropes in the combined flexible rope mechanism is Deltal 1 =Δl 2 =Δl 3 For a height position of the aero-engine, the operation accuracy of the link-flex mechanism at the pitch angle of the aero-engine and at the roll angle degree of freedom of the aero-engine is analyzed as follows:
altitude position error in aero-engines:
when the Z coordinate value is obtained, deltal 1 =Δl 2 =Δl 3 When=0.1 mm, the maximum error is calculated as 0.099837 ≡0.1mm.
Pitch angle error in aero-engines:
when the pitch angle is determined, deltal 1 =Δl 2 =0mm，Δl 3 The maximum error occurs when =0.1 mm, and the following graph 11 shows the following L 3 The maximum pitch angle error is 0.0027 deg.
Roll angle error in aero-engines:
when the roll angle error is found, deltal 1 =0.1mm，Δl 2 Maximum error of 0.0033 ° is produced when =0mm.
And (3) lifting test verification:
the hoisting operation test is carried out based on the flexible rope connecting mechanism and the plane pose platform, the space position and the pose state of the aeroengine are extracted through the measuring system, the online adjustment is carried out according to pose errors, and finally the accurate butt joint is realized. The invention discloses a lifting type aeroengine in-place installation method, which can finish the attitude adjustment of an engine in the lifting type aeroengine installation process, avoid interference around an aircraft nacelle, smoothly send the engine into an installation position, realize the alignment of space, further finish the installation of the engine in the aeroengine nacelle and realize the balanced load distribution.
Claims (10)
1. The in-place installation method of the hoisting type aero-engine is characterized by comprising the following steps of:
s1, hoisting an aeroengine to an inlet position of an aircraft nacelle to be installed, acquiring an initial spatial position of the aeroengine, and simultaneously acquiring a spatial position of the aircraft nacelle and an engine target position;
s2, setting an initial carry path according to the initial space position of the aero-engine and the target position of the engine, wherein the initial carry path ensures that the head of the aero-engine in-place is not contacted with the inlet of the nacelle;
s3, pushing the aeroengine into the aircraft nacelle according to the initial carry path, acquiring the current space position of the aeroengine, calculating the space position of the aeroengine in the next carry state and comparing the space position of the aircraft nacelle according to the current space position of the aeroengine and the initial carry path, and pushing the aeroengine into the aircraft nacelle according to the initial carry path if the space position of the aeroengine in the next carry state is not interfered with the space position of the aircraft nacelle; if the space position of the aero-engine in the next carry state interferes with the space position of the aircraft nacelle, the current space position of the aero-engine is adjusted, so that the space position of the aero-engine in the initial path next carry state does not interfere with the space position of the aircraft nacelle, and the aero-engine is pushed into the position according to the initial carry path until the aero-engine reaches the engine target position.
2. The method for installing a lifting aeroengine in place according to claim 1, wherein the acquisition of the initial spatial position and the target position of the aeroengine comprises the following steps: an auxiliary positioning assembly is arranged on the aero-engine, and the initial spatial position of the aero-engine is obtained according to the spatial position of the auxiliary positioning assembly; and acquiring the target position of the engine according to the space position of the nacelle of the aircraft.
3. The method for in-place installation of a lifting type aero-engine according to claim 2, wherein the obtaining of the initial spatial position of the aero-engine specifically comprises the following steps:
after hoisting the aero-engine to the inlet position of the nacelle of the aircraft to be installed, establishing a reference coordinate system according to the axial direction, the wingspan direction and the vertical direction of the aero-engine;
acquiring two-dimensional data of an aeroengine auxiliary positioning assembly, and establishing a working coordinate system;
a laser projection mode is adopted to project partial light beams to the auxiliary positioning component of the aeroengine to reflect to a reflection reference surface at the top of the aeroengine, and a reflection reference surface coordinate system is established on the reflection reference surface;
establishing a working surface coordinate system on a working surface of an aero-engine frame;
making the axes of the reference coordinate system, the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system parallel;
calibrating the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system corresponding to the reference coordinate system to obtain a conversion relation among the working coordinate system, the reflecting reference plane coordinate system and the working plane coordinate system and the reference coordinate system;
irradiating a laser line to the wingspan direction of the aeroengine, and according to the distance of the laser line irradiated on the auxiliary positioning assembly and a working coordinate system, obtaining the distance of the laser line irradiated on the auxiliary positioning assembly in the wingspan direction of the aeroengine, thereby obtaining the displacement of the aeroengine in the axial direction of the aeroengine, the displacement of the aeroengine in the wingspan direction and the yaw angle of the aeroengine in the wingspan direction;
according to the laser line of the reflection reference surface reflected to the top of the aero-engine, combining the coordinate system of the reflection reference surface to obtain the displacement of the aero-engine in the vertical direction and the first component of the roll angle around the axis direction of the aero-engine;
according to the two-dimensional data of the auxiliary positioning component of the aero-engine, a working surface coordinate system is combined, and a second component of the rolling angle of the axis direction of the aero-engine and a pitch angle of the aero-engine in the vertical direction are obtained;
obtaining the roll angle of the axis direction of the aero-engine according to the first component of the roll angle of the axis direction of the aero-engine and the second component of the roll angle of the axis direction of the aero-engine;
according to the displacement amount in the axis direction of the aero-engine, the rolling angle in the axis direction, the displacement amount in the wingspan direction, the yaw angle in the wingspan direction, the displacement amount in the vertical direction and the pitch angle in the vertical direction, the conversion relation of the working coordinate system, the reflection reference plane coordinate system and the working plane coordinate system and the reference coordinate system is combined, and the initial space position of the aero-engine hoisting is obtained.
4. The method for installing a lifting type aeroengine according to claim 3, wherein the aeroengine is pushed into the aircraft nacelle according to an initial carry path, the space position of the aeroengine is adjusted specifically through a parallel flexible cable mechanism and a plane position platform, and the parallel flexible cable mechanism is fixed on the plane position platform.
5. The method for installing a lifting aircraft engine in place according to claim 4, wherein the establishment of the working coordinate system specifically comprises the following steps: taking the axis direction of an aero-engine as an X axis, taking the wingspan direction as a Y axis and taking the vertical direction as a Z axis, establishing a reference coordinate system O-XYZ, and according to aviationTwo-dimensional data of auxiliary positioning component of air engine establish working coordinate systemO 1 -X 1 Y 1 Z 1 ；
O: fixing the gravity center of the platform;
x: the gravity center O of the fixed platform points to a point C, wherein the point C is a connection point of a first rope of the parallel flexible rope mechanism and the fixed platform;
z: a vertically upward direction;
y: determining by a right-hand rule;
: the geometric gravity center of the suspension point of the aero-engine;
X 1 : pointing to a point c along the geometric center of an aero-engine lifting point, wherein the point c is a connection point of a first rope of the parallel flexible rope mechanism and the aero-engine;
Z 1 : a vertically upward direction;
Y 1 : determined by right hand rules.
6. The method for installing the lifting type aero-engine in place according to claim 5, wherein when the space pose of the aero-engine is adjusted through the parallel flexible rope mechanism and the plane pose platform, the initial space position of the aero-engine is fitted into a reference coordinate system O-XYZ, and the method specifically comprises the following steps: the spatial pose of the aeroengine in the reference coordinate system O-XYZ is represented by:
：/>an X coordinate in an O-XYZ coordinate system;
：/>y coordinates in an O-XYZ coordinate system;
：/>z coordinates in an O-XYZ coordinate system;
: roll angle of aero-engine;
: pitch angle of aero-engine;
: yaw angle of aeroengine.
7. The method for installing a lifting type aero-engine in place according to claim 6, wherein the adjusting of the space pose of the aero-engine by the parallel flexible cable mechanism and the plane pose platform comprises the following steps: height direction adjustment of aero-engine and height position of aero-engine：
Pitch angle of aeroengine：
Roll angle of aeroengine：
in the formula ：the distance between the midpoint M of the AB and the midpoint M of the AB is represented, the point A is the connection point of the second rope of the parallel flexible rope mechanism and the fixed platform, and the point B is the connection point of the third rope of the point parallel flexible rope mechanism and the fixed platform; the point a is a connection point of a second rope of the parallel flexible rope mechanism and the aeroengine, and the point b is a connection point of a third rope of the parallel flexible rope mechanism and the aeroengine;
representing the distance between the origin of the coordinate system of the fixed platform and the midpoint M of the AB edge;
representing the distance between the origin of the working coordinate system and the midpoint m of the ab side;
representing the C point in the coordinate system O of the reflection reference plane 2 -X 2 Y 2 X coordinate values of (a);
representing the C point in the coordinate system O of the reflection reference plane 2 -X 2 Y 2 Y coordinate value of (B);
representing the coordinate system O of the m point on the reflection reference plane 2 -X 2 Y 2 X coordinate values of (a);
representing the coordinate system O of the m point on the reflection reference plane 2 -X 2 Y 2 Y coordinate value of (B);
representing the distance between the workpiece suspension points a, b;
the length of a rope between a lifting point A of the lifting point fixing platform and a lifting point a of a workpiece is represented;
the distance between the fixed platform lifting point B and the workpiece lifting point B is indicated.
8. The method for installing a lifting type aeroengine in place according to claim 6, wherein the method for calculating the displacement X of the aeroengine in the axial direction is as follows:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>A deviation value of the measuring coordinate system relative to the reference coordinate system on the X axis;
displacement of aeroengine in spanwise directionThe calculation method of (2) is as follows:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Distance of laser line irradiation on the surface of auxiliary positioning component, +.>For measuring the coordinate system relative to the reference coordinate system>Deviation values on the axis;
the calculation method of the displacement Z of the aero-engine in the vertical direction comprises the following steps:
wherein ,is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is the deviation value of the coordinate system of the reflection reference plane relative to the global coordinate system on the Z axis.
9. A method of in-situ mounting a hoisted aero-engine as claimed in claim 6, wherein the aero-engine is yawed in a spanwise directionCalculation of (2)The method comprises the following steps:
wherein ,for laser line number falling on left boundary of auxiliary positioning component surface +.>For the laser line number falling on the right boundary of the surface of the auxiliary positioning component, +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>Is->The corresponding distance of the laser line irradiated on the surface of the auxiliary positioning component is +.>For the distance the laser line impinges on the surface of the auxiliary positioning member.
10. The method for installing a lifting aircraft engine in place according to claim 6, wherein,
rolling angle of aeroengine in axial directionThe calculation method of (2) is as follows:
wherein ,for a first component of the roll angle in the direction of the axis of the aero-engine, +.>Is the second component of the roll angle in the axis direction of the aero-engine.
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