阅读说明：本技术 机舱内环境参数采集的空间定位装置及其控制系统和方法 (Spatial positioning device for collecting environmental parameters in engine room and control system and method thereof ) 是由 段春 孙江平 崔燚 李德庆 闫佳妮 刘鑫鑫 于 2020-04-30 设计创作，主要内容包括：本发明涉及一种用于机舱内环境参数采集的空间定位装置,包括：固定到机舱内预定位置的底座固定部件(1)；与底座固定部件(1)相联接的x轴运动机构(2)；与x轴运动机构(2)相关联并且能够沿x轴方向移动的y轴运动机构(3)；与y轴运动机构(3)相关联并且能够沿y轴方向移动的z轴运动机构(4)；以及与z轴运动机构(4)相关联的至少一个搭载平台(21),搭载平台(21)承载有采集环境参数的测试设备并且能够沿z轴方向移动。上述空间定位装置能够对机舱内任意空间位置进行自动数据采集,不仅能在机舱横截面上覆盖整个异型截面形状,而且能在轴向上贯穿整个机舱纵深。本发明还涉及一种用于控制该空间定位装置的系统及其控制方法。(The invention relates to a space positioning device for collecting environmental parameters in an engine room, which comprises: a base fixing member (1) fixed to a predetermined position in the nacelle; an x-axis movement mechanism (2) coupled to the base fixing member (1); a y-axis motion mechanism (3) which is associated with the x-axis motion mechanism (2) and can move along the x-axis direction; a z-axis motion mechanism (4) which is associated with the y-axis motion mechanism (3) and can move along the y-axis direction; and at least one carrying platform (21) which is associated with the z-axis movement mechanism (4), wherein the carrying platform (21) carries a test device for collecting environmental parameters and can move along the z-axis direction. The space positioning device can automatically acquire data of any space position in the engine room, not only can cover the cross section of the engine room with the shape of the whole special-shaped section, but also can axially penetrate through the depth of the whole engine room. The invention also relates to a system for controlling the spatial orientation device and a control method thereof.)

1. A spatial locating device for in-cabin environmental parameter acquisition, comprising:

a base fixing member (1) fixed to a predetermined position within the nacelle;

an x-axis movement mechanism (2) coupled to the base fixing part (1);

a y-axis motion mechanism (3) associated with the x-axis motion mechanism (2) and movable in an x-axis direction;

a z-axis motion mechanism (4) associated with the y-axis motion mechanism (3) and movable in a y-axis direction; and

at least one carrying platform (21) associated with the z-axis movement mechanism (4), the carrying platform (21) carrying a test device for acquiring the environmental parameters and being movable in the z-axis direction.

2. The spatial positioning device according to claim 1, characterized in that the base fixture (1) is equipped with a fixing base (5) coupled to the floor and/or skid rails of the nacelle.

3. The spatial positioning device according to claim 1, wherein the x-axis movement mechanism (2) comprises a first slider (6) perpendicularly coupled to the y-axis movement mechanism (3), a first guide rail (7) on which the first slider (6) slides in the x-axis direction, a worm (8) passing through the first slider (6) and disposed in parallel with the first guide rail (7), and a worm (9) associated with the first slider (6) and engaged with the worm (8), the first slider (6) being driven to reciprocate in the x-axis direction by a first motor (10) via the worm (9).

4. The spatial positioning device according to claim 1, wherein the x-axis moving mechanism (2) comprises a first slider (6) perpendicularly coupled to the y-axis moving mechanism (3), a first guide rail (7) on which the first slider (6) slides in the x-axis direction, a rack gear passing through the first slider (6) and disposed in parallel with the first guide rail (7), and a gear associated with the first slider (6) and engaged with the rack gear, and a first motor (10) drives the first slider (6) to reciprocate in the x-axis direction via the gear.

5. The spatial positioning device according to claim 3 or 4, characterized in that the first guide rail (7) and the scroll bar (8) or rack have a modular construction which can be assembled elongated along the x-axis.

6. The spatial positioning device according to claim 3 or 4, wherein the y-axis moving mechanism (3) includes a second slider (12) vertically coupled to the z-axis moving mechanism (4), a second guide rail (11) on which the second slider (12) slides in the y-axis direction, a ball screw (14) passing through the second slider (12) and disposed in parallel with the second guide rail (11), and a screw nut (13) associated with the second slider (12) and engaged with the ball screw (14), and a second motor (15) drives the second slider (12) to reciprocate in the y-axis direction via the ball screw (14).

7. The spatial positioning device according to claim 6, wherein the z-axis movement mechanism (4) comprises at least one third slider (20) carrying the carrying platform (21), at least one third guide rail (18) on which the third slider (20) slides in the z-axis direction, at least one ball screw (17) passing through the third slider (20) and arranged in parallel with the third guide rail (18), and at least one screw nut (19) associated with the third slider (20) and engaged with the ball screw (17), at least one third motor (16) driving the third slider (20) to reciprocate in the z-axis direction via the ball screw (17).

8. The spatial positioning device according to claim 7, characterized in that the z-axis movement mechanism (4) is designed as a modular structure consisting of the third slide (20), the third guide rail (18), the ball screw (17), the screw nut (19) and the third motor (16).

9. The spatial positioning device according to claim 8, characterized in that the z-axis movement mechanism (4) is arranged in an axisymmetric configuration by means of the two module structures, so that the third guide rails (18) in the two module structures extend to both sides from the second slider (12), respectively, for the third slider (20) carrying the loading platform (21) to slide on.

10. The spatial positioning device according to claim 8, characterized in that one of the modular structures is loaded on the other modular structure, so that after the one modular structure reaches the limit position, the other modular structure loaded thereon is driven to continue widening the movement stroke of the z-axis movement mechanism (4).

11. A system for controlling the spatial locating device of claim 1, comprising:

a remote control end disposed outside the nacelle and remotely controlling the spatial positioning device, wherein the remote control end includes:

a target position input end for receiving a target position of an environmental parameter to be measured in the cabin; and

the control mechanism is used for conveying the test equipment carried on the carrying platform to the target position;

and the position sensor is positioned in the cabin and feeds back the position information of the space positioning device in real time, so that the remote control end monitors the position of the space positioning device and controls the position in a closed loop mode.

12. A method of controlling the system of claim 11, comprising the steps of:

the target position input end of the remote control end receives a target position of an environmental parameter to be measured in the engine room;

the control mechanism conveys the test equipment carried on the carrying platform to the target position;

and according to the position information fed back by the position sensor in real time from the cabin, the position monitoring of the remote control end on the space positioning device and the closed-loop control on the position are realized.

13. The control method according to claim 12, wherein the remote control end inputs a series of control commands in a script form, the whole travel path is planned in advance in the script, and the spatial positioning device moves to each point one by one according to the plan to complete parameter acquisition of all positions.

14. The control method of claim 12, wherein the remote control terminal takes the form of a single input of a single control command, one target location at a time and then executes.

15. The control method of claim 12, wherein at least one of inputting a movement displacement of each shaft at the remote control terminal or at least selecting each shaft movement mechanism performs a single-step movement control so as to control each shaft separately and move each shaft movement mechanism independently.

Technical Field

The invention relates to a space positioning device, in particular to a space positioning device for collecting environmental parameters in an engine room. In addition, the invention also relates to a system for controlling the space positioning device and a control method thereof.

Background

Cabin comfort is an important part of the commercial success of civilian aircraft in gaining customer favor in market competition. Design verification, iterative optimization and evaluation of the cabin comfort are realized by measuring environmental parameters in the cabin, and the environmental parameters such as temperature, humidity, pressure, wind speed and wind direction of any spatial position in the cabin influence the cabin comfort. In order to collect environmental parameters of any spatial position in the cabin, a set of spatial positioning device capable of carrying various testing devices is required.

At present, the environmental parameter acquisition process in the cabin generally adopts a manual or fixed-point support to position the test equipment. Although the mechanical automation type three-dimensional space positioning device is widely applied to the industrial fields of numerical control processing, mechanical arms and the like, the mechanical automation type three-dimensional space positioning device is still rarely applied to the field of civil aircraft cabin environment testing. The problems of large positioning error, asynchronous measurement, poor measurement repeatability, low measurement efficiency and the like exist when the testing equipment is positioned by manpower or a bracket, the measured environment field is easily interfered, the reliability of the acquired data is reduced, and the method is not suitable for complex space environments or extreme environment conditions.

The Tianjin university and Boeing (China) investment Limited have firstly proposed a multi-field simultaneous automatic testing device for indoor environment in the utility model patent with the publication number of CN 203772308U. The system comprises a three-dimensional motion, control and data acquisition system through analysis and discovery, and belongs to test equipment. The equipment only has certain space positioning capacity, adaptive design is not carried out aiming at the environment of a complex engine room, the motion track of the equipment cannot cover the complex special-shaped space of the whole engine room, and the condition that the floor of the engine room is used for fixing the base is not considered, so that the collection of the environmental parameters of any space position in the engine room cannot be realized.

Therefore, there is a need to design a spatial positioning device for automatically collecting data at any spatial position in a nacelle, wherein the spatial positioning device can not only cover the whole special-shaped cross section shape on the cross section of the nacelle, but also can axially penetrate through the whole depth of the nacelle.

Disclosure of Invention

The invention aims to provide a space positioning device for automatically acquiring data at any space position in a cabin, which not only can cover the whole special-shaped section shape on the cross section of the cabin, but also can axially penetrate through the depth of the whole cabin.

According to a first aspect, the invention relates to a spatial positioning device for acquiring environmental parameters in a cabin, comprising: a base fixing member fixed to a predetermined position in the nacelle; an x-axis motion mechanism coupled to the base stationary member; a y-axis motion mechanism associated with the x-axis motion mechanism and movable in the x-axis direction; a z-axis motion mechanism associated with the y-axis motion mechanism and movable in the y-axis direction; and at least one carrying platform which is associated with the z-axis motion mechanism, carries the test equipment for collecting the environmental parameters and can move along the z-axis direction.

Preferably, the base fixing part may be equipped with a fixing base coupled to the floor and/or the sliding rails of the nacelle.

Preferably, the x-axis movement mechanism may include a first slider perpendicularly coupled to the y-axis movement mechanism, a first guide rail on which the first slider slides in the x-axis direction, a worm gear passing through the first slider and disposed in parallel with the first guide rail, and a worm gear associated with the first slider and engaged with the worm gear, the first motor driving the first slider to reciprocate in the x-axis direction via the worm gear.

Preferably, the x-axis movement mechanism may include a first slider perpendicularly coupled to the y-axis movement mechanism, a first guide rail on which the first slider slides in the x-axis direction, a rack bar passing through the first slider and arranged in parallel with the first guide rail, and a gear associated with the first slider and engaged with the rack bar, the first motor driving the first slider to reciprocate in the x-axis direction via the gear.

Preferably, the first rail and the scroll or rack may have a modular construction that is capable of being assembled to be elongated along the x-axis.

Preferably, the y-axis moving mechanism may include a second slider coupled perpendicularly to the z-axis moving mechanism, a second guide rail on which the second slider slides in the y-axis direction, a ball screw passing through the second slider and arranged in parallel with the second guide rail, and a screw nut associated with the second slider and engaged with the ball screw, the second motor driving the second slider to reciprocate in the y-axis direction via the ball screw.

Preferably, the z-axis moving mechanism may include at least one third slider carrying the mounting platform, at least one third guide rail along the z-axis direction on which the third slider slides, at least one ball screw passing through the third slider and arranged in parallel with the third guide rail, and at least one screw nut associated with the third slider and engaged with the ball screw, the at least one third motor driving the third slider to reciprocate along the z-axis direction via the ball screw.

Preferably, the z-axis movement mechanism may be designed as a modular structure composed of a third slider, a third guide rail, a ball screw, a screw nut, and a third motor.

More preferably, the z-axis moving mechanism may be arranged in an axisymmetric structure by means of the two module structures, so that the third guide rails in the two module structures extend to both sides from the second slider respectively for the third slider of the carrying platform to slide on.

Preferably, one modular structure can be loaded on another modular structure, so that after the modular structure reaches the limit position, the other modular structure loaded on the modular structure is driven to continuously widen the motion stroke of the z-axis motion mechanism.

A second aspect according to the invention relates to a system for controlling a spatial positioning device as previously described, comprising: remote control end, remote control end are put outside the aircraft cabin and carry out remote control to space positioner, and wherein, remote control end includes: the target position input end is used for receiving a target position of the environmental parameter to be measured in the engine room; the control mechanism is used for conveying the test equipment carried on the carrying platform to a target position; and the position sensor is positioned in the cabin and feeds back the position information of the space positioning device in real time, so that the position monitoring of the space positioning device and the closed-loop control of the position by the remote control end are realized.

A third aspect according to the present invention relates to a control method of a system as previously described, comprising the steps of: a target position input end of the remote control end receives a target position of an environmental parameter to be measured in the engine room; the control mechanism conveys the test equipment loaded on the carrying platform to a target position; according to the position information fed back by the position sensor in the cabin in real time, the position monitoring of the remote control end to the space positioning device and the closed-loop control of the position are realized.

Preferably, the remote control end inputs a series of control instructions in a script form, the whole travel path is planned in advance in the script, and the space positioning device moves to each point one by one according to the plan to complete parameter acquisition of all positions.

Or, the remote control end adopts a single-time input single control instruction form, and one target position is input and then executed.

Or inputting the motion displacement of each shaft at a remote control end or at least selecting at least one of the motion mechanisms of each shaft to carry out single-step motion control so as to control each shaft respectively and enable each motion mechanism to move independently.

By arranging the control system outside the nacelle, the movement of the spatial positioning device in the nacelle can be controlled remotely, and the position information thereof is fed back in real time for position monitoring and position closed-loop control. The remote control end can input a series of motion instructions by a script, and can also manually input a single motion instruction or single step motion; the multi-axis mechanism can be linked simultaneously, and the motion can be controlled independently in a split axis mode.

The space positioning device for collecting the environmental parameters in the cabin has the following advantages:

(1) the space positioning device realizes mechanical automation, greatly improves the positioning precision and the measurement efficiency compared with manual or bracket positioning, solves the problems of asynchronous measurement and poor repeatability, reduces the influence on a measured environmental field, improves the reliability and the accuracy of test data, and is suitable for extreme environmental conditions harmful to human bodies.

(2) The base fixing part of the space positioning device fully utilizes the cabin floor structure, and the base and the floor are fixedly connected through the fixing part, so that the structural stability of the space positioning device in the whole operation period is ensured.

(3) The special transmission and the structural design of the x-axis movement mechanism allow any number of guide rails and worm bars to be additionally installed to realize the extension of the stroke, the movement displacement is guaranteed to cover the length of the whole cabin, and the modular design is favorable for quick assembly and disassembly, moving in and out of the cabin and long-distance transportation of the space positioning device.

(4) The special design of the z-axis motion mechanism allows the space positioning device to reach narrow places and wide places, so that the motion track of the space positioning device can cover the special-shaped section of the cabin, and meanwhile, the expansion ratio can be further improved through the expansion mechanism so as to adapt to more complicated section shapes.

(5) Through the linkage of each movement mechanism, the movement track of the space positioning device can cover the special-shaped section of the whole engine room and can penetrate through the axial depth, and the carried test equipment is conveyed to any space position in the engine room so as to acquire the environmental parameters of any position.

(6) The remote control can make the operator avoid the severe environment and reduce the influence of the operator on the measured environment. The position information real-time feedback can be used for position monitoring and position closed-loop control, and the control performance of the system is improved. The multiple control modes can increase the flexibility of control and the adaptability of different scenes, and meet the requirements of different use conditions.

Drawings

To further illustrate the technical effect of the spatial positioning device for acquiring environmental parameters in a nacelle according to the present invention, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments, wherein:

FIG. 1 is a schematic cross-sectional view of a single-channel civil aircraft nacelle;

FIG. 2 is an isometric view of a spatial positioning device according to the present invention;

FIG. 3 is a right side view of the spatial locator device shown in FIG. 2;

FIG. 4 is a front view of the spatial locator device shown in FIG. 2;

FIG. 5 is a top view of the spatial locator device shown in FIG. 2;

FIG. 6 shows the base fixing part of the above-mentioned spatial orientation device, with a broken line omitted for a part of its length;

FIG. 7 is a schematic view showing the arrangement of the fixing base of the base fixing part shown in FIG. 6 in a staggered manner after being cut off;

FIG. 8 is an isometric view of the x-axis motion mechanism of the spatial positioning device according to the present invention;

FIG. 9 is a front view of the x-axis motion mechanism shown in FIG. 8;

FIG. 10 is a side view of the x-axis motion mechanism shown in FIG. 8;

FIG. 11 is a top view of the x-axis motion mechanism shown in FIG. 8 with a break line omitting a portion of the length of the x-axis motion mechanism;

FIG. 12 is a cross-sectional view taken along line B-B of FIG. 11;

FIG. 13 is an isometric view of the y-axis motion mechanism of the spatial locator device in accordance with the invention;

FIG. 14 is an isometric view of a z-axis motion mechanism of the spatial positioning device according to the present invention; and

fig. 15 is an enlarged schematic view of a circled portion in fig. 14.

Reference numerals

1 base fixing part

2 x-axis movement mechanism

3 y-axis movement mechanism

4 z-axis motion mechanism

5 fixed seat

6 first slide block

7 first guide rail

8 snail strip

9 Worm

10 first electric machine

11 second guide rail

12 second slide block

13 lead screw nut

14 ball screw

15 second electric machine

16 third electric machine

17 ball screw

18 third guide rail

19 lead screw nut

20 third slide block

21 carrying platform

Detailed Description

The structure and technical effects of the spatial positioning device for acquiring the environmental parameters in the cabin according to the present invention are described below with reference to the accompanying drawings.

Fig. 1 is a schematic cross-sectional view of a single-channel civil aircraft nacelle. As can be seen, the nacelle roof has an irregular cross-sectional shape, and therefore the nacelle usually has a profiled cross-section. Therefore, the invention aims to design a space positioning device for automatically acquiring data at any space position in a cabin, and the space positioning device not only can cover the whole special-shaped section shape on the cross section of the cabin, but also can axially penetrate through the whole cabin depth.

Fig. 2 is an isometric view of a spatial locator device according to the present invention, and fig. 3-5 are a right side view, a front view, and a top view, respectively, of the spatial locator device shown in fig. 2.

It can be seen that the spatial positioning device for acquiring the environmental parameters in the cabin according to the invention comprises: a base fixing part 1 fixed to a predetermined position in the nacelle (typically, a floor of the nacelle or a slide rail mounted on the floor); an x-axis moving mechanism 2 coupled to the base fixing member 1; a y-axis movement mechanism 3 associated with the x-axis movement mechanism 2 and movable in the x-axis direction; a z-axis motion mechanism 4 associated with the y-axis motion mechanism 3 and movable in the y-axis direction; and at least one carrying platform 21 associated with the z-axis motion mechanism 4, the carrying platform 21 carrying a test device for acquiring environmental parameters and being movable in the z-axis direction.

It should be noted here that in the present application the term "x-axis" refers to an axis parallel to the longitudinal axis of the nacelle, "y-axis" refers to an axis in a vertical direction with respect to the nacelle floor, and "z-axis" refers to an axis in a horizontal direction with respect to the nacelle floor. It will be readily understood by those skilled in the art that the three axes are perpendicular to each other two by two. For example, in FIG. 1, the "y-axis" and the "z-axis" are shown, while the "x-axis" is the axis perpendicular to the plane of the paper in FIG. 1 and passing through the intersection of the "y-axis" and the "z-axis". The above definitions should be well known in the art.

Further, the term "coupled" includes not only a case where two members are coupled together with a fastener but also a case where the two members are made integral. In detail, the x-axis moving mechanism 2 can be coupled to the base fixing member 1 by one or more screws, rivets or other fasteners, or can be integrally formed with the base fixing member 1 by welding, fusing or gluing. Such variations are intended to fall within the scope of the present invention.

In addition, the term "associated" has more means of association than "coupled". For example, the y-axis moving mechanism 3 may not only be coupled to the first slider 6 of the x-axis moving mechanism 2 by a screw, a rivet or other fastening member, or may be integrally formed with the first slider 6 of the x-axis moving mechanism 2 by welding, welding or gluing, but also, for example, a base may be designed for the y-axis moving mechanism 3 and may be designed to be slidable on the x-axis moving mechanism 2, so that the y-axis moving mechanism 3 can move in the x-axis direction relative to the x-axis moving mechanism 2. Such a relationship should also be included within the scope encompassed by the term "associated".

Thus, as shown in fig. 2 to 5, the base fixing parts 1 are generally used in pairs, and one end of the x-axis moving mechanism 2 is coupled to a midpoint of one of the pair of base fixing parts 1, and the other end is coupled to a midpoint of the other of the base fixing parts 1. Of course, it should be possible to use only one base fixing part 1 if the levelness of the x-axis moving mechanism 2 can be ensured.

The y-axis moving mechanism 3 is preferably mounted to the top surface of the first slider 6 of the x-axis moving mechanism 2 using fasteners such as screws, the z-axis moving mechanism 4 is preferably fixed to the top surface of the second slider 12 of the y-axis moving mechanism 3 using auxiliary materials such as angle iron or steel plates, and the mounting platform 21 is directly loaded on the third slider 20 and extends from the third slider 20 to both sides. These will be described in detail later with reference to the accompanying drawings.

Fig. 6 and 7 show the base fixing part 1 of the spatial orientation device, the broken line in the figures omitting part of the length of the base fixing part 1.

As shown in fig. 7, the base fixing member 1 is a long and thin rod shape as a whole, and two ends thereof are respectively provided with a fixing base 5. The fixing base 5 can fully utilize the floor structure of the cabin, and fixedly connect the base fixing part 1 and even the whole space positioning device to the floor by various modes known in the field, so that the operation stability of the space positioning device is ensured.

The specific construction of the fixing base 5 is well known to those skilled in the art and is omitted herein. Any device with a similar fixing function can be used instead of the fixing base 5, and these variants are intended to fall within the scope of the present invention.

Fig. 8 is an axial side view of the x-axis movement mechanism 2 of the spatial positioning device according to the present invention, and fig. 9 and 10 are a front view and a side view, respectively, of the x-axis movement mechanism 2 shown in fig. 8.

As shown in fig. 8, the x-axis movement mechanism 2 includes a first slider 6 vertically associated or coupled with the y-axis movement mechanism 3 (not shown in the figure), a first guide rail 7 on which the first slider 6 slides in the x-axis direction, and a worm-shaped bar 8 passing through the first slider 6 and arranged in parallel with the first guide rail 7. It can be seen that in the embodiment shown in fig. 8, the first slider 6 consists of four individual sliders which, by means of a flat plate on top of them, constitute a first slider group. The first slider group slides in the x-axis direction inside the first guide rail 7. The first guide rails 7 are disposed on opposite sides of the x-axis movement mechanism 2, and the worm screws 8 are disposed between the first guide rails 7 and pass through the first slider group. In the present application, either a single slider or a set of sliders may be included within the scope of the term "slider" as described herein.

Fig. 11 is a plan view of the x-axis movement mechanism 2, and fig. 12 is a sectional view taken along line B-B in fig. 11.

It can be seen that below the first set of sliders there is provided a worm 9, the pitch of the worm 9 being capable of intermeshing with the pitch of the worm 8, so as to impart a translational motion to the first set of sliders along the worm 8 simultaneously with the rotation of the worm 9. In this way, the rotary movement of the worm 9 can be converted into a translational movement of the first slider 6. The x-axis movement mechanism 2 is also equipped with a first motor 10, the first motor 10 being coupled with the worm 9, so that the first motor 10 can be activated to drive the worm 9 to rotate and finally drive the first slider 6 to reciprocate in the extension direction of the worm 8, i.e. the x-axis direction.

In another embodiment, the mating relationship of the components is maintained except for the replacement of the worm/worm-drive arrangement with a gear/rack drive arrangement. Such substitutions are intended to be equivalents for the present invention and are intended to fall within the scope of the present invention. Of course, other suitable drive schemes may be used in place of the worm/worm-drive scheme and the gear/rack drive scheme previously described.

At least one of the first guide rail 7 and the worm 8 may be of modular design. Therefore, the first guide rail and the worm bar can be continuously arranged on the original first guide rail 7 and the original worm bar 8 according to the axial depth of the cabin and the using requirements, so that the infinite extension of the x-axis movement displacement is realized. The structure is very simple to disassemble and assemble, can be conveniently moved into or out of the cabin, and can be suitable for long-distance transportation.

Fig. 13 is an isometric view of the y-axis motion mechanism 3 of the spatial positioning device according to the present invention.

As shown in fig. 13, the y-axis movement mechanism 3 includes a second slider 12 vertically coupled to the z-axis movement mechanism 4 (not shown in the figure), a second guide rail 11 on which the second slider 12 slides in the y-axis direction, a ball screw 14 passing through the second slider 12 and disposed in parallel with the second guide rail 11, and a screw nut 13 associated with or coupled to the second slider 12 and engaged with the ball screw 14. Similar to the x-axis movement 2, the second carriage 12 is also composed of four individual carriages which, by means of a frame structure on top of them, form a second carriage group. Unlike the first slider group, since the second slider group slides in the y-axis direction within the second guide rail 11, it is preferable to enlarge the side surface of the frame structure located at the top as much as possible so that the z-axis movement mechanism 4 can be disposed thereon.

The second guide rails 11 are disposed on opposite sides of the y-axis moving mechanism 3, and the ball screw 14 is disposed between the second guide rails 11 and passes through the second slider group. A screw nut 13 is provided below a position where the second slider group is closest to the ball screw 14, and a pitch of the screw nut 13 is capable of meshing with a pitch of the ball screw 14, so that the second slider group is caused to perform a translational motion along the ball screw 14 while the ball screw 14 rotates. In this way, the rotational movement of the ball screw 14 can be converted into the translational movement of the second slider 12.

The y-axis movement mechanism 3 is also equipped with a second motor 15, and the second motor 15 is usually located at the bottom end of the y-axis movement mechanism 3 and is coupled with the ball screw 14, so that the ball screw 14 can be driven to rotate while the second motor 15 is activated, and finally the second slider 12 is driven to reciprocate in the extending direction of the ball screw 14, i.e., the y-axis direction.

It should be noted that the transmission mode adopted by the y-axis movement mechanism 3 is a ball screw/screw nut, and the reason why the worm/worm-bar transmission mode or the gear/rack transmission mode of the x-axis movement mechanism 2 is not adopted is that the x-axis movement mechanism 2 needs to be extended in length. This does not mean that the y-axis motion mechanism 3 cannot adopt a worm/worm-and-rack drive or a gear/rack drive. In fact, any transmission manner capable of driving the second slider 12 to reciprocate in the axial direction may be applied to the y-axis moving mechanism 3.

Fig. 14 is an axial side view of the z-axis moving mechanism 4 of the spatial positioning device according to the present invention, and fig. 15 is an enlarged schematic view of a circled portion in fig. 14.

It can be seen that the z-axis moving mechanism 4 is divided into two groups along the central axis of the y-axis moving mechanism 3, each group having the same arrangement. That is, the z-axis movement mechanism 4 has an axisymmetric structure. The z-axis movement mechanism 4 includes a pair of third sliders 20 that carry the mounting platform 21, a pair of third guide rails 18 on which the third sliders 20 slide in the z-axis direction, a pair of ball screws 17 that pass through the third sliders 20 and are arranged in parallel with the third guide rails 18, and a pair of screw nuts 19 that are associated with or coupled to the third sliders 20 and mesh with the ball screws 17. As shown in fig. 15, the pair of third guide rails 18 extend from the top surface of the second slider 12 to both sides, respectively, for the third slider 20 carrying the loading platform 21 to slide thereon. A pair of third motors 16 arranged side by side drive a third slider 20 via a ball screw 17 to reciprocate in the z-axis direction and bring the test equipment on the mounting platform 21 to a final desired position. The structure of the above parts is similar to that of the y-axis motion mechanism, and will not be described in detail.

In a preferred embodiment, the carrying platform 21 is made of three plates spliced into an inverted U shape, so as to be sleeved on the third sliding block 20 to carry various kinds of testing equipment. In another preferred embodiment, the mounting platform 21 can be integrated with the third slider 20, or directly utilize the top surface of the third slider 20 as the bearing surface of the testing apparatus. Such variations are intended to fall within the scope of the present invention.

Since the pair of third guide rails 18 extend from the top surface of the second slider 12 to both sides, the two mounting platforms 21 mounted on the third slider 20 driven via the ball screw 17 are controlled independently of each other and do not interfere with each other. Such a design is similar to a pair of telescoping mechanisms that telescope in opposite directions, thereby ensuring that the motion trajectory of the spatial locator device is adapted to the nacelle profiled cross-sectional shape as shown in fig. 1. That is, the test equipment can be sent not only to a place where the nacelle is narrow, but also to a place where the nacelle is wide.

In addition, the third motor 16, the ball screw 17, the third guide rail 18, the screw nut 19 and the third slider 20 in the z-axis motion mechanism can be made into a modular structure. If the expansion ratio of the ball screw 17 and the screw nut 19 needs to be further improved, the third motor 16 of one modular structure can be loaded on the third slide block 20 of the other module, so that after the third slide block 20 of the other modular structure reaches the limit position, the modular structure loaded on the third motor is driven to continuously expand the area which can be covered by the testing equipment, and the movement stroke of the z-axis movement mechanism 4 is widened. The design has strong expansibility, thereby reducing the manufacturing cost of the space positioning device.

The space positioning device adopts a remote control mode, a controller (not shown) is usually arranged outside the engine room, and the space positioning device can be controlled to automatically operate and quickly convey the carried test equipment to a target position only by inputting the target position of the environmental parameters to be tested in the engine room at a remote control end. Each motion mechanism can feed back information in real time for monitoring.

The remote control end can adopt a script form for input, as long as the whole task process is planned in advance by the script, and in the task execution process, the space positioning device moves to each point one by one according to a planned line so as to support the completion of parameter tests of all positions. In another embodiment, the remote control can also take a single form of input, such as inputting one target location at a time and then executing. The remote control end can also respectively and independently control the motion of each motion mechanism, so that the motion mechanisms can move independently and do not interfere with each other, and the motion displacement of each shaft can be input at the remote control end or single-step operation can be selected to realize the motion displacement.

The specific operation steps of the spatial locator device according to the invention will be briefly described below:

firstly, determining the position to be positioned by a space positioning device according to the requirement of parameter testing in an engine room, and then connecting and fixing the space positioning device with a slide rail on the floor of the engine room through a fixed seat 5 of a base fixing part 1;

secondly, according to the axial depth of the engine room and the test requirement, a first guide rail 7, a worm 8 and a base fixing part 1 are additionally arranged, so that the expansion of the x-axis movement stroke is realized;

thirdly, bearing the test equipment on the carrying platform 21 according to the test requirement;

then, selecting a control form at a remote control end according to the test requirement, wherein the selectable control form comprises a script form of the whole motion path, a single-time input single-target position form, a single-shaft control form or a single-step control form;

then, according to the control input, the moving targets of the xyz axes are calculated, and simultaneously the moving mechanisms of each axis are controlled to rapidly move to reach respective target positions, wherein the x-axis moving mechanism 2 adopts one direct current servo motor 10 to drive the carrying platform 21 to reach the x-axis target position, the y-axis moving mechanism 3 adopts one direct current servo motor 15 to drive the carrying platform 21 to reach the y-axis target position, and the z-axis moving mechanism 4 adopts two direct current servo motors 16 to drive the carrying platforms 21 on the left side and the right side to reach respective z-axis target positions. Each servo motor is controlled in a closed loop mode, and real-time feedback information of each motion mechanism is used for monitoring of a remote control end, so that the running state is checked in real time;

and finally, after the carrying platform 21 reaches the target position, keeping the posture stable until the test task at the current position is completed, and then controlling the space positioning device to move to the next target position to perform a new test task. The operation is circulated until the test equipment carried by the carrying platform 21 completes all test tasks;

after the task is completed, the spatial positioning device is reset and waits for a new task.

For better control of the spatial locator device, a system for controlling the spatial locator device is devised, comprising: remote control end, remote control end are put outside the aircraft cabin and carry out remote control to space positioner, and wherein, remote control end includes: the target position input end is used for receiving a target position of the environmental parameter to be measured in the engine room; the control mechanism is used for conveying the test equipment carried on the carrying platform to a target position; and the position sensor is positioned in the cabin and feeds back the position information of the space positioning device in real time, so that the position monitoring of the space positioning device and the closed-loop control of the position by the remote control end are realized.

The control method of the system comprises the following steps: a target position input end of the remote control end receives a target position of an environmental parameter to be measured in the engine room; the control mechanism conveys the test equipment loaded on the carrying platform to a target position; according to the position information fed back by the position sensor in the cabin in real time, the position monitoring of the remote control end to the space positioning device and the closed-loop control of the position are realized.

In a preferred embodiment, the remote control end inputs a series of control instructions in a script form, the whole travel path is planned in advance in the script, and the space positioning device moves to each point one by one according to the planning to complete the parameter acquisition of all positions. Optionally, the remote control end adopts a single input single control instruction form, and one target position is input and then executed. Optionally, at least one of the motion displacement of each shaft is inputted at the remote control end or at least the motion mechanisms of each shaft is selected to perform single-step motion control, so as to control each shaft separately and make each shaft motion mechanism move independently.

By arranging the control system outside the nacelle, the movement of the spatial positioning device in the nacelle can be controlled remotely, and the position information thereof is fed back in real time for position monitoring and position closed-loop control. The remote control end can input a series of motion instructions by a script, and can also manually input a single motion instruction or single step motion; the multi-axis mechanism can be linked simultaneously, and the motion can be controlled independently in a split axis mode.

Although the structure and operation steps of the spatial positioning device for acquiring environmental parameters in a nacelle according to the present invention are described above with reference to the preferred embodiments, it should be understood by those skilled in the art that the above examples are only illustrative and should not be construed as limiting the present invention. Therefore, modifications and variations of the present invention may be made within the true spirit and scope of the claims, and these modifications and variations are intended to fall within the scope of the claims of the present invention.