阅读说明：本技术 一种固定翼飞行器机翼对接系统及方法 (Fixed-wing aircraft wing butt joint system and method ) 是由 杜易臻 刘园 龚彬峻 于 2021-06-11 设计创作，主要内容包括：本发明提供一种固定翼飞行器机翼对接系统及方法,涉及机翼对接技术,包括：移动平台；多自由度平台,连接于所述移动平台上方,所述多自由度平台上方连接有外翼对接结构和固定翼对接结构,外翼位于所述外翼对接结构上,固定翼位于所述固定翼对接结构上；控制端,连接并控制所述移动平台、所述多自由度平台、所述外翼对接结构和所述固定翼对接结构工作,减少对接事故的发生,并提高对接的效率。(The invention provides a fixed wing aircraft wing butt joint system and a method, which relate to the wing butt joint technology and comprise the following steps: a mobile platform; the multi-degree-of-freedom platform is connected above the moving platform, an outer wing butt joint structure and a fixed wing butt joint structure are connected above the multi-degree-of-freedom platform, the outer wing is positioned on the outer wing butt joint structure, and the fixed wing is positioned on the fixed wing butt joint structure; and the control end is connected with and controls the mobile platform, the multi-degree-of-freedom platform, the outer wing butt joint structure and the fixed wing butt joint structure to work, so that the occurrence of butt joint accidents is reduced, and the butt joint efficiency is improved.)

1. A fixed-wing aircraft wing docking system, comprising:

a mobile platform;

the multi-degree-of-freedom platform is connected above the moving platform, an outer wing butt joint structure and a fixed wing butt joint structure are connected above the multi-degree-of-freedom platform, the outer wing is positioned on the outer wing butt joint structure, and the fixed wing is positioned on the fixed wing butt joint structure;

and the control end is connected with and controls the mobile platform, the multi-degree-of-freedom platform, the outer wing butt joint structure and the fixed wing butt joint structure to work.

2. The system of claim 1, further comprising:

a first sensor unit for recognizing a first posture of the outer wing and the stationary wing;

and the control end controls the outer wing butt joint structure and the fixed wing butt joint structure to work based on the first posture.

3. The system of claim 2, wherein the control end controls the operation of the outer-wing docking structure and the fixed-wing docking structure based on the first attitude, comprising:

judging whether the first posture is consistent with a preset posture or not, and if so, generating a docking signal;

and the control end responds to the butt joint signal and controls the outer wing butt joint structure and the fixed wing butt joint structure to work.

4. The system of claim 1, wherein the control end comprises a handheld terminal, and the handheld terminal is in communication connection with the mobile platform and the control motor of the multi-degree-of-freedom platform through a communication board card.

5. The system of claim 4, wherein the communication board is a 5G high-speed communication board.

6. The system of claim 1, further comprising:

the docking unit is connected with the control end, a plurality of docking steps are stored in the docking unit, and the docking unit is controlled by the control end;

and according to the selection of the control end on various docking steps, the mobile platform, the multi-degree-of-freedom platform, the outer wing docking structure and the fixed wing docking structure execute the docking steps.

7. The system according to claim 6, wherein a plurality of the docking steps correspond one-to-one to a plurality of model numbers;

the control end is connected with a model input unit, and the model input unit is used for receiving model types input by a user;

and selecting one docking step based on the model number and the plurality of docking steps.

8. The system of claim 6 or 7, further comprising:

and the second sensor unit is used for determining that the mobile platform and the multiple degrees of freedom reach a preset installation area before the mobile platform, the multiple degrees of freedom platform, the outer wing docking structure and the fixed wing docking structure perform the docking step.

9. The system of claim 1, wherein the multiple degree of freedom platform is a 6 degree of freedom platform and the mobile platform is an omnidirectional hydraulic load carrying platform.

10. A fixed-wing aircraft wing docking method, comprising:

receiving the model type input by a user based on a control terminal, and selecting one docking step from multiple docking steps;

the method comprises the steps that a control end is used for moving a moving platform and a multi-degree-of-freedom platform to a preset installation area, and a second sensor unit is used for determining that the moving platform and the multi-degree-of-freedom platform reach the preset installation area;

recognizing first postures of the outer wing and the fixed wing according to the first sensor unit, and generating a docking signal if the first postures are consistent with a preset posture;

and the control end responds to the butt joint signal to control the work of the outer wing butt joint structure and the fixed wing butt joint structure so as to realize butt joint.

Technical Field

The invention relates to a wing butt joint technology, in particular to a fixed-wing aircraft wing butt joint system and method.

Background

After the flight mission of the aircraft reaches a period of time, all airborne components of the aircraft are detected and maintained to ensure the flight safety. The sizes of airborne components at different positions are different, wherein the wingspan area of the aircraft wing is large, the weight of the aircraft wing is heavy, large-scale loading equipment is required to be used for assisting in loading and unloading in the process of assembling and disassembling the wing, various obstacles can be encountered in the butt joint process due to the complex appearance structure of structural components at various parts of different airplanes, the wings are required to be adjusted at different angles and directions in the butt joint process so as to avoid the obstacles, and the final accurate butt joint is carried out.

In the prior art, the manual screw rod butt joint frame with low precision is used for assisting butt joint in the butt joint process of the aircraft wings, the existing manual screw rod butt joint frame is large in size, multiple persons are required to perform cooperative operation, multiple workers need to be coordinated to perform synchronous operation in the operation process, and a series of accidental injury operations such as scraping and rubbing of the aircraft structure, deformation caused by excessive extrusion, falling of a surface coating and the like easily occur under the condition that communication is not timely.

Therefore, in the prior art, in the process of wing butt joint, butt joint accidents are easy to occur.

Disclosure of Invention

The embodiment of the invention provides a fixed wing aircraft wing butt joint system and method, which can reduce the occurrence of butt joint accidents and improve the butt joint efficiency.

In a first aspect of embodiments of the present invention, there is provided a fixed-wing aircraft wing docking system, comprising:

a mobile platform;

the multi-degree-of-freedom platform is connected above the moving platform, an outer wing butt joint structure and a fixed wing butt joint structure are connected above the multi-degree-of-freedom platform, the outer wing is positioned on the outer wing butt joint structure, and the fixed wing is positioned on the fixed wing butt joint structure;

and the control end is connected with and controls the mobile platform, the multi-degree-of-freedom platform, the outer wing butt joint structure and the fixed wing butt joint structure to work.

Optionally, in a possible implementation manner of the first aspect, the method further includes:

a first sensor unit for recognizing a first posture of the outer wing and the stationary wing;

and the control end controls the outer wing butt joint structure and the fixed wing butt joint structure to work based on the first posture.

Optionally, in a possible implementation manner of the first aspect, the controlling end controls the outer-wing docking structure and the fixed-wing docking structure to operate based on the first attitude, and includes:

judging whether the first posture is consistent with a preset posture or not, and if so, generating a docking signal;

and the control end responds to the butt joint signal and controls the outer wing butt joint structure and the fixed wing butt joint structure to work.

Optionally, in a possible implementation manner of the first aspect, the control end includes a handheld terminal, and the handheld terminal is in communication connection with the mobile platform and the control motor of the multiple degrees of freedom platform through a communication board card.

Optionally, in a possible implementation manner of the first aspect, the communication board is a 5G high-speed communication board.

Optionally, in a possible implementation manner of the first aspect, the method further includes:

the docking unit is connected with the control end, a plurality of docking steps are stored in the docking unit, and the docking unit is controlled by the control end;

and according to the selection of the control end on various docking steps, the mobile platform, the multi-degree-of-freedom platform, the outer wing docking structure and the fixed wing docking structure execute the docking steps.

Optionally, in a possible implementation manner of the first aspect, a plurality of types of the docking steps correspond to a plurality of model numbers one to one;

the control end is connected with a model input unit, and the model input unit is used for receiving model types input by a user;

and selecting one docking step based on the model number and the plurality of docking steps.

Optionally, in a possible implementation manner of the first aspect, the method further includes:

and the second sensor unit is used for determining that the mobile platform and the multiple degrees of freedom reach a preset installation area before the mobile platform, the multiple degrees of freedom platform, the outer wing docking structure and the fixed wing docking structure perform the docking step.

Optionally, in a possible implementation manner of the first aspect, the multiple degree of freedom platform is a 6 degree of freedom platform, and the mobile platform is an omnidirectional hydraulic load-carrying platform.

In a second aspect of the embodiments of the present invention, there is provided a method for docking a wing of a fixed-wing aircraft, including:

receiving the model type input by a user based on a control terminal, and selecting one docking step from multiple docking steps;

moving the mobile platform and the multi-degree-of-freedom platform to a preset installation area by using a control end, and determining that the mobile platform and the multi-degree-of-freedom platform reach the preset installation area by using a second sensor unit;

recognizing a first posture of the outer wing and the fixed wing according to a first sensor unit, and generating a docking signal if the first posture is consistent with a preset posture;

the control end responds to the butt joint signal and controls the outer wing butt joint structure and the fixed wing butt joint structure to work so as to realize butt joint.

In a third aspect of embodiments of the present invention, there is provided a fixed-wing aircraft wing interface apparatus comprising: memory, a processor and a computer program, the computer program being stored in the memory, the processor running the computer program to perform the method according to the second aspect of the invention.

A fourth aspect of the embodiments of the present invention provides a readable storage medium, in which a computer program is stored, and the computer program is used for implementing the method according to the second aspect of the present invention and various possible references to the second aspect when the computer program is executed by a processor.

The invention provides a fixed wing aircraft wing butt joint system and method, wherein a control end is used for moving a moving platform and a multi-degree of freedom platform to a preset installation area, the posture of the multi-degree of freedom platform is adjusted to adjust the butt joint posture of wings, the posture of the wings is identified by combining a first sensor unit, the position of the wings is identified by using a second sensor unit, and the butt joint is automatically carried out by matching with the pre-stored butt joint step, so that the occurrence of butt joint accidents is reduced, and the butt joint efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of a fixed-wing aircraft wing interface system according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a method for docking a wing of a fixed-wing aircraft according to an embodiment of the present invention;

fig. 3 is a schematic hardware structure diagram of a wing docking device of a fixed-wing aircraft according to an embodiment of the present invention.

In the figure, 11, the platform is moved; 12. a multi-degree-of-freedom platform; 121. an outer wing butt joint structure; 122. a fixed wing butt joint structure; 13. a control end; 2. a control cabinet; 21. a sensor drawer; 22. a cable drawer; 23. a power source; 24. a communication board card slot.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.

It should be understood that, in various embodiments of the present invention, the sequence numbers of the processes do not mean the execution sequence, and the execution sequence of the processes should be determined by the functions and the internal logic of the processes, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

It should be understood that in the present application, "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.

It should be understood that, in the present invention, "a plurality" means two or more. "and/or" is merely an association describing an associated object, meaning that three relationships may exist, for example, and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "comprises A, B and C" and "comprises A, B, C" means that all three of A, B, C comprise, "comprises A, B or C" means that one of A, B, C comprises, "comprises A, B and/or C" means that any 1 or any 2 or 3 of A, B, C comprises.

It should be understood that in the present invention, "B corresponding to a", "a corresponds to B", or "B corresponds to a" means that B is associated with a, and B can be determined from a. Determining B from a does not mean determining B from a alone, but may be determined from a and/or other information. And the matching of A and B means that the similarity of A and B is greater than or equal to a preset threshold value.

As used herein, "if" may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Example 1:

referring to fig. 1, which is a schematic structural diagram of a fixed-wing aircraft wing docking system provided in an embodiment of the present invention, the fixed-wing aircraft wing docking system 10 includes a mobile platform 11, a multiple degree of freedom platform 12, and a control end 13, and the control end 13 is used to control the mobile platform 11 and the multiple degree of freedom platform 12 to work, specifically as follows:

the moving platform 11:

specifically, the moving platform 11 is an omnidirectional hydraulic load-carrying platform, has high stability and flexible direction adjustment, and is used for bearing the multi-degree-of-freedom platform 12 to reach a designated position, so that the manual workload is reduced and the working efficiency is improved.

The multi-degree-of-freedom platform 12:

specifically, the multi-degree-of-freedom platform 12 is composed of a plurality of electric cylinders, six upper universal hinges, six lower universal hinges, an upper platform and a lower platform, the lower platform is fixed on a foundation, and the upper platform completes the motion of the upper platform in multiple degrees of freedom in space by means of the telescopic motion of the electric cylinders, so that various spatial motion postures can be simulated.

In practical application, the multi-degree-of-freedom platform 12 can be a 6-degree-of-freedom platform, so that a user and a server can flexibly adjust the posture of the wing on the multi-degree-of-freedom platform 12.

The multi-freedom-degree platform 12 is connected above the moving platform 11, the moving platform 11 moves to drive the multi-freedom-degree platform to move, an outer wing butt joint structure 121 and a fixed wing butt joint structure 122 are connected above the multi-freedom-degree platform 12, the outer wing is located on the outer wing butt joint structure 121, and the fixed wing is located on the fixed wing butt joint structure 122.

The outer wing docking structure 121 is used for bearing an outer wing, and the fixed wing docking structure 122 is used for bearing a fixed wing, it can be understood that the outer wing docking structure 121 can be an outer wing support frame, and the outer wing is placed on the outer wing docking structure 121, and can be stably matched with a multi-degree-of-freedom motion platform to adjust the posture; similarly, the fixed wing docking structure 122 may be a fixed wing support frame, and the fixed wing is placed on the outer wing docking structure 121, and can be stably matched with the multi-degree-of-freedom motion platform to adjust the posture.

The control end 13:

the control end 13 is connected with and controls the mobile platform 11, the multiple-degree-of-freedom platform 12, the outer wing docking structure 121 and the fixed wing docking structure 122 to work.

Specifically, the control end 13 may be a handheld terminal, the mobile platform 11 and the multi-degree-of-freedom platform 12 include servo motors, that is, control motors, and the control end 13 is connected to the corresponding control motors and sends control signals to the control motors to achieve the purpose of controlling the mobile platform 11 and the multi-degree-of-freedom platform 12.

For example, when the mobile platform 11 needs to move, the user may send a signal to the control motor of the mobile platform 11 through the control end 13 to control the movement of the mobile platform, and similarly, when the multi-degree-of-freedom platform 12 adjusts the posture, the control motor is also adjusted through the control end 13.

In practical application, the control end 13 is in communication connection with the mobile platform 11 and the control motor of the multi-degree-of-freedom platform 12 through communication board cards. In order to improve the real-time performance of the docking system, the communication board card of the embodiment adopts a 5G high-speed communication board card, so that the signal is strong, the delay is low, the real-time performance of the docking system is greatly improved, and the overall safety performance is improved.

In order to achieve manual and automatic docking, on the basis of the above embodiment, the fixed-wing aircraft wing docking system further comprises a first sensor unit for identifying a first attitude of the outer wing and the fixed wing; the control end 13 controls the operation of the outer-wing docking structure 121 and the fixed-wing docking structure 122 based on the first attitude.

Specifically, it may be determined whether the first posture is consistent with a preset posture, and if so, a docking signal is generated, and the control end 13 responds to the docking signal to control the operation of the outer wing docking structure 121 and the fixed wing docking structure 122.

It can be understood that whether the butt joint can be carried out or not is judged by identifying the wing postures, the butt joint is carried out if the regulation is met, the butt joint is not carried out if the regulation is not met, the condition can be that whether the first posture is consistent with the preset posture or not is judged, manual and automatic matching butt joint is realized, the working efficiency is improved, and meanwhile, the finish degree of the butt joint is improved.

Example 2:

a fixed-wing aircraft wing docking system, which differs from embodiment 1 in that it further comprises: the docking unit is connected with the control end 13, a plurality of docking steps are stored in the docking unit, and the docking unit is controlled by the control end 13; according to the selection of the control end 13 for various docking steps, the mobile platform 11, the multiple degree of freedom platform 12, the outer wing docking structure 121 and the fixed wing docking structure 122 perform the docking steps.

It can be understood that a plurality of docking steps are stored in the docking unit in advance, and the plurality of docking steps may be in one-to-one correspondence with a plurality of model numbers, for example, the model a corresponds to the docking step a, and the model B corresponds to the docking step B, and after the model number is determined, the corresponding docking step may be matched to realize automatic docking.

Correspondingly, in order to match models, the control terminal 13 is connected to a model input unit, the model input unit is used for receiving model numbers input by a user, that is, the user can input model numbers to be docked through the model input unit, based on the model numbers and a plurality of docking steps, one docking step is selected, for example, a model a is input, then the docking step a is matched, and then the mobile platform 11, the multi-degree-of-freedom platform 12, the outer wing docking structure 121 and the fixed wing docking structure 122 execute the docking step a.

In practical applications, the system further comprises a second sensor unit, wherein the second sensor unit is configured to determine that the mobile platform 11 and the multiple degrees of freedom reach a preset installation region before the mobile platform 11, the multiple degrees of freedom platform 12, the outer wing docking structure 121, and the fixed wing docking structure 122 perform the docking step.

It will be appreciated that before the docking step is carried out, it is necessary to determine that the wing has reached a predetermined mounting area in order to complete the subsequent docking step.

In addition, in order to integrate a plurality of modules, a control cabinet 2 can be further arranged, and a sensor drawer 21, a cable drawer 22, a power supply 23, a communication board card slot 24 and the like can be arranged on the control cabinet 2 to integrate the system, so that the system is more convenient and faster in the actual operation process.

Referring to fig. 2, which is a schematic flow chart of a method for docking a wing of a fixed-wing aircraft according to an embodiment of the present invention, an execution subject of the method shown in fig. 2 may be a software and/or hardware device. The execution subject of the present application may include, but is not limited to, at least one of: user equipment, network equipment, etc. The user equipment may include, but is not limited to, a computer, a smart phone, a Personal Digital Assistant (PDA), the above mentioned electronic equipment, and the like. The network device may include, but is not limited to, a single network server, a server group of multiple network servers, or a cloud of numerous computers or network servers based on cloud computing, wherein cloud computing is one type of distributed computing, a super virtual computer consisting of a cluster of loosely coupled computers. The present embodiment does not limit this. The method comprises steps S201 to S204, and specifically comprises the following steps:

s201, receiving a model number input by a user based on the control terminal 13, and selecting one docking step from multiple docking steps.

S202, the control end 13 is used to move the mobile platform 11 and the multiple degree of freedom platform 12 to a preset installation region, and the second sensor unit is used to determine that the mobile platform 11 and the multiple degree of freedom platform 12 reach the preset installation region.

S203, identifying first postures of the outer wing and the fixed wing according to the first sensor unit, and generating a docking signal if the first postures are consistent with a preset posture.

And S204, the control end 13 responds to the docking signal to control the outer wing docking structure 121 and the fixed wing docking structure 122 to work, so as to realize docking.

Referring to fig. 3, which is a schematic diagram of a hardware structure of a fixed-wing aircraft wing docking device provided in an embodiment of the present invention, the fixed-wing aircraft wing docking device 30 includes: a processor 31, a memory 32 and a computer program; wherein

A memory 32 for storing the computer program, which may also be a flash memory (flash). The computer program is, for example, an application program, a functional module, or the like that implements the above method.

A processor 31 for executing the computer program stored in the memory to implement the steps performed by the apparatus in the above method. Reference may be made in particular to the description relating to the preceding method embodiment.

Alternatively, the memory 32 may be separate or integrated with the processor 31.

When the memory 32 is a device independent of the processor 31, the apparatus may further include:

a bus 33 for connecting the memory 32 and the processor 31.

The present invention also provides a readable storage medium, in which a computer program is stored, which, when being executed by a processor, is adapted to implement the methods provided by the various embodiments described above.

The readable storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, a readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Additionally, the ASIC may reside in user equipment. Of course, the processor and the readable storage medium may also reside as discrete components in a communication device. The readable storage medium may be a read-only memory (ROM), a random-access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

The present invention also provides a program product comprising execution instructions stored in a readable storage medium. The at least one processor of the device may read the execution instructions from the readable storage medium, and the execution of the execution instructions by the at least one processor causes the device to implement the methods provided by the various embodiments described above.

In the above embodiments of the apparatus, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.