CN109986529B - Flexible intelligent mounting system for undercarriage - Google Patents
Flexible intelligent mounting system for undercarriage Download PDFInfo
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- CN109986529B CN109986529B CN201910234250.4A CN201910234250A CN109986529B CN 109986529 B CN109986529 B CN 109986529B CN 201910234250 A CN201910234250 A CN 201910234250A CN 109986529 B CN109986529 B CN 109986529B
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- 210000000078 claw Anatomy 0.000 claims abstract description 84
- 239000003638 chemical reducing agent Substances 0.000 claims description 46
- 230000007246 mechanism Effects 0.000 claims description 36
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 10
- 238000013519 translation Methods 0.000 claims description 6
- 230000004297 night vision Effects 0.000 claims description 5
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- 230000009471 action Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 10
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- 238000009434 installation Methods 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 229910052744 lithium Inorganic materials 0.000 description 4
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- 238000011065 in-situ storage Methods 0.000 description 3
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- 238000010438 heat treatment Methods 0.000 description 2
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- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The flexible intelligent mounting system of the undercarriage of the aircraft is characterized in that a gear on a B-axis servo motor is meshed with a B-axis gear; the supporting arm is hinged with a claw seat; the pushed piece is hinged with the push rod; a left claw and a right claw are arranged in the claw seat; gears on the left claw and the right claw are meshed; the Z-axis lead screw is arranged on the outer support cylinder; the Z-axis nut is fixedly arranged on the inner movable cylinder; the C-axis inner ring, the C-axis servo motor and the connecting cover are fixedly connected, and the pinion is meshed with the C-axis outer ring; a screw rod and a guide rail are arranged on the X-direction moving platform; the Y-axis guide sliding block and the nut are fixed on the lower end face of the Y-direction moving platform; an X-axis lead screw and a guide rail are arranged below the X-direction moving platform; the X-axis guide sliding block and the nut are fixed on the lower end surface of the X-direction moving platform; the control and power supply system and the four working wheel sets are mounted on the vehicle body frame. The flexible intelligent mounting system for the landing gear is fully intelligent in control, safe, reliable, flexible, high in precision, convenient to use and good in trafficability.
Description
Technical Field
The invention belongs to the technical field of aircraft security equipment, and particularly relates to a flexible intelligent mounting system for an aircraft landing gear.
Background
The flexible mounting system of the undercarriage is a necessary equipment of the aircraft security equipment. The landing gear flexible mounting system equipment for mounting and dismounting the landing gear of the aircraft at present is heavy, large in size, inflexible in movement, complex in operation, difficult to control, limited in use field, low in universal automation and intelligent degree, long in working time for mounting and dismounting, and capable of being matched with a plurality of crews, so that a plurality of inconveniences are brought to maintenance and guarantee work, and the requirement for future combat of troops and development of civil aviation maintenance equipment is not met. With the progress of aviation industry, the requirements on the functions and performance indexes of aircraft guarantee equipment are continuously improved.
Disclosure of Invention
In order to solve the technical problems, the invention provides the flexible intelligent mounting system for the aircraft landing gear with electric intelligent control, and solves the problems of heavy equipment, large volume, inflexible movement, complex operation and difficult control of the prior equipment.
The technical scheme of the invention is as follows:
The flexible intelligent mounting system for the undercarriage comprises a mechanical arm, a Z-axis lifting mechanism, a C-axis rotating mechanism, an XY-direction translation mechanism and a traveling vehicle, and is technically characterized in that:
The mechanical arm comprises a bearing seat, an electric push rod, a claw seat, a support arm and a B-axis servo motor. The bearing is arranged in the bearing seat, the outer ring of the bearing is fixedly connected with the inner wall of the bearing seat, and the support arm is inserted into the inner ring of the bearing and is fixedly connected with the inner ring of the bearing. The support arm is fixedly sleeved with a B-axis gear through a screw. The B-axis gear is provided with a plurality of teeth in a set angle range, so that the support arm rotates in the set angle. The shell of the B-axis servo motor is fixed on the bearing seat, and a gear on a power output shaft of the B-axis servo motor is meshed with the B-axis gear. The upper end of the outer wall of the bearing seat is fixedly provided with a camera with a light source and night vision function. The shell of the electric push rod is fixedly arranged on the support arm. One end of the support arm is hinged with a claw seat through a pin shaft, and the claw seat can rotate up and down around the pin shaft. The upper end face of the claw seat is fixedly provided with a pushed piece. The upper end of the pushed piece is hinged with a push rod on the electric push rod. The pushed piece and the claw seat are fixed together to act simultaneously, and the telescopic push rod of the electric push rod drives the pushed piece and the claw seat to do pitching motion around the A axis. The jaw seat is internally provided with a left jaw and a right jaw. One side of the left claw and the right claw is claw-shaped, and the other side is gear-shaped. The gear sides of the left claw and the right claw are respectively hinged with the upper end surface and the lower end surface of the claw seat, and the left claw and the right claw can rotate to finish the opening and closing actions. The gear on the left claw is meshed with the gear on the right claw. The outer wall of the jaw seat is fixedly provided with a jaw servo motor. The power output shaft of the claw servo motor is inserted into the claw seat, and a gear on the power output shaft of the claw servo motor is meshed with a gear on the right claw. The claw servo motor rotates to drive the left claw and the right claw to simultaneously rotate, so that the claw sides are opened and closed, and the object to be grasped is grasped or released. Two manual winches are fixedly arranged on the upper end of the claw seat and are used for fixing the landing gear.
The Z-axis lifting mechanism comprises an outer supporting cylinder, an inner movable cylinder, a Z-axis screw rod and a Z-axis screw nut. The outer support cylinder is sleeved on the outer side of the inner movable cylinder. The inner movable cylinder and the outer supporting cylinder are rectangular pipes. The Z-axis screw rod is vertically arranged on the inner wall of the outer support cylinder along the Z-axis direction through a screw rod mounting seat, and the screw rod can rotate in the screw rod mounting seat. The Z-axis nut is fixedly arranged on the inner wall of the inner movable cylinder. The Z-axis screw nut is sleeved on the Z-axis screw rod and is in threaded connection. One end of the Z-axis screw rod is connected to a power output shaft of a Z-axis speed reducer through a Z-axis coupler, and a power input shaft of the Z-axis speed reducer is connected to a power output shaft of a Z-axis servo motor. The outer support cylinder is fixed, the motor drives the screw rod to rotate, the Z-axis screw nut moves up and down along with the rotation of the Z-axis screw rod, and the inner movable cylinder fixed on the Z-axis screw nut moves up and down in the outer support cylinder. An outer roller is arranged on the outer side of the outer supporting cylinder, a bracket on the outer roller is fixed on the outer wall of the outer supporting cylinder, and the roller of the outer roller is contacted with the outer wall of the inner movable cylinder. An inner roller is arranged on the inner side of the inner movable cylinder and is positioned on the opposite side of the outer roller. The support of the inner roller is fixed on the inner wall of the inner movable cylinder, and the roller of the inner roller is contacted with the inner wall of the outer supporting cylinder. The upper end surface of the inner movable cylinder is fixedly connected with the outer wall of the bearing seat.
The C-axis rotating mechanism comprises a C-axis servo motor, a pinion, a C-axis bearing and a connecting cover. The C-axis bearing is formed by assembling a C-axis outer ring and a C-axis inner ring, and the arc-shaped outer wall of the C-axis outer ring is in a gear shape within a set angle range. The connecting cover is fixedly arranged on the upper end face of the C-axis inner ring. The casing of C axle servo motor sets firmly on the junction housing, and the power take off shaft of C axle servo motor inserts the centre bore fixed connection of pinion. The pinion is arranged on the outer side of the outer ring of the C shaft and is in meshed connection with the outer ring of the C shaft. The upper end face of the connecting cover is fixedly connected with the lower end face of the outer supporting cylinder through bolts.
And the XY translation mechanism comprises a Y-direction moving platform and an X-direction moving platform. The Y-direction moving platform is arranged above the X-direction moving platform. And a Y-axis lead screw and two Y-axis guide rails are arranged on the upper end surface of the X-direction moving platform along the Y-axis direction. The two Y-axis guide rails are respectively and fixedly arranged at two ends of the X-direction moving platform. The Y-axis screw rod is fixedly arranged in the middle of the X-direction moving platform through a screw rod mounting seat, and the screw rod can rotate in the screw rod mounting seat. And a Y-axis screw nut is connected to the Y-axis screw rod in a threaded manner. And a Y-axis guide sliding block is arranged on the Y-axis guide rail and can freely move along the guide rail. The Y-axis guide sliding block and the Y-axis nut are fixed on the lower end face of the Y-axis moving platform. One end of the Y-axis lead screw is connected to a power output shaft of a speed reducer through a coupler, and a power input shaft of the speed reducer is connected to a power output shaft of a servo motor. And the other end of the Y-axis lead screw is provided with a limiting stop piece for limiting the moving distance of the Y-axis moving platform. An X-axis lead screw and two X-axis guide rails are arranged below the X-direction moving platform along the X-axis direction. The two X-axis guide rails are respectively positioned at two ends of the X-direction moving platform, and the X-axis lead screw is positioned in the middle of the X-direction moving platform. An X-axis screw nut is connected to the X-axis screw rod in a threaded manner. An X-axis guide sliding block is arranged on the X-axis guide rail, and the sliding block can freely slide along the guide rail. The X-axis guide sliding block and the X-axis screw nut are fixed on the lower end face of the X-direction moving platform. One end of the X-axis lead screw is connected to a power output shaft of a speed reducer through a coupler, and a power input shaft of the speed reducer is connected to a power output shaft of a servo motor. And the other end of the X-axis lead screw is provided with a limiting stop piece for limiting the moving distance of the X-direction moving platform. The upper end face of the Y-direction moving platform is fixedly connected with the outer ring of the C shaft through bolts.
The walking vehicle comprises a vehicle body frame, four working wheel sets and a control and power supply system. One end of the vehicle body frame is provided with a U-shaped opening, so that the vehicle body frame is convenient to approach the landing gear. The control and power supply system is mounted on the vehicle body frame. The four working wheel sets are respectively arranged at the left and right sides of the front end and the left and right sides of the rear end of the vehicle body frame. The X-axis screw rod is fixedly arranged on the upper end face of the vehicle body frame through a screw rod mounting seat and an X-axis guide rail. A plurality of hanging points are arranged around the vehicle body frame.
The working wheel group comprises a working wheel servo motor, a working wheel speed reducer, a spring mounting column and a Mecanum wheel. The power output shaft of the working wheel servo motor is connected with the power input shaft of the working wheel speed reducer, and the power output shaft of the working wheel speed reducer is connected with the Mecanum wheel. And a damping spring is sleeved on the spring mounting column. The upper end boss of the spring mounting column is larger than the through hole on the connecting plate of the vehicle body frame, and the lower end of the spring mounting column penetrates through the through hole on the connecting plate of the vehicle body frame and is fixed on the working wheel reducer shell. The upper end of the damping spring is propped against the lower end face of the connecting plate of the vehicle body frame, and the lower end of the damping spring is propped against the working wheel reducer shell.
The control and power supply system comprises a plurality of servo motor controllers, lithium iron phosphate batteries, an inverter, a laser obstacle avoidance device, a scram switch, an electric cabinet, an audible and visual alarm, a safe touch edge, a PLC, an auxiliary function module, a temperature controller and two remote controllers. A plurality of servo motor controllers, lithium iron phosphate batteries, inverters and PLC and auxiliary functional modules thereof are installed in the vehicle body frame. The laser obstacle avoidance device and the scram switch are arranged on one side of the rear end of the vehicle body frame, and the audible and visual alarm is arranged on the other side of the rear end of the vehicle body frame. The electric cabinet is installed on the up end of automobile body frame. The safety contact edge is arranged around the vehicle body frame. The temperature controller is arranged on the upper end face of the vehicle body frame and detects the internal temperature of the vehicle body frame. Two remote controllers are mounted on the outside of the vehicle body frame. The intelligent automatic control system comprises a plurality of servo motor controllers, lithium iron phosphate batteries, an inverter, a laser obstacle avoidance device, an emergency stop switch, an electric cabinet, an audible and visual alarm, a safe touch edge, a PLC, an auxiliary functional module, a temperature controller and two remote controllers, wherein the servo motor controllers, the lithium iron phosphate batteries, the inverter, the laser obstacle avoidance device, the emergency stop switch, the electric cabinet, the audible and visual alarm, the safe touch edge, the PLC and the auxiliary functional modules are mutually connected on corresponding interfaces through wires.
The invention can realize the work of a full-automatic mode and a manual mode by using the full-intelligent control system, and the intelligent control system controls the landing gear flexible mounting system, so that the manipulator can realize the purposes of clamping the landing gear of the airplane and carrying out short-distance movement transportation, small-angle rotation of an A axis, small-angle rotation of a B axis, small-angle rotation of a C axis, small-angle movement of an X axis, small-angle movement of a Y axis and small-angle movement of a Z axis (small-angle rotation of a triaxial direction and small-angle movement of a triaxial direction), thereby adjusting the position and the gesture of the manipulator in the landing gear flexible mounting system to adapt to the airplane needing maintenance, and the manipulator is used when the landing gear of the airplane is installed and disassembled during the maintenance of the airplane.
The interior of the body frame is divided to form individual compartments, each of which is sealed by a separate cover.
The PLC and auxiliary function module comprises a vehicle-mounted PLC, a CPU module, a communication module, an I/O module, a motion control module and a PLC controller.
The walking function consists of a working wheel group; the working wheel set consists of a Mecanum wheel, a servo motor, a damping system and a planetary reducer; the damping system is connected with the vehicle body frame, the Mecanum wheel is connected with the speed reducer, and the speed reducer is connected with the servo motor.
The plane moving mechanism consists of an X-axis moving mechanism and a Y-axis moving mechanism, the X-axis moving mechanism and the Y-axis moving mechanism are consistent in structure, and the X-axis moving mechanism is exemplified by the X-axis moving mechanism and consists of an X-direction moving platform, an X-direction driving system and an X-direction linear guide rail; the X-direction linear guide rail is arranged on the Y-direction moving platform, the matched sliding block is arranged on the X-direction moving platform, a nut in the X-direction driving system is connected with the X-direction moving platform, and the X-direction driving system is arranged on the Y-direction moving platform;
The X-direction driving system and the Y-direction driving system are consistent in structure, and take the X-direction driving system as an example; the X-direction driving system consists of a driving motor, a speed reducer, a fixed lug, a coupler, a front lead screw mounting seat, a movable lug, a lead screw nut, a lead screw and a rear lead screw mounting seat; the driving motor is connected with the accelerator, the speed reducer is connected with the fixed lug, the coupler is connected with the speed reducer main shaft, the screw rod is arranged between the screw rod front mounting seat and the screw rod rear mounting seat, the screw rod is connected with the coupler, the movable lug is connected with the screw rod nut, the screw rod nut is arranged on the screw rod, and the movable lug is connected with the Y-direction movable platform;
The C-axis rotating system consists of a motor, a motor protection cover, a pinion, an outer ring, an inner ring and a connecting cover; the outer ring is connected with the X-direction moving platform, the inner ring is arranged in the outer ring, the pinion is connected with the motor and meshed with the outer ring, and the inner ring and the motor are connected together through the connecting cover;
The lifting mechanism adopts a telescopic structure and consists of an inner movable cylinder, an outer roller, a screw rod, a nut, an inner roller, an outer supporting cylinder, a motor protection cover, a motor, a shaft coupling and a speed reducer, wherein the outer supporting cylinder is connected with an inner ring in a C-axis rotating system, the motor is connected with the speed reducer and is arranged on the side surface of the outer supporting cylinder, the shaft coupling is arranged inside the outer supporting cylinder and is connected with the speed reducer, the screw rod is connected with the shaft coupling, the nut is connected with the inner movable cylinder and is matched with the screw rod, the inner roller is arranged on the side surface of the inner movable cylinder, and the outer roller is arranged on the outer side of the outer supporting cylinder;
The mechanical arm consists of a servo motor, a bearing, a camera, a mounting seat, a support arm, an electric push rod, a pushed piece, a claw seat, a pinion, a left claw and a right claw, wherein the pinion is connected with a motor spindle, a large gear is meshed with the pinion, the support arm is mounted on the mounting seat through the bearing, the tail end of the support arm is connected with the large gear and the support arm through a screw, the motor drives the pinion to rotate, and the support arm connected with the large gear is driven to rotate through gear meshing to realize rotation, speed reduction and moment increase. The electric push rod is connected with the support arm through a screw, the mechanical arm rotates around the B shaft through the extension and shortening of the adjusting push rod, the motor is arranged on the claw seat, the main shaft is provided with a pinion, the pinion is meshed with the tooth form of the right claw, the tooth form of the left claw and the tooth form of the right claw are meshed, the motor drives the gear to drive the clamping, releasing and other actions of the left claw and the right claw, transparent polyurethane is vulcanized on the inner surfaces of the left claw and the right claw, and the damage to the landing gear and the dyeing of mottle are avoided.
The beneficial effects of the invention are as follows: the landing gear flexible intelligent mounting system adopts the structure and the control mode, and is full intelligent control, safe, reliable, flexible, high in precision, convenient to use and good in trafficability. The landing gear flexible intelligent mounting system is powered by a rechargeable battery pack, so that the situation that the wiring length and the application range are limited is avoided in the using process of the equipment; the vibration impact can be effectively absorbed through the damping system of the working wheel set in the use process; the Mecanum wheel used by the working wheel group enables the movement of the equipment to be more flexible and convenient, not only can the equipment advance and retreat, but also the equipment can perform in-situ rotation, oblique movement and horizontal transverse movement; the intelligent control system of the equipment adopts a full-intelligent control system, can perform full-automatic and semi-automatic work, namely the equipment can automatically move to a working position, automatically recognize the type and the gesture of the landing gear, automatically start a working mode, and after the work is finished, the landing gear flexible intelligent mounting system automatically walks, exits from the working position, returns to a storage position and automatically contracts to a storage state; the manual operation is the auxiliary work of completing the mounting and dismounting of the landing gear by the operation of an operator when the manual operation is needed under special conditions; the lifting mechanism in the equipment adopts a telescopic structure, so that the self height of the equipment is reduced, and meanwhile, the trafficability of products can be improved; when the intelligent walking vehicle of the flexible intelligent mounting system of the landing gear is kept stationary in situ, the landing gear can be subjected to X, Y, Z triaxial movement and rotate around A, B, C triaxial after being clamped, and the intelligent walking vehicle can act simultaneously or independently, so that the working efficiency is improved; the display screen is arranged on the remote controller of the landing gear flexible mounting system, and the mounting positions of the landing gear and the landing gear can be checked in real time through the high-definition camera arranged on the mechanical arm, so that the operation is more convenient, and the accuracy is high; the laser obstacle avoidance device is arranged on the outer side of the intelligent walking vehicle, so that the product is prevented from colliding with an object to cause faults in the walking process.
Drawings
FIG. 1 is a schematic view of a landing gear flexible intelligent mounting system.
Fig. 2 is a schematic view of a walker.
Fig. 3 is a schematic diagram of the internal layout of fig. 2.
Fig. 4 is a schematic view of a working wheel set.
Fig. 5 is a schematic view of a robot arm.
Fig. 6 is a schematic diagram of the present device in six degrees of freedom. The X, Y, Z axes are perpendicular to each other in the figure.
Fig. 7 is a schematic view of a Z-axis lift mechanism.
Fig. 8 is a schematic cross-sectional view of an XY plane moving mechanism.
Fig. 9 is a schematic view of an XY plane moving mechanism.
Fig. 10 is a schematic view of a C-axis rotation mechanism.
FIG. 11 is a schematic diagram of an intelligent control system architecture.
Detailed Description
The flexible intelligent mounting system for the undercarriage comprises a mechanical arm 1-1, a Z-axis lifting mechanism 1-2, a C-axis rotating mechanism 1-3, an XY translation mechanism 1-4 and a traveling vehicle 1-5.
The mechanical arm 1-1 comprises a bearing seat 12-6, an electric push rod 12-8, a claw seat 12-12, a support arm 12-7 and a B-axis servo motor 12-1. The bearing seat 12-6 is internally provided with a bearing 12-4, the outer ring of the bearing 12-4 is fixedly connected with the inner wall of the bearing seat 12-6, and the support arm 12-7 is inserted into the inner ring of the bearing 12-4 and is fixedly connected. The support arm 12-7 is fixedly sleeved with a B-axis gear 12-3 through a screw. The B-axis gear 12-3 is provided with a plurality of teeth over a set angle range, so that the arm 12-7 rotates within the set angle. The shell of the B-axis servo motor 12-1 is fixed on the bearing seat 12-6, and the gear on the power output shaft of the B-axis servo motor 12-1 is in meshed connection with the B-axis gear 12-3. The upper end of the outer wall of the bearing seat 12-6 is fixedly provided with a camera 12-5 with a light source and night vision function. The shell of the electric push rod 12-8 is fixedly arranged on the support arm 12-7. One end of the support arm 12-7 is hinged with a claw seat 12-12 through a pin shaft, and the claw seat 12-12 can rotate up and down around the pin shaft. The upper end face of the jaw seat 12-12 is fixedly provided with a pushed piece 12-11. The upper end of the pushed piece 12-11 is hinged with a push rod 12-9 on the electric push rod 12-8. The pushed piece 12-11 and the claw seat 12-12 are fixed together to act simultaneously, and the electric push rod 12-8 stretches the push rod 12-9 to drive the pushed piece 12-11 and the claw seat 12-12 to do pitching motion around the axis A. The left claw 12-14 and the right claw 12-15 are arranged in the claw seat 12-12. One side of the left claw 12-14 and the right claw 12-15 is claw-shaped, and the other side is gear-shaped. The gear sides of the left claw 12-14 and the right claw 12-15 are respectively hinged with the upper end face and the lower end face of the claw seat 12-12, and the left claw and the right claw can rotate to complete opening and closing actions. The gears on the left jaws 12-14 mesh with the gears on the right jaws 12-15. The outer wall of the jaw seat 12-12 is fixedly provided with a jaw servo motor 12-16. The power output shaft of the jaw servo motor 12-16 is inserted into the jaw seat 12-12, and the gear on the power output shaft of the jaw servo motor 12-16 is meshed with the gear on the right jaw 12-15. The claw servo motor 12-16 rotates to drive the left claw 12-14 and the right claw 12-15 to rotate simultaneously, so that the claw sides open and close, and the object to be grasped is grasped or released. Two manual winches 12-10 are fixedly arranged on the upper ends of the claw seats 12-12 and are used for fixing the landing gear.
The Z-axis lifting mechanism 1-2 comprises an outer supporting cylinder 11-1, an inner movable cylinder 11-3, a Z-axis screw rod 11-6 and a Z-axis screw 11-4. The outer support cylinder 11-1 is sleeved outside the inner movable cylinder 11-3. The inner movable cylinder 11-3 and the outer support cylinder 11-1 are rectangular pipes. The Z-axis screw rod 11-6 is vertically arranged on the inner wall of the outer support cylinder 11-1 along the Z-axis direction through a screw rod mounting seat, and the screw rod can rotate in the screw rod mounting seat. The Z-axis screw 11-4 is fixedly arranged on the inner wall of the inner movable cylinder 11-3. The Z-axis screw 11-4 is sleeved on the Z-axis screw 11-6 and is in threaded connection. One end of a Z-axis screw rod 11-6 is connected to a power output shaft of a Z-axis speed reducer 11-9 through a Z-axis coupler 11-10, and a power input shaft of the Z-axis speed reducer 11-9 is connected to a power output shaft of a Z-axis servo motor 11-8. The outer supporting cylinder 11-1 is fixed, the motor drives the screw rod to rotate, the Z-axis screw 11-4 moves up and down along with the rotation of the Z-axis screw rod 11-6, and the inner movable cylinder 11-3 fixed on the Z-axis screw 11-4 moves up and down in the outer supporting cylinder 11-1. An outer roller 11-2 is arranged on the outer side of the outer supporting cylinder 11-1, a bracket on the outer roller 11-2 is fixed on the outer wall of the outer supporting cylinder 11-1, and the roller of the outer roller 11-2 is contacted with the outer wall of the inner movable cylinder 11-3. An inner roller 11-5 is arranged on the inner side of the inner movable barrel 11-3, and the inner roller 11-5 is positioned on the opposite side of the outer roller 11-2. The bracket of the inner roller 11-5 is fixed on the inner wall of the inner movable barrel 11-3, and the roller of the inner roller 11-5 is contacted with the inner wall of the outer supporting barrel 11-1. The upper end surface of the inner movable cylinder 11-3 is fixedly connected with the outer wall of the bearing seat 12-6.
The C-axis rotating mechanism 1-3 comprises a C-axis servo motor 10-5, a pinion gear 10-4, a C-axis bearing and a connecting cover 10-1. The C-axis bearing is formed by assembling a C-axis outer ring 10-2 and a C-axis inner ring 10-3, and the arc-shaped outer wall of the C-axis outer ring 10-2 is in a gear shape within a set angle range. The connecting cover 10-1 is fixedly arranged on the upper end face of the C-axis inner ring 10-3. The shell of the C-axis servo motor 10-5 is fixedly arranged on the connecting cover 10-1, and the power output shaft of the C-axis servo motor 10-5 is inserted into the central hole of the pinion 10-4 to be fixedly connected. The pinion gear 10-4 is disposed outside the C-axis outer race 10-2 and is in meshed engagement with the C-axis outer race 10-2. The upper end surface of the connecting cover 10-1 is fixedly connected with the lower end surface of the outer supporting cylinder 11-1 through bolts.
The XY translation mechanism 1-4 comprises a Y-direction moving platform 8-3 and an X-direction moving platform 8-6. The Y-direction moving platform 8-3 is arranged above the X-direction moving platform 8-6. A Y-axis lead screw 8-2 and two Y-axis guide rails 8-1 are arranged on the upper end surface of the X-direction moving platform 8-6 along the Y-axis direction. The two Y-axis guide rails 8-1 are fixedly arranged at two ends of the X-direction moving platform 8-6 respectively. The Y-axis screw rod 8-2 is fixedly arranged in the middle of the X-direction moving platform 8-6 through a screw rod mounting seat, and the screw rod can rotate in the screw rod mounting seat. The Y-axis screw rod 8-2 is connected with a Y-axis screw 9-8 in a threaded manner. A Y-axis guiding slide block 9-7 is arranged on the Y-axis guiding rail 8-1, and the slide block can freely move along the guiding rail. The Y-axis guide sliding block 9-7 and the Y-axis screw 9-8 are fixed on the lower end surface of the Y-axis moving platform 8-3. One end of the Y-axis lead screw 8-2 is connected to a power output shaft of a speed reducer through a coupler, and a power input shaft of the speed reducer is connected to a power output shaft of a servo motor. And the other end of the Y-axis lead screw 8-2 is provided with a limiting stop piece for limiting the moving distance of the Y-axis moving platform 8-3. An X-axis lead screw 8-4 and two X-axis guide rails 8-5 are arranged below the X-direction moving platform 8-6 along the X-axis direction. The two X-axis guide rails 8-5 are respectively positioned at two ends of the X-direction moving platform 8-6, and the X-axis lead screw 8-4 is positioned at the middle of the X-direction moving platform 8-6. An X-axis screw nut is connected with the X-axis screw rod 8-4 in a threaded manner. An X-axis guide slide block is arranged on the X-axis guide rail 8-5, and the slide block can freely slide along the guide rail. The X-axis guide sliding block and the X-axis screw nut are fixed on the lower end face of the X-direction moving platform 8-6. One end of the X-axis lead screw 8-4 is connected to a power output shaft of a speed reducer through a coupler, and a power input shaft of the speed reducer is connected to a power output shaft of a servo motor. The other end of the X-axis lead screw 8-4 is provided with a limiting stop piece for limiting the moving distance of the X-axis moving platform 8-6. The upper end surface of the Y-direction moving platform 8-3 is fixedly connected with the C-axis outer ring 10-2 through bolts.
The walking vehicle 1-5 comprises a vehicle body frame 2-15, four working wheel sets and a control and power supply system. The control and power supply system is mounted on the vehicle body frames 2-15. One end of the body frame 2-15 is provided with a U-shaped opening for facilitating access to the landing gear. The four working wheel sets are respectively mounted on the left and right sides of the front end and the left and right sides of the rear end of the vehicle body frames 2-15. The X-axis screw rod 8-4 is fixedly arranged on the upper end surface of the vehicle body frame 2-15 through a screw rod mounting seat and an X-axis guide rail 8-5. A plurality of suspension points are provided around the vehicle body frame 2-15.
The working wheel group comprises a working wheel servo motor 4-1, a working wheel speed reducer 4-2, a spring mounting column 4-3 and a Mecanum wheel 4-4. The power output shaft of the working wheel servo motor 4-1 is connected with the power input shaft of the working wheel speed reducer 4-2, and the power output shaft of the working wheel speed reducer 4-2 is connected with the Mecanum wheel 4-4. And a damping spring is sleeved on the spring mounting column 4-3. The boss at the upper end of the spring mounting column 4-3 is larger than the through hole on the connecting plate of the vehicle body frame 2-15, and the lower end of the spring mounting column 4-3 passes through the through hole on the connecting plate of the vehicle body frame 2-15 and is fixed on the shell of the running wheel reducer 4-2. The upper end of the damping spring is propped against the lower end face of the connecting plate of the vehicle body frame 2-15, and the lower end is propped against the shell of the running wheel reducer 4-2.
The control and power supply system comprises a plurality of servo motor controllers 3-1, lithium iron phosphate batteries 3-2, an inverter 3-3, a laser obstacle avoidance device 3-4, an emergency stop switch 3-5, an electric cabinet 3-6, an audible and visual alarm 3-7, a safe touch edge 3-8, a PLC, an auxiliary function module 3-9, a temperature controller 3-10 and two remote controllers 3-11. A plurality of servo motor controllers 3-1, lithium iron phosphate batteries 3-2, inverters 3-3, and PLC and auxiliary function modules 3-9 are installed in the vehicle body frame 2-15. The laser obstacle avoidance device 3-4 and the scram switch 3-5 are mounted on one side of the rear end of the vehicle body frame 2-15, and the audible and visual annunciator 3-7 is mounted on the other side of the rear end of the vehicle body frame 2-15. The electric cabinet 3-6 is mounted on the upper end face of the vehicle body frame 2-15. The safety contact edge 3-8 is installed around the vehicle body frame 2-15. The temperature controller 3-10 is mounted on the upper end face of the body frame 2-15 to detect the internal temperature of the body frame 2-15. Two remote controllers 3-11 are mounted outside the body frames 2-15. The servo motor controllers 3-1, the lithium iron phosphate battery 3-2, the inverter 3-3, the laser obstacle avoidance device 3-4, the scram switch 3-5, the electric cabinet 3-6, the audible and visual alarm 3-7, the safe touch edge 3-8, the PLC, the auxiliary function module 3-9, the temperature controller 3-10 and the two remote controllers 3-11 are mutually connected on corresponding interfaces through wires.
The safe contact edge prevents the device from being collided; the hanging point is used for fixing the device at a set position. The remote controller is convenient for the staff to control the device on the hand. A plurality of servo motor controllers drive all the servo motors on the device. The two remote controllers respectively control the actions of the four Mecanum wheels and the six degrees of freedom. The electric cabinet is provided with a control button and a display screen for controlling all other auxiliary devices, such as a camera with a light source and night vision function, a safe touch edge, an audible and visual alarm, a laser obstacle avoidance device, a scram switch and the like.
The body frames 2-15 are welded by high-strength high-quality alloy steel, and the weight reducing holes are formed and the structures of the parts are optimally designed according to the stress form under the condition that the strength and the rigidity of the body are not affected. An aluminum alloy anti-slip checkered plate is adopted at the upper part and the periphery of the car body. A plurality of chambers are arranged in the vehicle body frame for accommodating a plurality of servo motor controllers 3-1, lithium iron phosphate batteries 3-2, an inverter 3-3, a PLC and auxiliary functional modules 3-9 thereof, each chamber forms an independent space and is provided with an independent sliding door, and sealing rubber strips are arranged at the sliding doors to prevent dust, water and the like from entering.
In operation, through adjusting the rotation direction and the speed of each Mecanum wheel, the equipment can transversely move left and right, move forwards and backwards, obliquely move and rotate in situ, so that the omnidirectional walking function under the working state is realized, and the vibration generated in the walking process is absorbed by the vibration absorbing device under the working state, so that the walking stability is maintained.
When the flexible intelligent mounting system of the landing gear is used for long-distance transportation, the flexible intelligent mounting system can be transported by using roads, railways and waterways, lifting equipment is needed to be used in the loading or shipping process, and lifting points are mounted on the side surfaces of the intelligent traveling vehicles for lifting.
The outer ring is installed on X axial displacement platform in the C axle rotary system, the inner ring is installed inside the outer ring in the C axle rotary system, the inner ring is connected together with the motor to the connecting cover in the C axle rotary system, the pinion of installing on the motor inner ring in the axle rotary mechanism meshes with the outer ring, the connecting cover is connected with the outer support section of thick bamboo in the elevating system in the C axle rotary system, the pinion rotates along with the motor, the outer ring with the pinion meshing is fixed not to rotate, because the rotation of pinion, it revolves around the outer ring to drive connecting cover and inner ring, realize the rotatory purpose of C axle.
The lifting mechanism mainly comprises an outer supporting cylinder, an outer roller, an inner movable cylinder, a screw nut, an inner roller, a screw rod, a motor protection cover, a servo motor, a speed reducer and a coupler. The inner movable cylinder and the outer support cylinder are made of rectangular pipes, the outer support cylinder of the lifting mechanism is fixedly connected with the C-axis rotary connecting cover and the inner ring, the motor main shaft drives the ball screw in the spiral lifter to rotate through the speed reducer and the coupler, and the spiral lifter converts the circular motion of the motor into the ascending and descending motion of the inner movable cylinder. The inner movable cylinder and the outer support cylinder are provided with the antifriction pad, the idler wheel and other mechanisms, the movement posture of the inner movable cylinder is improved, the friction force is reduced, the lifting of the inner lifting cylinder can be limited, and misoperation is avoided, so that the inner lifting cylinder is lifted to exceed the effective stroke. The telescopic structure that operating system adopted, overall dimension is compact, has reduced the storage occupation space of equipment, has also avoided equipment to produce the interference with other equipment, article or building in the use, makes this product have better trafficability characteristic.
The mechanical arm mainly comprises a servo motor, a motor protection cover, a B-axis gear, a bearing, a camera, a bearing seat, a support arm, an electric push rod, a pushed piece, a claw seat, a pinion, a left claw and a right claw. The bearing seat is fixedly connected with an inner movable cylinder in the lifting mechanism, the speed reducer is fixed on the bearing seat, the output end of the speed reducer is connected with a pinion, the pinion is meshed with a large gear, and finally, the motor is rotated to drive the moving arm to rotate, so that the manipulator is rotated around the B axis. The movable seat is pushed by the electric push rod to realize the pitching action of the manipulator, and the manipulator rotates around the A axis. For the gesture of adaptation undercarriage, the undercarriage centre gripping manipulator in the flexible intelligent mounting system of undercarriage needs to be able to rotate around A, B axle, and the motor drives gear drive and realizes actions such as manipulator chucking, release. And the transparent polyurethane is vulcanized on the claw, so that the landing gear is prevented from being damaged and the sundry color is prevented from being dyed.
The intelligent control system comprises an intelligent operating system, an intelligent safety system, a power supply system and an intelligent self-checking system.
Intelligent operation system (realized by program)
The control mode of the landing gear flexible intelligent installation system adopts two control devices:
for the remote control that needs manual intervention, the operating personnel gives the signal through handheld remote controller (hereinafter referred to as remote controller), the communication module of intelligent control system is sent to the signal instruction that the remote controller sent, communication module gives the CPU that possesses the superhigh speed operation ability with the information transfer, CPU carries out analysis processing, send the execution command to I/O module and motion control module, the terminal components of execution command are controlled according to the instruction that I/O module and motion control module received to the execution components, equipment carries out a series of operations, the operating condition of undercarriage flexible intelligent installation system is mastered through the high definition display screen that the operating personnel was through observing on the handheld remote controller to the rethread operating personnel, form the closed loop control including the operating personnel.
The other is the intelligent control system without manual intervention, the system is provided with the energy storage capacity, the equipment can be stored in the internal memory after digital-analog scanning of the installation relative position of the machine type capable of being maintained and the landing gear, the machine type capable of being maintained is subjected to three-dimensional scanning during operation, the model corresponding to the landing gear needing to be maintained is obtained, the intelligent control system analyzes the route reaching the working position, starts to automatically move to reach the working position, invokes the landing gear installation position data of the same model from the internal memory, detects the gesture of the landing gear of the maintained aircraft, calculates the position required to be reached by each joint and the moving part of the flexible intelligent installation system of the landing gear, and the intelligent control system intelligently controls the equipment according to the obtained result, adjusts the equipment to the corresponding gesture, reliably clamps the landing gear, and manual operation is not needed in the whole working process.
Intelligent security system
When the flexible intelligent mounting system of the landing gear walks, the laser obstacle avoidance device arranged at the opposite angle of the vehicle body frame performs omnibearing dead angle-free scanning on the periphery of the equipment, if an obstacle exists on a walking route, the laser obstacle avoidance device feeds back a signal to the vehicle-mounted controller, after analysis and operation, the walking route is modified, the walking route with the nearest and reasonable walking distance is given to bypass the obstacle, and the intelligent obstacle avoidance function is realized; when the running space is special, the intelligent walking vehicle is required to be close to an object or equipment, the laser obstacle avoidance device is required to be manually closed to operate the equipment, the safety contact edge is arranged on the periphery of the bottom edge of the vehicle body, when the vehicle touches the object, the contact edge bears the pressure exceeding the set pressure, the vehicle automatically stops, and the situation that an operator forcedly touches an obstacle after closing the laser obstacle avoidance device due to complex environment and the like is prevented, so that loss is caused.
All the motion strokes of the six-degree-of-freedom mechanical arm are doubly protected by an internal program and a mechanical structure, so that accidents are avoided.
The clamping of the mechanical arm is controlled by adopting a servo motor, the servo motor has a feedback function, the pressure value in the grabbing action process is fed back in real time, after data are acquired, the action of the clamp is controlled by a control system with high precision, the clamping action of the mechanical arm is controlled safely and stably, and the installation and disassembly safety of the landing gear is ensured.
The emergency stop switches are arranged at the striking positions of the vehicle body to prevent sudden events, and after the emergency stop switches are excited, the equipment can stop moving in the shortest time through a set emergency program, meanwhile, the movement inertia is taken into account, and dangers are avoided.
The high-definition night vision camera is arranged on the mechanical arm of the landing gear flexible intelligent mounting system, the high-definition video image is transmitted to the display screen in the remote controller through the communication module, no matter which control mode is used for operating equipment, an operator can check the landing gear dismounting process in real time, and the mounting state of the landing gear can be adjusted.
Power supply system
The lithium iron phosphate battery includes a battery management system and a rechargeable battery pack.
The rechargeable lithium battery pack is controlled and managed by using a battery management system, the battery management system is used for forming an effective intelligent control system by collecting terminal voltage and temperature of each battery, charging and discharging current, total voltage/current of a battery pack and other information, timely feeding back the information of the charge state, the working state and the like of the battery pack, effectively controlling equalization among single batteries and among the battery packs, preventing overcharge or overdischarge of the batteries, finding and processing the power failure in the first time, and keeping the reliability and the high efficiency of the operation of the whole battery pack.
The flexible intelligent mounting system of the landing gear supplies power by using the rechargeable lithium battery pack, so that the flexible intelligent mounting system of the landing gear can conveniently move during working, and when the electric quantity of the battery pack is insufficient, the battery pack is charged quickly by using an external power supply. In special cases, the equipment is allowed to work while being charged, and the charging voltage is compatible with 220V commercial power and three-phase 380V industrial power.
The battery management system has an electric quantity alarming function, and sends out a primary alarm when the electric quantity is 35% and sends out a secondary alarm when the electric quantity is 20%. The primary alarm is charged as soon as possible, the secondary alarm is charged immediately, otherwise, the service life of the battery is seriously shortened due to over-discharge, the battery is charged after the battery is fully charged, the charging time is not too long, otherwise, the battery is excessively charged, and the battery is heated.
The battery packs are in modularized treatment, convenient to detach and replace, few in maintenance actions and high in efficiency. Besides the conventional functions, the lithium iron phosphate battery also has the following advanced technologies:
a) When the high temperature exceeds 40 ℃, the assembled axial flow fan is automatically started to perform heat dissipation treatment on the battery pack, and when the low temperature is reduced to-5 ℃, a self-heating system in the battery pack is started to perform heat treatment on key devices such as battery cells and the like, so that the normal charge and discharge efficiency of the battery pack is ensured.
B) The battery management system eliminates the mode of charging the lithium battery in the market and is provided with a charger, the external charging plug of the battery management system can be utilized to directly charge the lithium battery, the charging current can be adjusted within a set range, and the battery can be fully charged within 2-3 hours.
C) The charging process is carried out under the detection control of the battery management system, and the travel is controlled in a relatively closed loop mode, so that the charging process is safer and more reliable than an open loop mode of a charger.
Intelligent self-checking system (realized by program)
The intelligent control system has a self-checking function, when the equipment is started, the intelligent control system performs a self-checking program, when the self-checking is finished, the running state of the equipment is normal, the equipment can directly enter a working link, for example, the equipment can self-check to find out faults, the fault links can be directly known according to error codes displayed on a display screen of the remote controller, after the fault is eliminated, the equipment performs self-checking again, and after the self-checking, the running state of the equipment is normal, and the equipment can enter the working link.
Claims (10)
1. The flexible intelligent mounting system for the undercarriage comprises a mechanical arm (1-1), a Z-axis lifting mechanism (1-2), a C-axis rotating mechanism (1-3), an XY translation mechanism (1-4) and a traveling vehicle (1-5), and is characterized in that:
The mechanical arm (1-1) comprises a bearing seat (12-6), an electric push rod (12-8), a claw seat (12-12), a support arm (12-7) and a B-axis servo motor (12-1); the bearing seat (12-6) is internally provided with a bearing (12-4), the outer ring of the bearing (12-4) is fixedly connected with the inner wall of the bearing seat (12-6), and the support arm (12-7) is inserted into the inner ring of the bearing (12-4) and is fixedly connected; the support arm (12-7) is fixedly sleeved with a B-axis gear (12-3) through a screw; the shell of the B-axis servo motor (12-1) is fixed on a bearing seat (12-6), and a gear on a power output shaft of the B-axis servo motor (12-1) is meshed with the B-axis gear (12-3); a camera (12-5) with a light source and night vision function is fixedly arranged at the upper end of the outer wall of the bearing seat (12-6); the shell of the electric push rod (12-8) is fixedly arranged on the support arm (12-7); one end of the support arm (12-7) is hinged with a claw seat (12-12) through a pin shaft; the upper end face of the jaw seat (12-12) is fixedly provided with a pushed piece (12-11); the upper end of the pushed piece (12-11) is hinged with a push rod (12-9) on the electric push rod (12-8); a left claw (12-14) and a right claw (12-15) are arranged in the claw seat (12-12); one side of the left claw (12-14) and the right claw (12-15) is claw-shaped, and the other side is gear-shaped; the gear sides of the left claw (12-14) and the right claw (12-15) are respectively hinged with the upper end face and the lower end face of the claw seat (12-12); the gears on the left claws (12-14) are meshed with the gears on the right claws (12-15); a claw servo motor (12-16) is fixedly arranged on the outer wall of the claw seat (12-12); the power output shaft of the claw servo motor (12-16) is inserted into the claw seat (12-12), and a gear on the power output shaft of the claw servo motor (12-16) is meshed with a gear on the right claw (12-15);
The Z-axis lifting mechanism (1-2) comprises an outer supporting cylinder (11-1), an inner movable cylinder (11-3), a Z-axis screw rod (11-6) and a Z-axis screw nut (11-4); the outer supporting cylinder (11-1) is sleeved outside the inner movable cylinder (11-3); the inner movable cylinder (11-3) and the outer support cylinder (11-1) are rectangular pipes; the Z-axis screw rod (11-6) is vertically arranged on the inner wall of the outer support cylinder (11-1) along the Z-axis direction through a screw rod mounting seat; the Z-axis nut (11-4) is fixedly arranged on the inner wall of the inner movable cylinder (11-3); the Z-axis screw nut (11-4) is sleeved on the Z-axis screw rod (11-6) and is in threaded connection; one end of a Z-axis screw rod (11-6) is connected to a power output shaft of a Z-axis speed reducer (11-9) through a Z-axis coupler (11-10), and a power input shaft of the Z-axis speed reducer (11-9) is connected to a power output shaft of a Z-axis servo motor (11-8); the upper end surface of the inner movable cylinder (11-3) is fixedly connected with the outer wall of the bearing seat (12-6);
The C-axis rotating mechanism (1-3) comprises a C-axis servo motor (10-5), a pinion (10-4), a C-axis bearing and a connecting cover (10-1); the C-axis bearing is formed by assembling a C-axis outer ring (10-2) and a C-axis inner ring (10-3); the connecting cover (10-1) is fixedly arranged on the upper end surface of the C-axis inner ring (10-3); the shell of the C-axis servo motor (10-5) is fixedly arranged on the connecting cover (10-1), and the power output shaft of the C-axis servo motor (10-5) is inserted into the central hole of the pinion (10-4) to be fixedly connected; the pinion (10-4) is arranged on the outer side of the C-axis outer ring (10-2) and is in meshed connection with the C-axis outer ring (10-2); the upper end face of the connecting cover (10-1) is fixedly connected with the lower end face of the outer supporting cylinder (11-1) through bolts;
The XY translation mechanism (1-4) comprises a Y-direction moving platform (8-3) and an X-direction moving platform (8-6); the Y-direction moving platform (8-3) is arranged above the X-direction moving platform (8-6); a Y-axis lead screw (8-2) and two Y-axis guide rails (8-1) are arranged on the upper end surface of the X-direction moving platform (8-6) along the Y-axis direction; a Y-axis screw nut (9-8) is connected on the Y-axis screw rod (8-2) in a threaded manner; a Y-axis guide sliding block (9-7) is arranged on the Y-axis guide rail (8-1); the Y-axis guide sliding block (9-7) and the Y-axis nut (9-8) are fixed on the lower end surface of the Y-axis moving platform (8-3); one end of a Y-axis lead screw (8-2) is connected to a power output shaft of a speed reducer through a coupler, and a power input shaft of the speed reducer is connected to a power output shaft of a servo motor; an X-axis lead screw (8-4) and two X-axis guide rails (8-5) are arranged below the X-direction moving platform (8-6) along the X-axis direction; an X-axis screw nut is connected with the X-axis screw rod (8-4) in a threaded manner; an X-axis guide sliding block is arranged on the X-axis guide rail (8-5); the X-axis guide sliding block and the X-axis nut are fixed on the lower end surface of the X-direction moving platform (8-6); one end of an X-axis lead screw (8-4) is connected to a power output shaft of a speed reducer through a coupler, and a power input shaft of the speed reducer is connected to a power output shaft of a servo motor; the upper end surface of the Y-direction moving platform (8-3) is fixedly connected with the C-axis outer ring (10-2) through bolts;
the walking vehicle (1-5) comprises a vehicle body frame (2-15), four working wheel sets and a control and power supply system; the control and power supply system is arranged on the vehicle body frame (2-15); one end of the vehicle body frame (2-15) is provided with a U-shaped opening; the four working wheel sets are respectively arranged on the left and right sides of the front end and the left and right sides of the rear end of the vehicle body frame (2-15); the X-axis screw rod (8-4) is fixedly arranged on the upper end surface of the vehicle body frame (2-15) through a screw rod mounting seat and an X-axis guide rail (8-5).
2. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: the B-axis gear (12-3) is provided with a plurality of teeth in a set angle range.
3. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: two manual windlass (12-10) are fixed on the upper end of the claw seat (12-12).
4. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: an outer roller (11-2) is arranged on the outer side of the outer supporting cylinder (11-1), a bracket on the outer roller (11-2) is fixed on the outer wall of the outer supporting cylinder (11-1), and the roller of the outer roller (11-2) is contacted with the outer wall of the inner movable cylinder (11-3); an inner roller (11-5) is arranged at the inner side of the inner movable cylinder (11-3), and the inner roller (11-5) is positioned at one side opposite to the outer roller (11-2); the bracket of the inner roller (11-5) is fixed on the inner wall of the inner movable cylinder (11-3), and the roller of the inner roller (11-5) is contacted with the inner wall of the outer supporting cylinder (11-1).
5. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: the two Y-axis guide rails (8-1) are respectively and fixedly arranged at two ends of the X-direction moving platform (8-6); the Y-axis screw rod (8-2) is fixedly arranged in the middle of the X-direction moving platform (8-6) through a screw rod mounting seat.
6. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: the two X-axis guide rails (8-5) are respectively positioned at two ends of the X-direction moving platform (8-6), and the X-axis lead screw (8-4) is positioned in the middle of the X-direction moving platform (8-6).
7. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: a plurality of hanging points are arranged around the vehicle body frame (2-15).
8. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: the working wheel set comprises a working wheel servo motor (4-1), a working wheel speed reducer (4-2), a spring mounting column (4-3) and a Mecanum wheel (4-4); the power output shaft of the running wheel servo motor (4-1) is connected with the power input shaft of the running wheel speed reducer (4-2), and the power output shaft of the running wheel speed reducer (4-2) is connected with the Mecanum wheel (4-4); a damping spring is sleeved on the spring mounting column (4-3); the boss at the upper end of the spring mounting column (4-3) is larger than a through hole on a connecting plate of the vehicle body frame (2-15), and the lower end of the spring mounting column (4-3) passes through the through hole on the connecting plate of the vehicle body frame (2-15) and is fixed on a shell of the running wheel reducer (4-2); the upper end of the damping spring is propped against the lower end face of the connecting plate of the vehicle body frame (2-15), and the lower end is propped against the shell of the working wheel reducer (4-2).
9. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: the control and power supply system comprises a plurality of servo motor controllers (3-1), a lithium iron phosphate battery (3-2), an inverter (3-3), a laser obstacle avoidance device (3-4), an emergency stop switch (3-5), an electric cabinet (3-6), an audible and visual alarm (3-7), a safe touch edge (3-8), a PLC and an auxiliary function module (3-9) thereof, a temperature controller (3-10) and two remote controllers (3-11); the plurality of servo motor controllers (3-1), the lithium iron phosphate battery (3-2), the inverter (3-3) and the PLC as well as auxiliary functional modules (3-9) thereof are arranged in the vehicle body frame (2-15); the laser obstacle avoidance device (3-4) and the emergency stop switch (3-5) are arranged on one side of the rear end of the vehicle body frame (2-15), and the audible and visual alarm device (3-7) is arranged on the other side of the rear end of the vehicle body frame (2-15); the electric control box (3-6) is arranged on the upper end face of the vehicle body frame (2-15); the safety contact edge (3-8) is arranged around the vehicle body frame (2-15); the temperature controller (3-10) is arranged on the upper end surface of the vehicle body frame (2-15) and detects the internal temperature of the vehicle body frame (2-15); two remote controllers (3-11) are arranged outside the vehicle body frame (2-15); the intelligent automatic control system comprises a plurality of servo motor controllers (3-1), a lithium iron phosphate battery (3-2), an inverter (3-3), a laser obstacle avoidance device (3-4), an emergency stop switch (3-5), an electric cabinet (3-6), an audible and visual alarm (3-7), a safe touch edge (3-8), a PLC and auxiliary function modules (3-9) thereof, a temperature controller (3-10) and two remote controllers (3-11) which are mutually connected on corresponding interfaces through wires.
10. The aircraft landing gear flexible intelligent mounting system of claim 1, wherein: the arc-shaped outer wall of the C-axis outer ring (10-2) is in a gear shape within a set angle range.
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| CN111437146A (en) * | 2020-04-29 | 2020-07-24 | 广东东品美容医疗科技有限公司 | Lifting mechanism and lifting underframe applying same |
| CN112606040A (en) * | 2020-12-18 | 2021-04-06 | 南京昱晟机器人科技有限公司 | Steering device for industrial robot and use method thereof |
| CN114194311A (en) * | 2021-12-30 | 2022-03-18 | 无锡黎曼机器人科技有限公司 | High-precision omnidirectional heavy-load mobile robot |
| CN114572418B (en) * | 2022-04-12 | 2023-10-20 | 天津航天机电设备研究所 | Assembly vehicle for nose landing gear of airplane |
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