CN110000748A - Undercarriage flexible intelligent installation system mechanical arm - Google Patents
Undercarriage flexible intelligent installation system mechanical arm Download PDFInfo
- Publication number
- CN110000748A CN110000748A CN201910234249.1A CN201910234249A CN110000748A CN 110000748 A CN110000748 A CN 110000748A CN 201910234249 A CN201910234249 A CN 201910234249A CN 110000748 A CN110000748 A CN 110000748A
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- China
- Prior art keywords
- claw
- gear
- master jaw
- servo motor
- undercarriage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000009434 installation Methods 0.000 title claims abstract description 28
- 210000000078 claw Anatomy 0.000 claims abstract description 60
- 230000004297 night vision Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000003780 insertion Methods 0.000 abstract description 4
- 230000037431 insertion Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 229910052744 lithium Inorganic materials 0.000 description 10
- 239000005955 Ferric phosphate Substances 0.000 description 7
- 229940032958 ferric phosphate Drugs 0.000 description 7
- WBJZTOZJJYAKHQ-UHFFFAOYSA-K iron(3+) phosphate Chemical compound [Fe+3].[O-]P([O-])([O-])=O WBJZTOZJJYAKHQ-UHFFFAOYSA-K 0.000 description 7
- 229910000399 iron(III) phosphate Inorganic materials 0.000 description 7
- 238000007726 management method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000009183 running Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000000153 supplemental effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/40—Maintaining or repairing aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Undercarriage flexible intelligent installation system mechanical arm is equipped with bearing in bearing block, gear and the engagement connection of B axle gear on the power output shaft of B axle servo motor；Master jaw is hinged with by pin shaft in one end of support arm；It is fixed on the upper surface of master jaw by push jack；It is hinged by the push rod on the upper end and electric pushrod of push jack；Left and right claw is installed in master jaw；Left and right claw and master jaw are hinged；Gear engagement left, on claw；Claw servo motor is installed on the outer wall of master jaw；Gear engagement in the power output shaft insertion master jaw of claw servo motor and on right jamming claw.Undercarriage flexible intelligent installation system mechanical arm of the present invention is power output using mechanical structure, using motor rotation, it realizes the accurate rotation of two axis of A, B, clamp the function with release undercarriage, simultaneously, when mechanical arm breaks down, finished product component is all installed on the outer surface, and maintenance is facilitated.
Description
Technical field
The present invention relates to manipulator fields, especially undercarriage flexible intelligent installation system mechanical arm.
Background technique
Undercarriage flexible installation system is the indispensable equipment of aircraft support equipment.Airplane ground support equipment is in army
Ensure flight safety, complete playing very important effect in training combat duty, to realize the maintenance of aircraft floor, maintenance,
The work such as dismounting have indispensable role.And the undercarriage flexible installing that the installation, disassembly of undercarriage use at present
System equipment is heavy, volume is larger, movement is not flexible, complicated for operation, it is difficult to control, need to be used when equipment works external power supply and
Gas source, using area is limited, and universal automation and intelligence degree be not high, and required longevity of service is dismantled in installation, needs several
Flight crew is used cooperatively, and carrys out inconvenience to maintenance support work belt, is not suitable with army's future war and civil aviaton's to maintain equipment
The needs of development.With the progress of aviation industry, function, the performance indicator of aircraft support equipment are required all continuous
It improves.Need to research and develop the aircraft support equipment for being more suitable for modern weapons equipment with the development of civil aviaton's to maintain equipment.
Summary of the invention
It is light the purpose of the invention is to provide a kind of equipment to solve the above problems, it is small in size, shift action is flexible
Undercarriage flexible intelligent installation system mechanical arm, be effectively guaranteed undercarriage flexible intelligent installation system work standard
It is true property, easy to operate.
The technical scheme is that
Undercarriage flexible intelligent installation system mechanical arm, including bearing block, electric pushrod, master jaw, support arm and B axle servo
Motor.Bearing is installed in bearing block, the outer ring of bearing is fixedly connected with the inner wall of bearing block, support arm be inserted into bearing inner ring and
It is fixedly connected.B axle gear is equipped with by screw fixing sleeve on support arm.B axle gear is equipped with multiple teeth in set angle range
Tooth rotates support arm in set angle.The shell of B axle servo motor is fixed on bearing block, and the power of B axle servo motor is defeated
Gear and the engagement connection of B axle gear on shaft.Taking the photograph with light source and night vision function is installed in the outer wall upper end of bearing block
As head.The shell of electric pushrod is installed on support arm.Master jaw is hinged with by pin shaft in one end of support arm, master jaw can enclose
It is rotated upwardly and downwardly around pin shaft.It is fixed on the upper surface of master jaw by push jack.By pushing away on the upper end and electric pushrod of push jack
Bar is hinged.It is fixed together simultaneously operation by push jack and master jaw, the drive of electric pushrod telescopic putter is enclosed by push jack and master jaw
The movement of pitching is done around A axis.Left jamming claw and right jamming claw are installed in master jaw.The side of left jamming claw and right jamming claw is claw shape
Shape, the other side are gear shape.The gear side of left jamming claw and right jamming claw is hinged with the upper and lower end face of master jaw respectively, left and right card
Pawl can rotate completion opening and closing movement.Gear engagement on gear and right jamming claw on left jamming claw.It is solid on the outer wall of master jaw
Equipped with claw servo motor.In the power output shaft insertion master jaw of claw servo motor, claw servo motor power output shaft
On gear and right jamming claw on gear engagement.The rotation of claw servo motor, drives left jamming claw and right jamming claw to rotate simultaneously, makes pawl
Object is grabbed in sub- side folding, crawl or release.It is fixed there are two manual hoist in master jaw upper end, it is used for fixed landing gear.
Motor rotation drives support arm to slow down to increase square transmission and realize B axle rotation, installs electric pushrod on support arm, push rod front end with
It is connected by push jack, is pushed by push rod by push jack, master jaw is rotated around pin shaft, pushes sliding seat to realize by electric pushrod mechanical
Hand pitching motion realizes the rotation of A axis, and motor is bolted with master jaw, and pinion gear is connected to motor, pinion gear and right card
Pawl engagement, right jamming claw are engaged with left jamming claw, are rotated by motor, and the clamping device of mechanical arm front is driven to unclamp and clamp,
The Internal periphery of left and right claw is inner circle arc, and transparent polyurethane is housed on the Internal periphery surface of claw, avoids damage to undercarriage
And it catches variegated.
The beneficial effects of the present invention are: mechanical arm can realize that B axle rotates, push rod is adjusted by adjusting electric pushrod and is stretched out
Length realizes that master jaw rotates around the axis, and realizes the rotation of A axis, the clamping and release for realizing left and right claw are driven by motor,
Undercarriage flexible intelligent installation system mechanical arm of the present invention is that power is defeated using mechanical structure, using motor rotation
Out, it realizes the accurate rotation of two axis of A, B, clamp the function with release undercarriage, meanwhile, when mechanical arm breaks down,
Finished product component is all installed on the outer surface, and maintenance is facilitated.
Detailed description of the invention
Fig. 1 is undercarriage flexible intelligent installation system schematic diagram.
Fig. 2 is the schematic diagram of moving trolley.
Fig. 3 is the schematic diagram of the interior layout of Fig. 2.
Fig. 4 is the schematic diagram of active wheel group.
Fig. 5 is the schematic diagram of mechanical arm.
Fig. 6 is the schematic diagram of present apparatus six-freedom degree.Tri- axis of X, Y, Z is mutually perpendicular in figure.
Fig. 7 is the schematic diagram of Z-axis lifting mechanism.
Fig. 8 is the schematic cross-sectional view of X/Y plane mobile mechanism.
Fig. 9 is the schematic diagram of X/Y plane mobile mechanism.
Figure 10 is the schematic diagram of C axis rotating mechanism.
Figure 11 is the schematic diagram of intelligence control system framework.
Specific embodiment
Undercarriage flexible intelligent installation system, including mechanical arm 1-1, Z-axis lifting mechanism 1-2, C axis rotating mechanism
1-3, XY are to translation mechanism 1-4 and moving trolley 1-5.
Mechanical arm 1-1, including bearing block 12-6, electric pushrod 12-8, master jaw 12-12, support arm 12-7 and B axle servo
Motor 12-1.Bearing 12-4 is installed in bearing block 12-6, the outer ring of bearing 12-4 is fixedly connected with the inner wall of bearing block 12-6,
Support arm 12-7 is inserted into the inner ring of bearing 12-4 and is fixedly connected.B axle gear 12- is equipped with by screw fixing sleeve on support arm 12-7
3.B axle gear 12-3 is equipped with multiple teeth in set angle range, rotates support arm 12-7 in set angle.B axle servo
The shell of motor 12-1 is fixed on bearing block 12-6, gear and B axle gear on the power output shaft of B axle servo motor 12-1
12-3 engagement connection.The camera 12-5 with light source and night vision function is installed in the outer wall upper end of bearing block 12-6.It is electronic
The shell of push rod 12-8 is installed on support arm 12-7.Master jaw 12-12, claw are hinged with by pin shaft in one end of support arm 12-7
Seat 12-12 can be rotated upwardly and downwardly around pin shaft.It is fixed on the upper surface of master jaw 12-12 by push jack 12-11.By push jack
Push rod 12-9 on the upper end and electric pushrod 12-8 of 12-11 is hinged.It is fixed together by push jack 12-11 and master jaw 12-12
Simultaneously operation, electric pushrod 12-8 telescopic putter 12-9, which drives, is done pitching around A axis by push jack 12-11 and master jaw 12-12
Movement.Left jamming claw 12-14 and right jamming claw 12-15 are installed in master jaw 12-12.Left jamming claw 12-14's and right jamming claw 12-15
Side is claw shape, and the other side is gear shape.The gear side of left jamming claw 12-14 and right jamming claw 12-15 are respectively and master jaw
The upper and lower end face of 12-12 is hinged, and left and right claw can rotate completion opening and closing movement.Gear and right card on left jamming claw 12-14
Gear engagement on pawl 12-15.Claw servo motor 12-16 is installed on the outer wall of master jaw 12-12.Claw servo motor
In the power output shaft insertion master jaw 12-12 of 12-16, gear and right card on claw servo motor 12-16 power output shaft
Gear engagement on pawl 12-15.Claw servo motor 12-16 rotation, drives left jamming claw 12-14 and right jamming claw 12-15 to turn simultaneously
It is dynamic, open and close claw side, object is grabbed in crawl or release.It is fixed there are two manual hoist 12-10 in the upper end master jaw 12-12,
For fixed landing gear.
Z-axis lifting mechanism 1-2, including outer support cylinder 11-1, interior movable cylinder 11-3, Z axis lead screw 11-6 and Z axis screw 11-
4.Outer support cylinder 11-1 is set in the outside of interior movable cylinder 11-3.Interior activity cylinder 11-3 and outer support cylinder 11-1 is rectangular tube.Z axis
For lead screw 11-6 through lead screw mounting base along the inner wall that Z-direction is vertically installed at outer support cylinder 11-1, lead screw can be in lead screw
Rotation in mounting base.Z axis screw 11-4 fixed setting is inside on the inner wall of movable cylinder 11-3.Z axis screw 11-4 is set in Z axis silk
On thick stick 11-6 and it is threadedly coupled.One end of Z axis lead screw 11-6 is connected to the dynamic of Z axis retarder 11-9 by Z axis shaft coupling 11-10
On power output shaft, the power input shaft of Z axis retarder 11-9 is connected on the power output shaft of Z axis servo motor 11-8.Outer branch
It is fixed to support cylinder 11-1, motor drives lead screw rotation, and Z axis screw 11-4 is moved up and down with the rotation of Z axis lead screw 11-6,
The interior activity cylinder 11-3 being fixed on Z axis screw 11-4 is moved up and down in outer support tube 11-1.In the outer of outer support tube 11-1
Side is equipped with outer idler wheel 11-2, and the bracket on outer idler wheel 11-2 is fixed on the outer wall of outer support cylinder 11-1, outer idler wheel 11-2's
The outer wall contact of idler wheel and interior movable cylinder 11-3.The inside of movable cylinder 11-3 is equipped with internal trolley 11-5 inside, and internal trolley 11-5
In the opposite side of outer idler wheel 11-2.The bracket of internal trolley 11-5 is fixed on the inner wall of interior movable cylinder 11-3, internal trolley 11-5
Idler wheel and outer support cylinder 11-1 inner wall contact.The fixed company of outer wall of the upper surface and bearing block 12-6 of interior activity cylinder 11-3
It connects.
C axis rotating mechanism 1-3, including C axis servo motor 10-5, pinion gear 10-4, C axle bearing and connect cover 10-1.C axis
Bearing is made of C axis outer ring 10-2 and C axis inner ring 10-3 assembly, and the arc outer wall of C axis outer ring 10-2 is in set angle range
Gear shape.Connect cover 10-1 is installed on the upper surface of C axis inner ring 10-3.The shell of C axis servo motor 10-5 is installed in company
It connects on cover 10-1, the centre bore of the power output shaft insertion pinion gear 10-4 of C axis servo motor 10-5 is fixedly connected.Pinion gear
10-4, which is arranged in the outside of C axis outer ring 10-2 and engages with C axis outer ring 10-2, to be connected.The upper surface of connect cover 10-1 passes through spiral shell
Bolt is fixedly connected with the lower end surface of outer support cylinder 11-1.
XY is to translation mechanism 1-4, including Y-direction mobile platform 8-3 and X is to mobile platform 8-6.Y-direction mobile platform 8-3 setting
In X to the top of mobile platform 8-6.Y-axis lead screw 8-2 is installed along the y axis on the upper surface of mobile platform 8-6 in X
With two Y-axis guide rail 8-1.Two Y-axis guide rail 8-1 are respectively fixedly disposed at X to the both ends of mobile platform 8-6.Y-axis silk
Thick stick 8-2 is fixedly mounted on X to the middle of mobile platform 8-6 by lead screw mounting base, and lead screw can turn in lead screw mounting base
It is dynamic.Y-axis screw 9-8 is threaded on Y-axis lead screw 8-2.Y-axis guide runner 9- is installed on Y-axis guide rail 8-1
7, sliding block can be moved freely along guide rail.Y-axis guide runner 9-7 and Y-axis screw 9-8 is fixed on the lower end of Y-direction mobile platform 8-3
On face.One end of Y-axis lead screw 8-2 is connected on the power output shaft of speed reducer by shaft coupling, the power input of speed reducer
Axis connection is on the power output shaft of servo motor.It is equipped with limit block piece in the other end of Y-axis lead screw 8-2, for limiting Y-direction
The moving distance of mobile platform 8-3.It is equipped with X axis lead screw 8-4 and two X along the x axis to the lower section of mobile platform 8-6 in X
Axial guidance 8-5.Two X axis guide rail 8-5 are located in X to the both ends of mobile platform 8-6, and X axis lead screw 8-4 is located at X
To the middle of mobile platform 8-6.X axis screw is threaded on X axis lead screw 8-4.Pacify on X axis guide rail 8-5
Equipped with X-axis guide runner, sliding block can be free to slide along guide rail.X-axis guide runner and X axis screw are fixed on X to mobile platform
On the lower end surface of 8-6.One end of X axis lead screw 8-4 is connected on the power output shaft of speed reducer by shaft coupling, speed reducer
Power input shaft is connected on the power output shaft of servo motor.It is equipped with limit block piece in the other end of X axis lead screw 8-4, is used
In limitation moving distance of the X to mobile platform 8-6.The upper surface of Y-direction mobile platform 8-3 is solid by bolt and C axis outer ring 10-2
Fixed connection.
Moving trolley 1-5, including vehicle body frame 2-15, four active wheel groups and control and power supply system.Control and power supply system
System is mounted on vehicle body frame 2-15.One end of vehicle body frame 2-15 is equipped with U-shaped opening, convenient for close to undercarriage.Four work
Wheel group is separately mounted to the front end left and right side and rear end left and right side of vehicle body frame 2-15.X axis lead screw 8-4 is installed by lead screw
Seat and X axis guide rail 8-5 are installed on the upper surface of vehicle body frame 2-15.Multiple suspension centres are surrounded by vehicle body frame 2-15.
Active wheel group, including active wheel servo motor 4-1, work wheel decelerator 4-2, spring mounting post 4-3 and Mike receive
Nurse wheel 4-4.The power output shaft of active wheel servo motor 4-1 is connected with the power input shaft of work wheel decelerator 4-2, active wheel
The power output shaft of retarder 4-2 is connected with Mecanum wheel 4-4.Damping spring is arranged on spring mounting post 4-3.Spring
Through-hole on connecting plate of the upper end boss of mounting post 4-3 greater than vehicle body frame 2-15, the spring lower end mounting post 4-3 pass through car body
Through-hole on the connecting plate of frame 2-15 is fixed on work wheel decelerator 4-2 shell.It supports in car body frame damping spring upper end
On the connecting plate lower end face of frame 2-15, lower end is supported on work wheel decelerator 4-2 shell.
Control and power supply system, including multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3, swash
Light avoidance device 3-4, emergency stop switch 3-5, electric cabinet 3-6, combined aural and visual alarm 3-7, safe touch side 3-8, PLC and its miscellaneous function mould
Block 3-9, temperature controller 3-10 and two remote controler 3-11.Multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter
3-3 and PLC and its supplemental functionality 3-9 are mounted in vehicle body frame 2-15.Laser avoidance device 3-4 and emergency stop switch 3-5 peace
On the rear end side of vehicle body frame 2-15, combined aural and visual alarm 3-7 is mounted on the rear end other side of vehicle body frame 2-15.Electricity
Control case 3-6 is mounted on the upper surface of vehicle body frame 2-15.Safe touch side 3-8 is mounted on the surrounding of vehicle body frame 2-15.Temperature control
Device 3-10 is mounted on the upper surface of vehicle body frame 2-15, detects the internal temperature of vehicle body frame 2-15.Two remote controler 3-11
It is mounted on the outside of vehicle body frame 2-15.Multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3, laser are kept away
Hinder device 3-4, emergency stop switch 3-5, electric cabinet 3-6, combined aural and visual alarm 3-7, safe touch side 3-8, PLC and its supplemental functionality 3-
9, temperature controller 3-10 and two remote controler 3-11 are interconnected on corresponding interface by conducting wire.
Safe touch side prevents the present apparatus from being collided；Suspension centre is used to the present apparatus being fixed on setting position.Remote controler is just
The present apparatus is being manipulated on hand in staff.All servo motors in multiple servomotor controller driving present apparatus.Two
Remote controler controls the movement of four Mecanum wheels and six-freedom degree respectively.Electric cabinet is equipped with control button and display screen,
Remaining all additional device is controlled, such as the camera with light source and night vision function, safe touch side, combined aural and visual alarm, laser are kept away
Hinder device, emergency stop switch etc..
Vehicle body frame 2-15 is made of high-intensitive superior alloy steel welding, the case where not influencing car body strength, rigidity
Under reduce repeated hole, by the structure of stress form optimization design part.Vehicle body upper portion and surrounding use aluminium alloy anti-skid design plate.Vehicle
Have in body frame multiple warehouses place multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3 and PLC and
Its supplemental functionality 3-9, each warehouse form separate space, and equipped with individually pulling, have sealing joint strip at each sliding door, prevent
Only dust and water etc. enter.
In work, by adjusting direction of rotation and the speed of each Mecanum wheel, equipment can carry out it is left and right traversing, it is preceding
Into, retreat, oblique movement and rotate in place, realize the omnidirection walking function under working condition, walking in the operating condition
Middle damping device absorbs the vibration generated in walking process, keeps smooth running.
Undercarriage flexible intelligent installation system highway, railway and water route can be used to be transported in long-distance transportation,
It is needed during entrucking or shipment using lifting appliance, lifting point is installed in intelligent walking vehicle side, is used for lifting.
Outer ring is mounted on X axis mobile platform in C axis rotary system, and inner ring is mounted in outer ring in C axis rotary system
Portion, inner ring is connected to motor together connect cover in C axis rotary system, is mounted in axis rotating mechanism small on motor inner ring
Gear is engaged with outer ring, and connect cover is connect with elevating mechanism China and foreign countries support tube in C axis rotary system, and pinion gear is rotated with motor,
The outer ring engaged with pinion gear maintains static, and due to the rotation of pinion gear, connect cover and inner ring progress is driven to carry out around outer ring
The purpose of C axis rotation is realized in revolution.
Elevating mechanism mainly by outer support cylinder, outer idler wheel, interior movable cylinder, screw, internal trolley, lead screw, motor protecting cover, watch
Motor, retarder and shaft coupling is taken to form.It is interior activity cylinder be made with outer support cylinder of rectangular tube, the outer support cylinder of elevating mechanism and
C axis rotation connect cover is connected and fixed with inner ring, and electric machine main shaft drives ball wire in screw lifter by retarder and shaft coupling
The circular motion of motor is converted into the rise and fall campaign of interior movable cylinder by screw lifter by bar rotation.It is interior activity cylinder with
Outer support cylinder installs anti-wear gasket, and the mechanisms such as idler wheel improve the athletic posture of interior movable cylinder, reduce frictional force, also can internally go up and down
The lifting of cylinder is limited, and avoids maloperation that interior lifting tube is increased above effective travel.The telescopic knot that jacking system uses
Structure, outer dimension is compact, reduces the storage occupied space of equipment, also avoid equipment in use with other equipment,
Article or building generate interference, and this product is made to have better passability.
Mechanical arm is mainly by servo motor, motor protecting cover, B axle gear, bearing, camera, bearing block, support arm, electricity
Move push rod, push rod, by push jack, master jaw, pinion gear, left jamming claw, right jamming claw.Interior movable cylinder in bearing block and elevating mechanism connects
Fixation is connect, retarder is fixed on bearing block, and output end connects pinion gear, and pinion gear is engaged with gear wheel, final to realize electricity
Machine rotation drives movement to roll over, and realizes that manipulator is rotated around B axle.Sliding seat is pushed to realize that manipulator is bowed by electric pushrod
Movement is faced upward, realizes that manipulator is rotated around A axis.For the posture for adapting to undercarriage, rising and falling in undercarriage flexible intelligent installation system
Frame clamping manipulator is required to be rotated around A, B axle, and motor driven gear transmission realizes that manipulator clamping, release etc. are dynamic
Make.Vulcanize transparent polyurethane on claw, avoid damage to undercarriage and catches variegated.
Intelligence control system includes intelligent operating system, intelligent safety system, power-supply system and Intelligent self-checking system.
Intelligent operating system (is realized) by program
The control mode of undercarriage flexible intelligent installation system controls equipment using two ways:
A kind of remote control to need manpower intervention, operator provide letter by hand-held remote controller (hereinafter referred to as remote controler)
Number, the signal instruction that remote controler issues is sent to the communication module of intelligence control system, and communication module, which passes information to, to be had
The CPU of ultrahigh speed operational capability, CPU are analyzed and processed, and will be executed order and are sent to I/O module and motion-control module, hold
Row component controls exectorial terminal component according to the instruction that I/O module and motion-control module receive, equipment into
A series of runnings of row, then undercarriage flexibility intelligence is grasped by the high-definition display screen on observation hand-held remote controller by operator
The operating status of energy installation system, forms the closed-loop control including operator.
Another kind is the intelligent control system without manpower intervention, and system itself has storage capacity, by this equipment energy
It is right when work in storage to internal storage after the scanning of the digital-to-analogue of the type enough safeguarded and undercarriage relative mounting positions
The type safeguarded carries out 3-D scanning, show that the corresponding model of undercarriage that needs are safeguarded, intelligence control system are divided
Analysis reaches the route of working position, starts automatic moving and reaches operating position, and same model undercarriage peace is called from storage inside
Holding position data, detection are maintained the posture of undercarriage, calculate each joint of undercarriage flexible intelligent installation system and move
The position reached needed for dynamic component, intelligence control system carry out intelligent control to equipment according to the result obtained, equipment are adjusted
To corresponding posture, reliable retention carried out to undercarriage, in whole work process without human intervention.
Intelligent safety system
When undercarriage flexible intelligent installation system when walking, be mounted on the diagonal laser avoidance device of vehicle body frame to equipment periphery
Comprehensive no dead angle scanning is carried out, when as having barrier on track route, signal is fed back to Vehicle Controller by laser avoidance device,
By analysis after operation, track route is modified, provides that travel distance is nearest and reasonable track route gets around barrier, is realized
Intelligent barrier avoiding function；When running space is special, need intelligent walking vehicle must with object or equipment close to when, need to be turned off manually
Laser avoidance device, operates equipment, and safe touch side is installed along surrounding in car body bottom, and when touching object, touching side bears to be more than to set
Fixed pressure, vehicle are automatically stopped, and prevent operator because the reasons such as environment complexity are closed after laser avoidance device, equipment is by force
Barrier is touched, is caused damages.
Duplicate protection of the everything stroke of sixdegree-of-freedom simulation by internal processes and mechanical structure, avoids accident
Generation.
Its clamping of Serve Motor Control is used on mechanical arm, servo motor has feedback function, Real-time Feedback crawl
Pressure value in action process, after acquiring data, by the movement of control system high-precision control fixture, the control of safety and stability
The pinching action of mechanical arm guarantees the installation and removal safety of undercarriage.
It is respectively mounted emergency stop switch in car body full position, prevents the generation of emergency event, after emergency stop switch is excited, pass through
The emergence program set, equipment can act within the shortest time, combine movement inertia, avoid the occurrence of danger in stopping.
High-resolution night vision cam is installed on the mechanical arm of undercarriage flexible intelligent installation system, passes through communication module
High clear video image is transmitted on the display screen in remote controler, which kind of control mode running equipment no matter operator use,
Can real time inspection undercarriage disassembly process, and the installation condition of undercarriage can be adjusted.
Power-supply system
Ferric phosphate lithium cell includes battery management system and rechargeable battery pack.
Rechargeable lithium battery group is controlled and managed using battery management system, battery management system is to pass through acquisition
The information such as the end voltage of every piece of battery and temperature, charging and discharging currents and battery pack total voltage/electric current form an effective intelligence
Control system timely feedbacks the information such as state-of-charge, the working condition of battery pack, it is effective control between single battery, battery pack
Between equilibrium, prevent battery occur overcharging or overdischarging phenomenon, power failure can be found and be handled at the first time, protect
Hold the reliability and high efficiency of whole group battery operation.
Undercarriage flexible intelligent installation system is powered using rechargeable lithium battery group, and undercarriage flexible intelligent is facilitated to pacify
Dress system at work, is moved, and in battery electric quantity deficiency, carries out quick charge to battery pack using external power supply.
In special circumstances, equipment is allowed to work in charging, the compatible 220V alternating current of charging voltage and three-phase 380V commercial power.
Battery management system has electricity warning function, issues level-one alarm in electricity 35%, electricity 20% issues second level report
It is alert.There is level-one alarm, should charge as early as possible, secondary alarm occur, should charge at once, otherwise battery over-discharge can serious curtailment
In its service life, fully charged rear runing time is shorter just to charge, and the charging time is unsuitable too long, otherwise will form and overcharges, makes battery
Fever.
Battery pack is all modularized processing, and replacement easy to disassemble, maintenance action is few, high-efficient.Ferric phosphate lithium cell in addition to
Other than conventional func, it is also equipped with following advanced technology:
A) ferric phosphate lithium cell packet, when high temperature is more than 40 DEG C, equipped aerofoil fan starts automatically, carries out dissipating for battery pack
Heat treatment, when low temperature is down to -5 DEG C, the self-heating system in battery pack starts, and adds to Primary Components such as battery battery cores
Heat treatment guarantees that battery pack is normally charged and discharged efficiency.
B) battery management system has eliminated the mode for being equipped with charger for lithium battery charging on the market, utilizes battery management system
The external charge plug of system can charge directly, and charging current is adjusted within the set range, can fill in battery 2-3 hours
It is full.
C) charging process carries out under the detection control of battery management system, stroke one opposite closed-loop control, than charging
The open loop mode of machine is safer more reliable.
Intelligent self-checking system (is realized) by program
Intelligence control system has self-checking function, and after device power-up, intelligence control system carries out self-check program, when self-test terminates
Afterwards, the operating status of equipment is normal, and equipment can be directly entered working link, as found failure after equipment self-inspection, according to being remotely controlled
Device shows the error code of screen display, can be directly acquainted with the link of failure, and after carrying out troubleshooting, equipment carries out certainly again
Inspection, equipment running status is normal after self-test, can enter working link.
Claims (4)
1. undercarriage flexible intelligent installation system mechanical arm, including bearing block (12-6), electric pushrod (12-8), master jaw
(12-12), support arm (12-7) and B axle servo motor (12-1), it is characterised in that:
It is equipped with bearing (12-4) in bearing block (12-6), the outer ring of bearing (12-4) and the fixed company of the inner wall of bearing block (12-6)
It connects, support arm (12-7) is inserted into the inner ring of bearing (12-4) and is fixedly connected；B is equipped with by screw fixing sleeve on support arm (12-7)
Shaft gear (12-3)；The shell of B axle servo motor (12-1) is fixed on bearing block (12-6), B axle servo motor (12-1)
Gear and B axle gear (12-3) engagement connection on power output shaft；The shell of electric pushrod (12-8) is installed in support arm (12-
7) on；Master jaw (12-12) is hinged with by pin shaft in one end of support arm (12-7)；On the upper surface of master jaw (12-12)
It is fixed with by push jack (12-11)；It is hinged by the push rod (12-9) on the upper end and electric pushrod (12-8) of push jack (12-11)；
Left jamming claw (12-14) and right jamming claw (12-15) are installed in master jaw (12-12)；Left jamming claw (12-14) and right jamming claw (12-
15) side is claw shape, and the other side is gear shape；The gear side of left jamming claw (12-14) and right jamming claw (12-15) difference
It is hinged with the upper and lower end face of master jaw (12-12)；The gear on gear and right jamming claw (12-15) on left jamming claw (12-14) is nibbled
It closes；Claw servo motor (12-16) is installed on the outer wall of master jaw (12-12)；The power of claw servo motor (12-16)
Output shaft is inserted into master jaw (12-12), gear and right jamming claw (12- on claw servo motor (12-16) power output shaft
15) the gear engagement on.
2. undercarriage flexible intelligent installation system mechanical arm as described in claim 1, it is characterised in that: B axle gear
(12-3) is equipped with multiple teeth in set angle range.
3. undercarriage flexible intelligent installation system mechanical arm as described in claim 1, it is characterised in that: in bearing block
The outer wall upper end of (12-6) is installed with the camera (12-5) with light source and night vision function.
4. undercarriage flexible intelligent installation system mechanical arm as described in claim 1, it is characterised in that: in master jaw
The upper end (12-12) is fixed, and there are two manual hoist (12-10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910234249.1A CN110000748A (en) | 2019-03-26 | 2019-03-26 | Undercarriage flexible intelligent installation system mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910234249.1A CN110000748A (en) | 2019-03-26 | 2019-03-26 | Undercarriage flexible intelligent installation system mechanical arm |
Publications (1)
| Publication Number | Publication Date |
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| CN110000748A true CN110000748A (en) | 2019-07-12 |
Family
ID=67168218
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910234249.1A Withdrawn CN110000748A (en) | 2019-03-26 | 2019-03-26 | Undercarriage flexible intelligent installation system mechanical arm |
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| Country | Link |
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| CN (1) | CN110000748A (en) |
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| CN113441938A (en) * | 2020-03-24 | 2021-09-28 | 南宁富桂精密工业有限公司 | Method and system for controlling screw locking sequence |
| WO2023141851A1 (en) * | 2022-01-26 | 2023-08-03 | 滨州学院 | Avionics radar ground safeguard device |
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| CN209903204U (en) * | 2019-03-26 | 2020-01-07 | 沈阳飞研航空设备有限公司 | Mechanical arm for flexible intelligent undercarriage mounting system |
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| JPH114956A (en) * | 1997-06-18 | 1999-01-12 | Japan Servo Co Ltd | Gripping device |
| CN201350627Y (en) * | 2009-02-10 | 2009-11-25 | 张敏学 | Gripping mechanism capable of rotating, swaying, and gripping and moving simultaneously |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023141851A1 (en) * | 2022-01-26 | 2023-08-03 | 滨州学院 | Avionics radar ground safeguard device |
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