CN210310926U - Intelligent electric missile hanging vehicle for airplane - Google Patents
Intelligent electric missile hanging vehicle for airplane Download PDFInfo
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- CN210310926U CN210310926U CN201920578246.5U CN201920578246U CN210310926U CN 210310926 U CN210310926 U CN 210310926U CN 201920578246 U CN201920578246 U CN 201920578246U CN 210310926 U CN210310926 U CN 210310926U
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Abstract
An intelligent electric missile hanging vehicle for an airplane is characterized in that a handheld remote controller is connected with a PLC module group through a wireless network; the safety touch edge is arranged on the peripheral outer wall of the vehicle body, and the laser obstacle avoidance device, the emergency stop switch, the illuminating lamp, the warning lamp and the lifting ring are arranged on the outer wall of the vehicle body; the four working wheel sets are respectively arranged at four corners of the vehicle body, and the front auxiliary wheel set and the rear auxiliary wheel set are respectively arranged at the front end and the rear end of the vehicle body; the lower frame is fixed at the upper end of the vehicle body; the front lifting device and the rear lifting device have the same structure and are symmetrically arranged on the lower frame; the front beam and the rear beam of the longitudinal outer frame are fixedly connected with the front beam and the rear beam of the upper frame respectively; two piston rod ear plates of the transverse oil cylinder are fixed on the transverse outer frame; the first bracket, the second bracket, the third bracket and the fourth bracket are sequentially arranged from outside to inside; the multi-direction adjusting action of the existing bullet hanging/cabin vehicle is added, and man-machine combination and accurate operation are better realized. The adjustment actions of the lifting adjustment platform in all directions are completed by the operation of a remote controller, and the intelligent control of the intelligent electric missile hanging/cabin vehicle of the airplane is realized.
Description
Technical Field
The utility model belongs to the technical field of the aircraft support equipment, especially, relate to an electronic bullet car of hanging of aircraft intelligence.
Background
An airplane bullet hanging/cabin vehicle is necessary equipment of airplane guarantee equipment. The airplane missile hanging/cabin vehicle has an important function of ensuring quick response of airplane operational states in troops and finishing training operational tasks, and plays an indispensable role in realizing hanging and installing of airplane missiles, interference pods, transition beams and radomes. The existing airplane bullet/cabin hanging vehicles are various in types, the hanging positions need to be adjusted manually, the adjusting range is limited, the general automation and intelligence degrees are low, the mounting and dismounting time is long, multiple crews are needed to be matched for use, inconvenience is brought to guarantee equipment to execute mounting and dismounting tasks, and the requirements of future combat development of troops are not met. With the progressive development of aviation industry, the requirements on the functions and performance indexes of airplane support equipment are continuously improved, and the development of airplane support equipment more suitable for the development of modern airplane equipment is required.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model aims at providing an electronic string of bullet car of aircraft intelligence realizes the requirement of hanging objects such as a certain type aircraft string dress multiple model guided missile, guided missile emitter, each string of some transition roof beams, nacelle and radome, this equipment intelligent degree is high, easy and simple to handle, safe and reliable reduces the time that the manpower was adjusted and is hung the dress position, guarantee that the dress object can accurate quick string dress, promote aircraft support equipment man-machine cooperation ability, effectively shorten aircraft training and combat response time.
In order to realize the purpose, the technical scheme of the utility model is that:
the utility model provides an electronic bullet car of hanging of aircraft intelligence, includes walking car, lifting mechanism, cross removal frame, every single move roll mechanism, its characterized in that:
the walking vehicle comprises a vehicle body, a plurality of laser obstacle avoidance devices, a plurality of emergency stop switches, four working wheel sets, a lifting ring, a safety touch edge, a lighting lamp, a plurality of warning lamps, a rear auxiliary wheel set, a front auxiliary wheel set and a handheld remote controller;
a power supply system, a PLC module group, a buzzer and an oil pump are arranged in the vehicle body; the wiring terminals of the buzzer and the oil pump motor are connected with the wiring terminals corresponding to the PLC module group; the handheld remote controller is connected with the PLC module group through a wireless network; the safety touch edge is arranged on the peripheral outer wall of the vehicle body, and the plurality of laser obstacle avoidance devices, the plurality of emergency stop switches, the illuminating lamp, the plurality of warning lamps and the lifting ring are arranged on the outer wall of the vehicle body; the four working wheel sets are respectively arranged at four corners of the vehicle body, and the front auxiliary wheel set and the rear auxiliary wheel set are respectively arranged at the front end and the rear end of the vehicle body;
the lifting mechanism comprises a lower frame, an upper frame, a front lifting device and a rear lifting device; the lower frame is fixed at the upper end of the vehicle body;
the upper frame is arranged above the lower frame; the front beam and the rear beam of the upper frame are of a slide rail structure with a slide block;
the front lifting device comprises a first lifting support arm, a second lifting support arm, a third lifting support arm and a fourth lifting support arm; the middle parts of the first lifting support arm and the second lifting support arm are hinged with each other, and the lower end of the second lifting support arm is hinged with the right side of the front beam of the lower frame; the lower end sliding block of the first lifting support arm is arranged in a sliding groove on the left side of a front beam of the lower frame; the middle parts of the third lifting support arm and the fourth lifting support arm are hinged with each other, the lower end of the third lifting support arm is hinged with the upper end of the first lifting support arm, and the lower end of the fourth lifting support arm is hinged with the upper end of the second lifting support arm; the upper end sliding block of the third lifting support arm is arranged in a sliding groove on the left side of the front beam of the upper frame; the upper end of the fourth lifting support arm is hinged with the right side of the front beam of the upper frame; a lifting oil cylinder is arranged on the inner side of the second lifting support arm, a connecting plate on a cylinder body of the lifting oil cylinder is hinged with the lower end of the second lifting support arm, and a connecting plate on a piston rod of the lifting oil cylinder is hinged with the lower end of the fourth lifting support arm;
the front lifting device and the rear lifting device have the same structure and are symmetrically arranged at the front end and the rear end of the lower frame;
the cross moving frame comprises a transverse outer frame and a longitudinal outer frame; the left and right beams of the longitudinal outer frame are of a slideway structure; the connecting plates on the front beam and the rear beam of the longitudinal outer frame are respectively fixedly connected with the sliding blocks of the front beam and the rear beam of the upper frame; a longitudinal moving oil cylinder is fixedly arranged on the right beam of the upper frame, and a piston rod of the longitudinal moving oil cylinder is fixedly arranged on the longitudinal outer frame; the left beam and the right beam of the transverse outer frame are respectively provided with a roller; the transverse outer frame is arranged above the longitudinal outer frame; the rollers on the left beam and the right beam of the transverse outer frame are respectively arranged on the slideways of the left beam and the right beam of the longitudinal outer frame; a transverse moving oil cylinder is fixedly arranged on a left beam of the longitudinal outer frame; the transverse moving oil cylinder is a double-acting oil cylinder; two piston rod ear plates of the transverse oil cylinder are fixed on the transverse outer frame;
the pitching and rolling mechanism comprises a first bracket, a second bracket, a third bracket and a fourth bracket; the first bracket, the second bracket and the third bracket are of annular structures and are sequentially arranged from outside to inside; the lower end of the fourth bracket is provided with a spiral swing oil cylinder, a cylinder barrel of the spiral swing oil cylinder is connected with the fourth bracket through a key, a rotary support is sleeved on the cylinder barrel of the spiral swing oil cylinder and is fixedly connected with an inner ring of the rotary support, and a piston rod of the spiral swing oil cylinder and an outer ring of the rotary support are respectively fixed on the transverse outer frame; swing oil cylinders with joint bearings are respectively arranged on the front side, the rear side, the left side and the right side of the outer side of the first bracket, two supporting plates are respectively arranged on two sides of each swing oil cylinder, and connecting rods at two ends of a cylinder body of each swing oil cylinder are inserted into the corresponding supporting plates and are in hinged fit with the corresponding supporting plates; each supporting plate is fixed on the third bracket; the lower end of the third bracket is fixed on the inner ring of the rotary support through a screw, and the upper end of the third bracket is connected with the upper end of the fourth bracket through a bolt; a joint bearing mounting hole is formed in the upper end of the first bracket and is positioned at the joint bearing of the swing oil cylinder; a joint bearing of the swing oil cylinder is arranged in the joint bearing mounting hole; first pin shafts are respectively inserted into the left end and the right end of the first bracket along the left-right direction, and the first pin shafts penetrate through the inner rings of the joint bearings corresponding to the swing oil cylinders and are fixedly connected with the inner rings; second pin shafts are respectively inserted into the left end and the right end of the second bracket and the third bracket along the left-right direction; third pin shafts are inserted into the front ends and the rear ends of the first bracket and the second bracket along the front-rear direction, and penetrate through the inner rings of the joint bearings of the corresponding swing oil cylinders and are fixedly connected with the inner rings; a bracket beam is fixedly arranged at the upper end of the first bracket; a weighing sensor is arranged between the bracket beam and the first bracket, and a connecting terminal of the weighing sensor is connected with a corresponding connecting terminal on the PLC module group; the lifting oil cylinder, the spiral swinging oil cylinder, the transverse moving oil cylinder and the longitudinal moving oil cylinder are connected with the PLC module group through a multi-way reversing valve.
The lifting mechanism also comprises a self-locking device; the self-locking device comprises a rack and a first oil cylinder; a support arm connecting shaft is inserted into the first lifting support arms of the front lifting device and the rear lifting device; a connecting ring at one end of the rack is sleeved on the support arm connecting shaft and is in loose fit with the support arm connecting shaft, and the other end of the rack is erected on a left beam of the lower frame; a piston rod of the first oil cylinder abuts against the rack; the outer wall of the first oil cylinder is fixed on a left beam of the lower frame; the first oil cylinder is connected with the PLC module group through the multi-way reversing valve.
The power supply system consists of a temperature sensor, a fan, a heating unit and a battery; the temperature sensor, the fan, the heating unit and the battery are fixedly arranged in the vehicle body, and the wiring terminals are respectively connected with corresponding wiring terminals of the PLC module group; a voltage and current sensor is installed in the vehicle body, a connecting terminal of the voltage and current sensor is connected with a corresponding connecting terminal of the PLC module group, and the voltage, the charging and discharging current and the total voltage of the battery pack in the battery pack are detected.
The working wheel set comprises a working wheel servo motor, a working wheel 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 reducer, and the power output shaft of the working wheel reducer is connected with the Mecanum wheel; 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, and the lower end of the spring mounting column penetrates through the through hole on the connecting plate of the vehicle body and is fixed on the shell of the running wheel reducer; the upper end of the damping spring is propped against the lower end surface of the connecting plate of the vehicle body, and the lower end of the damping spring is propped against the shell of the speed reducer of the working wheel; the working wheel servo motor is connected with the corresponding interface of the PLC module group through the motor controller.
The rear auxiliary wheel set comprises two rear auxiliary wheel devices; the two rear auxiliary wheel devices are symmetrically arranged on the left side and the right side of the rear end of the vehicle body; the rear auxiliary wheel device comprises a rear auxiliary wheel oil cylinder, two first guide columns and a rear auxiliary wheel; the upper ends of the two first guide columns and the shell of the rear auxiliary wheel oil cylinder are fixedly arranged on the lower end surface of the vehicle body; the central shaft of the rear auxiliary wheel and the movable guide sleeves sleeved on the two first guide columns are respectively fixed on a piston rod of an oil cylinder of the rear auxiliary wheel; the rear auxiliary wheel oil cylinder is connected with the PLC module group through an electromagnetic directional valve.
The front auxiliary wheel set comprises two front auxiliary wheel devices and an intermediate connecting plate; the two front auxiliary wheel devices are symmetrically arranged on the left side and the right side of the front end of the vehicle body; the front auxiliary wheel device comprises a front auxiliary wheel oil cylinder, two second guide columns and a front auxiliary wheel; the upper ends of the two second guide columns and the shell of the front auxiliary wheel oil cylinder are fixedly arranged on the lower end surface of the vehicle body; the central shaft of the front auxiliary wheel and the movable guide sleeves sleeved on the two second guide columns are respectively fixed on a piston rod of the oil cylinder of the front auxiliary wheel; the front end of the middle connecting plate is hinged with a traction rod; the middle connecting plate is fixed at the center of the front end of the vehicle body through a center upright post; auxiliary wheel connecting rods are respectively hinged on the left side and the right side of the middle connecting plate; the other ends of the two auxiliary wheel connecting rods are respectively hinged with connecting plates on piston rods of the two front auxiliary wheel oil cylinders; the front auxiliary wheel oil cylinder is connected with the PLC module group through an electromagnetic directional valve.
A four-wheel drive system is installed in the vehicle body assembly, the drive wheels are all omni-directional wheels, and the intelligent electric missile hanging/cabin vehicle of the airplane can move longitudinally, transversely in situ and obliquely at an angle of 45 degrees by controlling a servo motor, and can rotate at an angle of 360 degrees in situ; the bottom end of the vehicle body is internally provided with a front auxiliary wheel and a rear auxiliary wheel which can be automatically lifted, and the front traction auxiliary wheel and the rear traction auxiliary wheel are in contact with the ground by controlling a hydraulic system of the front auxiliary wheel and the rear auxiliary wheel and are matched with the traction rod to complete rapid transition; a laser obstacle avoidance sensor, a warning light and a safe touch edge are arranged at the diagonal position of one vehicle body, so that the obstacle detection of the whole vehicle in the whole circumferential range can be realized. The lifting mechanism and the lifting adjusting platform are both provided with an electric control system and a hydraulic servo system, the lifting state of the lifting mechanism is controlled by a remote controller, and the lifting adjusting platform is adjusted to lift, move back and forth, rotate left and right, pitch and roll in six freedom directions. The intelligent control system controls each actuating mechanism through the PLC control module, and the control system comprises a four-wheel drive control system, a six-degree-of-freedom adjusting system, a battery and vehicle body protecting system and a lifting adjusting platform flexible mounting system. The hydraulic control system utilizes the rotation of a servo motor to drive an oil pump to output pressure oil, and the control of an adjusting device, a traction auxiliary wheel and a self-locking device in the lifting adjusting platform is completed through a reversing valve, an overflow valve, a hydraulic pipeline and the like.
The vehicle body assembly is provided with a four-wheel drive system, each wheel is provided with an independent servo motor, a speed reducer, a vibration damping mechanism and a wheel body, and the wheels are Mecanum wheels. After the PLC module sends an instruction to the four-wheel drive control system, the Mecanum wheels drive the vehicle body to move longitudinally, transversely and obliquely at 45 degrees, and in-situ 360-degree rotation can be realized.
When the vehicle body is in a non-working state, the four-wheel drive control system sets the servo motor to be in a power-off internal contracting brake state, and the vehicle is prevented from being out of control. And under the working state of the vehicle body, the running speed of the vehicle body is controlled by adopting a method of limiting the rotating speed of the servo motor, and the vehicle speed is regulated into three gears. Under the working state, the remote controller panel selects a walking mode, and a remote control handle on the panel can control the vehicle body to move longitudinally, transversely in situ and obliquely by 45 degrees, and can realize 360-degree rotation in situ.
The bottom end of the vehicle body assembly is provided with a front auxiliary wheel and a rear auxiliary wheel which are parallel to the axis of the driving wheel. The traction auxiliary wheel is provided with an automatic lifting function, and the lifting of the auxiliary wheel is controlled by a button of a remote controller. The front auxiliary wheel is provided with a steering mechanism, is connected with the traction rod and can perform steering movement along with the traction rod.
The automobile body assembly is made of alloy rectangular steel frames through welding, and an illuminating lamp is installed on the upper plane of the automobile body assembly and can work normally under the condition of low visible light. A warning light is installed in one diagonal direction of the vehicle body, and a laser obstacle avoidance sensor and an emergency stop button are installed in the other diagonal direction of the vehicle body and used for detecting obstacles and emergently braking the whole periphery of the vehicle body. When the laser obstacle avoidance sensor detects that the distance between the object and the vehicle body exceeds the set safe distance, the intelligent electric missile hanging cabin/vehicle of the airplane automatically stops moving. The safety touch edge is installed on the periphery of the vehicle body, and the pressure sensor is arranged in the safety touch edge, so that the vehicle body is prevented from being in strong touch with an obstacle to cause loss when the laser obstacle avoidance sensor is closed.
The lifting mechanism is characterized in that the lifting oil cylinder is operated to stretch through a handle of a remote controller to complete lifting movement, and the bottom of the lifting mechanism is provided with a self-locking device to prevent the lifting mechanism from falling suddenly due to failure of a hydraulic system.
The lifting adjusting platform comprises a cross moving frame, a pitching rolling mechanism and a bracket beam. A plurality of adjusting devices (comprising a spiral swing oil cylinder, a transverse moving oil cylinder, a longitudinal moving oil cylinder, a pitching transverse rolling seat and a swing oil cylinder) are added on the lifting adjusting platform, and when a displacement mode is selected on a remote controller, a remote control handle controls the whole transverse and longitudinal movement of the lifting adjusting platform. When the posture mode is selected on the remote controller, the remote control handle controls the spiral swing oil cylinder and the four groups of swing oil cylinders to be linked, so that the bracket beam performs +/-90-degree rotation, pitching and rolling actions.
The intelligent control system is controlled by a wireless remote controller, each operating key on the wireless remote controller sends an instruction to the PLC control module, and the PLC control module converts the instruction into an action instruction of the actuating mechanism; the PLC control module also processes the electric signal sent by the sensor and converts the electric signal into an action instruction of the actuating mechanism. The PLC control system comprises a four-wheel drive control system, a six-degree-of-freedom adjusting system, a battery and vehicle body protecting system and a flexible mounting system for a lifting adjusting platform.
The hydraulic system mainly utilizes the rotation of a servo motor to drive a duplicate gear pump to output pressure oil, and controls each hydraulic execution element through an electromagnetic overflow valve, a pressure sensor, a manual/electro-hydraulic multi-way reversing valve, a hydraulic pipeline and the like.
The utility model discloses the beneficial effect who creates lies in: the utility model discloses the creation adopts above-mentioned structure, uses intelligent control system, has increased the multi-direction regulation action of current string bullet/cabin car, and better realization man-machine combines, accurate operation. The PLC is used for programming and controlling the hydraulic power system, the adjustment actions of the lifting adjusting platform in all directions are completed by the operation of a remote controller, and the intelligent control of the intelligent electric bullet hanging/cabin vehicle of the airplane is realized. The missile/capsule vehicle is adjusted to the docking position with the aircraft docking point in a short time. The intelligent control system is provided with a plurality of control modules, the man-machine safety is ensured at multiple angles, the intelligent electric bullet/cabin hanging vehicle of the airplane can rapidly enter a designated position through the control of an installer on the remote control handle, the manual operation is reduced, the adjustment response speed is improved, and the problem that the operation convenience and the intelligence of the bullet/cabin hanging vehicle of the airplane are insufficient is solved.
Drawings
Fig. 1 is a structural diagram of the working state of the present invention.
Fig. 2 is a structural view of the traveling vehicle.
FIG. 3 is a top view of the working wheel set and the front auxiliary wheel set.
Fig. 4 is a structural view of a lifting mechanism with a self-locking device.
Fig. 5 is a structural view of the self-locking device.
FIG. 6 is a front auxiliary wheel set configuration view.
Fig. 7 is a control block diagram of the intelligent control system.
Fig. 8 is a schematic diagram of a panel of a handheld remote controller.
Fig. 9 is an operation interface.
Fig. 10 is a hydraulic schematic.
FIG. 11 is a block diagram of the rear auxiliary wheel set.
Fig. 12 is an exploded view of the cross moving frame and pitch and roll mechanism.
Fig. 13 is an internal sectional view of the pitch/roll mechanism.
Fig. 14 is a bottom view of the cross moving frame and pitch and roll mechanism.
Fig. 15 is a diagram showing a construction of a running wheel group.
Fig. 16 is a structural view of a lift mechanism.
Detailed Description
The utility model provides an electronic bullet car of hanging of aircraft intelligence, includes walking car 1, lifting mechanism 2, cross removal frame 3, every single move roll mechanism 4, its characterized in that:
the walking vehicle 1 comprises a vehicle body 11, a plurality of laser obstacle avoidance devices 12, a plurality of emergency stop switches 13, four working wheel sets 14, a lifting ring 15, a safe touch edge 16, a lighting lamp 17, a plurality of warning lamps 18, a rear auxiliary wheel set 19, a front auxiliary wheel set 110 and a handheld remote controller.
A power supply system, a PLC module group, a buzzer and an oil pump are arranged in the vehicle body 11. The wiring terminals of the buzzer and the oil pump motor are connected with the wiring terminals corresponding to the PLC module group. The handheld remote controller is connected with the PLC module group through a wireless network. The safety touch edge 16 is arranged on the peripheral outer wall of the vehicle body 11, and the plurality of laser obstacle avoidance devices 12, the plurality of emergency stop switches 13, the illuminating lamp 17, the plurality of warning lamps 18 and the lifting ring 15 are arranged on the outer wall of the vehicle body. The four working wheel sets 14 are respectively mounted at four corners of the vehicle body 11, and the front auxiliary wheel set 110 and the rear auxiliary wheel set 19 are respectively mounted at the front end and the rear end of the vehicle body 11.
The power supply system consists of a temperature sensor, a fan, a heating unit and a battery. Temperature sensor, fan, heating unit and battery set firmly in 11 insides of automobile body and binding post are connected with the corresponding binding post of PLC module group respectively. The heating unit is a heating rod. The fan is connected PLC module group control system, and temperature sensor connects PLC module group control system, and when temperature sensor detected the battery temperature too high, temperature sensor gave PLC module group feedback signal, and PLC module group received signal was handled, and the start-up of control fan realizes the battery cooling. When the temperature sensor detects that the battery temperature is too low, the temperature sensor feeds back signals to the PLC module group, the PLC module group receives the signals and processes the signals, the heating unit and the fan are controlled to be started, and the battery is heated. A voltage and current sensor is installed in the vehicle body 11, a connecting terminal of the voltage and current sensor is connected with a corresponding connecting terminal of the PLC module group, and the terminal voltage, the charging and discharging current and the total voltage of the battery pack in the battery pack are detected.
The work wheel assembly 14 includes a work wheel servomotor 141, a work wheel reducer 142, spring mounting posts 143, and mecanum wheels 144. The power output shaft of the wheel servomotor 141 is connected to the power input shaft of the wheel reducer 142, and the power output shaft of the wheel reducer 142 is connected to the mecanum wheel 144. The spring mounting posts 143 are sleeved with damping springs. The upper end boss of the spring mounting column 143 is larger than the through hole on the connecting plate of the vehicle body 11, and the lower end of the spring mounting column 143 passes through the through hole on the connecting plate of the vehicle body 11 and is fixed on the shell of the wheel speed reducer 142. The upper end of the damping spring is propped against the lower end face of the connecting plate of the vehicle body 11, and the lower end of the damping spring is propped against the shell of the working wheel reducer 142. The working wheel servo motor 141 is connected with the corresponding interface of the PLC module group through a motor controller.
And a rear auxiliary wheel set 19 comprising two rear auxiliary wheel devices. The two rear auxiliary wheel devices are symmetrically arranged on the left side and the right side of the rear end of the vehicle body 11. The rear auxiliary wheel device comprises a rear auxiliary wheel cylinder 191, two first guide columns 192 and a rear auxiliary wheel 193. The upper ends of the two first guide posts 192 and the shell of the rear auxiliary wheel cylinder 191 are fixedly arranged on the lower end surface of the vehicle body 11. The central shaft of the rear auxiliary wheel 193 and the movable guide sleeves sleeved on the two first guide posts 192 are respectively fixed on the piston rod of the rear auxiliary wheel oil cylinder 191. The rear auxiliary wheel oil cylinder 191 is connected with the PLC module group through an electromagnetic directional valve.
The front auxiliary wheel set 110 includes two front auxiliary wheel devices and an intermediate connection plate 1101. The two front auxiliary wheel devices are symmetrically arranged on the left side and the right side of the front end of the vehicle body 11. The front auxiliary wheel device comprises a front auxiliary wheel cylinder 1102, two second guide posts 1103 and a front auxiliary wheel 1104. The upper ends of the two second guide posts 1103 and the housing of the front auxiliary wheel cylinder 1102 are fixedly arranged on the lower end surface of the vehicle body 11. The central shaft of the front auxiliary wheel 1104 and the movable guide sleeves sleeved on the two second guide posts 1103 are respectively fixed on the piston rod of the front auxiliary wheel cylinder 1102. A pull bar 1105 is hinged to the front end of the intermediate connection plate 1101. The intermediate connection plate 1101 is fixed at the center of the front end of the vehicle body 11 by a center pillar. Auxiliary wheel connecting rods 1106 are hinged to the left side and the right side of the middle connecting plate 1101 respectively. The other ends of the two auxiliary wheel connecting rods 1106 are respectively hinged with connecting plates on piston rods of the two front auxiliary wheel oil cylinders 1102. The front auxiliary wheel oil cylinder 1102 is connected with the PLC module group through an electromagnetic directional valve.
The lifting mechanism 2 comprises a lower frame 21, an upper frame 22, a front lifting device and a rear lifting device. The lower frame 21 is fixed to the upper end of the vehicle body 11.
The lower frame 21 and the upper frame 22 have a rectangular structure. The upper frame 22 is disposed above the lower frame 21. The front and rear beams of the upper frame 22 are of a slide rail structure with slides.
The front lifting device includes a first lifting arm 23, a second lifting arm 24, a third lifting arm 25 and a fourth lifting arm 26. The middle parts of the first lifting arm 23 and the second lifting arm 24 are hinged with each other, and the lower end of the second lifting arm 24 is hinged with the right side of the front beam of the lower frame 21. The lower end slider of the first lifting arm 23 is mounted in the slide groove on the left side of the front beam of the lower frame 21 and can move left and right along the slide groove. The third lift arm 25 and the fourth lift arm 26 are hinged to each other at their middle portions, the third lift arm 25 is hinged at its lower end to the upper end of the first lift arm 23, and the fourth lift arm 26 is hinged at its lower end to the upper end of the second lift arm 24. The upper end slide block of the third lifting arm 25 is installed in the slide groove on the left side of the front beam of the upper frame 22 and can move left and right in the slide groove. The upper end of the fourth lifting arm 26 is hinged to the right side of the front beam of the upper frame 22. A lifting oil cylinder 27 is arranged on the inner side of the second lifting arm 24, a connecting plate on a cylinder body of the lifting oil cylinder 27 is hinged with the lower end of the second lifting arm 24, and a connecting plate on a piston rod of the lifting oil cylinder 27 is hinged with the lower end of the fourth lifting arm 26.
The front lifting device and the rear lifting device have the same structure and are symmetrically arranged at the front end and the rear end of the lower frame 21.
The lifting mechanism further comprises a self-locking device. The self-locking device comprises a rack 210 and a first oil cylinder 28. An arm connecting shaft 29 is inserted into the first lift arms 23 of the front and rear lift devices. The connecting ring at one end of the rack 210 is sleeved on the arm connecting shaft 29 and is loosely matched, and the other end is erected on the left beam of the lower frame 21. The piston rod of the first cylinder 28 abuts against the rack 210. The outer wall of the first cylinder 28 is fixed to the left beam of the lower frame 21. The first oil cylinder 28 is connected with the PLC module group through a multi-way reversing valve.
The cross moving frame 3 comprises a transverse outer frame 31 and a longitudinal outer frame 32. The left and right beams of the longitudinal frame 32 are in a slideway structure. The connecting plates on the front and rear beams of the longitudinal outer frame 32 are fixedly connected with the sliding blocks on the front and rear beams of the upper frame 22, respectively. A longitudinal moving oil cylinder 33 is fixedly arranged on the right beam of the upper frame 22, and a piston rod of the longitudinal moving oil cylinder 33 is fixedly arranged on the longitudinal outer frame 32. The left and right beams of the lateral frame 31 are respectively provided with rollers 34. The lateral frame 31 is disposed above the longitudinal frame 32. The rollers 34 on the left and right beams of the transverse outer frame 31 are respectively installed on the slideways of the left and right beams of the longitudinal outer frame 32. A transverse moving oil cylinder 35 is fixedly arranged on the left beam of the longitudinal outer frame 32. The traversing cylinder 35 is a double-acting cylinder. Two piston rod ear plates of the transverse moving oil cylinder 35 are fixed on the transverse outer frame 31.
The pitch roll mechanism 4 includes a first bracket 41, a second bracket 42, a third bracket 43, and a fourth bracket 44. The first bracket 41, the second bracket 42, and the third bracket 43 are annular structures, and the first bracket 41, the second bracket 42, the third bracket 43, and the fourth bracket 44 are sequentially disposed from the outside to the inside. The lower end of the fourth bracket 44 is provided with a spiral swing oil cylinder, a cylinder barrel 45 of the spiral swing oil cylinder is connected with the fourth bracket 44 through a key, a rotary support 46 is sleeved on the cylinder barrel 45 of the spiral swing oil cylinder and is fixedly connected with the inner ring of the rotary support 46, and a piston rod 47 of the spiral swing oil cylinder and the outer ring of the rotary support 46 are respectively fixed on the transverse outer frame 31. Swing oil cylinders 48 with joint bearings are respectively arranged at the front, the rear, the left and the right sides of the outer side of the first bracket 41, two supporting plates 49 are respectively arranged at two sides of each swing oil cylinder 48, and connecting rods at two ends of a cylinder body of each swing oil cylinder 48 are inserted into the corresponding supporting plates 49 and are in hinged fit. Each support plate 49 is fixed to the third bracket 43. The lower end of the third bracket 43 is fixed to the inner race of the pivoting support 46 by a screw, and the upper end of the third bracket 43 and the upper end of the fourth bracket 44 are connected by a bolt. A joint bearing mounting hole 410 is opened at the upper end of the first bracket 41 at the joint bearing of the swing cylinder 48. The knuckle bearing of the swing cylinder 48 is disposed in the knuckle bearing mounting hole 410. First pins 411 are respectively inserted into the left end and the right end of the first bracket 41 along the left-right direction, and the first pins 411 pass through the inner rings of the joint bearings of the corresponding swing cylinders and are fixedly connected. Second pins 412 are inserted into left and right ends of the second and third brackets 42 and 43, respectively, in the left-right direction. Third pins 413 are inserted into front and rear ends of the first and second brackets 41 and 42 in the front-rear direction, and the third pins 413 pass through inner rings of joint bearings of the corresponding swing cylinders 48 and are fixedly connected. A bracket cross member 414 is fixedly provided at the upper end of the first bracket 41. A weighing sensor is arranged between the bracket beam 414 and the first bracket 41, a connecting terminal of the weighing sensor is connected with a corresponding connecting terminal on the PLC module group, the contact force between the adjusting platform and the airplane suspension bracket is detected, and a sensor feedback signal is received and sent to a PLC module group control system. The lifting oil cylinder, the spiral swinging oil cylinder, the transverse moving oil cylinder and the longitudinal moving oil cylinder are connected with the PLC module group through a multi-way reversing valve. The PLC module group is connected with the relay, the relay is connected with the multi-way reversing valve, and the relay receives the instructions of the PLC module group control system and controls the multi-way reversing valve, so that the actions of the oil cylinders are controlled, and the pitching rolling and the lifting of the bracket beam are realized. The oil pump supplies oil to all the oil cylinders, and the oil pump motor provides power.
The vehicle body is made of alloy rectangular steel frames through welding, and the remote controller can control the switch of the illuminating lamp. The hoisting ring is arranged on the side surface of the vehicle body for hoisting.
Two warning lights are installed at two ends of one diagonal direction of the vehicle body, and two laser obstacle avoidance sensors and two emergency stop switches are installed at two ends of the other diagonal direction of the vehicle body. When the laser obstacle avoidance sensor detects that the distance between an object and the vehicle body exceeds a set safe distance in the running process of the vehicle body, the laser obstacle avoidance sensor sends a feedback number, and the PLC control program executes a deceleration stop command of a driving wheel motor to stop moving the intelligent electric missile hanging cabin/vehicle of the airplane. The emergency stop switch meets the requirement of emergency stop under the manned state of the vehicle body.
The movement instruction sent by the remote controller controls the motor servo system to drive the intelligent electric bullet/cabin hanging vehicle of the airplane to move longitudinally, transversely in situ and obliquely by 45 degrees through the PLC control system, and the in-situ 360-degree rotation can be realized.
The traction auxiliary wheel consists of a rear auxiliary wheel and a front auxiliary wheel. Is fixed below the frame of the vehicle body and is parallel to the axle line of the wheat wheel. When the intelligent electric bullet hanging/cabin vehicle needs to be transferred, the hydraulic oil cylinder drives the traction auxiliary wheels to be in contact with the ground, meanwhile, the front auxiliary wheels are connected with the traction rods through the steering mechanisms, the moving direction of the auxiliary wheels is flexibly adjusted along with the moving direction of the traction rods, the turning radius of a vehicle body is effectively shortened, the horizontal swing phenomenon in the use of the traction rods is reduced, and the moving resistance of the vehicle body is reduced. Under the working state of the intelligent electric bullet/cabin hanging vehicle, the remote controller remotely controls the hydraulic oil cylinder to lift the traction auxiliary wheel and reduce the resistance of the vehicle body in the advancing process.
The lifting mechanism is provided with a safety device and is arranged on a lifting beam of the lifting mechanism, when a piston rod of the lifting oil cylinder is stretched, the hydraulic system controls the self-locking oil cylinder on the self-locking device to retract and be away from the rack, when the piston rod of the lifting oil cylinder stops moving, the self-locking oil cylinder is close to the rack and is locked with the rack, the lifting mechanism is limited to descend, and when the effective control system fails, the lifting mechanism suddenly falls.
Through the instruction of an intelligent control system, a piston rod of a lifting oil cylinder is stretched, and a lifting mechanism lifts a lifting adjusting platform; when the lifting adjusting platform does not work, a piston rod of the lifting oil cylinder is compressed, a fork frame structure of the lifting mechanism is folded, and the lifting adjusting platform can be hidden in the vehicle body.
The multiple adjusting mechanisms are connected into the electric control component, the operation interface is arranged in a displacement mode, and the cross-shaped moving frame and the pitching rolling mechanism are controlled to move longitudinally along the linear guide rail by the handheld remote controller; when the remote control handle controls the transverse moving oil cylinder to stretch, the pitching transverse rolling mechanism moves transversely relative to the cross moving frame; when the hand-held remote controller controls the spiral swing oil cylinder to rotate, the pitching rolling mechanism rotates to drive the bracket beam to rotate by +/-90 degrees. The operation interface is arranged on the hand-held remote controller under the attitude mode to control the adjusting platform, when the hydraulic servo system drives the four groups of swing oil cylinders to stretch, the four groups of swing oil cylinders drive the tray and the bracket beam to complete the movement in the lifting, pitching and rolling directions, and the six-freedom-degree adjusting function is realized.
The longitudinal outer frame is connected to the upper linear guide rail through an outer frame connecting plate, the linear guide rail is installed on the lifting beam, one end of the longitudinal moving oil cylinder is connected to the lifting beam through a hexagon bolt, and the other end of the longitudinal moving oil cylinder is fixed to the longitudinal outer frame. When a hydraulic servo system drives a piston rod of the longitudinal moving oil cylinder to stretch, the cross moving frame and the pitching rolling mechanism longitudinally move in the lifting beam along the direction of the linear guide rail.
When the electric control system controls the four groups of swing oil cylinder piston rods to rise or fall simultaneously, the electric control system drives the tray and the lifting beam to rise and fall simultaneously; the electric control system respectively controls the telescopic action of the four groups of swing oil cylinders to drive the tray and the lifting beam to adjust the pitching and rolling directions.
The electric bullet hanging/cabin vehicle control system is controlled by a wireless remote controller, each operating key on the wireless remote controller sends an instruction to the PLC control module, and the PLC control module converts the instruction into an action instruction of the execution mechanism; the PLC control module also processes the electric signal sent by the sensor and converts the action instruction of the actuating mechanism. The 'enable' button and the remote controller are triggered simultaneously on the panel of the remote controller, the vehicle body can move, misoperation in work is prevented, the obstacle avoidance button is used for selectively switching the laser obstacle avoidance sensor, and surrounding obstacles are prevented from being too many and cannot pass through in a short distance.
After the normal switch on power supply starts, electronic string bullet/cabin car system gets into self-checking state, and during the LCD screen display system on the remote controller detected, if unusual appearing, the screen switches to the information inquiry interface, need get rid of the normal point according to the warning information suggestion and power on check out test set again, if the problem does not solve, can't get into the operation interface, effectively avoids the faulty equipment use in violation of rules and regulations and causes the loss.
Under the normal working condition of the intelligent electric bullet/cabin hanging vehicle, the vehicle body speed and the motion direction are given out on an operation interface, signals are sent out to a motor driver through logic and mathematical operation according to the motion characteristics of Mecanum wheels, and the motor driver receives and processes the signals to control the rotation direction and speed of each wheel in the four-wheel drive system. The operator can select a walking mode (fig. 9) on the operation screen and enter a travel speed setting. The first-gear speed response error is less than 1mm/s, and the control precision of the vehicle body in a small space is effectively improved. After the speed is determined, the handheld remote controller can control the walking direction of the intelligent electric bullet/cabin hanging vehicle and rotate along the transverse direction, the longitudinal direction, the inclined direction of 45 degrees or the zero radius, so that the intelligent electric bullet/cabin hanging vehicle can realize bullet/cabin transportation and is accurately positioned to a hanging position.
The motion of the traction auxiliary wheel sends a signal through a remote controller, a PLC control module in the intelligent control system receives the signal and sends an instruction to a hydraulic system, and an execution element in the hydraulic system moves to drive the auxiliary wheel to rise (or fall) so that the wheat wheel is lifted away from (or contacted with) the ground and is matched with a traction rod to finish transition.
Under the normal working condition of the intelligent electric missile hanging/cabin vehicle, attitude mode instructions such as pitching, rolling and lifting fine adjustment of the lifting adjusting platform are given out on an operation interface, a PLC module gives out signals after carrying out logic and mathematical operations, four groups of swing oil cylinders are controlled to be linked to realize actions, and the adjusting precision is smaller than 1 mm.
Under the normal working condition of the intelligent electric missile hanging/cabin vehicle, when an operation interface gives a rotation instruction of the lifting adjusting platform, the PLC module gives a signal after carrying out logic and mathematical operation, the execution element is controlled to rotate, the feedback signal carries out fuzzy operation on the PLC control module and given data, a closed loop is formed, and the rotation angle of the lifting adjusting platform is accurately controlled.
3. Intelligent protection control system
a) Battery protection
The intelligent protection control is to form an effective control system by collecting the terminal voltage and temperature of each battery, the charging and discharging current, the total voltage/current of the battery pack and other information, to feed back the charge state, the working state and other information of the battery pack in time, to effectively control the balance between single batteries and between battery packs, to prevent the battery from over-charging or over-discharging, to find and process the battery with problems in the first time, to maintain the reliability and high efficiency of the whole battery.
The intelligent protection control has an electric quantity alarm function. When the electric quantity is 35%, a first-level sound alarm is given out, and a buzzer prompts; when the electric quantity is 10 percent, a secondary acousto-optic alarm is sent out, the warning lamp (2-8) flickers, and the buzzer prompts. The first-level alarm is generated, the charging is required to be carried out as soon as possible, the second-level alarm is generated, the charging is required to be carried out immediately, and the influence on the normal work of the equipment is avoided.
The intelligent protection control system can receive a feedback signal sent by the temperature sensor, feeds back the temperature during charging and discharging, the feedback signal is processed by the A/D converter and is calculated with the given temperature in the PLC module, and then the PLC controller sends out an instruction to control the actions of the warning lamps (2-8) and the buzzer, control the cooling and the self-heating system.
The intelligent protection control system has a high-low temperature sound-light alarm function, when the battery is charged, the battery temperature is lower than minus 10 ℃, the low-temperature alarm is carried out, the self-heating system in the vehicle body is started, and when the battery temperature is higher than 45 ℃, the high-temperature alarm is carried out, and the cooling system is started; when discharging, when the battery temperature is lower than minus 40 ℃, alarming at low temperature and starting a heating system; when the temperature is higher than 65 ℃, high temperature alarm is carried out, and a cooling system is started.
When the vehicle is started and low-temperature alarm occurs during self-inspection initialization, the vehicle operation system is locked and cannot perform related operations manually, the vehicle self-heating system is started, the heating rod and the internal circulating fan start to work, the temperature in the vehicle rises rapidly, the low-temperature alarm is relieved, and the vehicle can be used normally.
When the vehicle is started and high-temperature alarm occurs during self-checking initialization, the vehicle operation system is locked and cannot perform related operations manually, the vehicle cooling system is started, the internal circulation fan starts to work, the high-temperature alarm is relieved when the temperature in the vehicle rapidly drops, and the vehicle can be used normally.
The fifth item 'information inquiry' in the interface of the remote controller can see the electric quantity and temperature alarm information.
b) Anti-collision protection
The laser obstacle avoidance device is installed in the opposite angle direction of the intelligent bullet hanging/cabin vehicle body, and the distance between the vehicle body and an obstacle can be detected when the obstacle avoidance device is in an opening state. The laser obstacle avoidance device can set two-stage alarm distance, when the distance between the vehicle body and the obstacle is less than the first-stage alarm distance, the sensor sends an electric signal which is processed by the intelligent protection control system and sends an instruction to the PLC controller, the controller starts an acousto-optic alarm instruction, the buzzer works,
when the distance between the vehicle body and the obstacle is smaller than the secondary alarm distance, and when the distance between the vehicle body and the obstacle is smaller than the secondary alarm distance, the sensor sends an electric signal which is processed by the intelligent protection control system, an instruction is sent to the PLC, the four wheat wheel motor band-type brakes are started by sound-light alarm, and the vehicle body cannot move.
The safe edge that touches of bullet/cabin car body frame bottom installation all around is hung to intelligence, after the automobile body formed certain pressure with other object contacts, through the corresponding pressure signal of sensor feedback in the safe edge that touches, the automobile body traveling system outage avoids appearing the collision.
4. Flexible mounting system for lifting adjusting platform
In the lifting adjusting platform, a weighing sensor is arranged between the pitching rolling mechanism and the bracket beam, a feedback signal of the weighing sensor is processed by an A/D converter, an intelligent protection system receives the feedback signal and sends an instruction to a PLC (programmable logic controller), and the PLC starts a six-degree-of-freedom control system after receiving the instruction to control the action of the lifting oil cylinder.
When the contact force between the lifting adjusting platform and the aircraft suspension bracket is too large in the lifting process, the weighing sensor detects the contact force mutation, the lifting oil cylinder stops working, the safety control of the contact force between the aircraft and the suspension object in the working state of the lifting adjusting platform is ensured, and the aircraft or the suspension object is prevented from being damaged due to the too large contact force.
Design of hydraulic system
The hydraulic control of the intelligent electric bullet hanging/cabin vehicle is realized by utilizing the rotation of a servo motor to drive a double gear pump to output pressure oil, and controlling each hydraulic execution element through an electromagnetic overflow valve, a pressure sensor, a manual/electro-hydraulic multi-way reversing valve, a hydraulic pipeline and the like. The main action of the bullet hanging/cabin vehicle mainly has 7 aspects, and the corresponding hydraulic execution elements are as follows:
(1) the self-locking oil cylinder is controlled by a hydraulic system to realize descending and locking of the lifting adjusting platform. When the lifting oil cylinder is stretched, the self-locking oil cylinder of the hydraulic system drives the piston rod to be separated from the rack, and when the lifting oil cylinder stops moving, the self-locking oil cylinder drives the piston rod to be locked with the rack;
(2) and lifting the oil cylinder to realize the lifting adjustment of the platform. The lifting oil cylinder stretches (or compresses), the lifting adjusting platform ascends (or descends), and rapid descending and inching descending can be realized;
(3) the oil cylinder is transversely moved to realize the transverse adjustment of the platform;
(4) the oil cylinder is longitudinally moved to realize the longitudinal adjustment of the platform;
(5) four groups of swing oil cylinders, which depend on the platform rolling realized by the ascending (or descending) of the left cylinder and the descending (or ascending) of the right cylinder; platform pitching realized by the ascending (or descending) of a front cylinder and the descending (or ascending) of a rear cylinder in a hydraulic schematic diagram; the fine adjustment of the lifting of the platform is realized by the simultaneous lifting of four groups of swing oil cylinders;
(6) the front and rear auxiliary wheel oil cylinders lift to realize the lifting of the front and rear traction auxiliary wheels;
(7) the spiral swing oil cylinder rotates +/-90 degrees to realize +/-90 degrees rotation of the platform.
The speed of each actuating element (hydraulic oil cylinder) of the hydraulic system is continuously adjustable in a stepless manner by changing the flow of output hydraulic oil through changing the rotating speed of the servo motor. The actions of the hydraulic oil cylinders except the self-locking oil cylinder are realized by sending out instructions through a remote controller and converting the instructions into the actions of the multi-way reversing valve through a PLC module. The action of the self-locking oil cylinder (5-1) is that a signal is fed back to the PLC module by the multi-way reversing valve, and the PLC module receives the signal and controls the self-locking oil cylinder.
Power supply system
The power supply system consists of a lithium battery and an inverter. The intelligent bullet/cabin hanging vehicle of the airplane is powered by a lithium battery, the battery pack is fixedly installed and designed into a modular mechanism capable of being disassembled and assembled quickly, when the battery needs to be overhauled, the working efficiency of disassembling and replacing the battery is improved, and the workload of maintenance personnel is reduced. When the battery is low, the AC220V/380V power supply can be used to charge the battery quickly. Meanwhile, the intelligent electric bullet hanging/cabin vehicle is provided with a power cord seat, and can be directly connected with an AC220V/380V power supply to drive the intelligent bullet hanging/cabin vehicle to normally work.
Claims (6)
1. The utility model provides an electronic bullet car of hanging of aircraft intelligence, includes walking car (1), lifting mechanism (2), cross movable frame (3), every single move roll mechanism (4), its characterized in that:
the walking vehicle (1) comprises a vehicle body (11), a plurality of laser obstacle avoidance devices (12), a plurality of emergency stop switches (13), four working wheel sets (14), a lifting ring (15), a safe touch edge (16), an illuminating lamp (17), a plurality of warning lamps (18), a rear auxiliary wheel set (19), a front auxiliary wheel set (110) and a handheld remote controller;
a power supply system, a PLC module group, a buzzer and an oil pump are arranged in the vehicle body (11); the wiring terminals of the buzzer and the oil pump motor are connected with the wiring terminals corresponding to the PLC module group; the handheld remote controller is connected with the PLC module group through a wireless network; the safety touch edge (16) is arranged on the peripheral outer wall of the vehicle body (11), and the plurality of laser obstacle avoidance devices (12), the plurality of emergency stop switches (13), the illuminating lamp (17), the plurality of warning lamps (18) and the lifting ring (15) are arranged on the outer wall of the vehicle body; the four working wheel sets (14) are respectively arranged at four corners of the vehicle body (11), and the front auxiliary wheel set (110) and the rear auxiliary wheel set (19) are respectively arranged at the front end and the rear end of the vehicle body (11);
the lifting mechanism (2) comprises a lower frame (21), an upper frame (22), a front lifting device and a rear lifting device; the lower frame (21) is fixed at the upper end of the vehicle body (11);
the upper frame (22) is arranged above the lower frame (21); the front beam and the rear beam of the upper frame (22) are of a slide rail structure with a slide block;
the front lifting device comprises a first lifting support arm (23), a second lifting support arm (24), a third lifting support arm (25) and a fourth lifting support arm (26); the middle parts of the first lifting support arm (23) and the second lifting support arm (24) are hinged with each other, and the lower end of the second lifting support arm (24) is hinged with the right side of the front beam of the lower frame (21); the lower end slide block of the first lifting support arm (23) is arranged in a sliding groove on the left side of a front beam of the lower frame (21); the middle parts of the third lifting support arm (25) and the fourth lifting support arm (26) are hinged with each other, the lower end of the third lifting support arm (25) is hinged with the upper end of the first lifting support arm (23), and the lower end of the fourth lifting support arm (26) is hinged with the upper end of the second lifting support arm (24); the upper end slide block of the third lifting support arm (25) is arranged in a slide groove on the left side of the front beam of the upper frame (22); the upper end of the fourth lifting support arm (26) is hinged with the right side of the front beam of the upper frame (22); a lifting oil cylinder (27) is arranged on the inner side of the second lifting support arm (24), a connecting plate on a cylinder body of the lifting oil cylinder (27) is hinged with the lower end of the second lifting support arm (24), and a connecting plate on a piston rod of the lifting oil cylinder (27) is hinged with the lower end of a fourth lifting support arm (26);
the front lifting device and the rear lifting device have the same structure and are symmetrically arranged at the front end and the rear end of the lower frame (21);
a cross-shaped moving frame (3) comprising a transverse outer frame (31) and a longitudinal outer frame (32); the left and right beams of the longitudinal outer frame (32) are of a slideway structure; the connecting plates on the front beam and the rear beam of the longitudinal outer frame (32) are respectively fixedly connected with the sliding blocks of the front beam and the rear beam of the upper frame (22); a longitudinal moving oil cylinder (33) is fixedly arranged on the right beam of the upper frame (22), and a piston rod of the longitudinal moving oil cylinder (33) is fixedly arranged on a longitudinal outer frame (32); the left beam and the right beam of the transverse outer frame (31) are respectively provided with a roller (34); the transverse outer frame (31) is arranged above the longitudinal outer frame (32); the rollers (34) on the left beam and the right beam of the transverse outer frame (31) are respectively arranged on the slideways of the left beam and the right beam of the longitudinal outer frame (32); a transverse moving oil cylinder (35) is fixedly arranged on a left beam of the longitudinal outer frame (32); the transverse moving oil cylinder (35) is a double-acting oil cylinder; two piston rod ear plates of the transverse moving oil cylinder (35) are fixed on the transverse outer frame (31);
a pitch and roll mechanism (4) including a first bracket (41), a second bracket (42), a third bracket (43), and a fourth bracket (44); the first bracket (41), the second bracket (42) and the third bracket (43) are of annular structures, and the first bracket (41), the second bracket (42), the third bracket (43) and the fourth bracket (44) are sequentially arranged from outside to inside; a spiral swing oil cylinder is arranged at the lower end of the fourth bracket (44), a cylinder barrel (45) of the spiral swing oil cylinder is connected with the fourth bracket (44) through a key, a rotary support (46) is sleeved on the cylinder barrel (45) of the spiral swing oil cylinder and is fixedly connected with an inner ring of the rotary support (46), and a piston rod (47) of the spiral swing oil cylinder and an outer ring of the rotary support (46) are respectively fixed on the transverse outer frame (31); swing oil cylinders (48) with joint bearings are respectively arranged on the front side, the rear side, the left side and the right side of the outer side of the first bracket (41), two supporting plates (49) are respectively arranged on two sides of each swing oil cylinder (48), and connecting rods at two ends of a cylinder body of each swing oil cylinder (48) are inserted into the corresponding supporting plates (49) and are in hinged fit; each support plate (49) is fixed to the third bracket (43); the lower end of the third bracket (43) is fixed on the inner ring of the rotary support (46) through a screw, and the upper end of the third bracket (43) is connected with the upper end of the fourth bracket (44) through a bolt; a joint bearing mounting hole (410) is formed in the upper end of the first bracket (41) and is positioned at a joint bearing of the swing oil cylinder (48); a joint bearing of the swing oil cylinder (48) is arranged in the joint bearing mounting hole (410); first pin shafts (411) are respectively inserted into the left end and the right end of the first bracket (41) along the left-right direction, and the first pin shafts (411) penetrate through the joint bearing inner rings of the corresponding swing oil cylinders and are fixedly connected; second pin shafts (412) are respectively inserted into the left end and the right end of the second bracket (42) and the third bracket (43) along the left-right direction; third pin shafts (413) are inserted into the front ends and the rear ends of the first bracket (41) and the second bracket (42) along the front-rear direction, and the third pin shafts (413) penetrate through inner rings of joint bearings of the corresponding swing oil cylinders (48) and are fixedly connected; a bracket beam (414) is fixedly arranged at the upper end of the first bracket (41); a weighing sensor is arranged between the bracket beam (414) and the first bracket (41), and a connecting terminal of the weighing sensor is connected with a corresponding connecting terminal on the PLC module group; the lifting oil cylinder, the spiral swinging oil cylinder, the transverse moving oil cylinder and the longitudinal moving oil cylinder are connected with the PLC module group through a multi-way reversing valve.
2. The intelligent electric missile hanging vehicle for the airplane according to claim 1, wherein: the lifting mechanism also comprises a self-locking device; the self-locking device comprises a rack (210) and a first oil cylinder (28); a support arm connecting shaft (29) is inserted into the first lifting support arms (23) of the front lifting device and the rear lifting device; a connecting ring at one end of the rack (210) is sleeved on the support arm connecting shaft (29) and is in loose fit, and the other end of the rack is erected on a left beam of the lower frame (21); a piston rod of the first oil cylinder (28) is propped against the rack (210); the outer wall of the first oil cylinder (28) is fixed on a left beam of the lower frame (21); the first oil cylinder (28) is connected with the PLC module group through a multi-way reversing valve.
3. The intelligent electric missile hanging vehicle for the airplane according to claim 1, wherein: the power supply system consists of a temperature sensor, a fan, a heating unit and a battery; the temperature sensor, the fan, the heating unit and the battery are fixedly arranged in the vehicle body (11), and the wiring terminals are respectively connected with corresponding wiring terminals of the PLC module group; a voltage and current sensor is installed in the vehicle body (11), a connecting terminal of the voltage and current sensor is connected with a corresponding connecting terminal of the PLC module group, and the terminal voltage, the charging and discharging current and the total voltage of the battery pack in the battery pack are detected.
4. The intelligent electric missile hanging vehicle for the airplane according to claim 1, wherein: the working wheel set (14) comprises a working wheel servo motor (141), a working wheel reducer (142), a spring mounting column (143) and a Mecanum wheel (144); the power output shaft of the working wheel servo motor (141) is connected with the power input shaft of the working wheel reducer (142), and the power output shaft of the working wheel reducer (142) is connected with the Mecanum wheel (144); a damping spring is sleeved on the spring mounting column (143); the upper end boss of the spring mounting column (143) is larger than the through hole on the connecting plate of the vehicle body (11), and the lower end of the spring mounting column (143) passes through the through hole on the connecting plate of the vehicle body (11) and is fixed on the shell of the running wheel reducer (142); the upper end of the damping spring is propped against the lower end face of a connecting plate of the vehicle body (11), and the lower end of the damping spring is propped against the shell of the running wheel speed reducer (142); the working wheel servo motor (141) is connected with the corresponding interface of the PLC module group through a motor controller.
5. The intelligent electric missile hanging vehicle for the airplane according to claim 1, wherein: a rear auxiliary wheel set (19) comprising two rear auxiliary wheel devices; the two rear auxiliary wheel devices are symmetrically arranged on the left side and the right side of the rear end of the vehicle body (11); the rear auxiliary wheel device comprises a rear auxiliary wheel oil cylinder (191), two first guide columns (192) and a rear auxiliary wheel (193); the upper ends of the two first guide columns (192) and the shell of the rear auxiliary wheel oil cylinder (191) are fixedly arranged on the lower end surface of the vehicle body (11); the central shaft of the rear auxiliary wheel (193) and the movable guide sleeves sleeved on the two first guide columns (192) are respectively fixed on a piston rod of the rear auxiliary wheel oil cylinder (191); the rear auxiliary wheel oil cylinder (191) is connected with the PLC module group through an electromagnetic directional valve.
6. The intelligent electric missile hanging vehicle for the airplane according to claim 1, wherein: a front auxiliary wheel set (110) comprising two front auxiliary wheel devices and an intermediate connecting plate (1101); the two front auxiliary wheel devices are symmetrically arranged on the left side and the right side of the front end of the vehicle body (11); the front auxiliary wheel device comprises a front auxiliary wheel oil cylinder (1102), two second guide posts (1103) and a front auxiliary wheel (1104); the upper ends of the two second guide posts (1103) and the shell of the front auxiliary wheel oil cylinder (1102) are fixedly arranged on the lower end surface of the vehicle body (11); a central shaft of the front auxiliary wheel (1104) and movable guide sleeves sleeved on the two second guide posts (1103) are respectively fixed on a piston rod of the front auxiliary wheel oil cylinder (1102); a traction rod (1105) is hinged at the front end of the intermediate connecting plate (1101); the middle connecting plate (1101) is fixed at the center of the front end of the vehicle body (11) through a center upright post; auxiliary wheel connecting rods (1106) are hinged to the left side and the right side of the middle connecting plate (1101) respectively; the other ends of the two auxiliary wheel connecting rods (1106) are respectively hinged with connecting plates on piston rods of the two front auxiliary wheel oil cylinders (1102); the front auxiliary wheel oil cylinder (1102) is connected with the PLC module group through an electromagnetic directional valve.
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| CN201920578246.5U CN210310926U (en) | 2019-04-25 | 2019-04-25 | Intelligent electric missile hanging vehicle for airplane |
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| CN201920578246.5U CN210310926U (en) | 2019-04-25 | 2019-04-25 | Intelligent electric missile hanging vehicle for airplane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110092009A (en) * | 2019-04-25 | 2019-08-06 | 沈阳飞研航空设备有限公司 | A kind of aircraft intelligent electric bomb truck |
| CN112896531A (en) * | 2021-03-10 | 2021-06-04 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Accelerator control device of vertical take-off and landing aircraft |
| CN113524990A (en) * | 2021-08-10 | 2021-10-22 | 沈阳飞研航空设备有限公司 | Electric tyre detacher for airplane |
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2019
- 2019-04-25 CN CN201920578246.5U patent/CN210310926U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110092009A (en) * | 2019-04-25 | 2019-08-06 | 沈阳飞研航空设备有限公司 | A kind of aircraft intelligent electric bomb truck |
| CN110092009B (en) * | 2019-04-25 | 2024-05-14 | 沈阳飞研航空设备有限公司 | Intelligent electric bullet hanging vehicle for airplane |
| CN112896531A (en) * | 2021-03-10 | 2021-06-04 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Accelerator control device of vertical take-off and landing aircraft |
| CN112896531B (en) * | 2021-03-10 | 2022-10-25 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Accelerator control device of vertical take-off and landing aircraft |
| CN113524990A (en) * | 2021-08-10 | 2021-10-22 | 沈阳飞研航空设备有限公司 | Electric tyre detacher for airplane |
| CN113524990B (en) * | 2021-08-10 | 2024-05-24 | 沈阳飞研航空设备有限公司 | Electric tyre dismounting device for airplane |
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