CN104002987A - Lifting arm type electric bullet car - Google Patents
Lifting arm type electric bullet car Download PDFInfo
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- CN104002987A CN104002987A CN201410223100.0A CN201410223100A CN104002987A CN 104002987 A CN104002987 A CN 104002987A CN 201410223100 A CN201410223100 A CN 201410223100A CN 104002987 A CN104002987 A CN 104002987A
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Abstract
The invention discloses a lifting arm type electric bullet car which is composed of a control table 1, a lifting arm 2, a bullet hanging car chassis 10, a telescopic arm 4, a rear wheel set 12, a front wheel set 9 and the like. Compared with the prior art, the lifting arm type electric bullet car has the advantages that the modular design is adopted, the technology is advanced, and use and maintenance are convenient; four walking wheels are driven by a hub motor, so that a mechanical mechanism is simplified, the manufacturing cost is reduced, and small-radius turning can be achieved; an object bearing table is of a spherical hinge structure, so that the motion is flexible, and adaptability is high; line type laser navigation and positioning are adopted, bullet installation can be completed within the shortest time, energy consumption is small, and efficiency is high; a collision detection module is applied, the distance between a bullet and an airframe can be inducted, alarms of different levels can be given according to the danger degree, attention of workers are attracted, mutual collision and interference are avoided, and the major risk of damage to the airframe is eliminated.
Description
Affiliated technical field
The present invention relates to military equipment technical field, specifically relate to a kind of arm-type hanging vehicle, be mainly applicable to wing below and mount body and other suspensions (as additional fuel tank) etc.
Technical background
At present, domestic each airport mounts body to wing below, the method for using, and major part still adopts artificial hand push bomb truck, and this bomb truck roughly can divide following two kinds by its structural principle: a kind of is scissors fork lifting type bomb truck; Another kind is the capstan winch lifting type bomb truck of rope sheave combination.The maximum feature of this bomb truck of two types is: transporting something containerized bouncing function and extension bouncing function are integrated, and low cost of manufacture is easy to maintenance, therefore, recent decades, this bomb truck at home and abroad extensively should, particularly, under peaceful environment, this equipment has huge application market.The shortcoming of hand push bomb truck is: take up room large, application is limited to; Manually hang bullet, rely on people's physical efficiency completely, technical ability, experience and natural environment, labour intensity is large, and required manpower is many, and efficiency is low; It is many that manpower shoots influence factor, slightly do not note or undue force easily damages aircraft, has the hidden danger that causes heavy losses, can not adapt to the needs of China's economic development and the modernization of national defense far away.It is reported, external advanced bomb truck was once hung about approximately 16～20 minutes bullet time, and China needed about 60 minutes, and gap is big to have some idea of.This present situation for a change, in recent years, China scientific research personnel and relevant research department have developed the automatic bomb truck of many moneys, and this automatic bomb truck can be divided into two kinds by its power presentation mode: a kind of is to provide power by storage battery; A kind of is to provide power by diesel-engine generator.If can be divided into again two kinds, knee type and lifting arm type by artificial lifting way.Its feeder of knee type bomb truck is positioned at bay-lift center, and stress condition is good, but bay-lift is positioned under aircraft hanging point during operation, be difficult to hang the suspension that unloads low level hanging point, and operational space is subject to the restriction of the positions such as undercarriage, antenna, impact shoots efficiency; Lifting arm type bomb truck, its lifting arm is just as people's arm, and feeder is installed in lifting arm front end, palm energy left and right, swing and revolution just as people, like this, feeder just can obtain a plurality of degree of freedom, has met preferably the contraposition of body hanging point while mounting or has adjusted needs.But for many years, though there is many moneys index advanced person's bomb truck to come out, not yet applied so far, traced it to its cause three: 1, multiple functional, technical sophistication, involves great expense; 2, advanced technology, safeguards inconvenience, poor reliability; 3, working service cost is high, and logistics support is difficult to be implemented.According to statistics, attacking over the ground, be in main operation, aircraft is hung the work capacity that plays operation and is accounted for 80% of whole ground safeguard operation, and the personnel that take more than 60%, are that pieces " the shortest short slab " forming in ground safeguard operation " wooden barrel ".Therefore be necessary to develop a kind of advanced technology, dependable performance, cheap, hang the efficient bomb truck of bullet, to meet the needs of army building under the new situation and the modernization of national defense.
Summary of the invention
The electronic bomb truck of lifting arm type, is comprised of running mechanism, actuating unit (lifting arm) and control system three parts.Its mentality of designing is: whole bomb truck is divided into several modules.According to different user requirement, assemble the bomb truck of difference in functionality, improve to greatest extent the effective rate of utilization of equipment, and the pioneering technology of each module employing comparative maturity, to reduce to greatest extent technical risk and development cost.
The present invention solves its technical matters, the technical scheme of taking is: the electronic bomb truck of a kind of lifting arm type, its running mechanism is mainly comprised of underframe, four walking wheels and steering hardware etc., the underframe of bomb truck and steering hardware adopt the product of ready-made maturation to carry out meet requirements by local flow improvement, steering hardware is arranged between two trailing wheels under driver control console, four built-in wheel hub motors of walking wheel, can carry out independent control, favourable alerting ability, the comfort feature of realizing minor-circle turn and increasing bomb truck.Actuating unit is comprised of lift arm and bearing table, lift arm rear end is hinged with elevating ram and bomb truck underframe respectively, the front end of lift arm is provided with telescopic boom, telescopic boom front end is provided with objective table, and objective table is comprised of feeder, locking cylinder, slide rail, ball seat, ball seat underframe, jacking arm, jacking cylinder etc.Control system is comprised of six modules: navigation module, impact detection module, the control module of travelling, hydraulic power module, human-computer interaction module, battery module.Adopt modular design be convenient to fault detection, working service and reduce costs.Between each module, adopt bus communication, when certain module failure being detected, can in system boot situation, directly change this module, support system is normal use continuously.
The effect of navigation module is by two one-dimensional scanning lasers independently, and guiding bomb truck is advanced and stopped at correct position (also claiming coarse positioning) and hang contraposition and the guiding (is realized accurately and being located by fine adjustment function) in bullet process.
The effect of impact detection module is should calculate potential body with bomb truck mode of operation and airframe bumps and interference situation by distance perspective, and the warning of sending different stage according to hazard level.
The braking force when effect of the control module of travelling is propulsive effort when (comprising throttle signal, brake pedal signal and steering wheel angle information) bomb truck is travelled by induction driver information, parking carries out non-productive operation and control.
Hydraulic control module is mainly bomb truck actuating unit power is provided.Flexible for guaranteeing the normal work of hydraulic efficiency pressure system and increasing its operation; the everything of hydraulic efficiency pressure system is by hydraulic efficiency pressure system master controller by relay and electromagnetic valve direct control, and the man-machine interaction of electricization that operating personal can be by close friend is monitored in real time, protects and operate the running state of hydraulic efficiency pressure system.
Human-computer interaction module is mainly used in system information demonstration, the setting (as: selection of bullet type, the conversion of operation mode etc.) of system and the expansion of human-computer interaction function.
Battery module will provide electric energy for whole bomb truck; this module is provided with assessment function, charge and discharge protecting function, autonomous equalization function and the redundancy battery pack switching control function of battery charge state (SoC) and health status (SoH), to guarantee the normal performance of the functions such as the traveling of bomb truck, the operation of actuating unit and illumination.
The electronic bomb truck of a kind of lifting arm type, with mechanical electronic hydraulic integrated, turn to basis, take Based Intelligent Control as core, with modular design, attach most importance to, take high stability, high reliability, high precision and functional adaptation as target, with information, energy and structure, organically blend and realize the system integration, there is multinomial independent intellectual property right, innovative characteristics is outstanding, electromechanical integration, intelligent bright characteristic.It is the Advanced Equipment that the field integrated technologies such as mechanical-electrical-hydraulic integration technology, intelligent control technology, sensor and electronic information technology, Computer Control Technology, battery-driven car and the communication technology merge.Compared with prior art, its beneficial effect is: the electronic bomb truck of this lifting arm type adopts modular design, advanced technology, and working service is convenient; Four walking wheels adopt In-wheel motor driving, simplify mechanical mechanism and reduce manufacturing cost, and can realize minor-circle turn; Objective table adopts spherical hinge structure, flexible movements strong adaptability; Adopt Linear Laser Navigation and localization, can complete with the shortest time body and install, less energy consumption efficiency is high; Application impact detection module can be responded to the distance between body and airframe, and can send according to hazard level the warning of different stage, and prompting staff notes, avoids occurring collision mutually and interferes, and eliminates the material risk of damage airframe.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is lifting arm type bomb truck overall structure schematic diagram.
Fig. 2 is lifting arm type bomb truck bearing table structural representation.
Fig. 3 is lifting arm type bomb truck control system structural representation.
The specific embodiment one
Fig. 1, Fig. 2 illustrate, and a kind of specific embodiment of the present invention is: the electronic bomb truck of a kind of lifting arm type, contains operation bench 1, lift arm 2, bomb truck underframe 10, telescopic boom 4, rear wheels 12, front wheels 9 compositions such as grade.The front end of telescopic boom 4 is provided with bearing table, and bearing table is adjusted oil cylinder 18, locking cylinder 14, ball pin seat underframe 7, horizontal adjustment oil cylinder 15, jacking arm 16, jacking cylinder 17 etc. by feeder 5, slide rail 13, ball pin seat 6, attitude and formed.Body is fixed on feeder 5 by cartridge clip, feeder 5 is supported on the annular slab (19) of ball pin (20) end face by slide rail 13, ball pin seat 6 is supported on ball pin seat underframe 7, ball pin seat underframe 7 is hinged by bearing 8 and telescopic boom 4, meanwhile, ball pin seat underframe 7 is hinged with bearing table horizontal adjustment oil cylinder 15.During work, bomb truck is transported to body by navigation module the appropriate area of wing below, and by elevating ram 11, lift arm 2 is risen to proper height, simultaneously, by navigation module embedded software, control objective table horizontal adjustment oil cylinder 15, make feeder 5 with horizontality, increase all the time and complete just location; Then, by telescopic boom push cylinder 3, jacking cylinder 17, attitude, adjust oil cylinder 18 automatically by the draw-in groove of body hanger coil insertion device underwing, then by locking cylinder 14, body is pushed to draw-in groove terminal, complete body and mount.Unclamp cartridge clip, fall lift arm 2, bomb truck exits Gua Dan district, continues the fortune dress of next piece of body.
The specific embodiment two
The second embodiment of the present invention is: attitude adjustment oil cylinder 18 and locking cylinder 14 shown in Fig. 1 and Fig. 2 are removed, and by manually completing the attitude adjustment of body and pushing body to draw-in groove terminal, complete body and mount.
Claims (8)
1. the electronic bomb truck of lifting arm type, by operation bench (1), lift arm (2), bomb truck underframe (10), telescopic boom (4), rear wheels (12), front wheels (9) etc., formed, the front end of telescopic boom (4) is provided with bearing table, and bearing table is comprised of feeder (5), locking cylinder (14), slide rail (13), ball pin (20), ball pin seat (6), ball pin seat underframe (7), jacking arm (16), jacking cylinder (17) etc.
2. the electronic bomb truck of a kind of lifting arm type according to claim 1, is characterized in that: described bearing table is provided with ball pin (20).
3. the electronic bomb truck of a kind of lifting arm type according to claim 1, is characterized in that: the end face of described ball pin (20) is provided with annular slab (19), is provided with attitude and adjusts oil cylinder (18) on annular slab (19).
4. the electronic bomb truck of a kind of lifting arm type according to claim 1, is characterized in that: described bearing table is provided with horizontal adjustment oil cylinder (15).
5. the electronic bomb truck of a kind of lifting arm type according to claim 1, is characterized in that: the core wheel of described front wheels (9), rear wheels (12) is provided with wheel hub motor.
6. the electronic bomb truck of a kind of lifting arm type according to claim 1, is characterized in that: the front end of described lift arm (2) is provided with telescopic boom (4).
7. the electronic bomb truck of a kind of lifting arm type according to claim 1, is characterized in that: described feeder (5) bottom is provided with slide rail (13).
8. the electronic bomb truck of a kind of lifting arm type according to claim 1, is characterized in that: the bottom of described ball pin seat (6) is provided with jacking arm (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410223100.0A CN104002987A (en) | 2014-05-23 | 2014-05-23 | Lifting arm type electric bullet car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410223100.0A CN104002987A (en) | 2014-05-23 | 2014-05-23 | Lifting arm type electric bullet car |
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| CN104002987A true CN104002987A (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410223100.0A Pending CN104002987A (en) | 2014-05-23 | 2014-05-23 | Lifting arm type electric bullet car |
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| CN (1) | CN104002987A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105000195A (en) * | 2015-07-17 | 2015-10-28 | 大连四达高技术发展有限公司 | Lifting arm type missile suspending vehicle |
| CN105984593A (en) * | 2016-03-17 | 2016-10-05 | 上海航天设备制造总厂 | Manual bomb carrier for mounting ammunition at low mounting point |
| CN106094715A (en) * | 2016-08-25 | 2016-11-09 | 西安睿诺新能源有限公司 | A kind of unmanned electric remote control intelligence fortune, the driving control system of bomb truck |
| CN106183984A (en) * | 2016-08-25 | 2016-12-07 | 西安睿诺新能源有限公司 | Be rebuffed signal and acoustooptic alarm system in the outside of a kind of bomb truck |
| CN106184806A (en) * | 2016-08-25 | 2016-12-07 | 西安睿诺新能源有限公司 | A kind of unmanned electric remote control intelligence fortune, extension play synthetic safeguard vehicle |
| CN107458621A (en) * | 2017-06-29 | 2017-12-12 | 成都立航科技有限公司 | A kind of extension bullet system of guided missile |
| CN108216676A (en) * | 2018-01-22 | 2018-06-29 | 大连四达高技术发展有限公司 | Multiple degrees of freedom AGV fortune, bomb hoist device people's system |
| CN112320671A (en) * | 2020-10-29 | 2021-02-05 | 中国航空工业集团公司上海航空测控技术研究所 | Six-freedom-degree manual load lifting device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105000195A (en) * | 2015-07-17 | 2015-10-28 | 大连四达高技术发展有限公司 | Lifting arm type missile suspending vehicle |
| CN105984593A (en) * | 2016-03-17 | 2016-10-05 | 上海航天设备制造总厂 | Manual bomb carrier for mounting ammunition at low mounting point |
| CN105984593B (en) * | 2016-03-17 | 2018-03-20 | 上海航天设备制造总厂 | A kind of manual bomb truck for low hanging point ammunition carry |
| CN106094715A (en) * | 2016-08-25 | 2016-11-09 | 西安睿诺新能源有限公司 | A kind of unmanned electric remote control intelligence fortune, the driving control system of bomb truck |
| CN106183984A (en) * | 2016-08-25 | 2016-12-07 | 西安睿诺新能源有限公司 | Be rebuffed signal and acoustooptic alarm system in the outside of a kind of bomb truck |
| CN106184806A (en) * | 2016-08-25 | 2016-12-07 | 西安睿诺新能源有限公司 | A kind of unmanned electric remote control intelligence fortune, extension play synthetic safeguard vehicle |
| CN107458621A (en) * | 2017-06-29 | 2017-12-12 | 成都立航科技有限公司 | A kind of extension bullet system of guided missile |
| CN108216676A (en) * | 2018-01-22 | 2018-06-29 | 大连四达高技术发展有限公司 | Multiple degrees of freedom AGV fortune, bomb hoist device people's system |
| CN112320671A (en) * | 2020-10-29 | 2021-02-05 | 中国航空工业集团公司上海航空测控技术研究所 | Six-freedom-degree manual load lifting device |
| CN112320671B (en) * | 2020-10-29 | 2022-04-05 | 中国航空工业集团公司上海航空测控技术研究所 | Six-freedom-degree manual load lifting device |
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Application publication date: 20140827 |