CN109986529A - Undercarriage flexible intelligent installation system - Google Patents
Undercarriage flexible intelligent installation system Download PDFInfo
- Publication number
- CN109986529A CN109986529A CN201910234250.4A CN201910234250A CN109986529A CN 109986529 A CN109986529 A CN 109986529A CN 201910234250 A CN201910234250 A CN 201910234250A CN 109986529 A CN109986529 A CN 109986529A
- Authority
- CN
- China
- Prior art keywords
- axis
- lead screw
- body frame
- mobile platform
- vehicle body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009434 installation Methods 0.000 title claims abstract description 41
- 210000000078 claw Anatomy 0.000 claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims description 37
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 229910052744 lithium Inorganic materials 0.000 claims description 16
- 239000005955 Ferric phosphate Substances 0.000 claims description 13
- 229940032958 ferric phosphate Drugs 0.000 claims description 13
- WBJZTOZJJYAKHQ-UHFFFAOYSA-K iron(3+) phosphate Chemical compound [Fe+3].[O-]P([O-])([O-])=O WBJZTOZJJYAKHQ-UHFFFAOYSA-K 0.000 claims description 13
- 229910000399 iron(III) phosphate Inorganic materials 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 11
- 230000000153 supplemental effect Effects 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 6
- 230000004297 night vision Effects 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 239000000725 suspension Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000003028 elevating effect Effects 0.000 description 7
- 238000007726 management method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000003860 storage Methods 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 5
- 230000009183 running Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 3
- 230000000116 mitigating effect Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 239000005864 Sulphur Substances 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Undercarriage flexible intelligent installation system, gear and the engagement connection of B axle gear on B axle servo motor；Master jaw is hinged in support arm；It is hinged by push jack and push rod；Left and right claw is installed in master jaw；Gear engagement on left and right claw；Z axis lead screw is mounted on outer support cylinder；Z axis screw is installed on interior movable cylinder；C axis inner ring, C axis servo motor, connect cover are fixedly connected, pinion gear and the engagement connection of C axis outer ring；Lead screw, guide rail are installed on mobile platform in X；Y-axis guide runner and screw are fixed on the lower end surface of Y-direction mobile platform；X is equipped with X axis lead screw and guide rail to the lower section of mobile platform；X-axis guide runner and screw are fixed on X on the lower end surface of mobile platform；Control is mounted on vehicle body frame with power supply system and four active wheel groups.The present invention provides a kind of full intelligent controls, undercarriage flexible intelligent installation system safe and reliable, flexible, precision is high, easy to use, passability is good.
Description
Technical field
The invention belongs to aircraft support equipment technical fields, and in particular to undercarriage flexible intelligent installation system.
Background technique
Undercarriage flexible installation system is the indispensable equipment of aircraft support equipment.Airplane ground support equipment is in army
Ensure flight safety, complete playing very important effect in training combat duty, to realize the maintenance of aircraft floor, maintenance,
The work such as dismounting have indispensable role.And the undercarriage flexible installing that the installation, disassembly of undercarriage use at present
System equipment is heavy, volume is larger, movement is not flexible, complicated for operation, it is difficult to control, need to be used when equipment works external power supply and
Gas source, using area is limited, and universal automation and intelligence degree be not high, and required longevity of service is dismantled in installation, needs several
Flight crew is used cooperatively, and carrys out inconvenience to maintenance support work belt, is not suitable with army's future war and civil aviaton's to maintain equipment
The needs of development.With the progress of aviation industry, function, the performance indicator of aircraft support equipment are required all continuous
It improves.Need to research and develop the aircraft support equipment for being more suitable for modern weapons equipment with the development of civil aviaton's to maintain equipment.
Summary of the invention
In order to solve the above-mentioned technical problem, the invention provides the undercarriage flexible intelligent of electric intelligent control
Installation system, solves that existing equipment is heavy, volume is larger, movement is not flexible, complicated for operation, it is difficult to the problem of controlling.
The technical scheme is that
Undercarriage flexible intelligent installation system, including mechanical arm, Z-axis lifting mechanism, C axis rotating mechanism, XY are to translation
Mechanism and moving trolley, technical points are:
Mechanical arm, including bearing block, electric pushrod, master jaw, support arm and B axle servo motor.Bearing is installed in bearing block,
The outer ring of bearing is fixedly connected with the inner wall of bearing block, and support arm is inserted into the inner ring of bearing and is fixedly connected.Pass through spiral shell on support arm
It follows closely fixing sleeve and is equipped with B axle gear.B axle gear is equipped with multiple teeth in set angle range, turns support arm in set angle
It is dynamic.The shell of B axle servo motor is fixed on bearing block, and the gear and B axle gear on the power output shaft of B axle servo motor are nibbled
Close connection.The camera with light source and night vision function is installed in the outer wall upper end of bearing block.The shell of electric pushrod is fixed
On support arm.Master jaw is hinged with by pin shaft in one end of support arm, master jaw can be rotated upwardly and downwardly around pin shaft.In master jaw
Upper surface on be fixed with by push jack.It is hinged by the push rod on the upper end and electric pushrod of push jack.It is solid by push jack and master jaw
It is scheduled on and moves at the same time together, electric pushrod telescopic putter drives the movement for being done pitching around A axis by push jack and master jaw.In claw
Left jamming claw and right jamming claw are installed in seat.The side of left jamming claw and right jamming claw is claw shape, and the other side is gear shape.Zuo Ka
The gear side of pawl and right jamming claw is hinged with the upper and lower end face of master jaw respectively, and left and right claw can rotate completion opening and closing movement.
Gear engagement on gear and right jamming claw on left jamming claw.Claw servo motor is installed on the outer wall of master jaw.Claw is watched
It takes in the power output shaft insertion master jaw of motor, the gear on gear and right jamming claw on claw servo motor power output shaft
Engagement.The rotation of claw servo motor, drives left jamming claw and right jamming claw to rotate simultaneously, opens and closes claw side, and crawl or release are grabbed
Object.It is fixed there are two manual hoist in master jaw upper end, it is used for fixed landing gear.
Z-axis lifting mechanism, including outer support cylinder, interior movable cylinder, Z axis lead screw and Z axis screw.Outer support cylinder is set in interior work
The outside of dynamic cylinder.Interior activity cylinder and outer support cylinder are rectangular tube.Z axis lead screw is vertically-mounted along Z-direction by lead screw mounting base
On the inner wall of outer support tube, lead screw can rotate in lead screw mounting base.The inner wall of movable cylinder including the fixed setting of Z axis screw
On.Z axis screw is set on Z axis lead screw and is threadedly coupled.One end of Z axis lead screw is connected to Z axis retarder by Z axis shaft coupling
Power output shaft on, the power input shaft of Z axis retarder is connected on the power output shaft of Z axis servo motor.Outer support cylinder
Fixed, motor drives lead screw rotation, and Z axis screw is moved up and down with the rotation of Z axis lead screw, is fixed on Z axis screw
Interior movable cylinder moved up and down in outer support tube.Outer idler wheel is installed on the outside of outer support tube, the bracket on outer idler wheel is solid
It is scheduled on the outer wall of outer support cylinder, the outer wall contact of the idler wheel of outer idler wheel and interior movable cylinder.The inside of movable cylinder is equipped with interior inside
Idler wheel, internal trolley are located at the opposite side of outer idler wheel.The bracket of internal trolley is fixed on the inner wall of interior movable cylinder, the rolling of internal trolley
The inner wall of wheel and outer support cylinder contacts.The upper surface of interior activity cylinder is fixedly connected with the outer wall of bearing block.
C axis rotating mechanism, including C axis servo motor, pinion gear, C axle bearing and connect cover.C axle bearing by C axis outer ring and
The assembly of C axis inner ring is constituted, and the arc outer wall of C axis outer ring is gear shape in set angle range.Connect cover is installed in C axis inner ring
Upper surface on.The shell of C axis servo motor is installed in connect cover, and the power output shaft of C axis servo motor is inserted into pinion gear
Centre bore be fixedly connected.Pinion gear, which is arranged in the outside of C axis outer ring and engages with C axis outer ring, to be connected.The upper end of connect cover
Face is fixedly connected by bolt with the lower end surface of outer support cylinder.
XY is to translation mechanism, including Y-direction mobile platform and X are to mobile platform.The setting of Y-direction mobile platform is put down in X to mobile
The top of platform.Y-axis lead screw and two Y-axis guide rails are installed along the y axis on upper surface of the X to mobile platform.Two Y
Axial guidance is respectively fixedly disposed at both ends of the X to mobile platform.Y-axis lead screw by lead screw mounting base be fixedly mounted on X to
The middle of mobile platform, lead screw can rotate in lead screw mounting base.Y-axis screw is threaded on Y-axis lead screw.
Y-axis guide runner is installed on Y-axis guide rail, sliding block can be moved freely along guide rail.Y-axis guide runner and Y-axis screw are solid
It is scheduled on the lower end surface of Y-direction mobile platform.One end of Y-axis lead screw is connected to the power output shaft of speed reducer by shaft coupling
On, the power input shaft of speed reducer is connected on the power output shaft of servo motor.Limit is equipped in the other end of Y-axis lead screw
Block piece, for limiting the moving distance of Y-direction mobile platform.It is equipped with X axis lead screw along the x axis to the lower section of mobile platform in X
With two X axis guide rails.Two X axis guide rails are located at the both ends in X to mobile platform, and X axis lead screw is located at X to movement
The middle of platform.X axis screw is threaded on X axis lead screw.X-axis guide runner is installed on X axis guide rail,
Sliding block can be free to slide along guide rail.X-axis guide runner and X axis screw are fixed on X on the lower end surface of mobile platform.X axis
One end of lead screw is connected on the power output shaft of speed reducer by shaft coupling, and the power input shaft of speed reducer is connected to servo electricity
On the power output shaft of machine.X axis lead screw the other end be equipped with limit block piece, for limit movement from X to mobile platform away from
From.The upper surface of Y-direction mobile platform is fixedly connected by bolt with C axis outer ring.
Moving trolley, including vehicle body frame, four active wheel groups and control and power supply system.One end of vehicle body frame is equipped with U
Shape opening, convenient for close to undercarriage.Control is mounted on vehicle body frame with power supply system.Four active wheel groups are separately mounted to vehicle
The front end left and right side and rear end left and right side of body frame.X axis lead screw is installed in car body by lead screw mounting base and X axis guide rail
On the upper surface of frame.Multiple suspension centres are surrounded by vehicle body frame.
Active wheel group, including active wheel servo motor, work wheel decelerator, spring mounting post and Mecanum wheel.Work
The power output shaft for taking turns servo motor is connected with the power input shaft of work wheel decelerator, the power output shaft for the wheel decelerator that works
It is connected with Mecanum wheel.Damping spring is arranged in spring mounting post.The upper end boss of spring mounting post is greater than car body frame
Through-hole on the connecting plate of frame, the through-hole that spring mounting post lower end passes through on the connecting plate of vehicle body frame are fixed on active wheel deceleration
On device shell.Damping spring upper end is supported on the connecting plate lower end face of vehicle body frame, and lower end is supported in active wheel reducing gearbox
On body.
Control and power supply system, including multiple servomotor controllers, ferric phosphate lithium cell, inverter, laser avoidance device,
Emergency stop switch, electric cabinet, combined aural and visual alarm, safe touch side, PLC and its supplemental functionality, temperature controller and two remote controlers.It is more
A servomotor controller, ferric phosphate lithium cell, inverter and PLC and its supplemental functionality are mounted in vehicle body frame.Swash
Light avoidance device and emergency stop switch are mounted on the rear end side of vehicle body frame, and the rear end that combined aural and visual alarm is mounted on vehicle body frame is another
On side.Electric cabinet is mounted on the upper surface of vehicle body frame.Safe touch side is mounted on the surrounding of vehicle body frame.Temperature controller installation
On the upper surface of vehicle body frame, the internal temperature of vehicle body frame is detected.Two remote controlers are mounted on the outside of vehicle body frame.It is multiple
Servomotor controller, ferric phosphate lithium cell, inverter, laser avoidance device, emergency stop switch, electric cabinet, combined aural and visual alarm, safety
Touching side, PLC and its supplemental functionality, temperature controller and two remote controlers are interconnected on corresponding interface by conducting wire.
The present invention, it can be achieved that automatically work with manual control two ways, is led to using full intelligence control system
Intelligence control system control undercarriage flexible installation system is crossed, so that its manipulator is able to achieve clamping undercarriage and carries out short distance
From mobile transport, A axis small angle rotation, B axle small angle rotation, C axis small angle rotation, X-direction be mobile, Y direction movement,
Z-direction moves (three axis direction small angle rotations, three axis directions are mobile) to adjust machine in undercarriage flexible intelligent installation system
Aircraft of the position and posture of tool arm to adapt to and need to be serviced, installation and removal undercarriage when for aircraft maintenance
When use.
It separates to form each independent warehouse inside vehicle body frame, there is individual warehouse lid to seal.
The PLC and supplemental functionality includes vehicle-mounted PLC, CPU module, communication module, I/O module and motion control
Module and PLC controller.
The walking function is made of active wheel group；Active wheel group by Mecanum wheel, servo motor, shock mitigation system with
Planetary reduction gear composition；Shock mitigation system is connect with vehicle body frame, and Mecanum wheel is connect with retarder, retarder and servo motor
Connection.
The planar movement mechanism is made of X axis mobile mechanism and Y-axis mobile mechanism, X axis mobile mechanism and Y
Axial moving mechanism structure is consistent, and by taking X axis mobile mechanism as an example, X-direction mobile mechanism is from X to mobile platform, X to driving
System, X are formed to linear guide；X is mounted on Y-direction mobile platform to linear guide, and mating sliding block is mounted on X to mobile platform
On, nut and X of the X into drive system are connected to mobile platform, and X is mounted on Y-direction mobile platform to drive system；
The X is consistent with Y-direction driving system structure to drive system, by X to for drive system；X is to drive system by driving
It is installed after mounting base, mobile auricle, feed screw nut, lead screw and lead screw before dynamic motor, retarder, fixed auricle, shaft coupling, lead screw
Seat composition；Driving motor is connect with accelerator, and retarder is connect with fixed auricle, and shaft coupling connect with retarder main shaft, lead screw
It being mounted on before lead screw after mounting base and lead screw between mounting base, lead screw is connect with shaft coupling, and mobile auricle is connect with feed screw nut,
Feed screw nut is mounted on lead screw, and mobile auricle is connect with Y-direction mobile platform；
The C axis rotary system is made of motor, motor protecting cover, pinion gear, outer ring, inner ring and connect cover；Outer ring and X to
Mobile platform connection, inner ring are mounted in outer ring, and pinion gear is connected to motor, and engages with outer ring, and inner ring and motor pass through company
Cover is connect to connect together；
The elevating mechanism uses telescopic structure, elevating mechanism by interior movable cylinder, outer idler wheel, lead screw, nut, internal trolley,
Outer support cylinder, motor protecting cover, motor, shaft coupling and retarder form, and the inner ring in outer support cylinder and C axis rotary system connects
It connects, motor is connect with retarder is mounted on outer support cylinder side, and shaft coupling is mounted on inside outer support cylinder and connect with retarder, silk
Thick stick is connect with shaft coupling, and nut connect with interior movable cylinder and is coupled with lead screw, and internal trolley is mounted on interior movable cylinder side, outer rolling
Wheel is mounted on the outside of outer support cylinder；
The mechanical arm by servo motor, bearing, camera, mounting base, support arm, electric pushrod, push rod, by push jack, card
Pawl seat, pinion gear, left jamming claw, right jamming claw composition, pinion gear are connect with electric machine main shaft, and gear wheel is engaged with pinion gear, passes through axis
It holds and support arm is mounted in mounting base, support arm tail end is connected together gear wheel with support arm using screw, and motor drives small tooth
Wheel rotation drives the support arm connecting with gear wheel to realize that rotation is slowed down and increases square rotation by gear engagement, and mechanical arm is realized around A axis
Rotation.Electric pushrod is connected by screw to support arm, realizes that mechanical arm turns around B axle by adjusting the elongation of push rod and shortening
Dynamic, motor is mounted on master jaw, and main shaft installs pinion gear, and pinion gear is engaged with the tooth form of right jamming claw, between left and right claw
The movement such as clamping, release of left and right claw, the sulphur on left and right claw inner surface are realized in tooth form engagement, motor driven gear transmission
Change transparent polyurethane, avoid damage to undercarriage and catches variegated.
The beneficial effect of the invention is: the invention with control mode, provides one kind using the above structure
Full intelligent control, the undercarriage flexible intelligent installation system that safe and reliable, flexible, precision is high, easy to use, passability is good.It rises
The operation for falling frame flexible intelligent installation system is powered using rechargeable battery pack, is allowed equipment to avoid in use and is connect
Wire length, the limited situation of use scope；In use by the shock mitigation system of active wheel group, vibration punching can be effectively absorbed
It hits；The Mecanum wheel that active wheel group uses keeps the movement of equipment more flexible and convenient, not only can be advanced and be retreated,
Equipment also can be carried out rotate in place, oblique movement and horizontal shifting；The intelligence control system of equipment uses full intelligence control system,
Can carry out it is full-automatic work with semi-automatic two ways, fully automatic working be equipment can automatic moving to operating position,
Automatic identification undercarriage model and posture, self-starting operating mode, after work, undercarriage flexible intelligent installation system is certainly
Walking, exits operating position, returns to storage position, and be voluntarily shrunk to storage configuration；Manual operation is under special circumstances
When must use manual operation, the back work that undercarriage installing and dismounting is completed in operation is carried out by operator；In equipment
Elevating mechanism can also improve the passability of product while the oneself height for reducing equipment using telescopic structure；It is protecting
Hold undercarriage flexible intelligent installation system intelligent walking vehicle it is as you were when, clamp undercarriage after, can to undercarriage carry out X,
Y, tri- axis of Z is mobile, rotates around tri- axis of A, B, C, can concurrently or separately act, improve work efficiency；In undercarriage flexible installing
Display screen is installed on the remote controler of system, by the high-definition camera being mounted on mechanical arm, can real time inspection undercarriage with
Undercarriage installation site makes to operate more convenient, accuracy height；Laser avoidance device is installed in the outside of intelligent walking vehicle, allows production
Product are avoided colliding with object in the process of walking and be broken down.
Detailed description of the invention
Fig. 1 is undercarriage flexible intelligent installation system schematic diagram.
Fig. 2 is the schematic diagram of moving trolley.
Fig. 3 is the schematic diagram of the interior layout of Fig. 2.
Fig. 4 is the schematic diagram of active wheel group.
Fig. 5 is the schematic diagram of mechanical arm.
Fig. 6 is the schematic diagram of present apparatus six-freedom degree.Tri- axis of X, Y, Z is mutually perpendicular in figure.
Fig. 7 is the schematic diagram of Z-axis lifting mechanism.
Fig. 8 is the schematic cross-sectional view of X/Y plane mobile mechanism.
Fig. 9 is the schematic diagram of X/Y plane mobile mechanism.
Figure 10 is the schematic diagram of C axis rotating mechanism.
Figure 11 is the schematic diagram of intelligence control system framework.
Specific embodiment
Undercarriage flexible intelligent installation system, including mechanical arm 1-1, Z-axis lifting mechanism 1-2, C axis rotating mechanism
1-3, XY are to translation mechanism 1-4 and moving trolley 1-5.
Mechanical arm 1-1, including bearing block 12-6, electric pushrod 12-8, master jaw 12-12, support arm 12-7 and B axle servo
Motor 12-1.Bearing 12-4 is installed in bearing block 12-6, the outer ring of bearing 12-4 is fixedly connected with the inner wall of bearing block 12-6,
Support arm 12-7 is inserted into the inner ring of bearing 12-4 and is fixedly connected.B axle gear 12- is equipped with by screw fixing sleeve on support arm 12-7
3.B axle gear 12-3 is equipped with multiple teeth in set angle range, rotates support arm 12-7 in set angle.B axle servo
The shell of motor 12-1 is fixed on bearing block 12-6, gear and B axle gear on the power output shaft of B axle servo motor 12-1
12-3 engagement connection.The camera 12-5 with light source and night vision function is installed in the outer wall upper end of bearing block 12-6.It is electronic
The shell of push rod 12-8 is installed on support arm 12-7.Master jaw 12-12, claw are hinged with by pin shaft in one end of support arm 12-7
Seat 12-12 can be rotated upwardly and downwardly around pin shaft.It is fixed on the upper surface of master jaw 12-12 by push jack 12-11.By push jack
Push rod 12-9 on the upper end and electric pushrod 12-8 of 12-11 is hinged.It is fixed together by push jack 12-11 and master jaw 12-12
Simultaneously operation, electric pushrod 12-8 telescopic putter 12-9, which drives, is done pitching around A axis by push jack 12-11 and master jaw 12-12
Movement.Left jamming claw 12-14 and right jamming claw 12-15 are installed in master jaw 12-12.Left jamming claw 12-14's and right jamming claw 12-15
Side is claw shape, and the other side is gear shape.The gear side of left jamming claw 12-14 and right jamming claw 12-15 are respectively and master jaw
The upper and lower end face of 12-12 is hinged, and left and right claw can rotate completion opening and closing movement.Gear and right card on left jamming claw 12-14
Gear engagement on pawl 12-15.Claw servo motor 12-16 is installed on the outer wall of master jaw 12-12.Claw servo motor
In the power output shaft insertion master jaw 12-12 of 12-16, gear and right card on claw servo motor 12-16 power output shaft
Gear engagement on pawl 12-15.Claw servo motor 12-16 rotation, drives left jamming claw 12-14 and right jamming claw 12-15 to turn simultaneously
It is dynamic, open and close claw side, object is grabbed in crawl or release.It is fixed there are two manual hoist 12-10 in the upper end master jaw 12-12,
For fixed landing gear.
Z-axis lifting mechanism 1-2, including outer support cylinder 11-1, interior movable cylinder 11-3, Z axis lead screw 11-6 and Z axis screw 11-
4.Outer support cylinder 11-1 is set in the outside of interior movable cylinder 11-3.Interior activity cylinder 11-3 and outer support cylinder 11-1 is rectangular tube.Z axis
For lead screw 11-6 through lead screw mounting base along the inner wall that Z-direction is vertically installed at outer support cylinder 11-1, lead screw can be in lead screw
Rotation in mounting base.Z axis screw 11-4 fixed setting is inside on the inner wall of movable cylinder 11-3.Z axis screw 11-4 is set in Z axis silk
On thick stick 11-6 and it is threadedly coupled.One end of Z axis lead screw 11-6 is connected to the dynamic of Z axis retarder 11-9 by Z axis shaft coupling 11-10
On power output shaft, the power input shaft of Z axis retarder 11-9 is connected on the power output shaft of Z axis servo motor 11-8.Outer branch
It is fixed to support cylinder 11-1, motor drives lead screw rotation, and Z axis screw 11-4 is moved up and down with the rotation of Z axis lead screw 11-6,
The interior activity cylinder 11-3 being fixed on Z axis screw 11-4 is moved up and down in outer support tube 11-1.In the outer of outer support tube 11-1
Side is equipped with outer idler wheel 11-2, and the bracket on outer idler wheel 11-2 is fixed on the outer wall of outer support cylinder 11-1, outer idler wheel 11-2's
The outer wall contact of idler wheel and interior movable cylinder 11-3.The inside of movable cylinder 11-3 is equipped with internal trolley 11-5 inside, and internal trolley 11-5
In the opposite side of outer idler wheel 11-2.The bracket of internal trolley 11-5 is fixed on the inner wall of interior movable cylinder 11-3, internal trolley 11-5
Idler wheel and outer support cylinder 11-1 inner wall contact.The fixed company of outer wall of the upper surface and bearing block 12-6 of interior activity cylinder 11-3
It connects.
C axis rotating mechanism 1-3, including C axis servo motor 10-5, pinion gear 10-4, C axle bearing and connect cover 10-1.C axis
Bearing is made of C axis outer ring 10-2 and C axis inner ring 10-3 assembly, and the arc outer wall of C axis outer ring 10-2 is in set angle range
Gear shape.Connect cover 10-1 is installed on the upper surface of C axis inner ring 10-3.The shell of C axis servo motor 10-5 is installed in company
It connects on cover 10-1, the centre bore of the power output shaft insertion pinion gear 10-4 of C axis servo motor 10-5 is fixedly connected.Pinion gear
10-4, which is arranged in the outside of C axis outer ring 10-2 and engages with C axis outer ring 10-2, to be connected.The upper surface of connect cover 10-1 passes through spiral shell
Bolt is fixedly connected with the lower end surface of outer support cylinder 11-1.
XY is to translation mechanism 1-4, including Y-direction mobile platform 8-3 and X is to mobile platform 8-6.Y-direction mobile platform 8-3 setting
In X to the top of mobile platform 8-6.Y-axis lead screw 8-2 is installed along the y axis on the upper surface of mobile platform 8-6 in X
With two Y-axis guide rail 8-1.Two Y-axis guide rail 8-1 are respectively fixedly disposed at X to the both ends of mobile platform 8-6.Y-axis silk
Thick stick 8-2 is fixedly mounted on X to the middle of mobile platform 8-6 by lead screw mounting base, and lead screw can turn in lead screw mounting base
It is dynamic.Y-axis screw 9-8 is threaded on Y-axis lead screw 8-2.Y-axis guide runner 9- is installed on Y-axis guide rail 8-1
7, sliding block can be moved freely along guide rail.Y-axis guide runner 9-7 and Y-axis screw 9-8 is fixed on the lower end of Y-direction mobile platform 8-3
On face.One end of Y-axis lead screw 8-2 is connected on the power output shaft of speed reducer by shaft coupling, the power input of speed reducer
Axis connection is on the power output shaft of servo motor.It is equipped with limit block piece in the other end of Y-axis lead screw 8-2, for limiting Y-direction
The moving distance of mobile platform 8-3.It is equipped with X axis lead screw 8-4 and two X along the x axis to the lower section of mobile platform 8-6 in X
Axial guidance 8-5.Two X axis guide rail 8-5 are located in X to the both ends of mobile platform 8-6, and X axis lead screw 8-4 is located at X
To the middle of mobile platform 8-6.X axis screw is threaded on X axis lead screw 8-4.Pacify on X axis guide rail 8-5
Equipped with X-axis guide runner, sliding block can be free to slide along guide rail.X-axis guide runner and X axis screw are fixed on X to mobile platform
On the lower end surface of 8-6.One end of X axis lead screw 8-4 is connected on the power output shaft of speed reducer by shaft coupling, speed reducer
Power input shaft is connected on the power output shaft of servo motor.It is equipped with limit block piece in the other end of X axis lead screw 8-4, is used
In limitation moving distance of the X to mobile platform 8-6.The upper surface of Y-direction mobile platform 8-3 is solid by bolt and C axis outer ring 10-2
Fixed connection.
Moving trolley 1-5, including vehicle body frame 2-15, four active wheel groups and control and power supply system.Control and power supply system
System is mounted on vehicle body frame 2-15.One end of vehicle body frame 2-15 is equipped with U-shaped opening, convenient for close to undercarriage.Four work
Wheel group is separately mounted to the front end left and right side and rear end left and right side of vehicle body frame 2-15.X axis lead screw 8-4 is installed by lead screw
Seat and X axis guide rail 8-5 are installed on the upper surface of vehicle body frame 2-15.Multiple suspension centres are surrounded by vehicle body frame 2-15.
Active wheel group, including active wheel servo motor 4-1, work wheel decelerator 4-2, spring mounting post 4-3 and Mike receive
Nurse wheel 4-4.The power output shaft of active wheel servo motor 4-1 is connected with the power input shaft of work wheel decelerator 4-2, active wheel
The power output shaft of retarder 4-2 is connected with Mecanum wheel 4-4.Damping spring is arranged on spring mounting post 4-3.Spring
Through-hole on connecting plate of the upper end boss of mounting post 4-3 greater than vehicle body frame 2-15, the spring lower end mounting post 4-3 pass through car body
Through-hole on the connecting plate of frame 2-15 is fixed on work wheel decelerator 4-2 shell.It supports in car body frame damping spring upper end
On the connecting plate lower end face of frame 2-15, lower end is supported on work wheel decelerator 4-2 shell.
Control and power supply system, including multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3, swash
Light avoidance device 3-4, emergency stop switch 3-5, electric cabinet 3-6, combined aural and visual alarm 3-7, safe touch side 3-8, PLC and its miscellaneous function mould
Block 3-9, temperature controller 3-10 and two remote controler 3-11.Multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter
3-3 and PLC and its supplemental functionality 3-9 are mounted in vehicle body frame 2-15.Laser avoidance device 3-4 and emergency stop switch 3-5 peace
On the rear end side of vehicle body frame 2-15, combined aural and visual alarm 3-7 is mounted on the rear end other side of vehicle body frame 2-15.Electricity
Control case 3-6 is mounted on the upper surface of vehicle body frame 2-15.Safe touch side 3-8 is mounted on the surrounding of vehicle body frame 2-15.Temperature control
Device 3-10 is mounted on the upper surface of vehicle body frame 2-15, detects the internal temperature of vehicle body frame 2-15.Two remote controler 3-11
It is mounted on the outside of vehicle body frame 2-15.Multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3, laser are kept away
Hinder device 3-4, emergency stop switch 3-5, electric cabinet 3-6, combined aural and visual alarm 3-7, safe touch side 3-8, PLC and its supplemental functionality 3-
9, temperature controller 3-10 and two remote controler 3-11 are interconnected on corresponding interface by conducting wire.
Safe touch side prevents the present apparatus from being collided；Suspension centre is used to the present apparatus being fixed on setting position.Remote controler is just
The present apparatus is being manipulated on hand in staff.All servo motors in multiple servomotor controller driving present apparatus.Two
Remote controler controls the movement of four Mecanum wheels and six-freedom degree respectively.Electric cabinet is equipped with control button and display screen,
Remaining all additional device is controlled, such as the camera with light source and night vision function, safe touch side, combined aural and visual alarm, laser are kept away
Hinder device, emergency stop switch etc..
Vehicle body frame 2-15 is made of high-intensitive superior alloy steel welding, the case where not influencing car body strength, rigidity
Under reduce repeated hole, by the structure of stress form optimization design part.Vehicle body upper portion and surrounding use aluminium alloy anti-skid design plate.Vehicle
Have in body frame multiple warehouses place multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3 and PLC and
Its supplemental functionality 3-9, each warehouse form separate space, and equipped with individually pulling, have sealing joint strip at each sliding door, prevent
Only dust and water etc. enter.
In work, by adjusting direction of rotation and the speed of each Mecanum wheel, equipment can carry out it is left and right traversing, it is preceding
Into, retreat, oblique movement and rotate in place, realize the omnidirection walking function under working condition, walking in the operating condition
Middle damping device absorbs the vibration generated in walking process, keeps smooth running.
Undercarriage flexible intelligent installation system highway, railway and water route can be used to be transported in long-distance transportation,
It is needed during entrucking or shipment using lifting appliance, lifting point is installed in intelligent walking vehicle side, is used for lifting.
Outer ring is mounted on X axis mobile platform in C axis rotary system, and inner ring is mounted in outer ring in C axis rotary system
Portion, inner ring is connected to motor together connect cover in C axis rotary system, is mounted in axis rotating mechanism small on motor inner ring
Gear is engaged with outer ring, and connect cover is connect with elevating mechanism China and foreign countries support tube in C axis rotary system, and pinion gear is rotated with motor,
The outer ring engaged with pinion gear maintains static, and due to the rotation of pinion gear, connect cover and inner ring progress is driven to carry out around outer ring
The purpose of C axis rotation is realized in revolution.
Elevating mechanism mainly by outer support cylinder, outer idler wheel, interior movable cylinder, screw, internal trolley, lead screw, motor protecting cover, watch
Motor, retarder and shaft coupling is taken to form.It is interior activity cylinder be made with outer support cylinder of rectangular tube, the outer support cylinder of elevating mechanism and
C axis rotation connect cover is connected and fixed with inner ring, and electric machine main shaft drives ball wire in screw lifter by retarder and shaft coupling
The circular motion of motor is converted into the rise and fall campaign of interior movable cylinder by screw lifter by bar rotation.It is interior activity cylinder with
Outer support cylinder installs anti-wear gasket, and the mechanisms such as idler wheel improve the athletic posture of interior movable cylinder, reduce frictional force, also can internally go up and down
The lifting of cylinder is limited, and avoids maloperation that interior lifting tube is increased above effective travel.The telescopic knot that jacking system uses
Structure, outer dimension is compact, reduces the storage occupied space of equipment, also avoid equipment in use with other equipment,
Article or building generate interference, and this product is made to have better passability.
Mechanical arm is mainly by servo motor, motor protecting cover, B axle gear, bearing, camera, bearing block, support arm, electricity
Move push rod, push rod, by push jack, master jaw, pinion gear, left jamming claw, right jamming claw.Interior movable cylinder in bearing block and elevating mechanism connects
Fixation is connect, retarder is fixed on bearing block, and output end connects pinion gear, and pinion gear is engaged with gear wheel, final to realize electricity
Machine rotation drives movement to roll over, and realizes that manipulator is rotated around B axle.Sliding seat is pushed to realize that manipulator is bowed by electric pushrod
Movement is faced upward, realizes that manipulator is rotated around A axis.For the posture for adapting to undercarriage, rising and falling in undercarriage flexible intelligent installation system
Frame clamping manipulator is required to be rotated around A, B axle, and motor driven gear transmission realizes that manipulator clamping, release etc. are dynamic
Make.Vulcanize transparent polyurethane on claw, avoid damage to undercarriage and catches variegated.
Intelligence control system includes intelligent operating system, intelligent safety system, power-supply system and Intelligent self-checking system.
Intelligent operating system (is realized) by program
The control mode of undercarriage flexible intelligent installation system controls equipment using two ways:
A kind of remote control to need manpower intervention, operator provide letter by hand-held remote controller (hereinafter referred to as remote controler)
Number, the signal instruction that remote controler issues is sent to the communication module of intelligence control system, and communication module, which passes information to, to be had
The CPU of ultrahigh speed operational capability, CPU are analyzed and processed, and will be executed order and are sent to I/O module and motion-control module, hold
Row component controls exectorial terminal component according to the instruction that I/O module and motion-control module receive, equipment into
A series of runnings of row, then undercarriage flexibility intelligence is grasped by the high-definition display screen on observation hand-held remote controller by operator
The operating status of energy installation system, forms the closed-loop control including operator.
Another kind is the intelligent control system without manpower intervention, and system itself has storage capacity, by this equipment energy
It is right when work in storage to internal storage after the scanning of the digital-to-analogue of the type enough safeguarded and undercarriage relative mounting positions
The type safeguarded carries out 3-D scanning, show that the corresponding model of undercarriage that needs are safeguarded, intelligence control system are divided
Analysis reaches the route of working position, starts automatic moving and reaches operating position, and same model undercarriage peace is called from storage inside
Holding position data, detection are maintained the posture of undercarriage, calculate each joint of undercarriage flexible intelligent installation system and move
The position reached needed for dynamic component, intelligence control system carry out intelligent control to equipment according to the result obtained, equipment are adjusted
To corresponding posture, reliable retention carried out to undercarriage, in whole work process without human intervention.
Intelligent safety system
When undercarriage flexible intelligent installation system when walking, be mounted on the diagonal laser avoidance device of vehicle body frame to equipment periphery
Comprehensive no dead angle scanning is carried out, when as having barrier on track route, signal is fed back to Vehicle Controller by laser avoidance device,
By analysis after operation, track route is modified, provides that travel distance is nearest and reasonable track route gets around barrier, is realized
Intelligent barrier avoiding function；When running space is special, need intelligent walking vehicle must with object or equipment close to when, need to be turned off manually
Laser avoidance device, operates equipment, and safe touch side is installed along surrounding in car body bottom, and when touching object, touching side bears to be more than to set
Fixed pressure, vehicle are automatically stopped, and prevent operator because the reasons such as environment complexity are closed after laser avoidance device, equipment is by force
Barrier is touched, is caused damages.
Duplicate protection of the everything stroke of sixdegree-of-freedom simulation by internal processes and mechanical structure, avoids accident
Generation.
Its clamping of Serve Motor Control is used on mechanical arm, servo motor has feedback function, Real-time Feedback crawl
Pressure value in action process, after acquiring data, by the movement of control system high-precision control fixture, the control of safety and stability
The pinching action of mechanical arm guarantees the installation and removal safety of undercarriage.
It is respectively mounted emergency stop switch in car body full position, prevents the generation of emergency event, after emergency stop switch is excited, pass through
The emergence program set, equipment can act within the shortest time, combine movement inertia, avoid the occurrence of danger in stopping.
High-resolution night vision cam is installed on the mechanical arm of undercarriage flexible intelligent installation system, passes through communication module
High clear video image is transmitted on the display screen in remote controler, which kind of control mode running equipment no matter operator use,
Can real time inspection undercarriage disassembly process, and the installation condition of undercarriage can be adjusted.
Power-supply system
Ferric phosphate lithium cell includes battery management system and rechargeable battery pack.
Rechargeable lithium battery group is controlled and managed using battery management system, battery management system is to pass through acquisition
The information such as the end voltage of every piece of battery and temperature, charging and discharging currents and battery pack total voltage/electric current form an effective intelligence
Control system timely feedbacks the information such as state-of-charge, the working condition of battery pack, it is effective control between single battery, battery pack
Between equilibrium, prevent battery occur overcharging or overdischarging phenomenon, power failure can be found and be handled at the first time, protect
Hold the reliability and high efficiency of whole group battery operation.
Undercarriage flexible intelligent installation system is powered using rechargeable lithium battery group, and undercarriage flexible intelligent is facilitated to pacify
Dress system at work, is moved, and in battery electric quantity deficiency, carries out quick charge to battery pack using external power supply.
In special circumstances, equipment is allowed to work in charging, the compatible 220V alternating current of charging voltage and three-phase 380V commercial power.
Battery management system has electricity warning function, issues level-one alarm in electricity 35%, electricity 20% issues second level report
It is alert.There is level-one alarm, should charge as early as possible, secondary alarm occur, should charge at once, otherwise battery over-discharge can serious curtailment
In its service life, fully charged rear runing time is shorter just to charge, and the charging time is unsuitable too long, otherwise will form and overcharges, makes battery
Fever.
Battery pack is all modularized processing, and replacement easy to disassemble, maintenance action is few, high-efficient.Ferric phosphate lithium cell in addition to
Other than conventional func, it is also equipped with following advanced technology:
A) ferric phosphate lithium cell packet, when high temperature is more than 40 DEG C, equipped aerofoil fan starts automatically, carries out dissipating for battery pack
Heat treatment, when low temperature is down to -5 DEG C, the self-heating system in battery pack starts, and adds to Primary Components such as battery battery cores
Heat treatment guarantees that battery pack is normally charged and discharged efficiency.
B) battery management system has eliminated the mode for being equipped with charger for lithium battery charging on the market, utilizes battery management system
The external charge plug of system can charge directly, and charging current is adjusted within the set range, can fill in battery 2-3 hours
It is full.
C) charging process carries out under the detection control of battery management system, stroke one opposite closed-loop control, than charging
The open loop mode of machine is safer more reliable.
Intelligent self-checking system (is realized) by program
Intelligence control system has self-checking function, and after device power-up, intelligence control system carries out self-check program, when self-test terminates
Afterwards, the operating status of equipment is normal, and equipment can be directly entered working link, as found failure after equipment self-inspection, according to being remotely controlled
Device shows the error code of screen display, can be directly acquainted with the link of failure, and after carrying out troubleshooting, equipment carries out certainly again
Inspection, equipment running status is normal after self-test, can enter working link.
Claims (10)
1. undercarriage flexible intelligent installation system, including mechanical arm (1-1), Z-axis lifting mechanism (1-2), C axis whirler
Structure (1-3), XY are to translation mechanism (1-4) and moving trolley (1-5), it is characterised in that:
Mechanical arm (1-1), including bearing block (12-6), electric pushrod (12-8), master jaw (12-12), support arm (12-7) and B
Axis servo motor (12-1)；It is equipped with bearing (12-4) in bearing block (12-6), the outer ring of bearing (12-4) and bearing block (12-
6) inner wall is fixedly connected, and support arm (12-7) is inserted into the inner ring of bearing (12-4) and is fixedly connected；Pass through on support arm (12-7)
Screw fixing sleeve is equipped with B axle gear (12-3)；The shell of B axle servo motor (12-1) is fixed on bearing block (12-6), and B axle is watched
Take the gear on the power output shaft of motor (12-1) and B axle gear (12-3) engagement connection；In the outer wall of bearing block (12-6)
Upper end is installed with the camera (12-5) with light source and night vision function；The shell of electric pushrod (12-8) is installed in support arm (12-
7) on；Master jaw (12-12) is hinged with by pin shaft in one end of support arm (12-7)；On the upper surface of master jaw (12-12)
It is fixed with by push jack (12-11)；It is hinged by the push rod (12-9) on the upper end and electric pushrod (12-8) of push jack (12-11)；
Left jamming claw (12-14) and right jamming claw (12-15) are installed in master jaw (12-12)；Left jamming claw (12-14) and right jamming claw (12-
15) side is claw shape, and the other side is gear shape；The gear side of left jamming claw (12-14) and right jamming claw (12-15) difference
It is hinged with the upper and lower end face of master jaw (12-12)；The gear on gear and right jamming claw (12-15) on left jamming claw (12-14) is nibbled
It closes；Claw servo motor (12-16) is installed on the outer wall of master jaw (12-12)；The power of claw servo motor (12-16)
Output shaft is inserted into master jaw (12-12), gear and right jamming claw (12- on claw servo motor (12-16) power output shaft
15) the gear engagement on；
Z-axis lifting mechanism (1-2), including outer support cylinder (11-1), interior movable cylinder (11-3), Z axis lead screw (11-6) and Z axis screw
(11-4；Outer support cylinder (11-1) is set in the outside of interior movable cylinder (11-3)；Interior activity cylinder (11-3) and outer support cylinder (11-1)
For rectangular tube；Z axis lead screw (11-6) is vertically installed at the inner wall of outer support cylinder (11-1) by lead screw mounting base along Z-direction
On；Z axis screw (11-4) fixed setting is inside on the inner wall of movable cylinder (11-3)；Z axis screw (11-4) is set in Z axis lead screw
On (11-6) and it is threadedly coupled；One end of Z axis lead screw (11-6) is connected to Z axis retarder (11- by Z axis shaft coupling (11-10)
9) on power output shaft, the power input shaft of Z axis retarder (11-9) is connected to the power output of Z axis servo motor (11-8)
On axis；The upper surface of interior activity cylinder (11-3) is fixedly connected with the outer wall of bearing block (12-6)；
C axis rotating mechanism (1-3), including C axis servo motor (10-5), pinion gear (10-4), C axle bearing and connect cover (10-
1)；C axle bearing is made of C axis outer ring (10-2) and C axis inner ring (10-3) assembly；Connect cover (10-1) is installed in C axis inner ring
On the upper surface of (10-3)；The shell of C axis servo motor (10-5) is installed on connect cover (10-1), C axis servo motor (10-
5) centre bore of power output shaft insertion pinion gear (10-4) is fixedly connected；Pinion gear (10-4) is arranged in C axis outer ring (10-
2) outside and engaging with C axis outer ring (10-2) connects；The upper surface of connect cover (10-1) passes through bolt and outer support cylinder
The lower end surface of (11-1) is fixedly connected；
XY is to translation mechanism (1-4), including Y-direction mobile platform (8-3) and X are to mobile platform (8-6)；Y-direction mobile platform (8-3)
It is arranged in X to the top of mobile platform (8-6)；Y-axis is installed along the y axis on the upper surface of mobile platform (8-6) in X
Lead screw (8-2) and two Y-axis guide rails (8-1)；Y-axis screw (9-8) is threaded on Y-axis lead screw (8-2)；In Y
Y-axis guide runner (9-7) is installed on axial guidance (8-1)；Y-axis guide runner (9-7) and Y-axis screw (9-8) are fixed on Y
To on the lower end surface of mobile platform (8-3)；The power that one end of Y-axis lead screw (8-2) is connected to speed reducer by shaft coupling is defeated
On shaft, the power input shaft of speed reducer is connected on the power output shaft of servo motor；X is to the lower section of mobile platform (8-6)
It is equipped with X axis lead screw (8-4) and two X axis guide rails (8-5) along the x axis；X is threaded on X axis lead screw (8-4)
Axial screw；X-axis guide runner is installed on X axis guide rail (8-5)；X-axis guide runner and X axis screw be fixed on X to
On the lower end surface of mobile platform (8-6)；One end of X axis lead screw (8-4) is connected to the power output of speed reducer by shaft coupling
On axis, the power input shaft of speed reducer is connected on the power output shaft of servo motor；The upper surface of Y-direction mobile platform (8-3)
It is fixedly connected by bolt with C axis outer ring (10-2)；
Moving trolley (1-5), including vehicle body frame (2-15), four active wheel groups and control and power supply system；Control and power supply system
System is mounted on vehicle body frame (2-15)；One end of vehicle body frame (2-15) is equipped with U-shaped opening；Four active wheel groups are installed respectively
In the front end left and right side and rear end left and right side of vehicle body frame (2-15)；X axis lead screw (8-4) passes through lead screw mounting base and X-axis
Direction guiding rail (8-5) is installed on the upper surface of vehicle body frame (2-15).
2. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: B axle gear (12-3)
Multiple teeth are equipped in set angle range.
3. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: in master jaw (12-
12) upper end is fixed there are two manual hoist (12-10).
4. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: in outer support tube (11-
1) it being equipped on the outside of outer idler wheel (11-2), the bracket on outer idler wheel (11-2) is fixed on the outer wall of outer support cylinder (11-1),
The outer wall contact of the idler wheel of outer idler wheel (11-2) and interior movable cylinder (11-3)；The inside of movable cylinder (11-3) is equipped with internal trolley inside
(11-5), internal trolley (11-5) are located at the opposite side of outer idler wheel (11-2)；The bracket of internal trolley (11-5) is fixed on interior activity
On the inner wall of cylinder (11-3), the inner wall contact of the idler wheel and outer support cylinder (11-1) of internal trolley (11-5).
5. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: two Y-axis guide rails
(8-1) is respectively fixedly disposed at X to the both ends of mobile platform (8-6)；Y-axis lead screw (8-2) passes through the fixed peace of lead screw mounting base
Mounted in X to the middle of mobile platform (8-6).
6. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: two X axis guide rails
(8-5) is located in X to the both ends of mobile platform (8-6), and X axis lead screw (8-4) is located at X in mobile platform (8-6)
Between.
7. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: in vehicle body frame (2-
15) multiple suspension centres are surrounded by.
8. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: active wheel group, including
Active wheel servo motor (4-1), work wheel decelerator (4-2), spring mounting post (4-3) and Mecanum wheel (4-4)；Active wheel
The power output shaft of servo motor (4-1) is connected with the power input shaft of work wheel decelerator (4-2), and work wheel decelerator (4-
2) power output shaft and Mecanum wheel (4-4) connection；Damping spring is arranged on spring mounting post (4-3)；Spring peace
The through-hole on the connecting plate of the upper end boss greater than vehicle body frame (2-15) of column (4-3) is filled, the lower end spring mounting post (4-3) passes through
Through-hole on the connecting plate of vehicle body frame (2-15) is fixed on work wheel decelerator (4-2) shell；It supports damping spring upper end
On the connecting plate lower end face of vehicle body frame (2-15), lower end is supported on work wheel decelerator (4-2) shell.
9. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: control and power supply system
System, including multiple servomotor controllers (3-1), ferric phosphate lithium cell (3-2), inverter (3-3), laser avoidance device (3-4),
Emergency stop switch (3-5), electric cabinet (3-6), combined aural and visual alarm (3-7), safe touch side (3-8), PLC and its supplemental functionality
(3-9), temperature controller (3-10) and two remote controlers (3-11)；Multiple servomotor controllers (3-1), ferric phosphate lithium cell (3-
2), inverter (3-3) and PLC and its supplemental functionality (3-9) are mounted in vehicle body frame (2-15)；Laser avoidance device (3-
4) it is mounted on the rear end side of vehicle body frame (2-15) with emergency stop switch (3-5), combined aural and visual alarm (3-7) is mounted on car body frame
On the rear end other side of frame (2-15)；Electric cabinet (3-6) is mounted on the upper surface of vehicle body frame (2-15)；Safe touch side (3-
8) it is mounted on the surrounding of vehicle body frame (2-15)；Temperature controller (3-10) is mounted on the upper surface of vehicle body frame (2-15), detection
The internal temperature of vehicle body frame (2-15)；Two remote controlers (3-11) are mounted on the outside of vehicle body frame (2-15)；Multiple servo electricity
Machine controller (3-1), ferric phosphate lithium cell (3-2), inverter (3-3), laser avoidance device (3-4), emergency stop switch (3-5), electricity
Control case (3-6), combined aural and visual alarm (3-7), safe touch side (3-8), PLC and its supplemental functionality (3-9), temperature controller (3-10)
It is interconnected on corresponding interface with two remote controlers (3-11) by conducting wire.
10. undercarriage flexible intelligent installation system according to claim 1, it is characterised in that: C axis outer ring (10-2)
Arc outer wall set angle range be gear shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910234250.4A CN109986529B (en) | 2019-03-26 | 2019-03-26 | Flexible intelligent mounting system for undercarriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910234250.4A CN109986529B (en) | 2019-03-26 | 2019-03-26 | Flexible intelligent mounting system for undercarriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109986529A true CN109986529A (en) | 2019-07-09 |
| CN109986529B CN109986529B (en) | 2024-04-30 |
Family
ID=67131625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910234250.4A Active CN109986529B (en) | 2019-03-26 | 2019-03-26 | Flexible intelligent mounting system for undercarriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986529B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111437146A (en) * | 2020-04-29 | 2020-07-24 | 广东东品美容医疗科技有限公司 | Lifting mechanism and lifting underframe applying same |
| CN112606040A (en) * | 2020-12-18 | 2021-04-06 | 南京昱晟机器人科技有限公司 | Steering device for industrial robot and use method thereof |
| CN114194311A (en) * | 2021-12-30 | 2022-03-18 | 无锡黎曼机器人科技有限公司 | High-precision omnidirectional heavy-load mobile robot |
| CN114572418A (en) * | 2022-04-12 | 2022-06-03 | 天津航天机电设备研究所 | Assembly vehicle for nose landing gear of airplane |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10238982A1 (en) * | 2002-08-20 | 2004-02-26 | Rechner's Vertriebs- und Produktions-GmbH | Rail transport vehicle |
| CN104959808A (en) * | 2015-07-02 | 2015-10-07 | 天津航天机电设备研究所 | Flexible assembly equipment for buffer supporting column of undercarriage |
| CN107601038A (en) * | 2017-09-28 | 2018-01-19 | 卢渭彬 | A kind of intelligent robot for being used to build detection materials handling |
| CN209936897U (en) * | 2019-03-26 | 2020-01-14 | 沈阳飞研航空设备有限公司 | Flexible intelligent mounting system for aircraft landing gear |
-
2019
- 2019-03-26 CN CN201910234250.4A patent/CN109986529B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10238982A1 (en) * | 2002-08-20 | 2004-02-26 | Rechner's Vertriebs- und Produktions-GmbH | Rail transport vehicle |
| CN104959808A (en) * | 2015-07-02 | 2015-10-07 | 天津航天机电设备研究所 | Flexible assembly equipment for buffer supporting column of undercarriage |
| CN107601038A (en) * | 2017-09-28 | 2018-01-19 | 卢渭彬 | A kind of intelligent robot for being used to build detection materials handling |
| CN209936897U (en) * | 2019-03-26 | 2020-01-14 | 沈阳飞研航空设备有限公司 | Flexible intelligent mounting system for aircraft landing gear |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111437146A (en) * | 2020-04-29 | 2020-07-24 | 广东东品美容医疗科技有限公司 | Lifting mechanism and lifting underframe applying same |
| CN112606040A (en) * | 2020-12-18 | 2021-04-06 | 南京昱晟机器人科技有限公司 | Steering device for industrial robot and use method thereof |
| CN114194311A (en) * | 2021-12-30 | 2022-03-18 | 无锡黎曼机器人科技有限公司 | High-precision omnidirectional heavy-load mobile robot |
| CN114572418A (en) * | 2022-04-12 | 2022-06-03 | 天津航天机电设备研究所 | Assembly vehicle for nose landing gear of airplane |
| CN114572418B (en) * | 2022-04-12 | 2023-10-20 | 天津航天机电设备研究所 | Assembly vehicle for nose landing gear of airplane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109986529B (en) | 2024-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109986529A (en) | Undercarriage flexible intelligent installation system | |
| CN106427936B (en) | Battery box replacing system formed by monitoring workstation, battery replacing station and electric automobile through Internet of things | |
| CN108638083B (en) | Auxiliary robot for overhauling railway vehicle | |
| CN111823946B (en) | Chassis power conversion system and power conversion method for pure electric passenger car | |
| CN112706649B (en) | Automatic reloading system for battery pack of unmanned aerial vehicle | |
| CN106239515A (en) | A kind of power distribution station intelligent inspection robot | |
| CN209938997U (en) | Lifting mechanism for flexible intelligent mounting system of undercarriage | |
| CN202197032U (en) | Transformer station intelligent patrolling robot high-altitude detection platform | |
| CN109638718B (en) | Inspection robot for overhead transmission line | |
| CN110065647B (en) | Lifting adjustment platform in intelligent electric bullet hanging vehicle | |
| CN110027723A (en) | Undercarriage flexible intelligent installation system elevating mechanism | |
| CN110000748A (en) | Undercarriage flexible intelligent installation system mechanical arm | |
| CN209797364U (en) | Intelligent electric mechanical jacking device for airplane | |
| CN102922530A (en) | Inspection robot platform of 500kV split conductors | |
| CN110092009A (en) | A kind of aircraft intelligent electric bomb truck | |
| CN104614373B (en) | A kind of device of novel monitoring battery bulging and temperature | |
| CN113733968A (en) | Electric vehicle battery replacing system, battery replacing station and battery replacing method | |
| CN209903204U (en) | Mechanical arm for flexible intelligent undercarriage mounting system | |
| CN209936897U (en) | Flexible intelligent mounting system for aircraft landing gear | |
| CN105490206A (en) | Walking method and walking device for no-blind zone intelligent inspection robot for transformer substation | |
| CN115700186A (en) | Heavy truck trades formula with side and trades power station | |
| CN102700645B (en) | Climbing robot for wind driven generator tower | |
| CN210310926U (en) | Intelligent electric missile hanging vehicle for airplane | |
| CN109987541A (en) | Aircraft intelligent electric machinery jacking apparatus | |
| CN102922529A (en) | Inspection robot system along split conductors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |