CN110027723A - Undercarriage flexible intelligent installation system elevating mechanism - Google Patents
Undercarriage flexible intelligent installation system elevating mechanism Download PDFInfo
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- CN110027723A CN110027723A CN201910234307.0A CN201910234307A CN110027723A CN 110027723 A CN110027723 A CN 110027723A CN 201910234307 A CN201910234307 A CN 201910234307A CN 110027723 A CN110027723 A CN 110027723A
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- axis
- lead screw
- cylinder
- outer support
- screw
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/40—Maintaining or repairing aircraft
Abstract
Undercarriage flexible intelligent installation system elevating mechanism, outer support cylinder are set in the outside of interior movable cylinder；Z axis lead screw is vertically installed on the inner wall of outer support cylinder by lead screw mounting base；The fixed setting of Z axis screw is inside on the inner wall of movable cylinder；Z axis screw is set on Z axis lead screw and is threadedly coupled；One end of Z axis lead screw is connected on the power output shaft of Z axis retarder by Z axis shaft coupling, and the power input shaft of Z axis retarder is connected on the power output shaft of Z axis servo motor.The present invention is connected by screw to C axis rotating mechanism, use C axis rotating mechanism as support when work, based on C axis rotating mechanism, movable cylinder can be achieved to carry out elevating movement relative to outer support cylinder in elevating mechanism, due to using telescopic lifting structure, undercarriage flexible intelligent installation system reduces the whole height of equipment itself, and using screw lifter, internally movable cylinder is gone up and down elevating mechanism, structure type is simple, corrective maintenance, maintenance with it is easy to maintenance.
Description
Technical field
The invention belongs to elevating mechanism fields, especially undercarriage flexible intelligent installation system elevating mechanism.
Background technique
Undercarriage flexible installation system is the indispensable equipment of aircraft support equipment.Airplane ground support equipment is in army
Ensure flight safety, complete playing very important effect in training combat duty, to realize the maintenance of aircraft floor, maintenance,
The work such as dismounting have indispensable role.And the undercarriage flexible installing that the installation, disassembly of undercarriage use at present
System equipment is heavy, volume is larger, movement is not flexible, complicated for operation, it is difficult to control, need to be used when equipment works external power supply and
Gas source, using area is limited, and universal automation and intelligence degree be not high, and required longevity of service is dismantled in installation, needs several
Flight crew is used cooperatively, and carrys out inconvenience to maintenance support work belt, is not suitable with army's future war and civil aviaton's to maintain equipment
The needs of development.With the progress of aviation industry, function, the performance indicator of aircraft support equipment are required all continuous
It improves.Need to research and develop the aircraft support equipment for being more suitable for modern weapons equipment with the development of civil aviaton's to maintain equipment.
Summary of the invention
It is light the purpose of the invention is to provide a kind of equipment to solve the above problems, it is small in size, flexible movements to rise
Frame flexible intelligent installation system elevating mechanism is fallen, the accurate of undercarriage flexible intelligent installation system work is effectively guaranteed
Property, the structure of elevating mechanism is simplified, the volume and weight of undercarriage flexible intelligent installation system are reduced.
The technical scheme is that
Undercarriage flexible intelligent installation system elevating mechanism, including outer support cylinder, interior movable cylinder, Z axis lead screw and Z axis screw.
Outer support cylinder is set in the outside of interior movable cylinder.Interior activity cylinder and outer support cylinder are rectangular tube.Z axis lead screw passes through lead screw mounting base
Along the inner wall that Z-direction is vertically installed at outer support cylinder, lead screw can rotate in lead screw mounting base.The fixation of Z axis screw is set
It sets on the inner wall of movable cylinder inside.Z axis screw is set on Z axis lead screw and is threadedly coupled.One end of Z axis lead screw is joined by Z axis
Axis device is connected on the power output shaft of Z axis retarder, and the power input shaft of Z axis retarder is connected to the dynamic of Z axis servo motor
On power output shaft.Outer support cylinder is fixed, motor drive lead screw rotation, Z axis screw with the rotation of Z axis lead screw on move down
Dynamic, the interior movable cylinder being fixed on Z axis screw moves up and down in outer support tube.Outer rolling is installed on the outside of outer support tube
It takes turns, the bracket on outer idler wheel is fixed on the outer wall of outer support cylinder, the outer wall contact of the idler wheel of outer idler wheel and interior movable cylinder.Inside
The inside of movable cylinder is equipped with internal trolley, and internal trolley is located at the opposite side of outer idler wheel.The bracket of internal trolley is fixed on interior movable cylinder
Inner wall on, the inner wall contact of the idler wheel of internal trolley and outer support cylinder.
Internal trolley, outer idler wheel reduce the frictional force of interior movable cylinder and the generation when carrying out relative motion of outer support cylinder.Lifting
The telescopic structure that system uses, outer dimension is compact, reduces the storage occupied space of equipment, also avoids equipment and is using
Interference is generated with other equipment, article or building in the process, makes this product that there is better passability.
The beneficial effects of the present invention are: the present invention is connected by screw to C axis rotating mechanism, with C axis whirler when work
Structure is as support, and based on C axis rotating mechanism, movable cylinder can be achieved to be gone up and down relative to outer support cylinder in elevating mechanism
Movement, due to using telescopic lifting structure, undercarriage flexible intelligent installation system reduces the whole height of equipment itself, rises
Using screw lifter, internally movable cylinder is gone up and down descending mechanism, and structure type is simple, corrective maintenance, maintenance with it is easy to maintenance.
Detailed description of the invention
Fig. 1 is undercarriage flexible intelligent installation system schematic diagram.
Fig. 2 is the schematic diagram of moving trolley.
Fig. 3 is the schematic diagram of the interior layout of Fig. 2.
Fig. 4 is the schematic diagram of active wheel group.
Fig. 5 is the schematic diagram of mechanical arm.
Fig. 6 is the schematic diagram of present apparatus six-freedom degree.Tri- axis of X, Y, Z is mutually perpendicular in figure.
Fig. 7 is the schematic diagram of Z-axis lifting mechanism.
Fig. 8 is the schematic cross-sectional view of X/Y plane mobile mechanism.
Fig. 9 is the schematic diagram of X/Y plane mobile mechanism.
Figure 10 is the schematic diagram of C axis rotating mechanism.
Figure 11 is the schematic diagram of intelligence control system framework.
Specific embodiment
Undercarriage flexible intelligent installation system, including mechanical arm 1-1, Z-axis lifting mechanism 1-2, C axis rotating mechanism
1-3, XY are to translation mechanism 1-4 and moving trolley 1-5.
Mechanical arm 1-1, including bearing block 12-6, electric pushrod 12-8, master jaw 12-12, support arm 12-7 and B axle servo
Motor 12-1.Bearing 12-4 is installed in bearing block 12-6, the outer ring of bearing 12-4 is fixedly connected with the inner wall of bearing block 12-6,
Support arm 12-7 is inserted into the inner ring of bearing 12-4 and is fixedly connected.B axle gear 12- is equipped with by screw fixing sleeve on support arm 12-7
3.B axle gear 12-3 is equipped with multiple teeth in set angle range, rotates support arm 12-7 in set angle.B axle servo
The shell of motor 12-1 is fixed on bearing block 12-6, gear and B axle gear on the power output shaft of B axle servo motor 12-1
12-3 engagement connection.The camera 12-5 with light source and night vision function is installed in the outer wall upper end of bearing block 12-6.It is electronic
The shell of push rod 12-8 is installed on support arm 12-7.Master jaw 12-12, claw are hinged with by pin shaft in one end of support arm 12-7
Seat 12-12 can be rotated upwardly and downwardly around pin shaft.It is fixed on the upper surface of master jaw 12-12 by push jack 12-11.By push jack
Push rod 12-9 on the upper end and electric pushrod 12-8 of 12-11 is hinged.It is fixed together by push jack 12-11 and master jaw 12-12
Simultaneously operation, electric pushrod 12-8 telescopic putter 12-9, which drives, is done pitching around A axis by push jack 12-11 and master jaw 12-12
Movement.Left jamming claw 12-14 and right jamming claw 12-15 are installed in master jaw 12-12.Left jamming claw 12-14's and right jamming claw 12-15
Side is claw shape, and the other side is gear shape.The gear side of left jamming claw 12-14 and right jamming claw 12-15 are respectively and master jaw
The upper and lower end face of 12-12 is hinged, and left and right claw can rotate completion opening and closing movement.Gear and right card on left jamming claw 12-14
Gear engagement on pawl 12-15.Claw servo motor 12-16 is installed on the outer wall of master jaw 12-12.Claw servo motor
In the power output shaft insertion master jaw 12-12 of 12-16, gear and right card on claw servo motor 12-16 power output shaft
Gear engagement on pawl 12-15.Claw servo motor 12-16 rotation, drives left jamming claw 12-14 and right jamming claw 12-15 to turn simultaneously
It is dynamic, open and close claw side, object is grabbed in crawl or release.It is fixed there are two manual hoist 12-10 in the upper end master jaw 12-12,
For fixed landing gear.
Z-axis lifting mechanism 1-2, including outer support cylinder 11-1, interior movable cylinder 11-3, Z axis lead screw 11-6 and Z axis screw 11-
4.Outer support cylinder 11-1 is set in the outside of interior movable cylinder 11-3.Interior activity cylinder 11-3 and outer support cylinder 11-1 is rectangular tube.Z axis
For lead screw 11-6 through lead screw mounting base along the inner wall that Z-direction is vertically installed at outer support cylinder 11-1, lead screw can be in lead screw
Rotation in mounting base.Z axis screw 11-4 fixed setting is inside on the inner wall of movable cylinder 11-3.Z axis screw 11-4 is set in Z axis silk
On thick stick 11-6 and it is threadedly coupled.One end of Z axis lead screw 11-6 is connected to the dynamic of Z axis retarder 11-9 by Z axis shaft coupling 11-10
On power output shaft, the power input shaft of Z axis retarder 11-9 is connected on the power output shaft of Z axis servo motor 11-8.Outer branch
It is fixed to support cylinder 11-1, motor drives lead screw rotation, and Z axis screw 11-4 is moved up and down with the rotation of Z axis lead screw 11-6,
The interior activity cylinder 11-3 being fixed on Z axis screw 11-4 is moved up and down in outer support tube 11-1.In the outer of outer support tube 11-1
Side is equipped with outer idler wheel 11-2, and the bracket on outer idler wheel 11-2 is fixed on the outer wall of outer support cylinder 11-1, outer idler wheel 11-2's
The outer wall contact of idler wheel and interior movable cylinder 11-3.The inside of movable cylinder 11-3 is equipped with internal trolley 11-5 inside, and internal trolley 11-5
In the opposite side of outer idler wheel 11-2.The bracket of internal trolley 11-5 is fixed on the inner wall of interior movable cylinder 11-3, internal trolley 11-5
Idler wheel and outer support cylinder 11-1 inner wall contact.The fixed company of outer wall of the upper surface and bearing block 12-6 of interior activity cylinder 11-3
It connects.
C axis rotating mechanism 1-3, including C axis servo motor 10-5, pinion gear 10-4, C axle bearing and connect cover 10-1.C axis
Bearing is made of C axis outer ring 10-2 and C axis inner ring 10-3 assembly, and the arc outer wall of C axis outer ring 10-2 is in set angle range
Gear shape.Connect cover 10-1 is installed on the upper surface of C axis inner ring 10-3.The shell of C axis servo motor 10-5 is installed in company
It connects on cover 10-1, the centre bore of the power output shaft insertion pinion gear 10-4 of C axis servo motor 10-5 is fixedly connected.Pinion gear
10-4, which is arranged in the outside of C axis outer ring 10-2 and engages with C axis outer ring 10-2, to be connected.The upper surface of connect cover 10-1 passes through spiral shell
Bolt is fixedly connected with the lower end surface of outer support cylinder 11-1.
XY is to translation mechanism 1-4, including Y-direction mobile platform 8-3 and X is to mobile platform 8-6.Y-direction mobile platform 8-3 setting
In X to the top of mobile platform 8-6.Y-axis lead screw 8-2 is installed along the y axis on the upper surface of mobile platform 8-6 in X
With two Y-axis guide rail 8-1.Two Y-axis guide rail 8-1 are respectively fixedly disposed at X to the both ends of mobile platform 8-6.Y-axis silk
Thick stick 8-2 is fixedly mounted on X to the middle of mobile platform 8-6 by lead screw mounting base, and lead screw can turn in lead screw mounting base
It is dynamic.Y-axis screw 9-8 is threaded on Y-axis lead screw 8-2.Y-axis guide runner 9- is installed on Y-axis guide rail 8-1
7, sliding block can be moved freely along guide rail.Y-axis guide runner 9-7 and Y-axis screw 9-8 is fixed on the lower end of Y-direction mobile platform 8-3
On face.One end of Y-axis lead screw 8-2 is connected on the power output shaft of speed reducer by shaft coupling, the power input of speed reducer
Axis connection is on the power output shaft of servo motor.It is equipped with limit block piece in the other end of Y-axis lead screw 8-2, for limiting Y-direction
The moving distance of mobile platform 8-3.It is equipped with X axis lead screw 8-4 and two X along the x axis to the lower section of mobile platform 8-6 in X
Axial guidance 8-5.Two X axis guide rail 8-5 are located in X to the both ends of mobile platform 8-6, and X axis lead screw 8-4 is located at X
To the middle of mobile platform 8-6.X axis screw is threaded on X axis lead screw 8-4.Pacify on X axis guide rail 8-5
Equipped with X-axis guide runner, sliding block can be free to slide along guide rail.X-axis guide runner and X axis screw are fixed on X to mobile platform
On the lower end surface of 8-6.One end of X axis lead screw 8-4 is connected on the power output shaft of speed reducer by shaft coupling, speed reducer
Power input shaft is connected on the power output shaft of servo motor.It is equipped with limit block piece in the other end of X axis lead screw 8-4, is used
In limitation moving distance of the X to mobile platform 8-6.The upper surface of Y-direction mobile platform 8-3 is solid by bolt and C axis outer ring 10-2
Fixed connection.
Moving trolley 1-5, including vehicle body frame 2-15, four active wheel groups and control and power supply system.Control and power supply system
System is mounted on vehicle body frame 2-15.One end of vehicle body frame 2-15 is equipped with U-shaped opening, convenient for close to undercarriage.Four work
Wheel group is separately mounted to the front end left and right side and rear end left and right side of vehicle body frame 2-15.X axis lead screw 8-4 is installed by lead screw
Seat and X axis guide rail 8-5 are installed on the upper surface of vehicle body frame 2-15.Multiple suspension centres are surrounded by vehicle body frame 2-15.
Active wheel group, including active wheel servo motor 4-1, work wheel decelerator 4-2, spring mounting post 4-3 and Mike receive
Nurse wheel 4-4.The power output shaft of active wheel servo motor 4-1 is connected with the power input shaft of work wheel decelerator 4-2, active wheel
The power output shaft of retarder 4-2 is connected with Mecanum wheel 4-4.Damping spring is arranged on spring mounting post 4-3.Spring
Through-hole on connecting plate of the upper end boss of mounting post 4-3 greater than vehicle body frame 2-15, the spring lower end mounting post 4-3 pass through car body
Through-hole on the connecting plate of frame 2-15 is fixed on work wheel decelerator 4-2 shell.It supports in car body frame damping spring upper end
On the connecting plate lower end face of frame 2-15, lower end is supported on work wheel decelerator 4-2 shell.
Control and power supply system, including multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3, swash
Light avoidance device 3-4, emergency stop switch 3-5, electric cabinet 3-6, combined aural and visual alarm 3-7, safe touch side 3-8, PLC and its miscellaneous function mould
Block 3-9, temperature controller 3-10 and two remote controler 3-11.Multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter
3-3 and PLC and its supplemental functionality 3-9 are mounted in vehicle body frame 2-15.Laser avoidance device 3-4 and emergency stop switch 3-5 peace
On the rear end side of vehicle body frame 2-15, combined aural and visual alarm 3-7 is mounted on the rear end other side of vehicle body frame 2-15.Electricity
Control case 3-6 is mounted on the upper surface of vehicle body frame 2-15.Safe touch side 3-8 is mounted on the surrounding of vehicle body frame 2-15.Temperature control
Device 3-10 is mounted on the upper surface of vehicle body frame 2-15, detects the internal temperature of vehicle body frame 2-15.Two remote controler 3-11
It is mounted on the outside of vehicle body frame 2-15.Multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3, laser are kept away
Hinder device 3-4, emergency stop switch 3-5, electric cabinet 3-6, combined aural and visual alarm 3-7, safe touch side 3-8, PLC and its supplemental functionality 3-
9, temperature controller 3-10 and two remote controler 3-11 are interconnected on corresponding interface by conducting wire.
Safe touch side prevents the present apparatus from being collided；Suspension centre is used to the present apparatus being fixed on setting position.Remote controler is just
The present apparatus is being manipulated on hand in staff.All servo motors in multiple servomotor controller driving present apparatus.Two
Remote controler controls the movement of four Mecanum wheels and six-freedom degree respectively.Electric cabinet is equipped with control button and display screen,
Remaining all additional device is controlled, such as the camera with light source and night vision function, safe touch side, combined aural and visual alarm, laser are kept away
Hinder device, emergency stop switch etc..
Vehicle body frame 2-15 is made of high-intensitive superior alloy steel welding, the case where not influencing car body strength, rigidity
Under reduce repeated hole, by the structure of stress form optimization design part.Vehicle body upper portion and surrounding use aluminium alloy anti-skid design plate.Vehicle
Have in body frame multiple warehouses place multiple servomotor controller 3-1, ferric phosphate lithium cell 3-2, inverter 3-3 and PLC and
Its supplemental functionality 3-9, each warehouse form separate space, and equipped with individually pulling, have sealing joint strip at each sliding door, prevent
Only dust and water etc. enter.
In work, by adjusting direction of rotation and the speed of each Mecanum wheel, equipment can carry out it is left and right traversing, it is preceding
Into, retreat, oblique movement and rotate in place, realize the omnidirection walking function under working condition, walking in the operating condition
Middle damping device absorbs the vibration generated in walking process, keeps smooth running.
Undercarriage flexible intelligent installation system highway, railway and water route can be used to be transported in long-distance transportation,
It is needed during entrucking or shipment using lifting appliance, lifting point is installed in intelligent walking vehicle side, is used for lifting.
Outer ring is mounted on X axis mobile platform in C axis rotary system, and inner ring is mounted in outer ring in C axis rotary system
Portion, inner ring is connected to motor together connect cover in C axis rotary system, is mounted in axis rotating mechanism small on motor inner ring
Gear is engaged with outer ring, and connect cover is connect with elevating mechanism China and foreign countries support tube in C axis rotary system, and pinion gear is rotated with motor,
The outer ring engaged with pinion gear maintains static, and due to the rotation of pinion gear, connect cover and inner ring progress is driven to carry out around outer ring
The purpose of C axis rotation is realized in revolution.
Elevating mechanism mainly by outer support cylinder, outer idler wheel, interior movable cylinder, screw, internal trolley, lead screw, motor protecting cover, watch
Motor, retarder and shaft coupling is taken to form.It is interior activity cylinder be made with outer support cylinder of rectangular tube, the outer support cylinder of elevating mechanism and
C axis rotation connect cover is connected and fixed with inner ring, and electric machine main shaft drives ball wire in screw lifter by retarder and shaft coupling
The circular motion of motor is converted into the rise and fall campaign of interior movable cylinder by screw lifter by bar rotation.It is interior activity cylinder with
Outer support cylinder installs anti-wear gasket, and the mechanisms such as idler wheel improve the athletic posture of interior movable cylinder, reduce frictional force, also can internally go up and down
The lifting of cylinder is limited, and avoids maloperation that interior lifting tube is increased above effective travel.The telescopic knot that jacking system uses
Structure, outer dimension is compact, reduces the storage occupied space of equipment, also avoid equipment in use with other equipment,
Article or building generate interference, and this product is made to have better passability.
Mechanical arm is mainly by servo motor, motor protecting cover, B axle gear, bearing, camera, bearing block, support arm, electricity
Move push rod, push rod, by push jack, master jaw, pinion gear, left jamming claw, right jamming claw.Interior movable cylinder in bearing block and elevating mechanism connects
Fixation is connect, retarder is fixed on bearing block, and output end connects pinion gear, and pinion gear is engaged with gear wheel, final to realize electricity
Machine rotation drives movement to roll over, and realizes that manipulator is rotated around B axle.Sliding seat is pushed to realize that manipulator is bowed by electric pushrod
Movement is faced upward, realizes that manipulator is rotated around A axis.For the posture for adapting to undercarriage, rising and falling in undercarriage flexible intelligent installation system
Frame clamping manipulator is required to be rotated around A, B axle, and motor driven gear transmission realizes that manipulator clamping, release etc. are dynamic
Make.Vulcanize transparent polyurethane on claw, avoid damage to undercarriage and catches variegated.
Intelligence control system includes intelligent operating system, intelligent safety system, power-supply system and Intelligent self-checking system.
Intelligent operating system (is realized) by program
The control mode of undercarriage flexible intelligent installation system controls equipment using two ways:
A kind of remote control to need manpower intervention, operator provide letter by hand-held remote controller (hereinafter referred to as remote controler)
Number, the signal instruction that remote controler issues is sent to the communication module of intelligence control system, and communication module, which passes information to, to be had
The CPU of ultrahigh speed operational capability, CPU are analyzed and processed, and will be executed order and are sent to I/O module and motion-control module, hold
Row component controls exectorial terminal component according to the instruction that I/O module and motion-control module receive, equipment into
A series of runnings of row, then undercarriage flexibility intelligence is grasped by the high-definition display screen on observation hand-held remote controller by operator
The operating status of energy installation system, forms the closed-loop control including operator.
Another kind is the intelligent control system without manpower intervention, and system itself has storage capacity, by this equipment energy
It is right when work in storage to internal storage after the scanning of the digital-to-analogue of the type enough safeguarded and undercarriage relative mounting positions
The type safeguarded carries out 3-D scanning, show that the corresponding model of undercarriage that needs are safeguarded, intelligence control system are divided
Analysis reaches the route of working position, starts automatic moving and reaches operating position, and same model undercarriage peace is called from storage inside
Holding position data, detection are maintained the posture of undercarriage, calculate each joint of undercarriage flexible intelligent installation system and move
The position reached needed for dynamic component, intelligence control system carry out intelligent control to equipment according to the result obtained, equipment are adjusted
To corresponding posture, reliable retention carried out to undercarriage, in whole work process without human intervention.
Intelligent safety system
When undercarriage flexible intelligent installation system when walking, be mounted on the diagonal laser avoidance device of vehicle body frame to equipment periphery
Comprehensive no dead angle scanning is carried out, when as having barrier on track route, signal is fed back to Vehicle Controller by laser avoidance device,
By analysis after operation, track route is modified, provides that travel distance is nearest and reasonable track route gets around barrier, is realized
Intelligent barrier avoiding function；When running space is special, need intelligent walking vehicle must with object or equipment close to when, need to be turned off manually
Laser avoidance device, operates equipment, and safe touch side is installed along surrounding in car body bottom, and when touching object, touching side bears to be more than to set
Fixed pressure, vehicle are automatically stopped, and prevent operator because the reasons such as environment complexity are closed after laser avoidance device, equipment is by force
Barrier is touched, is caused damages.
Duplicate protection of the everything stroke of sixdegree-of-freedom simulation by internal processes and mechanical structure, avoids accident
Generation.
Its clamping of Serve Motor Control is used on mechanical arm, servo motor has feedback function, Real-time Feedback crawl
Pressure value in action process, after acquiring data, by the movement of control system high-precision control fixture, the control of safety and stability
The pinching action of mechanical arm guarantees the installation and removal safety of undercarriage.
It is respectively mounted emergency stop switch in car body full position, prevents the generation of emergency event, after emergency stop switch is excited, pass through
The emergence program set, equipment can act within the shortest time, combine movement inertia, avoid the occurrence of danger in stopping.
High-resolution night vision cam is installed on the mechanical arm of undercarriage flexible intelligent installation system, passes through communication module
High clear video image is transmitted on the display screen in remote controler, which kind of control mode running equipment no matter operator use,
Can real time inspection undercarriage disassembly process, and the installation condition of undercarriage can be adjusted.
Power-supply system
Ferric phosphate lithium cell includes battery management system and rechargeable battery pack.
Rechargeable lithium battery group is controlled and managed using battery management system, battery management system is to pass through acquisition
The information such as the end voltage of every piece of battery and temperature, charging and discharging currents and battery pack total voltage/electric current form an effective intelligence
Control system timely feedbacks the information such as state-of-charge, the working condition of battery pack, it is effective control between single battery, battery pack
Between equilibrium, prevent battery occur overcharging or overdischarging phenomenon, power failure can be found and be handled at the first time, protect
Hold the reliability and high efficiency of whole group battery operation.
Undercarriage flexible intelligent installation system is powered using rechargeable lithium battery group, and undercarriage flexible intelligent is facilitated to pacify
Dress system at work, is moved, and in battery electric quantity deficiency, carries out quick charge to battery pack using external power supply.
In special circumstances, equipment is allowed to work in charging, the compatible 220V alternating current of charging voltage and three-phase 380V commercial power.
Battery management system has electricity warning function, issues level-one alarm in electricity 35%, electricity 20% issues second level report
It is alert.There is level-one alarm, should charge as early as possible, secondary alarm occur, should charge at once, otherwise battery over-discharge can serious curtailment
In its service life, fully charged rear runing time is shorter just to charge, and the charging time is unsuitable too long, otherwise will form and overcharges, makes battery
Fever.
Battery pack is all modularized processing, and replacement easy to disassemble, maintenance action is few, high-efficient.Ferric phosphate lithium cell in addition to
Other than conventional func, it is also equipped with following advanced technology:
A) ferric phosphate lithium cell packet, when high temperature is more than 40 DEG C, equipped aerofoil fan starts automatically, carries out dissipating for battery pack
Heat treatment, when low temperature is down to -5 DEG C, the self-heating system in battery pack starts, and adds to Primary Components such as battery battery cores
Heat treatment guarantees that battery pack is normally charged and discharged efficiency.
B) battery management system has eliminated the mode for being equipped with charger for lithium battery charging on the market, utilizes battery management system
The external charge plug of system can charge directly, and charging current is adjusted within the set range, can fill in battery 2-3 hours
It is full.
C) charging process carries out under the detection control of battery management system, stroke one opposite closed-loop control, than charging
The open loop mode of machine is safer more reliable.
Intelligent self-checking system (is realized) by program
Intelligence control system has self-checking function, and after device power-up, intelligence control system carries out self-check program, when self-test terminates
Afterwards, the operating status of equipment is normal, and equipment can be directly entered working link, as found failure after equipment self-inspection, according to being remotely controlled
Device shows the error code of screen display, can be directly acquainted with the link of failure, and after carrying out troubleshooting, equipment carries out certainly again
Inspection, equipment running status is normal after self-test, can enter working link.
Claims (4)
1. undercarriage flexible intelligent installation system elevating mechanism, including outer support cylinder (11-1), interior movable cylinder (11-3), Z axis
Lead screw (11-6) and Z axis screw (11-4), it is characterised in that:
Outer support cylinder (11-1) is set in the outside of interior movable cylinder (11-3)；Z axis lead screw (11-6) is vertical by lead screw mounting base
It is mounted on the inner wall of outer support cylinder (11-1)；Z axis screw (11-4) fixed setting is inside on the inner wall of movable cylinder (11-3)；Z
Axial filament mother (11-4) is set on Z axis lead screw (11-6) and is threadedly coupled；One end of Z axis lead screw (11-6) passes through Z axis shaft coupling
(11-10) is connected on the power output shaft of Z axis retarder (11-9), and the power input shaft of Z axis retarder (11-9) is connected to Z
On the power output shaft of axis servo motor (11-8).
2. undercarriage flexible intelligent installation system elevating mechanism as described in claim 1, it is characterised in that: interior activity cylinder
(11-3) and outer support cylinder (11-1) are rectangular tube.
3. undercarriage flexible intelligent installation system elevating mechanism as described in claim 1, it is characterised in that: in outer support tube
It is equipped on the outside of (11-1) 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)
On, the outer wall contact of the idler wheel of outer idler wheel (11-2) and interior movable cylinder (11-3).
4. undercarriage flexible intelligent installation system elevating mechanism as claimed in claim 3, it is characterised in that: movable cylinder inside
The inside of (11-3) is equipped with internal trolley (11-5), and internal trolley (11-5) is located at the opposite side of outer idler wheel (11-2)；Internal trolley
The bracket of (11-5) is fixed on the inner wall of interior movable cylinder (11-3), the idler wheel of internal trolley (11-5) and outer support cylinder (11-1)
Inner wall contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910234307.0A CN110027723A (en) | 2019-03-26 | 2019-03-26 | Undercarriage flexible intelligent installation system elevating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910234307.0A CN110027723A (en) | 2019-03-26 | 2019-03-26 | Undercarriage flexible intelligent installation system elevating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110027723A true CN110027723A (en) | 2019-07-19 |
Family
ID=67236660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910234307.0A Pending CN110027723A (en) | 2019-03-26 | 2019-03-26 | Undercarriage flexible intelligent installation system elevating mechanism |
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| Country | Link |
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| CN (1) | CN110027723A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977873A (en) * | 2021-03-30 | 2021-06-18 | 杭州艾美依航空制造装备有限公司 | Automatic undercarriage tipping arrangement of aircraft part |
| CN113696149A (en) * | 2021-08-27 | 2021-11-26 | 沈阳飞研航空设备有限公司 | Aircraft generator dismounting device |
-
2019
- 2019-03-26 CN CN201910234307.0A patent/CN110027723A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112977873A (en) * | 2021-03-30 | 2021-06-18 | 杭州艾美依航空制造装备有限公司 | Automatic undercarriage tipping arrangement of aircraft part |
| CN113696149A (en) * | 2021-08-27 | 2021-11-26 | 沈阳飞研航空设备有限公司 | Aircraft generator dismounting device |
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