CN113247293A - Rodless aircraft tractor of side direction centre gripping - Google Patents
Rodless aircraft tractor of side direction centre gripping Download PDFInfo
- Publication number
- CN113247293A CN113247293A CN202110720135.5A CN202110720135A CN113247293A CN 113247293 A CN113247293 A CN 113247293A CN 202110720135 A CN202110720135 A CN 202110720135A CN 113247293 A CN113247293 A CN 113247293A
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- slide rail
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- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 abstract description 8
- 238000011065 in-situ storage Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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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
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/24—Adaptations of turntables
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention belongs to the technical field of rodless aircraft traction equipment, and particularly relates to a rodless aircraft tractor with lateral clamping. Compared with the prior art, the rodless aircraft tractor with the lateral clamping function is characterized in that the omnidirectional wheel is arranged at the bottom of the frame, the omnidirectional wheel is a wheel which can be independently driven by a motor arranged on the omnidirectional wheel to realize walking and steering, the omnidirectional wheel can realize the functions of transverse moving, oblique moving and in-situ 360 ︒ rotating, has no turning radius, can meet the requirements of narrow running space near the aircraft and intensive operating environment near the aircraft position, and improves the guarantee efficiency of the aircraft. This rodless aircraft tractor of side direction centre gripping can wind aircraft wheel rotation, draws the aircraft in-process, can not produce the moment of torsion to the wheel, harms the wheel even, has increased the security, and centre gripping lifting mechanism only has three degrees of freedom, greatly reduced mechanical structure and control system's complexity, easy operation, compact structure, and can adapt to the wheel of not unidimensional.
Description
Technical Field
The invention belongs to the technical field of rodless aircraft traction equipment, and particularly relates to a rodless aircraft tractor with lateral clamping.
Background
The existing rodless aircraft tractor is widely applied to the field of aviation security, but some defects are found in the using process.
Firstly, the method comprises the following steps: the adopted chassis driving mode is consistent with that of a general vehicle, the movement mode is limited, the operation is difficult when the aircraft runs and is butted in a narrow and complex space, and the aircraft can not rotate around the aircraft wheels in the process of towing the aircraft, so that the torque is easily generated on the aircraft wheels.
Secondly, the method comprises the following steps: the wheel holding lifting mechanism of the existing rodless aircraft tractor has six degrees of freedom such as door opening, door closing, pressing, stretching, lifting, clamping and the like, and about ten power is required to drive the butt-jointed aircraft. The mechanical structure and the control principle are complex, the reliability is low, and the operation difficulty is high.
Thirdly, the method comprises the following steps: after the existing rodless aircraft tractor is butted, the position of an aircraft wheel is close to the rear wheel of the tractor, so that the pressure of the rear wheel is much higher than that of the front wheel, and the service life of the tractor structure is influenced; secondly, when the road surface is uneven and passes over obstacles, the tractor often has the phenomena of front wheel lift and uncontrolled tractor, and the aircraft and the tractor are easily damaged.
Disclosure of Invention
To solve the above problems, the present invention provides a laterally clamped rodless aircraft tractor.
The object of the invention is achieved in the following way: the utility model provides a rodless aircraft tractor of side direction centre gripping, includes the frame, the inside battery that sets up of frame, the frame bottom sets up the omniwheel, and the frame middle part sets up centre gripping lifting mechanism, and the inside one end of frame sets up the pump station, and the inside other end of frame sets up controlgear.
The omnidirectional wheel is a wheel which can realize walking and steering by a motor of the omnidirectional wheel.
The centre gripping lifting mechanism includes slide rail base, lift cylinder, lift frame connecting pin, load-bearing frame, lifting arm, centre gripping hydro-cylinder, compressing tightly pole and compressing cylinder, the frame middle part sets up the frame of lifting, it sets up the slide rail base to lift frame one side, slide rail base top sets up lift cylinder, lift frame keeps away from slide rail base one side and connects load-bearing frame through the connecting pin, set up the slide rail on the load-bearing frame, the slide rail cooperation sets up the slider, and the lifting arm is connected to slider one side, sets up the connecting seat on the slider, and the connecting seat is through the one end of round pin hub connection centre gripping hydro-cylinder, and the other end of centre gripping hydro-cylinder is connected on load-bearing frame, and the frame is provided with compressing tightly pole, and clamping cylinder one end is connected to the compressing tightly pole bottom, and the centre gripping hydro-cylinder other end is connected on the frame.
Compared with the prior art, the rodless aircraft tractor with the lateral clamping function is characterized in that the omnidirectional wheel is arranged at the bottom of the frame, the omnidirectional wheel is a wheel which can be independently driven by a motor arranged on the omnidirectional wheel to realize walking and steering, the omnidirectional wheel can realize the functions of transverse moving, oblique moving and in-situ 360 ︒ rotating, has no turning radius, can meet the requirements of narrow running space near the aircraft and intensive operating environment near the aircraft position, and improves the guarantee efficiency of the aircraft. The rodless aircraft tractor clamped in the lateral direction can rotate around aircraft wheels, and in the process of towing an aircraft, the aircraft wheels cannot be torqued or even damaged, so that the safety is improved. The clamping and lifting mechanism has only three degrees of freedom, greatly reduces the complexity of a mechanical structure and a control system, is simple to operate, has a compact structure, and can adapt to airplane wheels with different sizes. When the airplane is towed, the airplane wheels are positioned in the middle of the front and rear directions of the tractor, the front wheels and the rear wheels are stressed uniformly, the service life is prolonged, and the unsafe phenomena that the front wheels lift off the ground and the tractor is not controlled are avoided.
Drawings
FIG. 1 is a perspective view of a laterally clamped rodless aircraft retractor.
FIG. 2 is a side view of a side-gripping rodless aircraft retractor in operation.
Figure 3 is a schematic view of a lateral clamping rodless aircraft tractor mode of motion.
Figure 4 is a perspective view of a side-gripping rodless aircraft retractor gripping and lifting mechanism.
FIG. 5 is a schematic view of the wheels of a laterally clamped rodless aircraft retractor clamping lift mechanism.
The device comprises a frame, a omni wheel, a clamping lifting mechanism, a battery, a pump station, a control device, a wheel, a sliding rail base, a lifting oil cylinder, a lifting frame, a connecting pin, a bearing frame 305, a lifting arm 306, a lifting arm 307, a clamping oil cylinder, a pressing rod 308 and a pressing oil cylinder 309.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1:
a rodless aircraft tractor with lateral clamping comprises a frame 1, wherein a battery 4 is arranged in the frame 1, an omnidirectional wheel 2 is arranged at the bottom of the frame 1, a clamping and lifting mechanism 3 is arranged in the middle of the frame 1, a pump station 5 is arranged at one end in the frame 1, control equipment 6 is arranged at the other end in the frame 1, interfaces for mounting the omnidirectional wheel 2 are arranged at four corners of the frame 1, and the omnidirectional wheel 2 is connected with the frame 1 through bolts; a battery 4, a hydraulic pump station 5, a control device 6 and other devices are arranged in the space inside the frame structure; the frame 1 has the breach on one side long limit, and the installation interface and the frame of centre gripping lifting mechanism 3 are inside to link to each other, and the lifting arm 306 is in the breach side, hangs out frame 1 space, reserves the space for wheel 7. The control equipment 6 is connected with all the omnidirectional wheels 2 through cables, and the hydraulic pump station 5 is connected with all the hydraulic cylinders through pipelines.
The omnidirectional wheel 2 is a wheel which can realize walking and 360-degree steering by a motor of the omnidirectional wheel 2, and the omnidirectional motion is realized: 1) the four omnidirectional wheels 2 are controlled to rotate in the same direction, and the rotating speeds and the rotating directions of the four walking motors are controlled to be consistent; 2) the four omnidirectional wheels 2 are controlled to transversely move, the deflection angles are all +90 degrees or-90 degrees, and the rotating speeds and the rotating directions of the four walking motors are consistent; 3) the four omnidirectional wheels 2 are controlled to move obliquely, the deflection angles of the four omnidirectional wheels 2 are all alpha (-90 degrees < alpha <90 degrees, and alpha is not equal to 0 degrees), and the rotating speeds and the rotating directions of the four walking motors are consistent; 4) the rotation motion mode around any point is realized by taking the point as the center, connecting the center of the omnidirectional wheel 2 with the point, taking the front and back directions of the omnidirectional wheel 2 as a vertical line of a connecting line, calculating the deflection angle of each wheel according to the geometric position, calculating the linear velocity of the omnidirectional wheel 2 according to the angular velocity around the point, and setting the angle and the velocity of each wheel. The motion is schematically shown in fig. 3.
The clamping and lifting mechanism 3 comprises a slide rail base 301, a lifting oil cylinder 302, a lifting frame 303 connecting pin 304, a bearing frame 305, a lifting arm 306, a clamping oil cylinder 307, a pressing rod 308 and a pressing oil cylinder 309, wherein the middle part of the vehicle frame 1 is provided with the lifting frame 303, one side of the lifting frame 303 is provided with the slide rail base 301, the top part of the slide rail base 301 is provided with the lifting oil cylinder 302, one side of the lifting frame 303 far away from the slide rail base 301 is connected with the bearing frame 305 through the connecting pin 304, the bearing frame 305 is provided with a slide rail, the slide rail is matched with the sliding block, one side of the sliding block is connected with the lifting arm 306, the sliding block is provided with a connecting seat, the connecting seat is connected with one end of the clamping oil cylinder 307 through a pin shaft, the other end of the clamping oil cylinder 307 is connected with the bearing frame 305, the vehicle frame 1 is provided with the pressing rod 308, the bottom of the pressing rod 308 is connected with one end of the clamping oil cylinder 307, and the other end of the clamping oil cylinder 307 is connected with the vehicle frame 1, the gripping and lifting mechanism 2 can perform a reciprocating motion in the direction of the arrow in fig. 3. The specific implementation is as follows: one end of the lifting oil cylinder 302 is a base, the other end is a lifting frame 303, when the lifting oil cylinder 302 works, the lifting frame 303 is jacked up or put down, the lifting frame 303 drives the bearing frame 305 and the lifting arm 306 to move, and the lifting action of the wheel 7 is realized; one end of the clamping cylinder 307 is a bearing frame 305, and the other end is a lifting arm 306, and the clamping cylinder can drive the lifting arm 306 to move transversely when working, so that the wheel 7 is clamped; the pressing oil cylinder 309 acts to drive the pressing rod 308 to move back and forth, so that the pressing wheel 7 acts.
The working process of the invention is as follows: firstly, the tractor aligns the opening side with the wheel 7, approaches the wheel from the left-right direction of the airplane, moves the lifting arm 306 and the pressing rod 308 of the clamping lifting mechanism 3 to the maximum opening, and lowers the lifting arm 306 to the lowest position; second, the tractor travels laterally towards wheel 7 until the lift arm 306 reaches under the wheel and extends the outermost of the lift arm 306 beyond wheel 7; third, the lifting arm 306 clamps the wheel 7 to a proper position, and the lifting hydraulic cylinder 302 acts to lift the wheel 7; fourthly, the pressing oil cylinder 309 drives the pressing rod 308 to press and fix the airplane wheel 7; finally, the tractor tows the aircraft for operation.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be considered as the protection scope of the present invention.
Claims (3)
1. The utility model provides a rodless aircraft tractor of side direction centre gripping, includes frame (1), its characterized in that, frame (1) is inside to set up battery (4), and frame (1) bottom sets up omniwheel (2), and frame (1) middle part sets up centre gripping lifting mechanism (3), and frame (1) inside one end sets up pump station (5), and the frame (1) inside other end sets up controlgear (6).
2. A laterally clamped rodless aircraft retractor according to claim 1 wherein the omni wheel (2) is a wheel that can be steered and steered 360 degrees by the motor on the omni wheel (2) alone.
3. The laterally-clamped rodless aircraft tractor according to claim 1, wherein the clamping and lifting mechanism (3) comprises a slide rail base (301), a lifting cylinder (302), a lifting frame (303) connecting pin (304), a bearing frame (305), a lifting arm (306), a clamping cylinder (307), a pressing rod (308) and a pressing cylinder (309), the lifting frame (303) is arranged in the middle of the vehicle frame (1), the slide rail base (301) is arranged on one side of the lifting frame (303), the lifting cylinder (302) is arranged on the top of the slide rail base (301), the side, away from the slide rail base (301), of the lifting frame (303) is connected with the bearing frame (305) through the connecting pin (304), a slide rail is arranged on the bearing frame (305), a slide rail is arranged in a matched manner, the lifting arm (306) is connected on one side of the slide rail, and a connecting seat is arranged on the slide rail, the connecting base is connected with one end of a clamping oil cylinder (307) through a pin shaft, the other end of the clamping oil cylinder (307) is connected to a bearing frame (305), a pressing rod (308) is arranged on the frame (1), one end of the clamping oil cylinder (307) is connected to the bottom of the pressing rod (308), and the other end of the clamping oil cylinder (307) is connected to the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110720135.5A CN113247293A (en) | 2021-06-28 | 2021-06-28 | Rodless aircraft tractor of side direction centre gripping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110720135.5A CN113247293A (en) | 2021-06-28 | 2021-06-28 | Rodless aircraft tractor of side direction centre gripping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113247293A true CN113247293A (en) | 2021-08-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110720135.5A Pending CN113247293A (en) | 2021-06-28 | 2021-06-28 | Rodless aircraft tractor of side direction centre gripping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113247293A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114563070A (en) * | 2022-03-08 | 2022-05-31 | 成都程航航空科技有限公司 | Weighing and transverse moving method for airplane |
-
2021
- 2021-06-28 CN CN202110720135.5A patent/CN113247293A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114563070A (en) * | 2022-03-08 | 2022-05-31 | 成都程航航空科技有限公司 | Weighing and transverse moving method for airplane |
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