CN117416521A - Carrying and posture-adjusting docking platform for auxiliary fuel tank of airplane - Google Patents
Carrying and posture-adjusting docking platform for auxiliary fuel tank of airplane Download PDFInfo
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- CN117416521A CN117416521A CN202311660762.XA CN202311660762A CN117416521A CN 117416521 A CN117416521 A CN 117416521A CN 202311660762 A CN202311660762 A CN 202311660762A CN 117416521 A CN117416521 A CN 117416521A
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- axis
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- oil tank
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- 239000002828 fuel tank Substances 0.000 title claims abstract description 15
- 238000003032 molecular docking Methods 0.000 title claims abstract description 14
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Handcart (AREA)
Abstract
The invention provides a carrying and gesture-adjusting docking platform for an auxiliary fuel tank of an airplane, which relates to the technical field of automatic engineering mechanical devices. The lifting gesture adjusting frames are provided with two sets and are fixedly arranged on two sides of the omnidirectional steering wheel chassis, and each set of lifting gesture adjusting frame comprises a tripod, two screw rod sliding table modules, four parallel connecting rods, a movable platform, a rotating device, a driving wheel with variable course, a retainer and a universal contact ball bearing assembly; the invention can realize the carrying and the large-amplitude lifting of the cylindrical auxiliary oil tank in a low state, realize the pitching, the left-right movement and the swinging of the auxiliary oil tank, and realize the forward-backward movement and the autorotation of the auxiliary oil tank through the driving wheels with variable heading, thereby realizing the fine tuning action of 6 degrees of freedom. The platform can be matched with visual guidance to realize autonomous transportation and automatic mounting of the auxiliary oil tank, and is suitable for carrying and posture adjustment of long straight tubular objects under the conditions of low gravity center and high load.
Description
Technical Field
The invention relates to the technical field of automatic mechanical devices, in particular to a docking platform for carrying and adjusting the attitude of an auxiliary fuel tank of an airplane.
Background
The auxiliary fuel tank is an important external part of the aircraft, and the aircraft often needs to be mounted on a ground parking apron for increasing the range. Because the operation height below the machine body is limited, the carrying equipment is required to have a lower gravity center and can be lifted to a certain height for posture adjustment, and the conventional general hoisting equipment is difficult to meet the use requirement. At present, the butt joint operation can be manually completed by cooperation of multiple persons by means of simple mechanical equipment, and the problems of low operation efficiency, manpower waste and the like exist. In addition, the butt joint operation of pipelines in long and narrow space conditions such as a roadway and the like also needs lifting and butt joint, and the accurate posture adjustment is a difficult problem in construction. The conventional scissor type lifting platform is provided with the gesture adjusting device, which has the defects of redundant structure, large volume and low precision, and can not meet the accurate gesture adjusting operation of the robot. Therefore, the development of the automatic carrying and posture adjusting platform which is suitable for autonomous transportation under the condition of low and narrow space, flexible and maneuvering, and can be precisely adjusted in multiple directions under the guidance of vision has wide application prospect.
Disclosure of Invention
Aiming at the problem that the transportation and mounting operation of the conventional auxiliary fuel tank is completed manually, the invention provides a carrying and posture-adjusting docking platform for an aircraft auxiliary fuel tank, which is used for carrying and posture-adjusting docking operation of a robot. Because chassis running gear generally can't satisfy the precision requirement of accurate butt joint, and the uncertain factor of fuselage gesture, consequently need the micromatic setting of six degrees of freedom in space, translation and three rotations along three coordinate axes promptly. The invention adopts the parallel mechanism to carry out lifting and gesture adjustment operation, has the main characteristics of compact structure and high rigidity, and is particularly suitable for the robot lifting gesture adjustment operation with narrow space, low gravity center and high working surface.
An aircraft bellytank carrying and attitude adjustment docking platform, comprising: an omnidirectional steering wheel chassis and an elevating gesture-adjusting frame;
the lifting gesture adjusting frames are provided with two sets and are fixedly arranged on two sides of the omnidirectional steering wheel chassis, each set of lifting gesture adjusting frame comprises a tripod, two screw rod sliding table modules, four parallel connecting rods, a movable platform, a turning device, a driving wheel with a variable course, a retainer and a universal contact ball bearing assembly;
the two screw rod sliding table modules are symmetrically fixed on two side edges of the tripod respectively through bolts and are obliquely and symmetrically arranged with a horizontal plane to form an isosceles triangle; each screw rod sliding table module is provided with two parallel connecting rod mounting pin holes, and each parallel connecting rod is connected with the movable platform and the screw rod sliding table module through a pin shaft bolt; four parallel connecting rods form two groups of parallelograms, so that the posture of the movable platform relative to the bottom surface of the tripod can be always kept unchanged.
The two screw rod sliding table modules drive the screw rods to drive the sliding tables to move through the servo motor, the variable course driving wheel is fixed at the central position of the upper surface of the retainer, and the universal contact ball bearing assemblies are arranged at the two ends of the retainer.
When the heights of the movable platforms of the two lifting gesture adjusting frames are inconsistent along the z axis, the pitching motion of the auxiliary oil tank is realized, namely, the rotation of the auxiliary oil tank around the y axis by taking the driving wheel as a fulcrum is realized; when the movable platforms of the two lifting gesture adjusting frames are inconsistent along the y-axis direction, yaw of the auxiliary oil tank is realized, namely, rotation fine adjustment around the z-axis is realized; the rolling direction of the driving wheel carries out back-and-forth movement fine adjustment on the auxiliary oil tank along the x-axis direction; when rotating around the x-axis, the auxiliary oil tank is driven to roll around the x-axis; wherein the x-axis is the length direction of the vehicle body, the y-axis is the width direction of the vehicle body, and the z-axis is the vertical direction of the vehicle body;
the rotary device is a rotary bearing, an outer ring flange of the rotary bearing is mounted on the movable platform through bolts, and an inner ring flange of the rotary bearing is fixed on the retainer through bolts; the retainer is connected to the movable platform through a turning device, and the driving wheel is arranged at the central position of the retainer; the two ends of the retainer are provided with universal ball contact bearings by bolts;
the omnidirectional steering wheel chassis adopts a frame type structure, wherein a frame is built by square steel pipes, the middle of the frame is of a rectangular concave structure, steering wheels are arranged at four corners of the frame, 4 steering wheels are connected with the frame through fixing bolts on a mounting plate, and a bottom plate is arranged at the concave structure;
the beneficial effects of adopting above-mentioned technical scheme to produce lie in:
the invention provides a docking platform for carrying and adjusting the attitude of an auxiliary fuel tank of an aircraft, which has the following beneficial effects:
1. the invention adopts the chassis controlled by four steering wheels to realize driving and heading, has the function of omnidirectional movement and has good maneuvering performance. The steering wheels are positioned at four corners of the chassis to ensure stability and are arranged at the concave part of the frame, so that the height of the chassis can be reduced.
2. The gesture adjusting frame is driven by a servo motor by adopting a plane parallel mechanism, and the guide rail of the screw rod sliding table module is obliquely arranged to realize left-right translation (y axis) and lifting (z axis), so that the initial lifting working surface can be greatly reduced and the gesture adjusting frame has the characteristic of large lifting amplitude compared with the horizontal arrangement of the screw rod sliding table module.
3. The combined movement of the two lifting gesture adjusting frames can realize the fine adjustment actions of pitching (pitch) and swaying (yaw) of the auxiliary oil tank. The pitch compensation motion can be carried out on the slope pavement in the transportation process, so that the level of the auxiliary oil tank in the transportation process can be always ensured.
4. The driving wheel with the 90-degree variable course adopted by the invention carries out the fine adjustment of the fore-and-aft movement (x-axis) and the roll (roll) of the auxiliary oil tank. Has the characteristics of compact structure and wide adjustment range.
5. The screw nuts on the universal contact ball bearings are manually adjusted to change the length of the screw nuts extending out of the adjusting frame, so that the screw nuts can adapt to the hanging and conveying tasks of auxiliary oil tanks with different diameters;
drawings
FIG. 1 is a three-dimensional view of a docking station for carrying and adjusting the attitude of a secondary fuel tank of a machine in an embodiment of the invention;
wherein, the steering wheel chassis of 1-omnidirection, 2-raise and lower and adjust the appearance frame;
FIG. 2 is an exploded view of the lifting gesture adjusting frame of the present invention;
the device comprises a 3-tripod, a 4-screw rod sliding table module, a 5-parallel connecting rod, a 6-movable platform, a 7-slewing bearing, an 8-retainer, a 9-driving wheel with variable course and a 10-contact ball bearing assembly, wherein the 3-tripod is connected with the 4-screw rod sliding table module;
FIG. 3 is a schematic view of the steering wheel chassis of the present invention;
the steering system comprises a bottom plate 11, a mounting plate 12, a frame 13 and steering wheels 14;
FIG. 4 is a diagram showing a structure of a sliding table of a screw module and a universal ball bearing assembly in an embodiment of the invention;
the device comprises a 15-servo motor, a 16-coupler, a 17-ball screw, a 18-screw nut, a 19-screw rear support, a 20-screw module base, a 21-linear guide rail, a 22-slide block, a 23-screw front support, a 24-slide table, a 25-rear nut, a 26-ball bearing screw and a 27-front nut.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
As shown in figure 1, the aircraft auxiliary fuel tank carrying, docking and attitude adjusting platform comprises an omnidirectional steering wheel chassis 1 and two sets of lifting and attitude adjusting frames 2. Wherein, the two sets of gesture adjusting frames are fixedly arranged at two ends of the concave part in the center of the chassis so as to ensure that a lower initial operation height is obtained. The lifting gesture-adjusting frame is shown in fig. 2 and consists of a tripod 3, a screw rod sliding table module 4, a parallel connecting rod 5, a movable platform 6, a slewing bearing 7, a retainer 8, a driving wheel 9 with a variable course and a contact ball bearing assembly 10. The two screw rod slipway modules 4 are symmetrically fixed on the side edges of the tripod 3 through bolt connection. Each slipway module 4 is provided with two connecting rod installation positions and is connected with the movable platform 6 through pin shafts and bolts. The four parallel connecting rods 5 form two groups of parallelograms to ensure that the pose of the movable platform 6 is unchanged, namely the movable platform is always parallel to the bottom surface of the tripod 3. The two screw rod sliding tables drive the screw rods to drive the sliding blocks to move through the servo motor, so that the movable platform can translate up and down and left and right in the plane shown in fig. 2, and a 2-PRR parallel mechanism is formed. Namely, the auxiliary oil tank is driven to move horizontally along the y axis and move in a lifting manner along the z axis. The outer ring surface of the rotary bearing 7 is fixed on the movable platform 6, and the inner ring surface is fixed on the retainer 8, so that the rotary motion between the retainer 8 and the movable platform 6 is realized. The driving wheel (steering wheel) 9 with variable heading is fixed on the upper surface of the retainer, and the working surface of the driving wheel 9 can be effectively lowered by utilizing the hollow part of the slewing bearing 7. The contact ball bearing assemblies 10 are arranged at the two ends of the retainer 8, so that the side tilting of the auxiliary oil tank during movement can be effectively prevented, and the relative sliding during posture adjustment can be ensured. When the heights of the movable platforms 6 of the two gesture adjusting frames 2 along the z axis are inconsistent, the pitch motion of the auxiliary oil tank can be realized, namely, the rotation around the y axis by taking the variable course driving wheel 9 as a fulcrum; when the movable platforms 6 of the two gesture adjusting frames 2 are inconsistent along the y-axis direction, yaw (yaw) of the auxiliary oil tank, namely rotation fine adjustment around the z-axis, can be realized. The rolling direction of the variable course driving wheel 9 is adjusted, and the auxiliary oil tank can be driven to move back and forth along the x-axis direction for fine adjustment; the secondary oil tank is driven to roll around the x-axis when rotating around the x-axis.
As shown in fig. 3, the chassis 1 adopts a frame type structure, a frame 13 is built by adopting square steel pipes, and four corners of the frame 13 are fixedly provided with 4 steering wheels 14 through bolt mounting plates 12. The deformation of the mounting plate 12 during shipment absorbs minor road vibrations. The bottom plate 11 is installed in the intermediate position of the frame 13, so that the frame strength can be increased, and the arrangement and the installation of the upper mounting structure are facilitated.
In the embodiment, FG25-100 is adopted as a screw sliding table module, the structure is shown in fig. 4, a servo motor 15 on the screw sliding table module is connected with a coupler 16 and drives a ball screw 17 to rotate, and a screw nut 18 drives a sliding block 22 to perform linear reciprocating motion. Wherein the servo motor 15 is fixedly connected to the screw module base 20 by bolts; the ball screw 17 is supported by the screw rear support 19 and the screw front support 23 and is fixed on the screw module base 20 by bolts, and the linear guide rail 21 and the four sliding blocks 22 are arranged at two ends of the screw module base 20 to restrict the sliding table 24 to perform linear motion. Two universal ball bearing assemblies 10 are arranged and mounted at two ends of the retainer 8, wherein the ball bearing screw 26 can be adjusted in elongation on the retainer by the front nut 27 and the rear nut 25, so as to meet the use requirements of auxiliary oil tanks with different diameters.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (4)
1. The docking platform for carrying and adjusting the pose of the auxiliary fuel tank of the aircraft is characterized by comprising an omnidirectional steering wheel chassis and an elevating pose adjusting frame;
the lifting gesture adjusting frames are provided with two sets and are fixedly arranged on two sides of the omnidirectional steering wheel chassis, each set of lifting gesture adjusting frame comprises a tripod, two screw rod sliding table modules, four parallel connecting rods, a movable platform, a turning device, a driving wheel with a variable course, a retainer and a universal contact ball bearing assembly;
the two screw rod sliding table modules are symmetrically fixed on two side edges of the tripod respectively through bolts and are obliquely and symmetrically arranged with a horizontal plane to form an isosceles triangle; each screw rod sliding table module is provided with two parallel connecting rod mounting pin holes, and each parallel connecting rod is connected with the movable platform and the screw rod sliding table module through a pin shaft bolt; the four parallel connecting rods form two groups of parallelograms, so that the posture of the movable platform relative to the bottom surface of the tripod can be always kept unchanged; the two screw rod sliding table modules drive the screw rods to drive the sliding tables to move through the servo motor, the variable course driving wheel is fixed at the central position of the upper surface of the retainer, and the universal contact ball bearing assemblies are arranged at the two ends of the retainer.
2. The docking station for carrying and adjusting the attitude of an aircraft auxiliary fuel tank according to claim 1, wherein the slewing device is a slewing bearing, an outer ring flange of the slewing bearing is mounted on the moving platform by bolts, and an inner ring flange of the slewing bearing is fixed on the retainer by bolts; the retainer is connected to the movable platform through a turning device, and the driving wheel is arranged at the central position of the retainer; the two ends of the retainer are provided with universal ball contact bearings by bolts.
3. The docking station for carrying and adjusting the attitude of the auxiliary fuel tank of the aircraft according to claim 1, wherein when the heights of the movable platforms of the two lifting and lowering attitude adjusting frames are inconsistent along the z axis, the pitching motion of the auxiliary fuel tank is realized, namely, the rotation around the y axis by taking the driving wheel as a fulcrum; when the movable platforms of the two lifting gesture adjusting frames are inconsistent along the y-axis direction, yaw of the auxiliary oil tank is realized, namely, rotation fine adjustment around the z-axis is realized; the rolling direction of the driving wheel carries out back-and-forth movement fine adjustment on the auxiliary oil tank along the x-axis direction; when rotating around the x-axis, the auxiliary oil tank is driven to roll around the x-axis; wherein the x-axis is the length direction of the vehicle body, the y-axis is the width direction of the vehicle body, and the z-axis is the vertical direction of the vehicle body.
4. The docking platform for carrying and adjusting the attitude of the auxiliary fuel tank of the aircraft according to claim 1, wherein the omnidirectional steering wheel chassis adopts a frame type structure, wherein the frame is built by square steel pipes, the middle is of a rectangular concave structure, steering wheels are arranged at four corners of the frame, the steering wheels are connected with the frame by fixing bolts on a mounting plate, and a bottom plate is mounted at the concave structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311660762.XA CN117416521A (en) | 2023-12-06 | 2023-12-06 | Carrying and posture-adjusting docking platform for auxiliary fuel tank of airplane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311660762.XA CN117416521A (en) | 2023-12-06 | 2023-12-06 | Carrying and posture-adjusting docking platform for auxiliary fuel tank of airplane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117416521A true CN117416521A (en) | 2024-01-19 |
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ID=89525126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311660762.XA Pending CN117416521A (en) | 2023-12-06 | 2023-12-06 | Carrying and posture-adjusting docking platform for auxiliary fuel tank of airplane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117416521A (en) |
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2023
- 2023-12-06 CN CN202311660762.XA patent/CN117416521A/en active Pending
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