CN206202719U - A kind of novel electric omnidirectional non-intrusive method - Google Patents
A kind of novel electric omnidirectional non-intrusive method Download PDFInfo
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- CN206202719U CN206202719U CN201621076841.1U CN201621076841U CN206202719U CN 206202719 U CN206202719 U CN 206202719U CN 201621076841 U CN201621076841 U CN 201621076841U CN 206202719 U CN206202719 U CN 206202719U
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- hydraulic cylinder
- driving hydraulic
- car body
- driving
- lifting
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Abstract
The utility model is related to field of mechanical technique, more particularly to a kind of novel electric omnidirectional non-intrusive method, including car body, omni-directional wheel group, autopilot, safe obstacle avoidance apparatus, lifting clamp device and hydraulic control system, omni-directional wheel group is arranged on the lower section of car body, autopilot is arranged on the front of car body, safe obstacle avoidance apparatus are arranged on the surrounding of car body, and lifting clamp device is arranged on the middle part of car body, and hydraulic control system is used to drive lifting clamp device.The clip position of lifting clamp device of the present utility model carries out counterweight, without increasing additional weight near car body middle part by hydraulic control system deadweight；Using four Zu Huobazu omnidirectionals wheel-drive modes, traction power is big, and position and direction control accuracy is high；Hydraulic control system has buffering and emergent offloading functions, lifting clamp process safety reliability.
Description
Technical field
The utility model is related to field of mechanical technique, more particularly to a kind of novel electric omnidirectional non-intrusive method.
Background technology
Aircraft tractor is that a kind of important aviation ensures special equipment, can be divided into form from traction have bar tractor and
Non-intrusive method.Have bar tractor carries out aircraft traction by the draw bar that is hinged mostly, with distraction procedure it is laborious, need many people
Coordinate, rotate the deficiency such as dumb.Non-intrusive method is in contrast, due to bearing undercarriage mode using lifting, eliminates and leads
Draw bar, enhance flexibility and the control accuracy of traction work.
Existing newest non-intrusive method technology, as China Ship Research and Design Center declares, and in December, 2015
" a kind of remote control electric non-rod aircraft tractor " for authorizing, it uses electric remote control mode, with simple to operate, mobile traction spirit
Living the features such as.But deficiency is there is also, it is specific as follows：
1. lifting clamp device is only applicable to the structure that undercarriage is two-wheel, and versatility is poor；
2. clip position is located at car body front edge, and unbalance loading is serious, need to additionally increase counterweight；
3. driven using wheel hub motor two front wheels and rear universal wheel aids in guidance mode, traction power is small, position and direction
Control accuracy is poor；
4. drive fixed point rotary position non-adjustable using wheel hub motor two front wheels, ensure undercarriage without lateral torque situation
Under, it is difficult to adapt to many wheel footpath types；
5. without Omni-mobile function, it is difficult to realize rapid and convenient close to aircraft；
6. radius of turn is big, low space utilization, does not apply to work in narrow space；
7. lifting clamp device is without transverse rotation pooling feature, when turning to mobile, it is impossible to effectively protect undercarriage；
8., without self-navigation, barrier avoiding function, intelligent movable, security are poor；
9., without emergent offloading functions, it is impossible to when ensureing that aircraft power fails, the wheel that unloads of lifting clamp device is acted.
Utility model content
The purpose of this utility model is the defect for overcoming prior art to exist, there is provided a kind of versatility is good, possess omnidirectional's shifting
The novel electric omnidirectional non-intrusive method of dynamic function.
In order to realize the purpose of this utility model, the technical scheme for being used is：A kind of novel electric omnidirectional draws without bar
Car, including car body, omni-directional wheel group, autopilot, safe obstacle avoidance apparatus, lifting clamp device and hydraulic control system, entirely
The lower section of car body is arranged on to wheel group, autopilot is arranged on the front of car body, and safe obstacle avoidance apparatus are arranged on car body
Surrounding, lifting clamp device is arranged on the middle part of car body, and hydraulic control system is used to drive lifting clamp device；Lifting clamp is filled
Put including main body rack, Qian Bao mechanisms, latch hook mechanism, rear top-pushing mechanism, upper hold-down mechanism and lifting body, lifting body bottom
It is installed on car body, top is arranged on main body rack, promotes main body rack to be lifted, Qian Bao mechanisms is used to embrace aircraft
Wheel side, latch hook mechanism is used to lock Qian Bao mechanisms, and rear top-pushing mechanism is used to withstand the wheel opposite side of aircraft, upper compacting machine
Structure is used to be pushed down from upside the wheel of aircraft.
Used as prioritization scheme of the present utility model, hydraulic control system includes power unit, valve group control unit, meets an urgent need and unload
Carrier unit and driving hydraulic cylinder, power unit provide power by valve group control unit to driving hydraulic cylinder, unloading unit of meeting an urgent need
By valve group control unit unloading operation power is provided to driving hydraulic cylinder.
Used as prioritization scheme of the present utility model, driving hydraulic cylinder includes that Qian Bao mechanisms driving hydraulic cylinder, latch hook mechanism drive
Hydrodynamic cylinder pressure, rear top-pushing mechanism driving hydraulic cylinder, upper hold-down mechanism driving hydraulic cylinder and lifting body driving hydraulic cylinder, preceding armful of machine
Structure driving hydraulic cylinder, latch hook mechanism driving hydraulic cylinder, rear top-pushing mechanism driving hydraulic cylinder, upper hold-down mechanism driving hydraulic cylinder and top
Rise mechanism's driving hydraulic cylinder to be connected with valve group control unit, Qian Bao mechanisms driving hydraulic cylinder is used to drive Qian Bao mechanisms, locks
Hook mechanism driving hydraulic cylinder is used to drive latch hook mechanism, and rear top-pushing mechanism driving hydraulic cylinder is used for top-pushing mechanism, upper pressure after driving
Tight mechanism driving hydraulic cylinder is used to drive hold-down mechanism, and lifting body driving hydraulic cylinder is used to drive lifting body.
Used as prioritization scheme of the present utility model, hydraulic control system also includes accumulator buffer, and lifting body drives liquid
Cylinder pressure is connected by accumulator buffer with valve group control unit.
Used as prioritization scheme of the present utility model, omni-directional wheel group includes the four groups or eight groups independent omni-directional wheel group lists for driving
Unit, omni-directional wheel group unit includes Mecanum wheel, servomotor, decelerator and oleo-pneumatic suspension unit, servomotor and decelerator
Connection, servomotor is used to drive Mecanum wheel, and oleo-pneumatic suspension unit is for connecting Mecanum wheel and car body.
The utility model has positive effect：(1) lifting clamp device of the present utility model uses flared crossing structure, nothing
Adapted to by the aircraft landing gear structures of single-wheel or two-wheel；
(2) clip position of lifting clamp device carries out counterweight i.e. near car body middle part by hydraulic control system deadweight
Can, without increasing additional weight；
(3) the utility model uses four Zu Huobazu omnidirectionals wheel-drive modes, and traction power is big, position and direction control essence
Parasexuality is high；
(4) the utility model uses Mecanum wheel technology, by adjusting each wheel group rotating speed and direction, is capable of achieving arbitrfary point
Fixed point rotary, in the case of ensureing undercarriage without lateral torque, is suitable for many wheel footpath types；
(5) the utility model uses omni-directional wheel, possesses Omni-mobile function, is capable of achieving rapid and convenient close to aircraft；
(6) the utility model uses omni-directional wheel, possesses and rotates in place and differential steering function, and space availability ratio is high, can fit
For work in narrow space；
(7) hydraulic control system of the present utility model is provided with accumulator buffer, when turning to mobile, can effectively protect aircraft
Undercarriage；
(8) the utility model is provided with self-navigation, obstacle avoidance apparatus, and intelligent movable, security are good；
(9) hydraulic control system of the present utility model is provided with emergent unloading unit, it is ensured that when aircraft power fails, clamping
The wheel that unloads of lifting device is acted.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the partial schematic diagram of lifting clamp device；
Fig. 3 is the structural representation of hydraulic control system；
Fig. 4 is the structural representation of omni-directional wheel group；
Fig. 5 is implementation illustration of the present utility model.
Wherein：1st, car body, 2, omni-directional wheel group, 3, autopilot, 4, safe obstacle avoidance apparatus, 5, lifting clamp device,
6th, hydraulic control system, 51, main body rack, 52, Qian Bao mechanisms, 53, latch hook mechanism, 54, rear top-pushing mechanism, 55, upper compacting machine
Structure, 56, lifting body, 57, safe guiding mechanism, 61, power unit, 62, valve group control unit, 63, emergent unloading unit,
65th, accumulator buffer, 21, Mecanum wheel, 22, servomotor, 23, decelerator, 24, oleo-pneumatic suspension unit, 641, preceding armful of machine
Structure driving hydraulic cylinder, 642, latch hook mechanism driving hydraulic cylinder, 643, rear top-pushing mechanism driving hydraulic cylinder, 644, upper hold-down mechanism drives
Hydrodynamic cylinder pressure, 645, lifting body driving hydraulic cylinder.
Specific embodiment
In description of the present utility model, it is to be understood that term " radial direction ", " axial direction ", " on ", D score, " top ",
The orientation or position relationship of the instruction such as " bottom ", " interior ", " outward " are based on orientation shown in the drawings or position relationship, merely to just
Described with simplified in description the utility model, must be with specific side rather than the device or element for indicating or imply meaning
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In description of the present utility model
In, unless otherwise indicated, " multiple " is meant that two or more.
, it is necessary to explanation, unless otherwise clearly defined and limited, term " is pacified in description of the present utility model
Dress ", " setting ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.For the ordinary skill in the art,
Concrete meaning of the above-mentioned term in the utility model can as the case may be understood.
As illustrated in fig. 1 and 2, it is the utility model discloses a kind of novel electric omnidirectional non-intrusive method including car body 1, complete
To wheel group 2, autopilot 3, safe obstacle avoidance apparatus 4, lifting clamp device 5 and hydraulic control system 6, omni-directional wheel group 2 is pacified
Mounted in the lower section of car body 1, autopilot 3 is arranged on the front of car body 1, and safe obstacle avoidance apparatus 4 are arranged on the four of car body 1
Week, lifting clamp device 5 is arranged on the middle part of car body 1, and hydraulic control system 6 is used to drive lifting clamp device 5；Lifting clamp
Device 5 includes main body rack 51, Qian Bao mechanisms 52, latch hook mechanism 53, rear top-pushing mechanism 54, upper hold-down mechanism 55 and lifting body
56, the bottom of lifting body 56 is installed on car body 1, and top is arranged on main body rack 51, promotes main body rack 51 to be lifted,
Qian Bao mechanisms 52 are used to embrace the wheel side of aircraft, and latch hook mechanism 53 is used to lock Qian Bao mechanisms 52, and rear top-pushing mechanism 54 is used
In the wheel opposite side for withstanding aircraft, upper hold-down mechanism 55 is used to be pushed down from upside the wheel of aircraft.Wherein, by self-navigation
Device 3 can cause novel electric omnidirectional non-intrusive method intelligent mobile, and setting safe obstacle avoidance apparatus 4 can cause novel electric
The effective avoiding obstacles of omnidirectional's non-intrusive method, protect the safety of itself.In addition, lifting clamp device 5 also includes safety
Guide frame 57, wheel when safe guiding mechanism 57 is positioned for tractor is oriented to, while preventing wheel from colliding linear slide rail.
As shown in figure 3, hydraulic control system 6 includes power unit 61, valve group control unit 62, the emergent and of unloading unit 63
Driving hydraulic cylinder, power unit 61 provides power by valve group control unit 62 to driving hydraulic cylinder, and unloading unit 63 of meeting an urgent need leads to
Cross valve group control unit 62 and provide unloading operation power to driving hydraulic cylinder.Driving hydraulic cylinder includes Qian Bao mechanisms driving hydraulic cylinder
641st, latch hook mechanism driving hydraulic cylinder 642, rear top-pushing mechanism driving hydraulic cylinder 643, upper hold-down mechanism driving hydraulic cylinder 644 and top
Mechanism's driving hydraulic cylinder 645 is risen, Qian Bao mechanisms driving hydraulic cylinder 641, latch hook mechanism driving hydraulic cylinder 642, rear top-pushing mechanism drive
Hydrodynamic cylinder pressure 643, upper hold-down mechanism driving hydraulic cylinder 644 and lifting body driving hydraulic cylinder 645 with valve group control unit 62
It is connected, Qian Bao mechanisms driving hydraulic cylinder 641 is used to drive Qian Bao mechanisms 52, and latch hook mechanism driving hydraulic cylinder 642 is used to drive
Latch hook mechanism 53, rear top-pushing mechanism driving hydraulic cylinder 643 is used for top-pushing mechanism 54, upper hold-down mechanism driving hydraulic cylinder after driving
644 are used to drive hold-down mechanism 55, and lifting body driving hydraulic cylinder 645 is used to drive lifting body 56.
Hydraulic control system 6 also includes accumulator buffer 65, and lifting body driving hydraulic cylinder 645 passes through accumulator buffer 65
It is connected with valve group control unit 62.
As shown in figure 4, omni-directional wheel group 2 includes the four groups or eight groups independent omni-directional wheel group units for driving, omni-directional wheel group list
Unit includes Mecanum wheel 21, servomotor 22, decelerator 23 and oleo-pneumatic suspension unit 24, and servomotor 22 and decelerator 23 connect
Connect, servomotor 22 is used to drive Mecanum wheel 21, and oleo-pneumatic suspension unit 24 is for connecting Mecanum wheel 21 and car body 1.
As shown in figure 5, specifically used step：
1) novel electric omnidirectional non-intrusive method is directed at the wheel of aircraft, near aircraft；
2) latch hook mechanism 53 is untied, launches Qian Bao mechanisms 52；
3) novel electric omnidirectional non-intrusive method presses close to the wheel of aircraft, merges Qian Bao mechanisms 52, and latch hook mechanism 53 is to it
Locked；
4) top-pushing mechanism 54 stretches out the wheel for withstanding aircraft afterwards；
5) jacking of lifting body 56 completes the lifting of undercarriage；
6) hold-down mechanism 55 is compressed on, and the towage of aircraft can be carried out afterwards.
It should be appreciated that specific embodiment described above is only used for explaining the utility model, it is not used to limit this reality
With new.The obvious change or variation extended out by spirit of the present utility model are still in protection of the present utility model
Among scope.
Claims (5)
1. a kind of novel electric omnidirectional non-intrusive method, it is characterised in that：Including car body (1), omni-directional wheel group (2), self-navigation
Device (3), safe obstacle avoidance apparatus (4), lifting clamp device (5) and hydraulic control system (6), described omni-directional wheel group (2) peace
Mounted in the lower section of car body (1), described autopilot (3) is installed in the front of car body (1), described safe obstacle avoidance apparatus
(4) installed in the surrounding of car body (1), described lifting clamp device (5) is installed in the middle part of car body (1), described hydraulic pressure control
System (6) processed is for driving lifting clamp device (5)；The lifting clamp device (5) includes main body rack (51), Qian Bao mechanisms
(52), latch hook mechanism (53), rear top-pushing mechanism (54), upper hold-down mechanism (55) and lifting body (56), described lifting body
(56) bottom is installed on car body (1), and top is arranged on main body rack (51), and described lifting body (56) promotes main body branch
Frame (51) is lifted, and described Qian Bao mechanisms (52) use for embracing the wheel side of aircraft, described latch hook mechanism (53)
In locking Qian Bao mechanisms (52), described rear top-pushing mechanism (54) is for withstanding the wheel opposite side of aircraft, described upper compression
Mechanism (55) is for pushing down the wheel of aircraft from upside.
2. a kind of novel electric omnidirectional non-intrusive method according to claim 1, it is characterised in that：Described hydraulic control
System (6) includes power unit (61), valve group control unit (62), emergent unloading unit (63) and driving hydraulic cylinder, described
Power unit (61) provides power by valve group control unit (62) to driving hydraulic cylinder, and described emergent unloading unit (63) leads to
Cross valve group control unit (62) and provide unloading operation power to driving hydraulic cylinder.
3. a kind of novel electric omnidirectional non-intrusive method according to claim 2, it is characterised in that：Described driving hydraulic pressure
Cylinder includes Qian Bao mechanisms driving hydraulic cylinder (641), latch hook mechanism driving hydraulic cylinder (642), rear top-pushing mechanism driving hydraulic cylinder
(643), upper hold-down mechanism driving hydraulic cylinder (644) and lifting body driving hydraulic cylinder (645), described Qian Bao mechanisms drive liquid
Cylinder pressure (641), latch hook mechanism driving hydraulic cylinder (642), rear top-pushing mechanism driving hydraulic cylinder (643), upper hold-down mechanism drive liquid
Cylinder pressure (644) and lifting body driving hydraulic cylinder (645) are connected with valve group control unit (62), and described Qian Bao mechanisms drive
, for driving Qian Bao mechanisms (52), described latch hook mechanism driving hydraulic cylinder (642) is for driving latch hook machine for hydrodynamic cylinder pressure (641)
Structure (53), described rear top-pushing mechanism driving hydraulic cylinder (643) is for top-pushing mechanism after driving (54), described upper hold-down mechanism
Driving hydraulic cylinder (644) for driving upper hold-down mechanism (55), for driving push up by described lifting body driving hydraulic cylinder (645)
Rise mechanism (56).
4. a kind of novel electric omnidirectional non-intrusive method according to claim 3, it is characterised in that：Described hydraulic control
System (6) also includes accumulator buffer (65), described lifting body driving hydraulic cylinder (645) by accumulator buffer (65) with
Valve group control unit (62) is connected.
5. a kind of novel electric omnidirectional non-intrusive method according to claim 1, it is characterised in that：Described omni-directional wheel group
(2) including the four groups or eight groups independent omni-directional wheel group units for driving, described omni-directional wheel group unit includes Mecanum wheel
(21), servomotor (22), decelerator (23) and oleo-pneumatic suspension unit (24), described servomotor (22) and decelerator (23)
Connection, for driving Mecanum wheel (21), described oleo-pneumatic suspension unit (24) is for connecting for described servomotor (22)
Mecanum wheel (21) and car body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621076841.1U CN206202719U (en) | 2016-09-23 | 2016-09-23 | A kind of novel electric omnidirectional non-intrusive method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621076841.1U CN206202719U (en) | 2016-09-23 | 2016-09-23 | A kind of novel electric omnidirectional non-intrusive method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206202719U true CN206202719U (en) | 2017-05-31 |
Family
ID=58760898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621076841.1U Expired - Fee Related CN206202719U (en) | 2016-09-23 | 2016-09-23 | A kind of novel electric omnidirectional non-intrusive method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206202719U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107878131A (en) * | 2017-11-23 | 2018-04-06 | 广州普华灵动机器人技术有限公司 | tricycle traction bucket and tractor |
| CN108545211A (en) * | 2018-06-13 | 2018-09-18 | 中国民航大学 | A kind of no rod-type aircraft tractor overload protection arrangement |
| CN113353279A (en) * | 2021-06-24 | 2021-09-07 | 中国舰船研究设计中心 | Multi-body collaborative omnidirectional transfer intelligent robot traction system and method |
| WO2022033372A1 (en) * | 2020-08-11 | 2022-02-17 | 北京卫星制造厂有限公司 | Automatic sensing system and method for omnidirectional moving rodless traction-type mobile robot |
| CN114087238A (en) * | 2021-11-04 | 2022-02-25 | 武汉工程大学 | Hydraulic control system and control method of intelligent traction robot of airplane |
-
2016
- 2016-09-23 CN CN201621076841.1U patent/CN206202719U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107878131A (en) * | 2017-11-23 | 2018-04-06 | 广州普华灵动机器人技术有限公司 | tricycle traction bucket and tractor |
| CN107878131B (en) * | 2017-11-23 | 2023-10-13 | 广州普华灵动机器人技术有限公司 | Tricycle traction bucket and tractor |
| CN108545211A (en) * | 2018-06-13 | 2018-09-18 | 中国民航大学 | A kind of no rod-type aircraft tractor overload protection arrangement |
| CN108545211B (en) * | 2018-06-13 | 2020-12-15 | 中国民航大学 | Rodless aircraft tractor overload protection device |
| WO2022033372A1 (en) * | 2020-08-11 | 2022-02-17 | 北京卫星制造厂有限公司 | Automatic sensing system and method for omnidirectional moving rodless traction-type mobile robot |
| CN113353279A (en) * | 2021-06-24 | 2021-09-07 | 中国舰船研究设计中心 | Multi-body collaborative omnidirectional transfer intelligent robot traction system and method |
| CN113353279B (en) * | 2021-06-24 | 2024-05-31 | 中国舰船研究设计中心 | Traction system and method for multi-body collaborative omnidirectional transportation intelligent robot |
| CN114087238A (en) * | 2021-11-04 | 2022-02-25 | 武汉工程大学 | Hydraulic control system and control method of intelligent traction robot of airplane |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170531 Termination date: 20180923 |