CN206569285U - Non-rod aircraft tractor wheel holding lifting body - Google Patents

Abstract

The utility model is related to a kind of non-rod aircraft tractor wheel holding lifting body that can be with wheel adaptive motion, including：Wheel holding mechanism, elevating mechanism and bindiny mechanism；The wheel holding mechanism and bindiny mechanism set up separately in elevating mechanism both sides, wheel holding mechanism can hold clamping wheel tightly, wheel holding mechanism and elevating mechanism can be connected on the underbody main frame of aircraft tractor and are servo-actuated by bindiny mechanism, and wheel holding mechanism can be carried out jacking and decline by elevating mechanism；The wheel holding mechanism has translation freedoms in the Z-axis direction；The utility model solves the security hidden trouble in the self structure defect and operation process of existing tractor, realize the adaptive motion of tractor and wheel, stable operation and safety work can be realized, and it is widely used in the wheel and different work environmental condition of different model size, the convenient and swift guarantee operation for realizing tractor.

Description

Non-rod aircraft tractor wheel holding lifting body

Technical field

The utility model belongs to the intelligent pulling equipment technical field of aircraft, more particularly, to one kind can with wheel is adaptive meets the tendency of Dynamic non-rod aircraft tractor wheel holding lifting body.

Background technology

During existing non-intrusive method docking aircraft, lifting mechanism is easily caused using the lifting of single pole ball pivot, during this Aircraft nose landing gear vertical line and center of gravity are misaligned and produce additional torque, and not only the service life of car body in itself is impacted, More serious meeting influences the agent structure of undercarriage；Also, the lifting mechanism and clamping device of existing non-intrusive method Power set distribution relatively disperse, the integration of control system is bad, complexity increase；Existing non-intrusive method lacks certainly The function of dynamic MM size of wheel, i.e., can not clamp the wheel of different-diameter, and wheel holding mechanism restraining force is not enough, in distraction procedure Wheel holds beats very much, and causes wheel to jump out wheel holding mechanism, breaks away from non-rod aircraft tractor and easily causes accident；Tractor During turning, the danger that wheel holding mechanism easily breaks away with wheel, and there is an armful clip-like during holding lifting of wheel holding mechanism State is unstable, and wheel center is unstable, and then easily triggers security incident.

The content of the invention

In view of this, the utility model is directed to a kind of non-rod aircraft tractor wheel holding lifting body, solves existing lead Draw the security hidden trouble in the self structure defect and operation process of car, realize the adaptive motion of tractor and wheel, It can realize stable operation and safety work, and be widely used in the wheel and different work environmental condition of different model size, The convenient and swift guarantee operation for realizing tractor.

To reach above-mentioned purpose, what the technical solution of the utility model was realized in：

The definition of part term in the utility model：

The free degree, in rigid body of the present utility model connection, setting in orthogonal three axial coordinates of space X YZ, X-axis has flat Moving to have on translation freedoms and rotational freedom, Z axis in the free degree and rotational freedom, Y-axis has translation freedoms and rotates certainly By spending；Specifically in the utility model, set and vehicle is orthogonal in horizontal plane directly to direct of travel as X-axis, in vertical plane just Vehicle traveling direction is met at for Y-axis, vehicle is directly Z axis to direct of travel；

Adaptive motion, in rigid body of the present utility model connection, coordinate design and action between multiple bindiny mechanisms, Respective motion is adapted to each other, the generation without additional moment during rotation, inclination, lifting etc., it is ensured that Each part Security.

A kind of non-rod aircraft tractor, including：

Frame structure, is used as the rigidity supporting structure of each mechanism of tractor and system；

Wheel holding lifting body, is connected in frame structure with flexible way, and wheel is held tightly, lifted and turned to, and Connection energy adaptive motion inside the wheel holding jack-up system between each mechanism；

Running gear, is arranged in frame structure and complete vehicle structure is driven and turned to, and wheel holding lifting body with Frame structure, running gear energy adaptive motion；

Dynamical system, is arranged in frame structure, wherein, dynamical system also includes electric power system and hydraulic system, described Electric power system is that running gear and control system provide electric power, and hydraulic system provides dynamic for the action component of wheel holding lifting body Power；

Control system, is controlled and feeds back to wheel holding lifting body, running gear and dynamical system；

Wherein, guidance set is additionally provided between the wheel holding lifting body and frame structure, guidance set is used for wheel holding top The slip of Lift Part in liter mechanism and guiding, realize stable adaptive motion.

Wherein, wheel holding lifting body, including：Wheel holding mechanism, elevating mechanism and for connecting wheel holding lifting body and frame The bindiny mechanism of frame mechanism；The wheel holding mechanism and bindiny mechanism set up separately in elevating mechanism both sides, and wheel holding mechanism can hold clamping tightly Wheel holding mechanism and elevating mechanism can be connected on the underbody main frame of aircraft tractor and are servo-actuated by wheel, bindiny mechanism, lifting Wheel holding mechanism can be carried out jacking and decline by mechanism；

The wheel holding mechanism has translation freedoms in the Z-axis direction；

The elevating mechanism has rotational freedom, has translation freedoms in Y direction in the Z-axis direction；

The bindiny mechanism has rotational freedom on orthogonal three axles of XYZ, has translation freedoms in Y direction；

In the Z-axis direction, the center of rotation axis of elevating mechanism is overlapped with the center of rotation axis of bindiny mechanism；

Further, wheel holding lifting body, including main frame component, skid beam component, main beam component, first hydraulic cylinder, Second hydraulic cylinder, the 3rd hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder, the 6th hydraulic cylinder, the 7th hydraulic cylinder, the 8th hydraulic cylinder, Left pressure is grabbed, right pressure is grabbed, connecting seat after scraper bowl, switch gate, latch hook, main frame, hydraulic cylinder guidance set and some be used to limit The sensor of hydraulic cylinder travel；Each hydraulic cylinder herein can also be substituted using any parts that can realize linear motion；

Main frame component, mainly adjusts component by some slide plates and main frame structure part is constituted；Slide plate adjustment component includes Installing plate and friction adjustment piece；Main frame structure part, mainly by left sleeve pipe, right sleeve pipe, triangle reinforcement structure, front support riser, Rear support riser, pressure grab installing plate composition, and integral structure component of the composition with enclosed construction can effectively improve main frame structure part Integral rigidity；Front support riser connecting hole and rear support riser connecting hole are coaxial, coaxial axis perpendicular to front support riser and Rear support riser；

Main beam component, passes through the hinge with a rotational freedom and the front support riser connecting hole of main frame component With the connection of rear support riser connecting hole, main frame component and main beam component is set to realize the relative rotation around axis；Main beam group Part, two ends pass through hinge connection first hydraulic cylinder and the piston rod of second hydraulic cylinder with rotational freedom, respectively One hydraulic cylinder and the cylinder barrel of second hydraulic cylinder respectively by the hinge connection hydraulic cylinder mounting seat with three rotational freedoms and Hydraulic cylinder mounting seat hydraulic cylinder mounting seat and hydraulic cylinder mounting seat are bolted underbody main frame；

Main frame component, by bearing pin connect main frame after connecting seat, herein bearing pin can be circular cross-section, square section The various imaginabale cross sectional shapes such as face, polygonal cross-section are allowed to realize, bearing pin axis direction can be any direction, preferably adopt With perpendicular to axis；

Connecting seat after main frame, passes through the piston rod of the hydraulic cylinder of hinge connection the 3rd with three rotational freedoms, The cylinder barrel of three hydraulic cylinders passes through spiral shell by the hinge connection hydraulic cylinder mounting seat with a rotational freedom, hydraulic cylinder mounting seat Tether and pick up bottom main frame；

When the aircraft tractor is rotated, main frame component can be with the rotation of aircraft tractor adaptively, to avoid pair The undercarriage carried produces additional torque；In realizing that the adaptive rotation of main frame component, main beam component are rotated Heart axle (line) is led with the hinge edge with three rotational freedoms that connecting seat after main frame and the 3rd hydraulic cylinder piston rod are hinged Draw the axis co-axial of car direct of travel；

First hydraulic cylinder and second hydraulic cylinder, are realized to main beam component using being synchronized with the movement and are driven by main beam component Main frame synchronization of jacking up and decline function；The extreme position of first hydraulic cylinder and second hydraulic cylinder is real by limit sensors Existing, limit sensors also can have equivalence using sensors present on market such as proximity switch, limit switches using other The device of function is allowed to realize, preferably by limit switch；

3rd hydraulic cylinder, limit of sports record position is limited by limit sensors, and limit sensors can be using proximity switch, limit Sensor present on the markets such as bit switch, also can be allowed to realize using other devices with equivalent functions, preferably by Limit switch；

Wherein, skid beam component, is mainly made up of left skid beam, right skid beam and connecting cross beam；Skid beam component is in " U " font or can The approximate shapes of imagination, skid beam component is realized in main frame component along Z axles by the prismatic pair with a translation freedoms The relative slip in direction, prismatic pair herein is by adjusting one that component is constituted by left skid beam, left sleeve pipe and some slide plates Prismatic pair is collectively constituted with a prismatic pair being made up of right skid beam, right sleeve pipe and slide plate adjustment component；Slide plate adjustment component can Realize the adjustment of skid beam component and main frame component along X-axis and Y direction spacing；Friction adjustment piece can use nylon to realize, Can have the material or device of equivalent functions to be allowed to realize using other；

Skid beam component, the driving force provided by the 8th hydraulic cylinder realizes the relative slip in main frame component, the 8th The piston rod of hydraulic cylinder is connected by the hinge with three rotational freedoms with skid beam component, and the cylinder barrel of the 8th hydraulic cylinder passes through Hinge with three rotational freedoms is connected with rear support riser；Skid beam component limits its pole moved by limit sensors Extreme position；

8th hydraulic cylinder, controls skid beam component to be applied to the clamping force on tire, pressure sensor by pressure sensor It is mountable on the 8th hydraulic cylinder, is also mountable on control pumping plant, is preferably installed on the 8th hydraulic cylinder；

Switch gate, is hinged by the hinge with a rotational freedom with left skid beam, realizes switch gate and skid beam component Relatively rotated around vertical axes；

Switch gate, the linear motion provided by the 4th hydraulic cylinder realizes the relative rotation with skid beam inter-module；4th liquid The piston rod of cylinder pressure is connected by the hinge with three rotational freedoms with switch gate, the cylinder barrel of the 4th hydraulic cylinder by with The hinge of three rotational freedoms is connected with skid beam component；Switch gate limits its extreme position moved by limit sensors；

Latch hook, is hinged by the hinge with a rotational freedom with right skid beam, realizes latch hook with skid beam component around perpendicular Straight axis is relatively rotated；

Latch hook, the linear motion provided by the 5th hydraulic cylinder realizes the relative rotation with skid beam inter-module；5th hydraulic pressure The piston rod of cylinder is connected by the hinge with three rotational freedoms with switch gate, and the cylinder barrel of the 5th hydraulic cylinder passes through with three The hinge of individual rotational freedom is connected with skid beam component；Latch hook limits its extreme position moved by limit sensors；

Left pressure is grabbed, and is connected by the hinge with a rotational freedom with main frame component；Left pressure is grabbed by the 6th liquid The linear motion that cylinder pressure is provided realizes that the axle for vertically travelling direction with main frame component in level is relatively rotated；

The piston rod of 6th hydraulic cylinder is grabbed with left pressure by the hinge with three rotational freedoms and is connected, the 6th hydraulic cylinder Cylinder barrel be connected by the hinge with three rotational freedoms with triangle reinforcement structure；Left pressure is grabbed and aero tyre contact surface Shape is identical with aero tyre shape, it is ensured that be brought into close contact during compression；Left pressure is grabbed limits its pole rotated by limit sensors Extreme position；6th hydraulic cylinder controls left pressure to grab the clamping force being applied on tire by pressure sensor, and pressure sensor can pacify Loaded on the 6th hydraulic cylinder, being also mountable on control pumping plant, it is preferably installed on the 6th hydraulic cylinder；

Right pressure is grabbed, and is connected by the hinge with a rotational freedom with main frame component；Left pressure is grabbed by the 7th liquid The linear motion that cylinder pressure is provided realizes the relative rotation with main frame inter-module around axis；

7th hydraulic cylinder, the piston rod of the 7th hydraulic cylinder passes through the hinge with three rotational freedoms and the right pressure company of grabbing Connect, the cylinder barrel of the 7th hydraulic cylinder is connected by the hinge with three rotational freedoms with triangle reinforcement structure；Right pressure is grabbed and flown The shape of machine tire contact plane is identical with aero tyre shape, it is ensured that be brought into close contact during compression；Right pressure is grabbed by limit sensors Limit the extreme position of its rotation；7th hydraulic cylinder controls right pressure to grab the clamping force being applied on tire by pressure sensor, Pressure sensor is mountable on the 7th hydraulic cylinder, is also mountable on control pumping plant, is preferably installed on the 7th hydraulic cylinder；

Scraper bowl, the hinge by one with rotational freedom is connected with main frame component, and scraper bowl passes through bottom surface and the back side Position, deviate from when preventing stress rear bucket from toppling forward with main frame component；

Also include：Hydraulic cylinder guidance set, the hydraulic cylinder guidance set includes guide runner component and blade fin group Part；Guide runner component is connected by screw with main beam component, and blade fin component is connected by screw with underbody main frame, Guide runner component and blade fin component are bonded to each other and relative can slide；Guide runner component rubbing surface can using nylon or Other materials with anti-wear performance are allowed to realize；

Hydraulic cylinder guidance set, limits main beam component in the horizontal plane along moving perpendicular to tractor direct of travel, Avoid wheel holding lifting body in the horizontal plane along toppling over perpendicular to tractor direct of travel；Hydraulic cylinder guidance set is used to realize Slip and guide function when wheel holding lifting body carries out jacking and declines workflow；

Further, wherein dynamical system include power system and hydraulic system, the power system be running gear and Control system provides driving source, and hydraulic system provides driving source for wheel holding jack-up system；

Further, auxiliary stopper part is additionally provided between the wheel holding jack-up system and frame system, for wheel holding top The slip of the system of liter and guiding, realize stable adaptive motion；

Further, the frame mechanism, including：

Underbody main frame, underbody main frame includes drive wheel assemblies, turns to wheel assembly, U-shaped framework, underbody main frame main body Provided with the mechanical interface for providing the connection of wheel holding lifting body inside the U-shaped framework of framework, wheel holding lifting body can be fixed on Inside underbody main frame, support carrier is provided for the action of wheel holding lifting body；

Further, several faces provide the mounting surface of respective amount inside the U-shaped structure of underbody main frame, U-shaped framework, It is preferred that three faces provide the mounting surface being connected at three with wheel holding lifting body, the mounting platform of wheel holding lifting body is used as, it is ensured that Wheel holding lifting body and underbody main frame relative motion, when the hydraulic cylinder travel of the elevating movement of wheel holding lifting body is all zero When, underbody main frame is with respect to ground level；

Wherein, the U-shape structure open front of underbody main frame be two coaxial mounted fixed seats, fixed seat be driving wheel and Motor, driving decelerator, the installation of power transmission shaft provide interface；The rear end both sides of underbody main frame are distributed with and deflecting roller group The installing plate of part connection, is conveniently steered wheel assembly and is rapidly assembled and disassembled；Wherein, driving wheel includes solid steel wheel hub and wheel The outer pendant high hardness polyurethane of hub, driving wheel can provide big bearing capacity, and can form larger adhesive force between ground；

Further, the running gear, including：

Turning to wheel assembly includes deflecting roller fixed seat, drive disk assembly installing plate, steering motor, decelerator, power transmission shaft, driving Gear, turntable bearing, castor switching fixed seat, castor, angular encoder, angular encoder mounting flange, shaft joint, power transmission shaft Hold, angle measurement little gear, angle limit bar and proximity switch etc..

Turntable bearing is external tooth type turntable bearing, including inner ring and outer ring gear；Deflecting roller fixed seat one end and underbody master The installing plate of the rear end both sides of framework is spirally connected fixation, the deflecting roller fixed seat other end by screw by drive disk assembly installing plate, turn Disk bearing inner race is fixed together, and turntable bearing outer ring gear, castor switching fixed seat, castor are fixed together by screw；

Drive gear is located at drive disk assembly installing plate side, and same plane, drive gear and rotating disk are in turntable bearing Bearing outer ring gear is engaged.

Steering motor, decelerator, power transmission shaft, drive gear are co-axially mounted, and drive disk assembly is fixed on by decelerator flange On installing plate, drive gear is driven by steering motor through decelerator, transmission shaft driven.

Also include, angular encoder, angular encoder mounting flange, shaft joint, drive bearing, angle measurement little gear are coaxially pacified Dress, is fixed on drive disk assembly installing plate by angular encoder mounting flange；Angle measurement little gear is in same with turntable bearing Engage in plane and with turntable bearing outer ring gear；

Decelerator, power transmission shaft, drive gear is driven to rotate by steering motor, so as to drive turntable bearing outer ring gear to turn Dynamic, turntable bearing outer ring gear finally drives castor to rotate by castor switching fixed seat, so as to realize the master for turning to wheel assembly Dynamic turning function；Turntable bearing outer ring pinion rotation drives angle measurement pinion rotation, and angular encoder detects the small tooth of angle measurement in real time The steering angle of wheel, turntable bearing outer ring gear and castor；

Angle limit bar is screwed onto on turntable bearing outer ring, with the rotation of one piece of turntable bearing outer ring；Proximity switch totally two, It is installed on drive disk assembly installing plate, the anglec of rotation of limited angular positive stop strip is corresponded to respectively, so that finally turn of limitation castor To angle；

Pass through the corner locating work(for driving turning function, the angle measurement function of angular encoder, proximity switch of steering motor Steer arithmetic and can be controlled swimmingly to complete to turn to the active steering function of wheel assembly；

Also include：Drive wheel assemblies, set up separately at two, the front of underbody main frame angle, and each drive wheel assemblies include driving Wheel, power transmission shaft, motor and driving decelerator composition；Each driving wheel is connected by power transmission shaft with motor, decelerator, is driven Drive wheel assemblies using hub motor structure also within the protection domain of patent of the present invention, wheel hub motor by driving wheel, motor, Decelerator is merged in structure, is integrally formed formula structure；

Wherein, wheel assembly is turned to, is set up separately at the rear Liang Ge angles of underbody main frame, wheel assembly point active drive is turned to and turns to Wheel and passive two kinds of structures of universal caster wheel, two kinds of deflecting rollers are within the protection domain of patent of the present invention；

Further, the dynamical system, including：

Electric power system, electric power system is placed in underbody main frame both sides, is that each subsystem of tractor is powered；Electric power system can be with For batteries, batteries are stored as the supply voltage required for polylith battery obtains tractor by series-parallel mode Battery pack is positioned over above the battery support frame of underbody main frame both sides, is that tractor driving walking turns by batteries Powered to system, hydraulic system and control system；Electric power system is electrically connected with control system, each motor and charge and discharge device； Electric power system is preferably disposed in the rear portion of bottom main frame；

Hydraulic system, hydraulic system is placed in underbody main frame rear portion centre position, and power is provided for the hydraulic cylinder of tractor；

Further, the control system, is placed in underbody main frame rear portion, control system be used to realizing tractor walking, The controls of action such as steering, locking, wheel holding, jacking, during the function such as status display, fault alarm；

The underbody main frame side is provided with the battery support frame for playing mechanical support to electric power system；Underbody Main frame rear portion is provided with is to the hydraulic system support frame for playing mechanical support of hydraulic system and control system and control System support frame；Hydraulic system is fixed together by hydraulic system bottom plate with hydraulic system support frame upper junction plate；

Hydraulic system includes fuel tank, motor, hydraulic pump, control valve group, fluid pressure line and joint etc., and hydraulic pressure subsystem is led to Driven by Hydraulic Cylinder wheel holding lifting body is crossed, is realized to action and functions such as the lockings, jacking, wheel holding of preceding wheel；Hydraulic system Support frame carries on the back connecting plate and U-shaped framework progress spiral shell by hydraulic system support frame side connecting plate and hydraulic system support frame Fixation is connect, support is provided for hydraulic system；

Wherein, the rear portion of underbody main frame is control system support frame, and control system support frame passes through control system Support frame side connecting plate carries out the fixation that is spirally connected with U-shaped framework, and support is provided for control system；

It is integrated with control system in driver, Control card, charge and discharge device and interface, Control card and is integrated with control Circuit, control system is electrically connected with each motor and charge and discharge device respectively；Control system is preferably disposed in bottom main frame Rear portion；

Wherein, specifically, the hydraulic cylinder guidance set, including guide runner component, blade fin component and it is fixed on The guide runner with blade fin component touch on slide block assembly；The sliding block rubbing surface and the slide plate of blade fin of guide runner Rubbing surface is fitted and slided；The guide runner component includes the main beam installation portion for being detachably fixed and led for fixation To the sliding block installation portion of sliding block；The skateboard component includes the right angle support base for being detachably fixed and is used for and guide runner The blade fin of contact；Specifically, the level cross-sectionn of the guide runner is L-shaped, and an exhibition arm of L-shaped is fixed in sliding block On installation portion and with slop regulation is whole contacts, another exhibition arm is contacted with vertical adjustment portion；Described guide runner is installed with sliding block At least one slotted eye is also provided with the exhibition arm that portion is fixed, and slotted eye growth strip, the length direction of the slotted eye of strip and vertical Direction is at an angle, and identical with the angle of inclination that slop regulation is whole, it is preferred that at an acute angle；The sliding block installation portion is provided with Screwed hole, and screwed hole is correspondingly arranged with slotted eye；Bolt arrangement is housed on the screwed hole, and bolt arrangement can pass freely through groove Hole；The exhibition arm of the guide runner with slotted eye is trapezium structure, and trapezium structure exhibition arm upper dimension is longer than lower dimension； Provided with the slop regulation for protruding from trapezium structure exhibition arm at the angled end-face of the trapezium structure exhibition arm of the sliding block installation portion and guide runner It is whole；The trapezoidal structure of sliding block installation portion, and long bottom size of the long bottom size more than guide runner of sliding block installation portion, it is sliding The handle size of block installation portion is more than the handle size of guide runner；By allowing guide runner to be slided along the whole slip of slop regulation is adjustable Gap between block rubbing surface and slide plate rubbing surface, can facilitate the gap after sliding block rubbing surface or slide plate friction surface wear to adjust, Ensure the close contact of guide runner and blade fin, can also avoid minim gap between guide runner and blade fin from causing main horizontal stroke Beam assembly topples over caused impulsive force；Further, the rubbing surface that the guide runner component and contact component are contacted with each other is adopted It is made of nylon or other materials with anti-wear performance；

Specifically, switch gate, latch hook and skid beam component formation switch gate component, the skid beam component take the shape of the letter U structure, skid beam The left skid beam of the U-shaped mouth of component and one end of switch gate are hinged, and switch gate hinged end by be arranged on skid beam component The control of four hydraulic cylinders is opened and closed；Further, the skid beam component and switch gate hinged end, i.e., left skid beam are additionally provided with the Four hydraulic cylinder mounting seats, the fixing end of the 4th hydraulic cylinder is fixed in the 4th hydraulic cylinder mounting seat, the movable end of the 4th hydraulic cylinder It is hinged with switch gate；Further, the 4th hydraulic cylinder mounting seat is additionally provided with switch gate support arm, the switch gate support arm It is inserted in one end of switch gate and connects in articulated manner；Further, the switch gate support arm is installed provided with switch gate Hole, the hinged end of switch gate is provided with support arm mounting hole, and the switch gate mounting hole is cooperatively formed with support arm mounting hole to be hinged Structure；Further, the hinged end of the switch gate is provided with the avoidance mouth structure for being used for avoiding switch gate support arm；Further , the switch gate is hinged by the switch gate articulated column and the movable end of the 4th hydraulic cylinder that are arranged on its hinged end, and Switch gate articulated column is arranged on the outside of support arm mounting hole, can realize that the movable end linked switch door of the 4th hydraulic cylinder is opened And closing；Further, the switch gate takes the shape of the letter U structure, and the U shapes mouthful of switch gate and the U-shaped mouth of skid beam component are in closing shape It can be docked during state；

Further, another structural arm (right skid beam) of the U-shaped mouth of the skid beam component is provided with retaining mechanism, is used for Lock the switch gate of closed mode；Further, the retaining mechanism includes the 5th hydraulic cylinder and latch hook, the 5th hydraulic cylinder In the structural arm that skid beam component locks side, the latch hook is hinged on the movable end of the 5th hydraulic cylinder；The latch hook can be right Switch gate carries out locking protection；Further, the retaining mechanism also includes：Install what is be hinged with latch hook as the 5th hydraulic cylinder 5th hydraulic cylinder mounting seat；The 5th hydraulic cylinder mounting seat is fixed in the structural arm of skid beam component locking end；Further, The 5th hydraulic cylinder mounting seat includes the latch hook installing arm for being used to be hinged latch hook；Further, the one of the latch hook installing arm Through-hole structure is provided with angle, and through-hole structure is offset to one jiao of the inner side of the U-shaped mouth of skid beam component, the latch hook, which is provided with, matches somebody with somebody Together in the lower latch hook post of the through-hole structure of latch hook installing arm；Further, latch hook post, upper latch hook post are additionally provided with the latch hook It is articulated with the movable end of the 5th hydraulic cylinder；Further, the upper latch hook post sets up two planes in latch hook separately with lower latch hook post It is interior, and upper latch hook post is mutually staggered with lower latch hook mast axis, the movable end band moveable lock hook of the 5th hydraulic cylinder enters around lower latch hook post Row is rotated, and realizes the locking and release of latch hook and switch gate；Further, being additionally provided with the 5th hydraulic cylinder mounting seat is used for The switch gate support arm of Auxiliary support switch gate；The switch gate support arm is relative with latch hook installing arm and be arranged in parallel, both Between parallel distance space can accommodate the locking end part of switch；Further, the locking end on the switch gate is provided with Switch gate locks post, and the switch gate locking post coordinates latch hook to realize locking work；

Further, above-mentioned aircraft tractor, in addition to：

Travel illuminating lamp, stroboscopic lamp, security warning buzzer and emergency stop switch；

Traveling illuminating lamp is preferentially positioned at four angles of carbody shell, convenient to be completed in night wheel holding lifting body to preceding The wheel holding of tire, locking, jacking operation are played, it is convenient to carry out traction transition at night.Travel illuminating lamp and tractor electric power system It is connected.Stroboscopic lamp and security warning buzzer are preferentially positioned over carbody shell upper surface, and tractor is when running operation, stroboscopic lamp Warning function is played to surrounding people with security warning buzzer.Emergency stop switch is used for tractor under out of control or unsafe condition Jerk operation, emergency stop switch is preferentially positioned over above shell；

Anti-collision switch is preferentially positioned on four angles of carbody shell side, and anti-collision switch is connected with car body control system, When tractor is run to it is closer to the distance with peripheral obstacle when, anti-collision switch will sense barrier and limit car body continue forward Operation；

Totally four or more, suspension ring, are preferentially positioned on the angle of carbody shell upper surface four, for completing rising for tractor Hang and transport binding；

Respectively there is the revolute pair that the connection of the hinge of a rotational freedom can be constituted using bearing pin with rolling bearing above Realize also can have rolling or wear-resisting equivalent construction to be allowed to realize using other；

Each limit sensors be able to can also be used using sensors present on market such as proximity switch, limit switches above Other devices with equivalent functions are allowed to realize, preferably by proximity switch；

Each pressure sensor can use sensor present on market above, can also use other devices with equivalent functions Part is allowed to realize, preferably by oil pressure sensor；

The implementation process of wheel holding lifting body described in the utility model is as follows：

1. original state：The original state of wheel holding lifting body is first hydraulic cylinder, second hydraulic cylinder and the 3rd hydraulic cylinder It is fully retracted, left pressure is grabbed grabs complete opening with right pressure, and skid beam component is in fully extended, latch hook release, switch gate opening, entirely The bottom surface of wheel holding lifting body is in almost subaerial position；

2. the state of holding tightly：Wheel holding lifting body opening is directed at tire by non-rod aircraft tractor, and marches to tire and shovel Struggle against contact position, and closing switch door simultaneously locks latch hook, shrinks skid beam component until tire is laterally held tightly, promotes left pressure to grab and right Pressure is grabbed until tire is longitudinally held tightly；

3. jacking state：Synchronous driving first hydraulic cylinder and second hydraulic cylinder are to main frame jacking, until reaching on stroke The limit, then drives the 3rd hydraulic cylinder until reaching stroke limes superiors.

Release process is the inverse process of said process；

Said structure, with load capacity is high, structure it is safe and reliable it is compact, contribute to car body flattening, clamping stable and The advantages of manufacture and assembly technique is excellent；

Whole process from tractor operation is to its running and principle explanation：

Clamp：After switch gate is closed and latch hook is locked, by driving the 8th hydraulic cylinder to drive skid beam component slippage, by Switch gate, which holds face and scraper bowl tightly and holds face tightly, realizes holding to aircraft wheel, switch gate holds face tightly and scraper bowl hold tightly face be collectively forming with The face contact that tyre contour outline matches, the 8th hydraulic cylinder provides clamping force, realizes the holding to tire radial direction, prevent tire Mobile phenomenon；

Compress：The left pressure of 6th Driven by Hydraulic Cylinder grabs compression side tire and provides thrust, the right pressure of the 7th Driven by Hydraulic Cylinder Grab compression opposite side tire and thrust is provided, realize to tire in the holding of vertical direction, beat existing to prevent tire from occurring As；

Jacking：First hydraulic cylinder and second hydraulic cylinder, which are synchronized with the movement, realizes jacking to main frame component, the 3rd hydraulic cylinder Independently moving realizes the jacking to main frame component, and first hydraulic cylinder, second hydraulic cylinder and the 3rd hydraulic cylinder are completed to master jointly The complete jacking of frame assembly, it is to avoid collided during tractor traveling between main frame component and ground；

Tilt：When first hydraulic cylinder and second hydraulic cylinder are to the synchronization of jacking up of wheel holding lifting body and motionless the 3rd hydraulic cylinder, First hydraulic cylinder, second hydraulic cylinder and the 3rd hydraulic cylinder can be servo-actuated inclination with the inclination of main frame component；3rd hydraulic cylinder master When frame assembly jacking and first hydraulic cylinder and motionless second hydraulic cylinder, first hydraulic cylinder, second hydraulic cylinder and the 3rd hydraulic cylinder It can be servo-actuated and tilt with the inclination of main frame component；

Advance with turning to：It is main to be made up of above-mentioned two drive wheel assemblies and two steering wheel assemblies, two drive wheel groups Part provides driving force for car body walking, and two turn to wheel assembly and provide steering angle for car body turning；Pass through running gear train Can realize tractor walking, turn, original place turns clockwise and the function such as original place rotate counterclockwise；

Specifically, illustrating the traveling campaign of tractor with turning with reference to the axial coordinate of orthogonal space three：

Steering and rotating speed of the control circuit of the control system by the motor of two drive wheel assemblies of control, with And steering and the rotating speed of the steering motor of two steering wheel assemblies, realize tractor motion and turning action：

Advance：Two turn to wheel assemblies and put to initial zero position that (i.e. two deflecting roller axis and two driving wheel axis are flat OK), the axle that vertically travels direction of two driving wheels in the level of tractor is driven (i.e. around car body advance side counterclockwise simultaneously To rolling), now tractor will walk along direction of advance；

Retreat：Two turn to wheel assembly and put to initial zero position (two deflecting roller axis and two driving wheel diameter parallels), The axle for vertically travelling direction of two driving wheels in the level of tractor simultaneously (around car body direction of retreat roll clockwise by driving It is dynamic), now tractor will walk along direction of retreat；

Rotate counterclockwise：The steering of the steering motor of two steering wheel assemblies of control, intersects the axis extended line of castor In the midpoint of two driving wheel axis lines, meanwhile, driving wheel hanging down in the level of tractor in left front in drive wheel assemblies The axle of straight direct of travel drive counterclockwise in (i.e. around the rolling of car body direction of advance), another drive wheel assemblies right front driving wheel around The driving of tractor axis both clockwise (is rolled) around car body direction of retreat, and now tractor will be along axis rotate counterclockwise；

Turn clockwise：The steering of the steering motor of two steering wheel assemblies of control, intersects the axis extended line of castor In the midpoint of two driving wheel axis lines, meanwhile, left front driving wheel drives around tractor axis both clockwise in drive wheel assemblies Right front driving wheel drives counterclockwise around tractor axis in dynamic (being rolled around car body direction of retreat), another drive wheel assemblies (being rolled around car body direction of advance), now tractor will rotate along axis both clockwise；

Turn：When tractor is turned, the control circuit of control system is according to existing ripe Ackermam algorithm control The motor of two drive wheel assemblies of system is turned to and rotating speed, so as to realize that tractor smoothly can successfully be turned；

The pivot center of the drive wheel assemblies of the non-rod aircraft tractor and the pivot center of car body intersect vertically；Work as nothing When rod aircraft tractor is around pivot axis, main frame component can be tilted and adaptive around pivot axis with tire, To ensure that inclined tire keeps specific lateral attitude movement, undercarriage can be avoided to cause during being pulled turning Additional torque；

Described hydraulic cylinder guidance set is to limit wheel holding lifting body toppling in the axial direction, while ensureing first The slip and guiding of hydraulic cylinder and second hydraulic cylinder during jacking and decline；

The tractor includes wireless remote-control system, is equipped with wireless controller, wireless remote-control system is (with outside safe waterproof Shell) frequency between each airport of civil aviaton and interior of aircraft equipment will not produce interference；By operating personnel's quantity by tradition Tractor at least need four people be reduced to only remain a people, effectively reduce operating personnel quantity while save operation when Between；

The tractor is also equipped with active tracking module and active tracking function, can be realized by visual guidance technology The autonomous tracking function of tractor, is that future airport dispatching automation lays the foundation；

The tractor also includes automatic plug into module and function, and the automatic of tractor and wheel is realized using a key operation Plug into, without other setting tools.

Relative to prior art, non-rod aircraft tractor wheel holding lifting body described in the utility model has following excellent Gesture：

Wheel holding lifting body of the present utility model solves the fault of construction of existing tractor wheel holding lifting body, improves Operation stabilization and security, realize the adaptive motion of wheel holding lifting body and tractor, adapt to sizes specification Airplane wheel, blows out accident (wheel is coaxial but size is different) for different type of machines and wheel, can be achieved to different size wheels Holding function, extend its application；

Wheel holding lifting body of the present utility model is widely used in cement flooring, asphalt floor, stone ground, epoxy resin Ground and other common hard ground, the convenient and swift guarantee operation for realizing tractor.

Brief description of the drawings

Constitute a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new The schematic description and description of type is used to explain the utility model, does not constitute to improper restriction of the present utility model. In accompanying drawing：

Fig. 1 is overall structure diagram of the present utility model；

Fig. 2 is that the utility model removes the structural representation after shell；

Fig. 3 is that the utility model removes the schematic top plan view after shell；

Fig. 4 is the structural representation of underbody main frame of the present utility model；

Fig. 5 a are the forward structure schematic diagrames of wheel holding lifting body of the present utility model；

Fig. 5 b are the dorsad structural representations of wheel holding lifting body of the present utility model；

Fig. 5 c are main frame forward structure schematic diagrames of the present utility model；

Fig. 5 d are the lateral diagrammatic cross-sections of main frame of the present utility model；

Fig. 5 e are wheel holding lifting body axis schematic diagrames of the present utility model；

Fig. 5 f are that main frame of the present utility model adaptively rotates schematic diagram；

Fig. 5 g are the jacking of wheel holding lifting body of the present utility model and decline process schematic；

Fig. 6 is the structural representation of steering wheel assembly of the present utility model；

Fig. 7 is the front view of steering wheel assembly of the present utility model；

Fig. 8 is the top view of steering wheel assembly of the present utility model；

Fig. 9 is the left view of steering wheel assembly of the present utility model；

Figure 10 is steering wheel assembly angle-measuring equipment figure of the present utility model；

Figure 11 is the structural representation of U-shaped framework of the present utility model；

Figure 12 is the structural representation of battery support frame of the present utility model；

Figure 13 is the structural representation of hydraulic system support frame of the present utility model；

Figure 14 is the structural representation of control system support frame of the present utility model；

Figure 15 is the structural representation of hydraulic system of the present utility model；

Figure 16 is switch gate schematic diagram of the present utility model；

Figure 17 a are hydraulic cylinder guidance set schematic diagrames of the present utility model；

Figure 17 b are hydraulic cylinder guidance set side schematic views of the present utility model.

Embodiment

It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can To be mutually combined.

In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ", The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicate Or imply that the device or element of meaning must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that For to limitation of the present utility model.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately It is described, " multiple " are meant that two or more.

, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition State concrete meaning of the term in the utility model.

Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

The definition of part term in the utility model：

1st, the free degree, in rigid body of the present utility model connection, setting in orthogonal three axial coordinates of space X YZ, X-axis has Having in translation freedoms and rotational freedom, Y-axis on translation freedoms and rotational freedom, Z axis has translation freedoms and rotation The free degree；Specifically in the utility model, set and vehicle is orthogonal in horizontal plane directly to direct of travel as X-axis, in vertical plane Vehicle traveling direction is orthogonal to for Y-axis, vehicle is directly Z axis to direct of travel；As shown in Figure 2, direction represents X shown in 192 Axle, direction shown in 191 represents Y-axis, and direction represents Z axis shown in 190；Shown in Fig. 5 c, direction shown in 194 represents X-axis, 195 institutes Show that direction represents Y-axis, direction represents Z axis shown in 193；Shown in Fig. 5 e, direction shown in 196 is Z axis, and direction shown in 117a is Y Axle；The connection of hydraulic pressure cylinder part hereinafter and fixed seat or tache motorice can also refer to defined rotational freedom and/or translation The free degree；

2nd, adaptive motion, in rigid body of the present utility model connection, coordinate design between multiple bindiny mechanisms and dynamic Make, be adapted to each other respective motion, the generation without additional moment during rotation, inclination, lifting etc., it is ensured that Each part Security；Specifically in the utility model, the motion of car body and the motion of wheel by between connector it is corresponding just Coordination in quadrature axis, makes traveling and steering of the wheel without additional torque；As shown in figs. 5 e and 5f, non-rod aircraft tractor When turning about the Z axis, main frame component 101 can be rotated with non-rod aircraft tractor, adaptive about the z axis to rotate, to avoid to institute The undercarriage of carrying produces additional torque；Axis Za193 and axis Zb196 coaxial design make primary frame component 101 Around axis Za193 adaptive rotation；

Specifically it is described with reference to the drawings：

Non-rod aircraft tractor, including：

As Fig. 2 shows, underbody main frame 200, underbody main frame 200 includes drive wheel assemblies 201, turns to wheel assembly 202, U Type framework 203, the inside of U-shaped framework 203 of the main framework of underbody main frame 200 is provided with the connection of offer wheel holding lifting body 100 Wheel holding lifting body 100, can be fixed on inside underbody main frame 200 by mechanical interface, be the action of wheel holding lifting body 100 Support carrier is provided；

Wherein, as shown in figure 11, specifically, the U-shaped structure of underbody main frame 200, several faces of the inside of U-shaped framework 203 There is provided respective amount wheel holding lifting body mounting surface, the mounting surface that preferably three faces are connected with wheel holding lifting body, as armful The mounting platform of lifting body is taken turns, it is ensured that wheel holding lifting body and underbody main frame relative motion, when the liter of wheel holding lifting body When the hydraulic cylinder travel of drop motion is all zero, underbody main frame 200 is with respect to ground level；

Wherein, specifically, the U-shape structure open front (at 201 meanings) of underbody main frame 200 is coaxial mounted solid for two Reservation 203b, fixed seat is driving wheel 201a and motor 201c, drives decelerator 201d, the installation of power transmission shaft to provide and connect Mouthful；The rear end both sides of underbody main frame 200 are distributed with turning to the installing plate 203a that wheel assembly is connected, and are conveniently steered wheel assembly fast Speed installation and removal；Wherein, as shown in Figure 3 and Figure 4, driving wheel 201a includes solid steel wheel hub and the outer pendant of wheel hub is high hard Polyurethane is spent, driving wheel 201a can provide big bearing capacity, and can form larger adhesive force between ground；

Wherein, as shown in Fig. 6 to Figure 10, wheel assembly 202 is turned to；

Including deflecting roller fixed seat 202a, drive disk assembly installing plate 202b, steering motor 202c, decelerator 202d, transmission Axle 202e (as shown in Figure 9), drive gear 202f, turntable bearing 202g, castor switching fixed seat 202h, castor 202i, angle Encoder 202j, angular encoder mounting flange 202k, shaft joint 202l, drive bearing 202m, angle measurement little gear 202n, angle Positive stop strip 202o and proximity switch 202p etc.；

Turntable bearing 202g is external tooth type turntable bearing, including inner ring and outer ring gear；Deflecting roller fixed seat 202a one end It is spirally connected fixation with the installing plate 203a of the rear end both sides of underbody main frame 200, the deflecting roller fixed seat 202a other ends pass through screw Drive disk assembly installing plate 202b, turntable bearing 202g inner rings are fixed together, turntable bearing 202g outer rings gear, castor switching Fixed seat 202h, castor 202i are fixed together by screw；

Drive gear 202f is located at drive disk assembly installing plate 202b sides, and same plane is in turntable bearing 202g, drives Moving gear 202f is engaged with turntable bearing 202g outer rings gear；

Steering motor 202c, decelerator 202d, power transmission shaft 202e, drive gear 202f are co-axially mounted, and pass through decelerator 202d flanges are fixed on drive disk assembly installing plate 202b.Drive gear 202f is by steering motor 202c through decelerator 202d, biography Moving axis 202e transmission drivings；

As shown in Figure 10, angular encoder 202j, angular encoder mounting flange 202k, shaft joint 202l, drive bearing 202m, angle measurement little gear 202n are co-axially mounted, and drive disk assembly installing plate is fixed on by angular encoder mounting flange 202k On 202b；Angle measurement little gear 202n and turntable bearing 202g is in same plane and nibbled with turntable bearing 202g outer rings gear Close；

Drive decelerator 202d, power transmission shaft 202e, drive gear 202f to rotate by steering motor 202c, turn so as to drive Dish axle holds 202g outer rings pinion rotation, and turntable bearing 202g outer ring gears finally drive castor by castor switching fixed seat 202h 202i is rotated, so as to realize the active steering function of turning to wheel assembly 202；Turntable bearing 202g outer rings pinion rotation drives angle measurement Little gear 202n is rotated, and angular encoder 202j detects angle measurement little gear 202n, turntable bearing 202g outer ring gears and pin in real time Take turns 202i steering angle；

Angle limit bar 202o is screwed onto on turntable bearing 202g outer rings (shown in Fig. 8), with turntable bearing 202g outer rings one Block is rotated；Proximity switch 202p totally two, is installed on drive disk assembly installing plate 202b, and limited angular positive stop strip is corresponded to respectively The 202o anglec of rotation, so that finally limitation castor 202i steering angle；

Pass through steering motor 202c driving turning function, angular encoder 202j angle measurement function, proximity switch 202p Corner locating function and control steer arithmetic can swimmingly complete turn to wheel assembly 202 active steering function；

As shown in Figures 3 and 4, drive wheel assemblies 201, set up separately at two, the front of underbody main frame 200 angle, each driving wheel Component 201 includes driving wheel 201a, power transmission shaft 201b, motor 201c and driving decelerator 201d compositions；Each driving wheel Equal 201a is connected by power transmission shaft 201b with motor 201c, decelerator 201d, and drive wheel assemblies 201 are using hub motor structure Also within the protection domain of patent of the present invention, wheel hub motor is merged driving wheel, motor, decelerator in structure, It is integrally formed formula structure；

As shown in figure 3, turning to wheel assembly 202, set up separately at the rear Liang Ge angles of underbody main frame 200, turn to wheel assembly Two kinds of structures of 202 points of active drive deflecting rollers and passive universal caster wheel, two kinds of deflecting rollers are in the protection domain of patent of the present invention Within；

Electric power system 300, electric power system 300 is placed in the both sides of underbody main frame 200, is that each subsystem of tractor is powered；Such as Shown in Fig. 2 and Fig. 3, electric power system 300 can be batteries 301, and batteries 301 pass through string by polylith battery 301a Mode in parallel obtains the supply voltage required for tractor, and batteries 301 are positioned over the storage of the both sides of underbody main frame 200 Cell support framework 204 (Fig. 4 and Figure 12 shown in) top, is tractor driving walking steering, liquid by batteries 301 Pressure system 400 and control system 500 are powered；Electric power system 300 is electrically connected with control system 500, each motor and charge and discharge device Connect；Electric power system 300 is preferably disposed in the rear portion of bottom main frame 200；

Hydraulic system 400, hydraulic system 400 is placed in the rear portion centre position of underbody main frame 200, is the hydraulic cylinder of tractor Power is provided；

Control system 500, control system 500 is placed in the rear portion of underbody main frame 200, and control system 500, which is used to realize, draws The controls of action such as garage walks, turned to, locking, wheel holding, jacking, during the function such as status display, fault alarm；

The side of underbody main frame 200 is provided with the battery carriage for playing mechanical support to electric power system 300 Frame 204；The rear portion of underbody main frame 200 is provided with the hydraulic pressure for playing mechanical support to hydraulic system 400 and control system 500 System holding frame 205 and control system support frame 206；Hydraulic system 400 passes through hydraulic system bottom plate 407 and hydraulic system The upper junction plate 205c of support frame 205 is fixed together；

As shown in figure 15, hydraulic system 400 includes fuel tank 401, motor 402, hydraulic pump 403, control valve group 404, liquid Pressure pipe road 405 and joint 406 etc., hydraulic pressure subsystem realize the lock to preceding wheel by Driven by Hydraulic Cylinder wheel holding lifting body Tightly, the action such as jacking, wheel holding and function；As shown in fig. 4 and 13, hydraulic system support frame 205 is supported by hydraulic system Framework side connecting plate 205a and hydraulic system support frame back of the body connecting plate 205b carry out the fixation that is spirally connected with U-shaped framework 203, are hydraulic pressure System 400 provides support；

As shown in Fig. 4 and Figure 14, wherein, the rear portion of underbody main frame 200 is control system support frame 206, control system System support frame 206 carries out the fixation that is spirally connected by control system support frame side connecting plate 206a and U-shaped framework 203, for control System 500 provides support；

As shown in Figures 2 and 3, driver, Control card, charge and discharge device and interface are integrated with control system 500, is controlled Control circuit is integrated with making sheet card, control system 500 is electrically connected with each motor and charge and discharge device respectively；Control system 500 are preferably disposed in the rear portion of bottom main frame 200；

As shown in Fig. 2, Fig. 3, Fig. 5 a and Fig. 5 b, wheel holding lifting body 100, including main frame component 101, skid beam component 102nd, main beam component 103, first hydraulic cylinder 104, second hydraulic cylinder 105, the 3rd hydraulic cylinder 106, the 4th hydraulic cylinder 107, Five hydraulic cylinders 108, the 6th hydraulic cylinder 109, the 7th hydraulic cylinder 110, the 8th hydraulic cylinder 111, left pressure grab 112, right pressure and grab 113, shovel Bucket 114, switch gate 115, latch hook 116, connecting seat 117 after main frame, hydraulic cylinder guidance set 118 and some it is used to limit liquid The sensor of cylinder pressure stroke；Each hydraulic cylinder herein can also be substituted using any parts that can realize linear motion；

Main frame component 101, mainly adjusts component 101a by some slide plates and main frame structure part 119 is constituted；Slide plate is adjusted Whole group part 101a includes installing plate 101b and friction adjustment piece 101c；Main frame structure part 119, mainly by left sleeve pipe 119a, the right side Sleeve pipe 119b, triangle reinforcement structure 119c, front support riser 119d, rear support riser 119e, pressure grab installing plate 119f compositions, Integral structure component of the composition with enclosed construction, can effectively improve the integral rigidity of main frame structure part 119；Front support riser connects Meet hole 119g and rear support riser connecting hole 119h coaxial in axis Za193, axis Za193 perpendicular to front support riser 119d and Rear support riser 119e (Fig. 5 c and Fig. 5 d show)；

Main beam component 103, passes through the hinge with a rotational freedom and the front support riser of main frame component 101 Connecting hole 119g and rear support riser connecting hole 119h connections, make main frame component 101 and main beam component 103 realize around axis Za193 relative rotation (Fig. 5 f show)；Main beam component 103, two ends are connected by the hinge with a rotational freedom respectively Connect the cylinder barrel difference of the piston rod of first hydraulic cylinder 104 and second hydraulic cylinder 105, first hydraulic cylinder 104 and second hydraulic cylinder 105 By hinge connection hydraulic cylinder mounting seat 104a and hydraulic cylinder mounting seat 105a with three rotational freedoms, hydraulic cylinder is installed Seat 104a and hydraulic cylinder mounting seat 105a is bolted underbody main frame 200；

Main frame component 101, connects connecting seat 117 after main frame, bearing pin can be circular cross-section, side herein by bearing pin The various imaginabale cross sectional shapes such as tee section, polygonal cross-section are allowed to realize, bearing pin axis 117a directions can be any direction, Preferably by perpendicular to axis Za193；

Connecting seat 117 after main frame, pass through the piston of the hydraulic cylinder 106 of hinge connection the 3rd with three rotational freedoms Bar, the cylinder barrel of the 3rd hydraulic cylinder 106 passes through hinge connection hydraulic cylinder mounting seat 106a (Fig. 5 b with a rotational freedom Show), hydraulic cylinder mounting seat 106a is bolted underbody main frame 200；

The aircraft tractor around axis 191 rotate when, main frame component 101 can be rotated with aircraft tractor, around axle The rotations of line Za193 adaptively, to avoid producing additional torque to the undercarriage carried；To realize main frame component 101 around axis Za193 adaptive rotation, axis Za193 and axis Zb196 coaxial (Fig. 5 e and Fig. 5 f show)；

Hydraulic cylinder guidance set 118, including guide runner component 118a and blade fin component 118b；Guide runner component 118a is connected by screw with main beam component 103, and blade fin component 118b is connected by screw with underbody main frame 200, Guide runner component 118a and blade fin component 118b is bonded to each other and relative can slide；Guide runner component 118a rubs Face can be allowed to realize using nylon or other materials with anti-wear performance；

Hydraulic cylinder guidance set 118, the moving along the direction of axis 192 of limitation main beam component 103, it is to avoid wheel holding jack Structure 100 is toppled over along the direction of axis 192；Hydraulic cylinder guidance set 118 is used to realize that wheel holding lifting body 100 carries out jacking with Slip and guide function during drop workflow (Fig. 5 g show)；

Hydraulic cylinder guidance set 118 described in the utility model is to limit wheel holding lifting body 100 along the direction of axis 194 Topple over, while ensureing the slip and guiding of first hydraulic cylinder 104 and second hydraulic cylinder 105 during jacking and decline；

Wherein, it is specific as shown in Figure 17 a and 17b, the hydraulic cylinder guidance set 118, including guide runner component 118a, blade fin component 118b and the guide runner contacted with blade fin component 118b being fixed on slide block assembly 118a 118ab；Guide runner 118ab sliding block rubbing surface 118ab2 and blade fin 118b1 slide plate rubbing surface 118b11 fit and Slide；The guide runner component 118a is including for the main beam installation portion 118a1 being detachably fixed and for fixed guide Sliding block 118ab sliding block installation portion 118a2；The skateboard component 118b includes the right angle support base for being used to be detachably fixed The 118b2 and blade fin 118b1 for being contacted with guide runner 118ab；Specifically, the level of the guide runner 118ab Cross section is L-shaped, and an exhibition arm of L-shaped is fixed on sliding block installation portion 118a2 and contacted with the whole 118a22 of slop regulation, separately One exhibition arm is contacted with vertical adjustment portion 118a21；The exhibition arm that described guide runner 118ab and sliding block installation portion 118a2 is fixed On be also provided with least one slotted eye 118ab1, and slotted eye 118ab1 growth strips, the slotted eye 118ab1 of strip length direction With vertical direction at an angle, it is and identical with the whole 118a22 of slop regulation angle of inclination, it is preferred that at an acute angle；The sliding block Installation portion 118a2 is provided with screwed hole, and screwed hole is correspondingly arranged with slotted eye；Bolt arrangement, and spiral shell are housed on the screwed hole Stud structure can pass freely through slotted eye 118ab1；The exhibition arm of the guide runner 118ab with slotted eye 118ab1 is trapezoidal knot Structure, and trapezium structure exhibition arm upper dimension is longer than lower dimension；The sliding block installation portion 118a2 and guide runner 118ab ladder Provided with the whole 118a22 of slop regulation for protruding from trapezium structure exhibition arm at the angled end-face of shape structure exhibition arm；The sliding block installation portion The trapezoidal structures of 118a2, and sliding block installation portion 118a2 long bottom size of the long bottom size more than guide runner 118ab, sliding block peace Dress portion 118a2 handle size is more than guide runner 118ab handle size；By making guide runner 118ab whole along slop regulation 118a22 slides the gap between adjustable slide rubbing surface 118ab2 and slide plate rubbing surface 118b11, can facilitate sliding block friction Gap adjustment after face 118ab2 or slide plate rubbing surface 118b11 abrasions, it is ensured that guide runner 118ab's and blade fin 118b1 It is in close contact, can also avoids minim gap between guide runner 118ab and blade fin 118b1 from causing main beam component 103 to topple over Caused impulsive force；

First hydraulic cylinder 104 and second hydraulic cylinder 105, are realized to main beam component 103 and by main horizontal stroke using being synchronized with the movement The synchronization of jacking up for the main frame component 101 that beam assembly 103 drives and decline function；First hydraulic cylinder 104 and second hydraulic cylinder 105 extreme position realizes that limit sensors 103a can be using cities such as proximity switch, limit switches by limit sensors 103a Sensor present on face, also can be allowed to realize, preferably by limit switch using other devices with equivalent functions；

3rd hydraulic cylinder 106, limit of sports record position is limited by limit sensors 106b, and limit sensors 106b can be used Sensor present on the markets such as proximity switch, limit switch, also can be allowed to realize using other devices with equivalent functions, Preferably by limit switch；

As shown in Fig. 5 a, 5b and 16, skid beam component 102, mainly by left skid beam 102a, right skid beam 102b and connecting cross beam 102c is constituted；Skid beam component 102 is in " U " font or conceivable approximate shapes, and skid beam component 102 with one by translating certainly Relative slip in main frame component 101 along axis Za193 directions is realized by the prismatic pair spent, prismatic pair herein is to pass through By left skid beam 102a, left sleeve pipe 119a and some slide plates adjust a prismatic pair constituting of component 101a with by right skid beam 102b, One prismatic pair of right sleeve pipe 119b and slide plate adjustment component 101a compositions is collectively constituted；Slide plate adjustment component 101a can realize cunning The adjustment of beam assembly 102 and main frame component 101 along axis 194 and the direction spacing of axis 195；Friction adjustment piece 101c can be used Nylon realizes also can have the material or device of equivalent functions to be allowed to realize using other；

Skid beam component 102, the driving force provided by the 8th hydraulic cylinder 111 is realized relative in main frame component 101 Slide, the piston rod of the 8th hydraulic cylinder 111 is connected by the hinge with three rotational freedoms with skid beam component 102, the 8th The cylinder barrel of hydraulic cylinder 111 is connected by the hinge with three rotational freedoms with rear support riser 119e；Skid beam component 102 Its extreme position moved is limited by limit sensors 111a；

8th hydraulic cylinder 111, controls skid beam component 102 to be applied to the clamping force on tire by pressure sensor 111b, Pressure sensor 111b is mountable on the 8th hydraulic cylinder 111, is also mountable on control pumping plant, is preferably installed in the 8th liquid On cylinder pressure 111；

Switch gate 115, is hinged with left skid beam 102a by the hinge with a rotational freedom, realizes switch gate 115 With the relative rotation between the spaced winding axis 191 of skid beam component 102；

Switch gate 115, the linear motion provided by the 4th hydraulic cylinder 107 realizes between skid beam component 102 relative turn It is dynamic；The piston rod of 4th hydraulic cylinder 107 is connected by the hinge with three rotational freedoms with switch gate 115, the 4th hydraulic pressure The cylinder barrel of cylinder 107 is connected by the hinge with three rotational freedoms with skid beam component 102；Switch gate 115 is passed by spacing Sensor 115a limits the extreme position of its motion.

As shown in Figure 5 a, latch hook 116, are hinged by the hinge with a rotational freedom with right skid beam 102b, are realized Relative rotation between latch hook 116 and the spaced winding axis 191 of skid beam component 102；

Latch hook 116, the linear motion provided by the 5th hydraulic cylinder 108 realizes the relative rotation between skid beam component 102； The piston rod of 5th hydraulic cylinder 108 is connected by the hinge with three rotational freedoms with switch gate 115, the 5th hydraulic cylinder 108 cylinder barrel is connected by the hinge with three rotational freedoms with skid beam component 102；Latch hook 116 passes through limit sensors 116a limits the extreme position of its motion；

As shown in figure 16, wherein, skid beam component 102 and switch gate 115 formation switch gate component, the skid beam component 102 Taken the shape of the letter U structure, the left skid beam of the U-shaped mouth of skid beam component 102 and one end of switch gate 115 are hinged, and switch gate 115 is hinged End is controlled to open and close by the 4th hydraulic cylinder 107 being arranged on skid beam component 102；The skid beam component 102 and switch gate 115 hinged ends are additionally provided with the 4th hydraulic cylinder mounting seat 1070, and the fixing end of the 4th hydraulic cylinder 107 is fixed on the installation of the 4th hydraulic cylinder On seat 1070, movable end and the switch gate 115 of the 4th hydraulic cylinder 107 are hinged；The 4th hydraulic cylinder mounting seat 1070 is additionally provided with Switch gate support arm 10701, the switch gate support arm 10701 is inserted in one end of switch gate 115 and with connecting in articulated manner Connect；The switch gate support arm 10701 is provided with switch gate mounting hole 10702, and the hinged end of switch gate 115 is provided with support arm Mounting hole 11501, the switch gate mounting hole 10702 cooperatively forms articulated structure with support arm mounting hole 11501；It is described to open Close the door 115 hinged end is provided with and is used to avoid the avoidance mouth structure of switch gate support arm 10701；The switch gate 115 is by setting Put what the movable end of the hydraulic cylinder 107 of switch gate articulated column 11507 and the 4th on its hinged end was hinged, and switch gate is hinged Post 11507 is arranged on the outside of support arm mounting hole 11501, can realize that the movable end linked switch door 115 of the 4th hydraulic cylinder 107 enters Row is opened and closed；The switch gate 115 takes the shape of the letter U structure, and the U-shaped mouth of switch gate 115 exists with the U-shaped mouth of skid beam component 102 It can be docked during closed mode；

Wherein, the right skid beam of the U-shaped mouth of the skid beam component 102 is provided with retaining mechanism, for locking closed mode Switch gate 115；The retaining mechanism includes the 5th hydraulic cylinder 108 and latch hook 116, and the 5th hydraulic cylinder 108 is arranged on skid beam In the structural arm of the locking of component 102 side, the latch hook 116 is hinged on the movable end of the 5th hydraulic cylinder 108；The energy of latch hook 116 Locking protection is carried out to switch gate 115；The retaining mechanism also includes：Installed as the 5th hydraulic cylinder 108 and latch hook 116 is hinged The 5th hydraulic cylinder mounting seat 1080；The 5th hydraulic cylinder mounting seat 1080 is fixed in the structure of the locking end of skid beam component 102 On arm；The 5th hydraulic cylinder mounting seat 1080 includes the latch hook installing arm 10801 for being used to be hinged latch hook 116；The latch hook peace Through-hole structure is provided with one jiao of dress arm 10801, and through-hole structure is offset to the one of the inner side of the U-shaped mouth of skid beam component 102 Angle, the latch hook 116 is provided with the lower latch hook post 11601 for the through-hole structure for being matched with latch hook installing arm 10801；The latch hook Latch hook post 11608 is additionally provided with 116, upper latch hook post 11608 is articulated with the movable end of the 5th hydraulic cylinder 108；The upper latch hook Post 11608 sets up separately in two planes of latch hook 116 with lower latch hook post 11601, and upper latch hook post 11608 and lower latch hook post 11601 axis are mutually staggered, and the movable end band moveable lock hook 116 of the 5th hydraulic cylinder 108 is rotated around lower latch hook post 11601, Realize the locking and release of latch hook 116 and switch gate 115；It is additionally provided with the 5th hydraulic cylinder mounting seat 1080 for aiding in branch Strut close the door 115 switch gate support arm 10802；The switch gate support arm 10802 is relative and flat with latch hook installing arm 10801 Row is set, and parallel distance space between the two can accommodate the locking end part of switch gate 115；Lock on the switch gate 115 Post 11502 is locked in tight end provided with switch gate, and the switch gate locking post 11502 coordinates latch hook 116 to realize locking work；

As shown in figure 5a and 5b, left pressure grabs 112, passes through the hinge with a rotational freedom and main frame component 101 Connection；Left pressure is grabbed 112 linear motions provided by the 6th hydraulic cylinder 109 and realized and the spaced winding axis 192 of main frame component 101 Relative rotation；

Right pressure grabs 113, is connected by the hinge with a rotational freedom with main frame component 101；Left pressure grabs 113 The linear motion provided by the 7th hydraulic cylinder 110 realizes the relative rotation with the spaced winding axis 192 of main frame component 101；

As shown in Figure 5 b, the piston rod of the 6th hydraulic cylinder 109 is grabbed by the hinge with three rotational freedoms with left pressure 112 connections, the cylinder barrel of the 6th hydraulic cylinder 109 is connected by the hinge with three rotational freedoms and triangle reinforcement structure 119c Connect；It is identical with aero tyre shape with aero tyre contact surface 112a shape that left pressure grabs 112, it is ensured that is brought into close contact during compression； Left pressure grabs 112 and limits its extreme position rotated by limit sensors 112b；6th hydraulic cylinder 109 passes through pressure sensor The left pressure of 112c controls grabs 112 clamping forces being applied on tire, and pressure sensor 112c is mountable on the 6th hydraulic cylinder 109, Also it is mountable on control pumping plant, is preferably installed on the 6th hydraulic cylinder 109；

7th hydraulic cylinder 110, the piston rod of the 7th hydraulic cylinder is grabbed by the hinge with three rotational freedoms with right pressure 113 connections, the cylinder barrel of the 7th hydraulic cylinder 110 is connected by the hinge with three rotational freedoms and triangle reinforcement structure 119c Connect；It is identical with aero tyre shape with aero tyre contact surface 113a shape that right pressure grabs 113, it is ensured that is brought into close contact during compression； Right pressure grabs 113 and limits its extreme position rotated by limit sensors 113b；7th hydraulic cylinder 110 passes through pressure sensor The right pressure of 113c controls grabs 113 clamping forces being applied on tire, and pressure sensor 113c is mountable on the 7th hydraulic cylinder 110, Also it is mountable on control pumping plant, is preferably installed on the 7th hydraulic cylinder 110；

As shown in Figure 5 a, scraper bowl 114, the hinge by one with rotational freedom is connected with main frame component 101, is shoveled Bucket 114 is positioned by bottom surface and the back side with main frame component 101, is deviate from when preventing stress rear bucket 114 from toppling forward.

As shown in figure 1, aircraft tractor of the present utility model, in addition to：

Travel illuminating lamp 601, stroboscopic lamp 602, security warning buzzer 603 and emergency stop switch 606；

Traveling illuminating lamp 601 is preferentially positioned at four angles of carbody shell 600, convenient in night wheel holding lifting body 100 complete to operate the wheel holding of preceding tire, locking, jacking, convenient to carry out traction transition at night.Travel illuminating lamp 601 It is connected with tractor electric power system 300.Stroboscopic lamp 602 and security warning buzzer 603 are preferentially positioned on carbody shell 600 Surface, tractor is when running operation, and stroboscopic lamp 602 and security warning buzzer 603 play warning function to surrounding people.It is anxious Guard's valve 606 is used for jerk operation of the tractor under out of control or unsafe condition, and emergency stop switch 606 is preferentially positioned over shell 600 tops；

Anti-collision switch 604 is preferentially positioned on four angles of the side of carbody shell 600, and anti-collision switch 604 is controlled with car body System 500 be connected, when tractor is run to it is closer to the distance with peripheral obstacle when, anti-collision switch 604 will sense barrier simultaneously Limitation car body continues to run forward.

Totally four, suspension ring 605, are preferentially positioned on the angle of carbody shell 600 upper surface four, for completing rising for tractor Hang and transport binding.

Respectively there is the revolute pair that the connection of the hinge of a rotational freedom can be constituted using bearing pin with rolling bearing above Realize also can have rolling or wear-resisting equivalent construction to be allowed to realize using other；

Each limit sensors (111a, 115a, 116a etc.) can on the market be existed using proximity switch, limit switch etc. above Sensor, also can be allowed to realize using other devices with equivalent functions, preferably by proximity switch；

Each pressure sensor can use sensor present on market above, can also use other devices with equivalent functions Part is allowed to realize, preferably by oil pressure sensor；

The implementation process of wheel holding lifting body described in the utility model is as follows：

1. original state：The original state of wheel holding lifting body is first hydraulic cylinder 104, second hydraulic cylinder 105 and the 3rd Hydraulic cylinder 106 is fully retracted, it is left pressure grab 112 and it is right pressure grab 113 completely opening, skid beam component 102 be in fully extended, latch hook 116 are unclamped, switch gate 115 is opened, and the bottom surface of whole wheel holding lifting body is in position almost close to bottom surface；

2. the state of holding tightly：Wheel holding lifting body opening is directed at tire by non-rod aircraft tractor 1, and marches to tire and shovel Struggle against 114 contact positions, and closing switch door 115 simultaneously locks latch hook 116, shrinks skid beam component 102 until tire is laterally held tightly, pushes away Dynamic left pressure grab 112 and right pressure grab 113 until tire is longitudinally held tightly；

3. jacking state：Synchronous driving first hydraulic cylinder and second hydraulic cylinder are to the jacking of main frame component 101, until reaching Stroke limes superiors, then drives the 3rd hydraulic cylinder until reaching stroke limes superiors.

Release process is the inverse process of said process；

Said structure, with load capacity is high, structure it is safe and reliable it is compact, contribute to car body flattening, clamping stable and The advantages of manufacture and assembly technique is excellent；

The specific running of aircraft tractor and principle：

Clamp：After switch gate 115 is closed and latch hook 116 is locked, by driving the 8th hydraulic cylinder 111 to drive skid beam component 102 are slided, and the holding to aircraft wheel is realized by switch gate holding face 170 and scraper bowl holding face 171, and switch gate holds face 170 tightly It is collectively forming and is contacted with the face that tyre contour outline matches with scraper bowl holding face 171, the 8th hydraulic cylinder 111 provides clamping force, realizes To the holding of tire radial direction, prevent that tire is moved phenomenon；

Compress：6th hydraulic cylinder 109 drives left pressure to grab 112 compression side tires and provide thrust, the 7th hydraulic cylinder 110 Driving it is right pressure grab 113 compression opposite side tires and thrust be provided, realize to tire vertical direction holding, to prevent tire Generation jumping phenomena；

Jacking：First hydraulic cylinder 104 and second hydraulic cylinder 105, which are synchronized with the movement, realizes jacking to main frame component 101, the Three hydraulic cylinders 106 independently moving realizes jacking to main frame component 101, first hydraulic cylinder 104, second hydraulic cylinder 105 and the Three hydraulic cylinders 106 complete the complete jacking to main frame component 101 jointly, it is to avoid in the process of running main frame component 101 with Collided between ground (shown in Fig. 5 g, first hydraulic cylinder 104, the hydraulic pressure of second hydraulic cylinder 105 and the 3rd during jacking and decline The engagement process of cylinder 106)；

Tilt：First hydraulic cylinder 104 and second hydraulic cylinder 105 are to the synchronization of jacking up of wheel holding lifting body 100 and the 3rd hydraulic pressure When cylinder 106 is motionless, first hydraulic cylinder 104, the hydraulic cylinder 106 of second hydraulic cylinder 105 and the 3rd can inclining with main frame component 101 It is tiltedly servo-actuated to tilt；The jacking of 3rd hydraulic cylinder, 106 main frame component 101 and first hydraulic cylinder 104 and second hydraulic cylinder 105 are motionless When, first hydraulic cylinder 104, second hydraulic cylinder 105 and the 3rd hydraulic cylinder 106 can be servo-actuated with the inclination of main frame component 101 to incline Tiltedly (shown in Fig. 5 g, first hydraulic cylinder 104, the hydraulic cylinder 106 of second hydraulic cylinder 105 and the 3rd are with master in tractor steering procedure The adaptive motion of frame assembly 101, it is to avoid the generation of additional moment)；

Advance with turning to：It is main to be made up of above-mentioned two drive wheel assemblies 201 and two steering wheel assemblies 202, two drives Drive wheel assemblies 201 provide driving force for car body walking, and two turn to wheel assembly 202 and provide steering angle for car body turning；Pass through Running gear train can realize tractor walking, turn, original place turns clockwise and the function such as original place rotate counterclockwise；

Detailed traveling illustrates that the control circuit of control system 500 of the present utility model is by controlling two drives with turning to The motor 201a of drive wheel assemblies 201 steering and rotating speed, and two steering wheel assemblies 202 steering motor 202c Turn to and rotating speed, realize tractor motion and turning action：

Advance：Two turn to wheel assemblies 202 and put to initial zero position that (i.e. two deflecting roller axis and two driving wheel axis are flat OK), two driving wheel 201a drive and (rolled around car body direction of advance) counterclockwise simultaneously around tractor axis 192, now lead Drawing car will walk along direction of advance；

Retreat：Two turn to wheel assemblies 202 and put to initial zero position that (two deflecting roller axis are flat with two driving wheel axis OK), two driving wheel 201a around tractor axis 192 (Fig. 2 shows) while driving (i.e. around car body direction of retreat rolling) clockwise, Now tractor will walk along direction of retreat；

Rotate counterclockwise：The steering motor 202c of two steering wheel assemblies 202 of control steering, makes castor 202h axis Extended line intersects at the midpoint of two driving wheel 201a axis lines, meanwhile, driving wheel 201a in left front in drive wheel assemblies 201 Drive and (rolled around car body direction of advance) counterclockwise around tractor axis 192, right front is driven in another drive wheel assemblies 201 Driving wheel 201a drives and (rolled around car body direction of retreat) clockwise around tractor axis 192, and now tractor will be along axis 191 (Fig. 2 shows) rotate counterclockwise；

Turn clockwise：The steering motor 202c of two steering wheel assemblies 202 of control steering, makes castor 202h axis Extended line intersects at the midpoint of two driving wheel 201a axis lines, meanwhile, driving wheel 201a in left front in drive wheel assemblies 201 Drive and (rolled around car body direction of retreat) clockwise around tractor axis 192, right front is driven in another drive wheel assemblies 201 Driving wheel 201a drives and (rolled around car body direction of advance) counterclockwise around tractor axis 192, and now tractor will be along axis 191 Turn clockwise；

Turn：When tractor is turned, the control circuit of control system 500 controls two drivings according to Ackermam algorithm The motor 201a of wheel assembly 201 is turned to and rotating speed, so as to realize that tractor smoothly can successfully be turned；

The pivot center 192 of the drive wheel assemblies 201 of non-rod aircraft tractor 1 described in the utility model turns with car body Shaft line 191 intersects vertically；When non-rod aircraft tractor 1 is rotated around pivot center 191, main frame component 101 can be with tire Tilt and being rotated around pivot center 190 adaptively, to ensure that inclined tire keeps specific lateral attitude to move, can avoid Undercarriage is pulled caused additional torque during turning.

Tractor of the present utility model has drawbar aircraft tractor to be compared with minor-circle turn function with tradition, will fly Machine nose-gear is plugged into lift on the basis of, realize with tractor replace nose-gear function, effectively reduce aircraft Radius of turn in distraction procedure；

Tractor of the present utility model also includes automatic plug into module and function, and tractor and machine are realized using a key operation The automatic of wheel is plugged into, without other setting tools；

Tractor of the present utility model adapts to the airplane wheel of sizes specification, is blown out for different type of machines and wheel Accident (wheel is coaxial but size is different), can be achieved the holding function to different size wheels, extends its application；

Tractor of the present utility model be widely used in cement flooring, asphalt floor, stone ground, epoxy resin ground and Other common hard ground；

Tractor of the present utility model employs flattening design, in height of the carbody on the premise of bearing requirements are met Compressed on direction, compared with having bar tractor and other non-intrusive methods, tractor of the present utility model can go deep into Below ventral, by drawing forward or backwards, on the premise of realizing that compact in hangar of aircraft is put, without being thought of as leading Draw car and reserve exit path, effectively save the space of hangar；Aircraft tractor of the present utility model flies compared to other foreign countries There is no driver's cabin for machine travel car, the visual field facilitates well operation, while saving labour cost and time cost；

The non-rod aircraft tractor that the utility model is provided can adapt to a variety of chis on the premise of flattening design is met The airplane wheel of very little specification, with tight turn radius, it is automatic plug into and the function such as active tracking, aircraft storage, pendulum can be provided Put, park, outbound, traction transition of the aircraft on hard surface can be realized again, aircraft is also adapted to and is blown out on hard surface Wheel holding rescue work afterwards；The non-rod aircraft tractor that the utility model is provided will be widely used in civil aviaton market, aircraft general assembly city Field, military aviation market segment.

Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model Within the scope of shield.

Claims (10)

1. a kind of non-rod aircraft tractor wheel holding lifting body, it is characterised in that including：Wheel holding mechanism, elevating mechanism and connection Mechanism；The wheel holding mechanism and bindiny mechanism set up separately in elevating mechanism both sides, and wheel holding mechanism can hold clamping wheel, bindiny mechanism tightly Wheel holding mechanism and elevating mechanism can be connected on the underbody main frame (200) of aircraft tractor and are servo-actuated, elevating mechanism can be by Wheel holding mechanism carries out jacking and decline；

The wheel holding mechanism has translation freedoms in the Z-axis direction；

The elevating mechanism has rotational freedom, has translation freedoms in Y direction in the Z-axis direction；

The bindiny mechanism has rotational freedom on orthogonal three axles of XYZ, has translation freedoms in Y direction；

In the Z-axis direction, the center of rotation axis of elevating mechanism is overlapped with the center of rotation axis of bindiny mechanism.

2. non-rod aircraft tractor wheel holding lifting body as claimed in claim 1, it is characterised in that the wheel holding lifting body , including main frame component (101), skid beam component (102), main beam component (103), the 3rd hydraulic cylinder (106), the 8th (100) Connecting seat (117) and some sensors for being used to limit hydraulic cylinder travel after hydraulic cylinder (111), main frame；

Main frame component (101) connects connecting seat (117) after main frame by bearing pin, and the bearing pin is circular cross-section or square section Face or polygonal cross-section body, bearing pin axis (117a) direction are any direction；

The driving force that skid beam component (102) is provided by the 8th hydraulic cylinder (111) is realized relative in main frame component (101) Slide, skid beam component (102) limits its extreme position moved by limit sensors (111a)；

Main beam component (103) passes through the hinge with a rotational freedom and the front support riser of main frame component (101) Connecting hole (119g) and rear support riser connecting hole (119h) connection, make main frame component (101) and main beam component (103) real Now around the relative rotation of axis Za (193)；

The piston that connecting seat (117) passes through the hydraulic cylinder (106) of hinge connection the 3rd with three rotational freedoms after main frame Bar, the cylinder barrel of the 3rd hydraulic cylinder (106) passes through the hinge connection hydraulic cylinder mounting seat (106a) with a rotational freedom, liquid Cylinder pressure mounting seat (106a) is bolted underbody main frame (200)；

The limit of sports record position of 3rd hydraulic cylinder (106) is limited by limit sensors (106b), and limit sensors (106b) are adopted With proximity switch or limit switch；

8th hydraulic cylinder (111) controls skid beam component (102) to be applied to the clamping force on tire by pressure sensor (111b), Pressure sensor (111b) is installed on the 8th hydraulic cylinder (111), or is installed on control pumping plant.

3. non-rod aircraft tractor wheel holding lifting body as claimed in claim 2, it is characterised in that main frame component (101), It is main to be made up of some slide plates adjustment component (101a) and main frame structure part (119)；Slide plate adjustment component (101a) includes peace Fill plate (101b) and friction adjustment piece (101c)；Main frame structure part (119), mainly by left sleeve pipe (119a), right sleeve pipe (119b), triangle reinforcement structure (119c), front support riser (119d), rear support riser (119e), pressure grab installing plate (119f) Constitute, integral structure component of the composition with enclosed construction can effectively improve the integral rigidity of main frame structure part (119)；Preceding branch Support riser connecting hole (119g) and rear support riser connecting hole (119h) be coaxial in axis Za (193), axis Za (193) perpendicular to Front support riser (119d) and rear support riser (119e)；

Main frame component (101) is adaptive to aircraft tractor around axis Za (193) and rotated around axis (191) rotation, to keep away Exempt to produce additional torque to the undercarriage carried；To realize main frame component (101) around the adaptive of axis Za (193) Rotate, axis Za (193) and axis Zb (196) are coaxial.

4. non-rod aircraft tractor wheel holding lifting body as claimed in claim 2, it is characterised in that the 8th hydraulic cylinder (111) Piston rod be connected by the hinge with three rotational freedoms with skid beam component (102), the cylinder of the 8th hydraulic cylinder (111) Cylinder is connected by the hinge with three rotational freedoms with rear support riser (119e).

5. non-rod aircraft tractor wheel holding lifting body as claimed in claim 2, it is characterised in that also including first hydraulic cylinder And second hydraulic cylinder (105) (104)；Main beam component (103) two ends pass through the hinge with a rotational freedom respectively The piston rod of chain connection first hydraulic cylinder (104) and second hydraulic cylinder (105), first hydraulic cylinder (104) and second hydraulic cylinder (105) cylinder barrel is installed by hinge connection hydraulic cylinder mounting seat (104a) and hydraulic cylinder with three rotational freedoms respectively Seat (105a), hydraulic cylinder mounting seat (104a) and hydraulic cylinder mounting seat (105a) are bolted underbody main frame (200)；

First hydraulic cylinder (104) and second hydraulic cylinder (105), are realized to main beam component (103) and by leading using being synchronized with the movement The synchronization of jacking up for the main frame component (101) that transverse beam assembly (103) drives and decline function；First hydraulic cylinder (104) and second The extreme position of hydraulic cylinder (105) realized by limit sensors (103a), limit sensors (103a) using proximity switch or Limit switch.

6. non-rod aircraft tractor wheel holding lifting body as claimed in claim 2, it is characterised in that also include：6th hydraulic pressure Cylinder (109), the 7th hydraulic cylinder (110), left pressure are grabbed (112), right pressure and grabbed (113)；

The piston rod of 6th hydraulic cylinder (109) is grabbed (112) with left pressure by the hinge with three rotational freedoms and is connected, and the 6th The cylinder barrel of hydraulic cylinder (109) is connected by the hinge with three rotational freedoms with triangle reinforcement structure (119c)；Left pressure is grabbed (112) it is identical with aero tyre shape with the shape of aero tyre contact surface (112a), it is ensured that to be brought into close contact during compression；Left pressure is grabbed (112) its extreme position rotated is limited by limit sensors (112b)；6th hydraulic cylinder (109) passes through pressure sensor The left pressure of (112c) control grabs the clamping force that (112) are applied on tire, and pressure sensor (112c) is installed on the 6th hydraulic cylinder (109) on, or it is installed on control pumping plant；

The piston rod of 7th hydraulic cylinder (110) is grabbed (113) with right pressure by the hinge with three rotational freedoms and is connected, and the 7th The cylinder barrel of hydraulic cylinder (110) is connected by the hinge with three rotational freedoms with triangle reinforcement structure (119c)；Right pressure is grabbed (113) it is identical with aero tyre shape with the shape of aero tyre contact surface (113a), it is ensured that to be brought into close contact during compression；Right pressure is grabbed (113) its extreme position rotated is limited by limit sensors (113b)；7th hydraulic cylinder (110) passes through pressure sensor The right pressure of (113c) control grabs the clamping force that (113) are applied on tire, and pressure sensor (113c) is installed on the 7th hydraulic cylinder (110) on, or it is installed on control pumping plant；

Left pressure is grabbed (112) and is connected by the hinge with a rotational freedom with main frame component (101)；Left pressure is grabbed (112) The linear motion provided by the 6th hydraulic cylinder (109) realizes turn relative with main frame component (101) spaced winding axis (192) It is dynamic；

Right pressure is grabbed (113) and is connected by the hinge with a rotational freedom with main frame component (101)；Left pressure is grabbed (113) The linear motion provided by the 7th hydraulic cylinder (110) realizes turn relative with main frame component (101) spaced winding axis (192) It is dynamic.

7. non-rod aircraft tractor wheel holding lifting body as claimed in claim 2, it is characterised in that also including scraper bowl (114), The scraper bowl (114) is connected by a hinge with rotational freedom with main frame component (101), and scraper bowl (114) passes through Bottom surface and the back side are positioned with main frame component (101), prevent from deviating from skid beam component when stress rear bucket (114) from toppling forward (102), mainly it is made up of left skid beam (102a), right skid beam (102b) and connecting cross beam (102c)；Skid beam component (102) is in U-shaped Type, skid beam component (102) is realized in main frame component (101) along axis Za by the prismatic pair with a translation freedoms (193) the relative slip in direction, prismatic pair herein is by being adjusted by left skid beam (102a), left sleeve pipe (119a) and some slide plates One prismatic pair of whole group part (101a) composition by right skid beam (102b), right sleeve pipe (119b) and slide plate with adjusting component (101a) One prismatic pair of composition is collectively constituted；Skid beam component (102) and main frame component can be achieved in slide plate adjustment component (101a) (101) along the adjustment of axis (194) and axis (195) direction spacing；Friction adjustment piece (101c) is realized using nylon.

8. non-rod aircraft tractor wheel holding lifting body as claimed in claim 2, it is characterised in that be also oriented to including hydraulic cylinder Component (118), movement of hydraulic cylinder guidance set (118) the limitation main beam component (103) along axis (192) direction, keeps away Exempt from wheel holding lifting body (100) toppling over along axis (192) direction；Hydraulic cylinder guidance set (118) is used to realize wheel holding jacking Slip and guide function when mechanism (100) carries out jacking and declines workflow.

9. non-rod aircraft tractor wheel holding lifting body as claimed in claim 8, it is characterised in that the hydraulic cylinder guiding group Part (118), including guide runner component (118a) and blade fin component (118b)；Guide runner component (118a) passes through screw It is connected with main beam component (103), blade fin component (118b) is connected by screw with underbody main frame (200), is oriented to and slides Block assembly (118a) and blade fin component (118b) are bonded to each other and relative can slide；Guide runner component (118a) rubbing surface It is allowed to realize using nylon material.

10. non-rod aircraft tractor wheel holding lifting body as claimed in claim 2, it is characterised in that also include：4th hydraulic pressure Cylinder (107), the 5th hydraulic cylinder (108), switch gate (115) and latch hook (116)；

Switch gate (115) is hinged by the hinge with a rotational freedom with left skid beam (102a), realizes switch gate (115) Relatively rotated with skid beam component (102) around axis (191)；

The linear motion that switch gate (115) is provided by the 4th hydraulic cylinder (107) realizes between skid beam component 102 relative turn It is dynamic；The piston rod of 4th hydraulic cylinder (107) is connected by the hinge with three rotational freedoms with switch gate (115), and the 4th The cylinder barrel of hydraulic cylinder (107) is connected by the hinge with three rotational freedoms with skid beam component (102)；Switch gate (115) Its extreme position moved is limited by limit sensors (115a)；

Latch hook (116) is hinged by the hinge with a rotational freedom with right skid beam (102b), realizes latch hook (116) with sliding Beam assembly (102) is relatively rotated around axis (191)；

The linear motion that latch hook (116) is provided by the 5th hydraulic cylinder (108) realizes between skid beam component (102) relative turn It is dynamic；The piston rod of 5th hydraulic cylinder (108) is connected by the hinge with three rotational freedoms with switch gate (115), and the 5th The cylinder barrel of hydraulic cylinder (108) is connected by the hinge with three rotational freedoms with skid beam component (102)；Latch hook (116) leads to Cross the extreme position that limit sensors (116a) limit its motion.