CN206750174U - Non-rod aircraft tractor guider and non-rod aircraft tractor - Google Patents

Abstract

The utility model provides a kind of non-rod aircraft tractor guider and non-rod aircraft tractor, including：Wheel assembly is turned to, the steering wheel assembly includes deflecting roller fixed seat, transmission parts installing plate, steering motor, drive gear, turntable bearing, castor switching fixed seat and castor；Turntable bearing is external tooth type turntable bearing, including inner ring and outer ring gear；Drive gear is driven to rotate by steering motor, so as to drive turntable bearing outer ring pinion rotation, turntable bearing outer ring gear finally drives castor to rotate by affixed castor switching fixed seat thereon, so as to realize the active steering function of turning to wheel assembly；The utility model meets the stationarity and reliability requirement that tractor turns to operation, ensure safety of structure of the tractor to wheel frame and tractor in itself in steering procedure, and aid in realizing tractor adaptive motion, the convenient and swift guarantee operation for realizing tractor.

Description

Non-rod aircraft tractor guider and non-rod aircraft tractor

Technical field

The utility model belongs to aircraft intelligence pulling equipment technical field, more particularly, to a kind of to non-rod aircraft tractor The guide wheel device and non-rod aircraft tractor playing the guiding role.

Background technology

Aircraft tractor, it is used for the traction of aircraft as important Support Equipment in airport technical field and pushing tow is made Industry, existing aircraft tractor have the characteristics that vehicle body is low, light weight is larger, tractive force is big, according to the difference of its construction point To have bar tractor and non-intrusive method；The stationarity and the reliability of steering that non-intrusive method turns in towage are to comment Valency draws the key index of turning operation, and the steady and reliability for guiding of turning directly affects the rigid structure frame of wheel and led Draw the safety of the self structure of car.

The content of the invention

In view of this, the utility model is directed to a kind of non-rod aircraft tractor guider and non-rod aircraft traction Car, to meet that tractor turns to the stationarity and reliability requirement of operation, ensure that tractor is to wheel frame in steering procedure And the safety of structure of tractor in itself, and aid in realizing tractor adaptive motion, the convenient and swift guarantee for realizing tractor Operation.

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, orthogonal three axial coordinates of space X YZ are set, are had in X-axis flat The free degree and rotational freedom are moved, has translation freedoms and rotational freedom in Y-axis, there are translation freedoms on Z axis 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 It is Y-axis to meet at vehicle traveling direction, and 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., ensures Each part Security.

A kind of non-rod aircraft tractor, including：

Frame structure, the rigidity supporting structure as 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, be arranged in frame structure and complete vehicle structure be driven and turned to, and wheel holding lifting body with Frame structure, running gear energy adaptive motion；

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

Control system, wheel holding lifting body, running gear and dynamical system are controlled and fed back；

Wherein, guidance set is additionally provided between the wheel holding lifting body and frame structure, guidance set is used for wheel holding top Slip and the guiding of the Lift Part in mechanism are risen, realizes stable adaptive motion.

Further, wheel holding mechanism, elevating mechanism are provided with inside the wheel holding lifting body and for connecting wheel holding top Rise mechanism and the bindiny mechanism of frame mechanism；The wheel holding mechanism and bindiny mechanism set up separately in elevating mechanism both sides, wheel holding mechanism Clamping wheel can be held tightly, wheel holding mechanism and elevating mechanism can be connected on the underbody main frame of aircraft tractor simultaneously by bindiny mechanism Servo-actuated, wheel holding mechanism can be jacked and declined by elevating mechanism

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

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

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

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

Further, wherein dynamical system includes 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 include drive wheel assemblies, turn to wheel assembly, U-shaped framework, underbody main frame main body The mechanical interface that the connection of wheel holding lifting body is provided is provided with 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, the U-shaped structure of underbody main frame, several faces of U-shaped framework inside provide the mounting surface of respective amount, It is preferred that three faces provide the mounting surface being connected at three with wheel holding lifting body, as the mounting platform of wheel holding lifting body, ensure 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 is two coaxial mounted fixed seats, fixed seat be driving wheel and The installation of motor, driving decelerator, power transmission shaft provides 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, larger adhesive force formed between and can and ground；

Further, a kind of non-rod aircraft tractor guider, including：

Turning to wheel assembly includes deflecting roller fixed seat, transmission parts 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 transmission parts 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 transmission parts installing plate side, and same plane, drive gear and rotating disk are in turntable bearing Bearing outer ring gear engages.

Steering motor, decelerator, power transmission shaft, drive gear are co-axially mounted, and are fixed on transmission parts 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 transmission parts installing plate by angular encoder mounting flange；Angle measurement little gear is in same with turntable bearing Engaged 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 transmission parts installing plate, corresponds to the anglec of rotation of limited angular positive stop strip respectively, so as to finally limits turning for 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 includes driving in two, the front of underbody main frame angle, each drive wheel assemblies 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；

A kind of non-rod aircraft tractor, including described non-rod aircraft tractor guider；Wherein, the non-rod aircraft Tractor guider is arranged on non-rod aircraft tractor car body one end bottom, is oriented to for driving car body to realize；

Further, the dynamical system, including：

Electric power system, electric power system are placed in underbody main frame both sides, are each subsystem power supply of tractor；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 electrically connects 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 are 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 status display, the function such as 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 and 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, realizes action and the functions such as locking to preceding wheel, jacking, wheel holding；Hydraulic system Support frame carries on the back connecting plate by hydraulic system support frame side connecting plate and hydraulic system support frame and carries out spiral shell with U-shaped framework 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；

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

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 is used to limit The sensor of hydraulic cylinder travel；Each hydraulic cylinder herein can also use any parts that can realize linear motion to substitute；

Main frame component, mainly adjust component by some slide plates and main frame structure part is formed；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, 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, pass through the hinge with a rotational freedom and the front support riser connecting hole of main frame component Connected with rear support riser connecting hole, make the relative rotation of main frame component and the realization of main beam component around axis；Main beam group Part, both ends are respectively by hinge connection first hydraulic cylinder and the piston rod of second hydraulic cylinder with rotational freedom, and 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, by 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 rotates, main frame component can be with the adaptive rotation of aircraft tractor, to avoid pair The undercarriage carried produces additional torque；In realizing that the adaptive rotation of main frame component, main beam component rotate Lead on mandrel (line) the hinge edge with three rotational freedoms be hinged with connecting seat after main frame and the 3rd hydraulic cylinder piston rod Draw the axis co-axial of car direct of travel；

Also include：Hydraulic cylinder guidance set, the hydraulic cylinder guidance set include 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 is bonded to each other with blade fin component and relative can slided；Guide runner component rubbing surface can use nylon or Other materials with anti-wear performance are allowed to realize；

Hydraulic cylinder guidance set, main beam component edge moving perpendicular to tractor direct of travel in the horizontal plane is limited, 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 is jacked and declined workflow；

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 of guide runner and the slide plate of blade fin Rubbing surface is bonded 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 being used for the right angle support base that is 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 a swing arm of L-shaped is fixed in sliding block On installation portion and with slop regulation is whole contacts, another swing arm contacts with vertical adjustment portion；Described guide runner is installed with sliding block At least one slotted eye is also provided with the swing 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, and bolt arrangement can pass freely through groove on the screwed hole Hole；The swing arm of the guide runner with slotted eye is trapezium structure, and trapezium structure swing arm upper dimension is longer than lower dimension； The slop regulation for protruding from trapezium structure swing arm is provided with the angled end-face of the trapezium structure swing arm of the sliding block installation portion and guide runner It is whole；The trapezoidal structure of sliding block installation portion, and the long bottom size of sliding block installation portion is more than the long bottom size of guide runner, it is sliding The handle size of block installation portion is more than the handle size of guide runner；By allowing guide runner to slide adjustable slide along slop regulation is whole Gap between block rubbing surface and slide plate rubbing surface, the gap after sliding block rubbing surface or slide plate friction surface wear can be facilitated 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 contact with each other is adopted It is made of nylon or other materials with anti-wear performance；

First hydraulic cylinder and second hydraulic cylinder, realized to main beam component using being synchronized with the movement and 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 can use the existing sensor on the market such as proximity switch, limit switch, can also use other with equivalence The device of function is allowed to realize, preferably by limit switch；

3rd hydraulic cylinder, limit of sports record position are limited by limit sensors, and limit sensors can use proximity switch, limit The existing sensor on the market such as bit switch, also can be allowed to realize using other devices with equivalent functions, preferably by Limit switch；

Wherein, skid beam component, mainly it is 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 are realized in main frame component interior edge Z axles by the prismatic pair with a translation freedoms The relative slip in direction, prismatic pair herein are by adjust that component forms by left skid beam, left sleeve pipe and some slide plates one Prismatic pair collectively constitutes 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, It can use other that there is the material of equivalent functions or device to be allowed to realize；

Skid beam component, relative slip of the driving force realization provided by the 8th hydraulic cylinder 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 the pole of its motion by limit sensors Extreme position；

8th hydraulic cylinder, skid beam component is controlled 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 to control on pumping plant, is preferably installed on the 8th hydraulic cylinder；

Switch gate, it is hinged by the hinge with a rotational freedom and 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 realize 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 the extreme position of its motion by limit sensors；

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

Latch hook, the linear motion provided by the 5th hydraulic cylinder realize 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 the extreme position of its motion by limit sensors；

Specifically, switch gate, latch hook and skid beam component form switch gate component, the skid beam component takes 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 the hinged end of switch gate by be arranged on skid beam component The control of four hydraulic cylinders opens and closes；Further, the skid beam component and switch gate hinged end, i.e., left skid beam, it is additionally provided with the Four hydraulic cylinder mounting seats, the fixing end of the 4th hydraulic cylinder are 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 are provided with support arm mounting hole, and the switch gate mounting hole cooperatively forms be hinged with support arm mounting hole 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-shaped mouth of the U shapes mouth of switch gate and skid beam component is 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 of skid beam component locking 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：It is hinged as the installation of the 5th hydraulic cylinder and latch hook 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 being used for the latch hook installing arm for being 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 rotates, and realizes the locking and release of latch hook and switch gate；Further, it is additionally provided with and is used in the 5th hydraulic cylinder mounting seat 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 locking post, the switch gate locking post coordinate latch hook to realize locking work；

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 provides realizes that the axle for vertically travelling direction with main frame component in level relatively rotates；

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, ensures to be brought into close contact when compressing；Left pressure grabs the pole that its rotation is limited 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 to control on 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 provides realizes the relative rotation with main frame inter-module around axis；

7th hydraulic cylinder, the piston rod of the 7th hydraulic cylinder pass 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, ensures to be brought into close contact when compressing；Right pressure, which is grabbed, passes through 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 to control on pumping plant, is preferably installed on the 7th hydraulic cylinder；

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

Further, described 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, preferentially it is 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 use bearing pin to be formed with rolling bearing above Realize, can also use other that there is rolling or wear-resisting equivalent construction to be allowed to realize；

Each limit sensors can use the existing sensor on the market such as proximity switch, limit switch above, can also use Other devices with equivalent functions are allowed to realize, preferably by proximity switch；

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

The implementation process of described wheel holding lifting body 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, and latch hook is unclamped, switch gate is opened, 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 Bucket contact position, closing switch door simultaneously lock latch hook, shrink skid beam component up to tire is laterally held tightly, and the left pressure of promotion is grabbed and the right side Pressure is grabbed until tire is longitudinally held tightly；

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

Release process is the inverse process of said process；

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

From the whole to its running and principle explanation of tractor operation：

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 provide clamping force, realize 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 7th right pressure of Driven by Hydraulic Cylinder Grab to compress and opposite side tire and provide thrust, realize to tire vertical direction holding, to prevent that it is existing that tire from occurring bounce 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, avoid colliding between main frame component and ground during tractor travels；

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 servo-actuated with the inclination of main frame component can tilt；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 Servo-actuated with the inclination of main frame component it can tilt；

Advance and turn to：Mainly turn to wheel assembly by above-mentioned two drive wheel assemblies and two to form, 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, illustrate 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 that (i.e. two deflecting roller axis are put down with two driving wheel axis to initial zero position 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 drives (i.e. around the rolling of car body direction of advance) counterclockwise, in another drive wheel assemblies right front driving wheel around The driving of tractor axis both clockwise (rolls) 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 Move and (rolled around car body direction of retreat), right front driving wheel drives counterclockwise around tractor axis in 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 turns to and rotating speed, so as to realize that tractor smoothly can successfully be turned；

The pivot center of the drive wheel assemblies of described non-rod aircraft tractor and the pivot center of car body intersect vertically；When When non-rod aircraft tractor is around pivot axis, main frame component adaptive with tire inclination can turn around pivot center It is dynamic, to ensure that inclined tire keeps specific lateral attitude to move, undercarriage can be avoided to be pulled during turning Caused additional torque；

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

Tractor includes wireless remote-control system, is equipped with wireless controller, wireless remote-control system (carry safe waterproof case) and Frequency between each airport of civil aviaton and interior of aircraft equipment will not produce interference；By operating personnel's quantity by traditional tractor At least need four people to be reduced to an only surplus people, save the operating time while quantity of operating personnel is effectively reduced；

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

Described tractor also includes automatic plug into module and function, using a key operation realize tractor and wheel from It is dynamic to plug into, without other setting tools.

Relative to prior art, non-rod aircraft tractor guider described in the utility model has the advantage that：

Non-rod aircraft tractor guider described in the utility model is simple in construction, and radius of turn is small, can make traction Car turns to operation more stationarity with reliably, ensures structure of the tractor to wheel frame and tractor in itself in steering procedure Safety, enables tractor adaptive motion, and the convenient and swift traction for realizing tractor ensures operation；

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

Brief description of the drawings

Form 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 form 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 wheel holding lifting bodies of the present utility model backwards to structural representation；

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 instruction Or imply that signified device or element 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 instruction 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 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, orthogonal three axial coordinates of space X YZ is set, are had in X-axis Translation freedoms and rotational freedom, there are translation freedoms and rotational freedom in Y-axis, have translation freedoms and rotation on Z axis 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 It is Y-axis to be orthogonal to vehicle traveling direction, and 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 represent 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., ensure 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, make 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 rotate with non-rod aircraft tractor, adaptive about the z axis to rotate, to avoid to institute The undercarriage of carrying produces additional torque；The coaxial design of axis 193 and axis 196 makes primary frame component 101 around axle The adaptive rotation of line 193；

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, which is provided with, provides the connection of wheel holding lifting body 100 Mechanical interface, wheel holding lifting body 100 can be fixed on inside underbody main frame 200, be the action of wheel holding lifting body 100 Support carrier is provided；

Wherein, as shown in figure 11, specifically, 200 U-shaped structure of underbody main frame, 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, ensures 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 of underbody main frame 200 is coaxial mounted solid for two (at 201 meanings) Reservation 203b, fixed seat is driving wheel 201a and motor 201c, driving decelerator 201d, power transmission shaft installation are provided and connect Mouthful；The installing plate 203a being connected with turning to wheel assembly is distributed with the rear end both sides of underbody main frame 200, and it is fast to be conveniently steered wheel assembly 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, larger adhesive force is formed between and can and ground；

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

Including deflecting roller fixed seat 202a, transmission parts 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 Transmission parts 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 transmission parts installing plate 202b sides, and same plane is in turntable bearing 202g, drives Moving gear 202f engages 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 transmission parts 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 are fixed on transmission parts installing plate 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；

Decelerator 202d, power transmission shaft 202e, drive gear 202f is driven to rotate by steering motor 202c, so as to turn 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 rotates；Proximity switch 202p totally two, is installed on transmission parts installing plate 202b, corresponds to limited angular positive stop strip respectively The 202o anglec of rotation, so as to finally limit 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 in 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 are placed in the both sides of underbody main frame 200, are each subsystem power supply of tractor；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, it 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 are placed in the rear portion centre position of underbody main frame 200, are the hydraulic cylinder of tractor Power is provided；

Control system 500, control system 500 are 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 status display, the function such as 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 electrically connects 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 use any parts that can realize linear motion to substitute；

Main frame component 101, mainly adjust component 101a by some slide plates and main frame structure part 119 is formed；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, the integral rigidity of main frame structure part 119 can be effectively improved；Front support riser connects It is coaxial in axis 193 to meet hole 119g and rear support riser connecting hole 119h, axis 193 is perpendicular to front support riser 119d and rear branch Support riser 119e (Fig. 5 c and Fig. 5 d show)；

Main beam component 103, pass through the hinge with a rotational freedom and the front support riser of main frame component 101 Connecting hole 119g connects with rear support riser connecting hole 119h, main frame component 101 and main beam component 103 is realized around axis 193 relative rotation (Fig. 5 f show)；Main beam component 103, both ends pass through the hinge connection with a rotational freedom respectively 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 Pass through hinge connection hydraulic cylinder mounting seat 104a and hydraulic cylinder mounting seat 105a with three rotational freedoms, hydraulic cylinder peace Dress seat 104a and hydraulic cylinder mounting seat 105a is bolted underbody main frame 200；

Main frame component 101, by connecting seat 117 after bearing pin connection main frame, bearing pin can be circular cross-section, side herein 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 193；

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 pass 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 adaptive rotation of line 193, to avoid producing additional torque to the undercarriage carried；To realize main frame component 101 Around the adaptive rotation of axis 193, axis 193 and axis 196 are 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 slided；Guide runner component 118a rubs Face can use nylon or other materials with anti-wear performance to be allowed to realize；

Hydraulic cylinder guidance set 118, the moving along the direction of axis 192 of limitation main beam component 103, avoids wheel holding jack Structure 100 is toppled over along the direction of axis 192；Hydraulic cylinder guidance set 118 be used for realize wheel holding lifting body 100 jacked and under Slip and guide function during drop workflow (Fig. 5 g show)；

Hydraulic cylinder guidance set 118 described in the utility model is limiting wheel holding lifting body 100 along the direction of axis 194 Topple over, while ensure 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 be bonded 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 being used for the right angle support base being 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 a swing arm of L-shaped is fixed on sliding block installation portion 118a2 and contacted with the whole 118a22 of slop regulation, separately One swing arm contacts with vertical adjustment portion 118a21；The swing 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 swing arm of the guide runner 118ab with slotted eye 118ab1 is trapezoidal knot Structure, and trapezium structure swing arm upper dimension is longer than lower dimension；The sliding block installation portion 118a2 and guide runner 118ab ladder The whole 118a22 of slop regulation for protruding from trapezium structure swing arm is provided with the angled end-face of shape structure swing arm；The sliding block installation portion The trapezoidal structures of 118a2, and sliding block installation portion 118a2 long bottom size is more than guide runner 118ab long bottom size, 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, ensures 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, realized using being synchronized with the movement to main beam component 103 and by main horizontal stroke The synchronization of jacking up for the main frame 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 use proximity switch, limit switch etc. on the market by limit sensors 103a Existing sensor, also it can be allowed to realize using other devices with equivalent functions, preferably by limit switch；

3rd hydraulic cylinder 106, limit of sports record position are limited by limit sensors 106b, and limit sensors 106b can be used The existing sensor on the market 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 formed；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 the direction of 101 interior edge axis of main frame component 193 is realized by the prismatic pair spent, prismatic pair herein be by by Left skid beam 102a, left sleeve pipe 119a and some slide plates adjust a prismatic pair of component 101a compositions and by right skid beam 102b, the right sides One prismatic pair of sleeve pipe 119b and slide plate adjustment component 101a compositions collectively constitutes；Slide plate adjustment component 101a can realize skid beam The adjustment of component 102 and main frame component 101 along axis 194 and the direction spacing of axis 195；Friction adjustment piece 101c can use Buddhist nun Dragon is realized, can also use other that there is the material of equivalent functions or device to be allowed to realize；

Skid beam component 102, the driving force provided by the 8th hydraulic cylinder 111 are realized relative in main frame component 101 Sliding, the piston rod of the 8th hydraulic cylinder 111 is connected by the hinge with three rotational freedoms with skid beam component 102, and 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 The extreme position of its motion is limited by limit sensors 111a；

8th hydraulic cylinder 111, skid beam component 102 is controlled 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 to control on pumping plant, is preferably installed in the 8th liquid On cylinder pressure 111；

Switch gate 115, it is hinged by the hinge with a rotational freedom and left skid beam 102a, 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 realize 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 passes through spacing biography Sensor 115a limits the extreme position of its motion.

As shown in Figure 5 a, latch hook 116, it is hinged, is realized by the hinge with a rotational freedom and right skid beam 102b 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 realize 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 form switch gate component, the skid beam component 102 Taken the shape of the letter U structure, and 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 be hinged End controls opening and closing 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, the movable end and switch gate 115 of the 4th hydraulic cylinder 107 are be hinged；The 4th hydraulic cylinder mounting seat 1070 is additionally provided with Switch gate support arm 10701, the switch gate support arm 10701 are 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 form articulated structure with support arm mounting hole 11501；It is described to open The hinged end of shutdown 115 is provided with the avoidance mouth structure for being used for avoiding switch gate support arm 10701；The switch gate 115 is by setting It is be hinged to put the movable end of the hydraulic cylinder 107 of switch gate articulated column 11507 and the 4th on its hinged end, 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 opens and closes；The switch gate 115 takes the shape of the letter U structure, and the U-shaped mouth of switch gate 115 and the U-shaped mouth of skid beam component 102 exist 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 Component 102 is locked in the structural arm of side, and 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：It is be hinged as the installation of the 5th hydraulic cylinder 108 and latch hook 116 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 being used for the latch hook installing arm 10801 for being 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 are 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 the switch gate support arm 10802 of shutdown 115；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 Tight end is provided with switch gate locking post 11502, 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 and left pressure 112 connections, the cylinder barrel of the 6th hydraulic cylinder 109 are connected by the hinge with three rotational freedoms and triangle reinforcement structure 119c Connect；Left pressure is grabbed 112 identical with aero tyre shape with aero tyre contact surface 112a shape, is brought into close contact during guarantee compression； Left pressure grabs 112 extreme positions that its rotation is limited 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 to control on pumping plant, is preferably installed on the 6th hydraulic cylinder 109；

7th hydraulic cylinder 110, the piston rod of the 7th hydraulic cylinder are grabbed by the hinge with three rotational freedoms and right pressure 113 connections, the cylinder barrel of the 7th hydraulic cylinder 110 are connected by the hinge with three rotational freedoms and triangle reinforcement structure 119c Connect；Right pressure is grabbed 113 identical with aero tyre shape with aero tyre contact surface 113a shape, is brought into close contact during guarantee compression； Right pressure grabs 113 extreme positions that its rotation is limited 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 to control on 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 are connected with main frame component 101, are 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, for tractor when running operation, 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 controls 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, preferentially it is 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 use bearing pin to be formed with rolling bearing above Realize, can also use other that there is rolling or wear-resisting equivalent construction to be allowed to realize；

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

Each pressure sensor can use existing sensor on the 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, left pressure grab 112 and right pressure grab 113 and open completely, skid beam components 102 are 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 almost close to the position of 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. the state of jacking：Synchronous driving first hydraulic cylinder and second hydraulic cylinder jack to main frame 101, until reaching stroke Limes superiors, then the 3rd hydraulic cylinder is driven until reaching stroke limes superiors.

Release process is the inverse process of said process；

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

The specific running of the 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 slide, and realize the holding to aircraft wheel by switch gate holding face 170 and scraper bowl holding face 171, switch gate holds face 170 tightly It is collectively forming with scraper bowl holding face 171 and is contacted with the face that tyre contour outline matches, 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 Drive 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, 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 main frame component 101 of 3rd hydraulic cylinder 106 jacks 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 servo-actuated with the inclination of main frame component 101 can 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, avoids the generation of additional moment)；

Advance and turn to：Mainly turn to wheel assembly 202 by above-mentioned two drive wheel assemblies 201 and two to form, 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 the steering motor 202c of two steering wheel assemblies 202 Steering and rotating speed, realize tractor motion and turning action：

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

Rotate counterclockwise：The steering motor 202c of two steering wheel assemblies 202 of control steering, make 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, make 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 rotates 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 have drawbar aircraft tractor with tradition compared with minor-circle turn function, 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；

Non-rod aircraft tractor guider described in the utility model can make tractor turn to operation more stationarity and Reliably, structure safety of the tractor to wheel frame and tractor in itself in steering procedure is ensured, enables tractor adaptive It should move, the convenient and swift traction for realizing tractor ensures operation；

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), the holding function to different size wheels can be achieved, extend 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 saves labour cost and time cost；

Non-rod aircraft tractor provided by the utility model can adapt to a variety of chis on the premise of flattening design is met The airplane wheel of very little specification, have tight turn radius, it is automatic plug into and the function such as active tracking, aircraft storage, pendulum can be provided Put, park, outbound, and can realizes traction transition of the aircraft on hard surface, also adapts to aircraft and is blown out on hard surface Wheel holding rescue work afterwards；Non-rod aircraft tractor provided by the utility model 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., guarantor of the present utility model should be included in Within the scope of shield.

Claims (10)

1. A kind of 1. non-rod aircraft tractor guider, it is characterised in that including：Turn to wheel assembly (202), the deflecting roller group Part (202) includes deflecting roller fixed seat (202a), transmission parts installing plate (202b), steering motor (202c), drive gear (202f), turntable bearing (202g), castor switching fixed seat (202h) and castor (202i)；Turntable bearing (202g) is external tooth type Turntable bearing, including inner ring and outer ring gear；Drive gear (202f) is driven to rotate by steering motor (202c), so as to drive Turntable bearing (202g) outer ring pinion rotation, turntable bearing (202g) outer ring gear pass through affixed castor switching fixed seat thereon (202h) finally drives castor (202i) to rotate, so as to realize the active steering function of turning to wheel assembly (202).
2. 2. non-rod aircraft tractor guider as claimed in claim 1, it is characterised in that the deflecting roller fixed seat (202a) one end is bolted, and deflecting roller fixed seat (202a) other end is by screw by transmission parts installing plate (202b), turntable bearing (202g) inner ring are fixed together, turntable bearing (202g) outer ring gear, castor switching fixed seat (202h), castor (202i) are fixed together by screw.
3. 3. non-rod aircraft tractor guider as claimed in claim 1, it is characterised in that also including decelerator (202d) and Power transmission shaft (202e), steering motor (202c), decelerator (202d), power transmission shaft (202e), drive gear (202f) are co-axially mounted, It is fixed on by decelerator (202d) flange on transmission parts installing plate (202b), drive gear (202f) is by steering motor (202c) is through decelerator (202d), power transmission shaft (202e) transmission driving.
4. 4. non-rod aircraft tractor guider as claimed in claim 1, it is characterised in that also including angular encoder (202j), angular encoder mounting flange (202k), shaft joint (202l), drive bearing (202m), angle measurement little gear (202n)； Angular encoder (202j), angular encoder mounting flange (202k), shaft joint (202l), drive bearing (202m), angle measurement are small Gear (202n) is co-axially mounted, and is fixed on by angular encoder mounting flange (202k) on transmission parts installing plate (202b)； Angle measurement little gear (202n) is in same plane with turntable bearing (202g) and engaged with turntable bearing (202g) outer ring gear； Turntable bearing (202g) outer ring pinion rotation drives angle measurement little gear (202n) to rotate, and angular encoder (202j) in real time survey by detection The steering angle of angle little gear (202n), turntable bearing (202g) outer ring gear and castor (202i).
5. 5. non-rod aircraft tractor guider as claimed in claim 1, it is characterised in that also including angle limit bar (202o)；Angle limit bar (202o) is screwed onto on turntable bearing (202g) outer ring, and with turntable bearing (202g) outer ring, one piece turns It is dynamic.
6. 6. non-rod aircraft tractor guider as claimed in claim 1, it is characterised in that also including proximity switch (202p)；Proximity switch (202p) is two, is installed on transmission parts installing plate (202b), it is spacing to correspond to limited angular respectively The anglec of rotation of bar (202o), so as to finally limit the steering angle of castor (202i).
7. 7. non-rod aircraft tractor guider as claimed in claim 1, it is characterised in that drive gear (202f) is positioned at biography Dynamic component installing plate (202b) side, same plane, drive gear (202f) and turntable bearing are in turntable bearing (202g) The gear engagement of (202g) outer ring.
8. 8. non-rod aircraft tractor guider as claimed in claim 1, it is characterised in that turn to wheel assembly (202) and also wrap Include passive universal caster wheel.
9. 9. a kind of non-rod aircraft tractor, it is characterised in that including the non-rod aircraft traction as described in claim any one of 1-8 Car guider.
10. 10. non-rod aircraft tractor as claimed in claim 9, it is characterised in that the non-rod aircraft tractor guider is set Put in non-rod aircraft tractor car body one end bottom, be oriented to for driving car body to realize.