CN209797364U - Intelligent electric mechanical jacking device for airplane - Google Patents
Intelligent electric mechanical jacking device for airplane Download PDFInfo
- Publication number
- CN209797364U CN209797364U CN201920360268.4U CN201920360268U CN209797364U CN 209797364 U CN209797364 U CN 209797364U CN 201920360268 U CN201920360268 U CN 201920360268U CN 209797364 U CN209797364 U CN 209797364U
- Authority
- CN
- China
- Prior art keywords
- jacking device
- jacking
- machine head
- machine body
- machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The intelligent electromechanical jacking device for airplane includes one nose jacking device and two fuselage jacking devices. The bottom of the machine head jacking device is provided with a machine head CCD vision sensor. The bottom of each machine body jacking device is provided with a machine body CCD visual sensor. The machine head jacking device and the machine body jacking device are a primary jacking device and a secondary jacking device respectively. The machine head jacking device is provided with a machine head laser ranging sensor, a machine head horizontal inclinometer, a machine head pressure sensor and a machine head laser obstacle avoidance sensor. Each fuselage jacking arrangement also has a plurality of sensors as described above. The intelligent electric mechanical jacking airplane can be realized, and the airplane posture can be adjusted according to the requirement. The device can be electrically moved to a designated position, has the function of carrying out horizontal measurement of an airplane in cooperation with a laser tracker arranged outside the ground, has the functions of overload protection and audible and visual alarm prompt through a pressure sensor, has the functions of emergency stop and position confirmation, has the function of reducing side load, and is provided with corresponding plugs to realize quick connection and separation of all devices.
Description
Technical Field
The utility model belongs to the technical field of the aircraft support equipment, especially, relate to aircraft intelligence electromechanical jacking device.
Background
The airplane jacking device is necessary equipment of airplane guarantee equipment. The airplane ground support equipment can guarantee flight safety in troops and play an important role in completing training and fighting tasks, and plays an indispensable role in overhauling, maintaining, disassembling and assembling the airplane ground. The existing airplane jacking devices are various in types and quantity, inconvenience is brought to maintenance and guarantee work, and the requirement for development of aviation equipment is not met. The existing airplane jacking device is mostly a manual hydraulic lifting system, oil leakage is easy, hydraulic system faults are easy to occur, personnel operation is quite tired, time is long, and efficiency is low. With the progress and development of aviation industry, the requirements on the functions and performance indexes of airplane guarantee equipment are continuously improved. There is a need to develop aircraft security equipment that is more suitable for the development of modern weaponry.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an aircraft intelligence electromechanical jacking device, its structural design is advanced reasonable, satisfies the jacking of multiple aircraft type, and is easy and simple to handle practical, improves aircraft maintenance efficiency.
The technical scheme is as follows:
The intelligent electromechanical jacking device for airplane includes one nose jacking device and two fuselage jacking devices.
The technical key points are as follows:
The bottom of the machine head jacking device is provided with a machine head CCD visual sensor.
The bottom of each machine body jacking device is provided with a machine body CCD visual sensor.
The machine head jacking device is a first-stage jacking device, and the two machine body jacking devices are second-stage jacking devices.
The surface of a machine head supporting outer cylinder of the machine head jacking device is provided with a machine head laser ranging sensor.
and a machine body laser ranging sensor is arranged on the surface of the machine body supporting outer cylinder of each machine body jacking device.
the surface of a machine head supporting outer cylinder of the machine head jacking device is provided with a machine head horizontal inclinometer.
And a machine body horizontal inclinometer is arranged on the surface of the machine body supporting outer cylinder of each machine body jacking device.
the bottom of the machine head jacking device is provided with a machine head pressure sensor.
And the bottom of each machine body jacking device is provided with a machine body pressure sensor.
And a handpiece laser obstacle avoidance sensor is arranged at the bottom of the handpiece jacking device.
and a machine body laser obstacle avoidance sensor is arranged at the bottom of each machine body jacking device.
The advantages are that:
The device can realize intelligent electromechanical jacking of the airplane and adjust the airplane attitude according to the requirement. The airplane lifting device has the functions of electrically moving to any specified position to jack up an airplane, has the function of carrying out horizontal measurement on the airplane by cooperating with a laser tracker arranged outside the ground, has the functions of overload protection and audible and visual alarm prompting through a pressure sensor, has the functions of emergency stop and in-position confirmation, has the function of reducing side loads, and is provided with corresponding plugs to realize quick connection and separation of all devices. The main controller of the control system communicates with the main controller and the main controller communicates with other units in a bus communication mode.
Drawings
fig. 1 is a schematic structural view of the utility model of the aircraft.
Fig. 2 is a schematic view of the whole device of the present invention.
Fig. 3 is the structure diagram of the middle machine head jacking device of the utility model.
Fig. 4 is the cross-sectional view of the jacking mechanism of the middle machine head jacking device of the utility model.
Fig. 5 is the middle machine head omni-directional wheel walking mechanism diagram of the utility model.
Fig. 6 is the structure diagram of the head anchor (leveling mechanism and weighing module) of the middle head jacking device of the present invention.
The device comprises a machine head jacking device (front jacking device) 1, a machine body jacking device (main jacking device) 2, a machine head jacking device electric cabinet 3, a machine body jacking device electric cabinet 4, a handheld remote controller 5 (wired), a machine head tripod supporting mechanism 6, a machine head jacking mechanism 7, a machine head omnidirectional wheel traveling mechanism 8, a machine head anchor 9 (machine head leveling mechanism), a machine head detachable battery pack 10, a machine head manual control wheel 11, a machine head horizontal inclinometer 12, a machine head laser obstacle avoidance sensor 13, a machine head CCD visual sensor 14, a machine head supporting outer cylinder 15, a machine head jacking cylinder 16, a machine head rotating lead screw 17, a machine head ejector 18, a machine head jacking motor 19, a laser tracker 20, a machine head anchor manual operating rod 21, a machine body ejector 22, a machine head laser ranging sensor 23 and a machine head pressure sensor 24.
Detailed Description
The intelligent electric mechanical jacking device for the airplane comprises a nose jacking device 1 and two fuselage jacking devices 2.
The machine head jacking device 1 is a first-stage jacking device, and the two machine body jacking devices 2 can be second-stage jacking devices.
Are all known in the art (jacks).
The machine head jacking device 1 mainly comprises the following structures: the machine head jacking device 1 comprises a machine head jacking mechanism 7 vertically arranged on a machine head tripod supporting mechanism 6, three machine head omnidirectional wheel frames at the bottom of the machine head tripod supporting mechanism 6 are respectively provided with three machine head omnidirectional wheel traveling mechanisms 8, and three machine head anchor feet 9 are further arranged at the bottom of the machine head tripod supporting mechanism 6. The electric cabinet 3 of the machine head jacking device is arranged on the lower supporting part in the machine head tripod supporting mechanism 6, and meanwhile, the lower supporting part in the machine head tripod supporting mechanism 6 is also provided with a machine head detachable battery pack 10.
A machine head CCD vision sensor 14 is arranged on the chassis of one machine head foot 9.
The surface of the handpiece support outer cylinder 15 of the handpiece jacking mechanism 7 is provided with a handpiece laser ranging sensor 23 for measuring the position of the handpiece top 18 of the handpiece jacking mechanism 7.
The surface of a nose supporting outer cylinder 15 of the nose jacking mechanism 7 is provided with a nose horizontal inclinometer 12.
A head pressure sensor 24 is arranged on the chassis of each head anchor 9.
A machine head laser obstacle avoidance sensor 13 is arranged on the chassis of each machine head anchor 9.
The machine head CCD vision sensor 14, the machine head horizontal inclinometer 12, the machine head laser ranging sensor 23, the machine head pressure sensor 24 and the machine head laser obstacle avoidance sensor 13 are correspondingly connected with a main controller (PLC) in the electric cabinet 3 of the machine head jacking device. The servo motor of the head omnidirectional wheel walking mechanism 8, the servo motor of the head anchor 9 and the head jacking motor 19 are correspondingly connected with a main controller in the electric cabinet 3 of the head jacking device.
Every fuselage jacking device 2 all includes the vertical fuselage jacking mechanism who sets up at fuselage tripod supporting mechanism, and the three fuselage omniwheel carrier in fuselage tripod supporting mechanism bottom is provided with three fuselage omniwheel running gear respectively, and fuselage tripod supporting mechanism bottom still is equipped with three fuselage lower margin. The electric cabinet 4 of the machine body jacking device is arranged on the lower supporting part in the machine body tripod supporting mechanism, and meanwhile, the lower supporting part in the machine body tripod supporting mechanism is also provided with a machine body detachable battery pack.
The chassis of a machine body ground foot in each machine body jacking device 2 is provided with a machine body CCD visual sensor.
And a machine body laser ranging sensor is arranged on the surface of the machine body supporting outer cylinder of each machine body jacking mechanism.
And a machine body horizontal inclinometer is arranged on the surface of the machine body supporting outer cylinder of each machine body jacking mechanism.
A machine body pressure sensor is arranged on the chassis of each machine body foot of each machine body jacking device 2.
And a machine body laser obstacle avoidance sensor is arranged on the chassis of each machine body foot of each machine body jacking device 2.
fuselage CCD vision sensor, fuselage horizontal inclinometer, fuselage laser rangefinder sensor, fuselage pressure sensor and fuselage laser on every fuselage jacking device 2 keep away the main control unit (PLC) that the barrier sensor all corresponds with the fuselage jacking device electric cabinet 4 of fuselage jacking device 2 at place and is connected, and the lower support portion still all is equipped with the fuselage and can dismantle the battery package in every fuselage tripod supporting mechanism simultaneously.
The electric control box 3 of the machine head jacking device and the electric control boxes 4 of the two machine body jacking devices are correspondingly connected and can communicate with each other.
The machine head detachable battery pack 10 supplies power to the electric cabinet 3 of the machine head jacking device, the servo motors of the three omnidirectional wheels of the machine head jacking device, the servo motors of the ground feet, the machine head jacking motor 19 and the like.
The detachable battery pack of the machine body supplies power to the electric cabinet 4 of the machine body jacking device and the three omnidirectional wheels, the ground feet, the machine body jacking motor and the like of the machine body jacking device 2.
All the omnidirectional wheel walking mechanisms and the ground feet are commercially available known products.
The plurality of pressure sensors are used for measuring the acting force of the jacking device on the airplane, and the plurality of pressure sensors can also judge whether the acting force is unbalanced-loaded.
A traveling mechanism: the running chassis of the three electric mechanical jacking devices is designed into a tripod structure, so that the device can be ensured not to collide with an aircraft undercarriage in the use process. Three omnidirectional wheels are used for completing the walking function, and the installation directions of the three omnidirectional wheels form an included angle of 120 degrees. The servo motors of the omnidirectional wheels respectively control each omnidirectional wheel to generate different rotating speeds, so that the walking chassis can move in any direction, and the in-situ 360-degree rotation can be realized. The jacking device can be electrically moved to any specified position to jack up the airplane. The design running speed is 0-2 km/h and is continuously adjustable, and each omnidirectional wheel has a braking parking function.
The servo motor, the speed reducer, the conical gear commutator and the omnidirectional wheel of the omnidirectional wheel are all provided with independent transmission shafts
All fixed on the omnidirectional wheel frame. When the omnidirectional wheel clutch is connected and the ground pin clutch is disconnected, the servo motor and the speed reducer drive the omnidirectional wheel to rotate so as to enable the chassis to walk. When the chassis reaches a designated position, the omnidirectional wheel clutch is disconnected, the ground pin clutch is connected, the servo motor and the speed reducer drive the ground pin screw rod to lift through the bevel gear commutator, so that the ground pin is fixed on the ground, and the levelness of the chassis is adjusted according to the horizontal inclinometer. The ground feet can be manually controlled to ascend and descend through the manual operation rod 21 of the machine head ground feet or the manual operation rod of the machine body ground feet.
And the driving unit is responsible for providing driving force for the walking and lifting tasks of the three lifting devices, and the lifting part consists of a high-precision lead screw and a servo motor. The servo system provides guarantee for the positioning and high-precision lifting task of the jacking device in the walking process. The servo system is specially applied to standard motion control by a commercially available international brand, so that the performance of the machine equipment is favorably improved, and the development cost is reduced.
The lifting system comprises: because the working stroke of the machine head jacking device 1 is relatively small in minimum height, the stroke requirement of the first-stage screw rod transmission lifting can be met. Therefore, the space allows the lifting of the machine head lifting device 1 to adopt primary screw transmission, and the lower machine head rotating screw 17 rotates to drive the lower screw nut and the machine head lifting cylinder 16 to vertically lift. The hand-operated wheel 11 of the machine head can be operated manually or the machine head jacking motor 19 drives the machine body jacking head 18 to move up and down.
Because the working stroke of the machine body jacking device 2 is relatively large at the lowest height, the single-stage screw cannot meet the requirement. Therefore, the lifting of the machine body jacking device 2 is designed into two-stage screw transmission. The main structure of the fuselage jacking device 2 is known in the prior art: the machine body jacking motor reducer drives the lower screw rod to rotate, so that the lower screw nut is lifted along the lower screw rod. The lower screw nut and the middle sleeve are connected into a whole, and the middle sleeve and the lower screw nut are limited by keys on the shell so as not to rotate. The sliding spline shaft can slide up and down, the lower screw rod drives the upper screw rod to rotate through the sliding spline shaft, and the upper screw rod can also lift because the middle sleeve nut and the middle sleeve are fixed together and do not rotate. A thrust bearing is arranged between the top head 22 of the airplane body and the upper screw rod, so that the top head 22 of the airplane body is ensured not to rotate when contacting with the airplane. The speed reducer is provided with two input shafts, and the manual operating lever of the machine body is connected with the manual input shaft of the speed reducer through the ratchet mechanism and the clutch, so that the lifting of the jacking device can be manually operated. The manual operating lever of the body can be detached when not in use.
The three jacking devices have accurate synchronous jacking and descending functions, the lifting speed is 0-120 mm/min, and the three jacking devices are continuously adjustable. Level of
The power unit can be detached to supply power by a battery pack: the electric mechanical jacking device adopts a lithium storage battery to provide electric energy for power supply, and the lithium iron phosphate battery has the characteristics of large capacity, light weight, long service life, environmental protection and the like, and the cruising ability is not less than 2 h. The three jacking devices carry a lithium iron phosphate battery pack respectively, the battery pack is allowed to be taken down and temporarily connected to a 220V/380V power supply, and the battery pack is fixedly installed and used by a locking mechanism capable of being disassembled and assembled quickly. When the battery is insufficient, the battery can be quickly dismounted and replaced by the battery with sufficient electric quantity for working. The battery pack adopts an AC220V/380V charger and is suitable for charging a common power supply. The equipment can be quickly charged by being directly connected with a power supply without being connected with a charger. Meanwhile, the electric mechanical jacking device is provided with a power cord seat and can be directly connected into an AC220V power socket to drive the electric mechanical jacking device to normally work. The battery management systems of the battery packs control charging and discharging, the utilization rate of the batteries is improved, overcharging and discharging are prevented, and output can be cut off in time under the condition that the batteries are short-circuited to prevent fire disasters.
A man-machine unit: the remote control device comprises a handheld remote controller 5, touch screens of the handheld remote controller and three electric control boxes, wherein the handheld remote controller 5 is used for controlling the walking process of the jacking device and manually controlling the lifting, and each touch screen can be used for displaying the working state information and the working parameter setting of the three jacking devices.
And (3) reducing side load: the horizontal inclinometer is installed on each jacking device, the levelness of each three ground feet of the horizontal inclinometer is automatically adjusted through a ground foot servo motor, the lateral load of the jacking devices is reduced, the synchronous jacking and descending functions of the three jacking devices are guaranteed through a laser ranging sensor, and a pressure sensor is installed on the chassis. The acting force of the jacking device on the airplane can be measured, whether unbalance loading exists or not can be judged, and the lateral force can be reduced through the measures.
The detection unit consists of nine laser obstacle avoidance sensors, three laser distance measurement sensors, a three-level inclinometer, nine pressure sensor weighing modules and a CCD (charge coupled device) vision system (for finding a jacking nest), and is used for completing tasks such as protection in the walking process of the jacking device, positioning in the lifting process, posture adjustment, state detection and the like.
The nose plugs 18 are intended to correspond to nose sockets in the lower part of the aircraft fuselage and the two fuselage plugs 22 are intended to correspond to fuselage sockets in the lower part of the aircraft fuselage.
Each set of jacking device main controller is installed among the corresponding jacking devices, each main controller is responsible for controlling jacking and descending of the corresponding jacking device, any jacking device can be controlled to ascend and descend singly, and also can be controlled to ascend and descend simultaneously for three jacking devices or two of the three jacking devices, and can adjust the attitude of the airplane as required, and the jacking and descending of the three jacking devices or the attitude of the airplane as required are controlled according to the data of the laser tracker 20.
the control unit is the control core of the whole intelligent electric jacking system of the airplane and is responsible for dispatching and distributing the walking and lifting tasks of the three jacking devices and comprehensively monitoring the working state of the system. The control units of the three jacking devices are respectively provided with a PLC main controller as a body controller, the main controller of the machine head jacking device 1 can be designated as a coordination scheduling controller to undertake coordination tasks of the lifting heights and the lifting speeds of the three jacking devices in the synchronous lifting/lowering task work, and the handheld remote controller 5 is connected with the main controller of the machine head jacking device 1 through a cable.
The intelligent electromechanical jacking device of the airplane completes all actions through a control system consisting of a power unit, a driving unit, a man-machine unit, a detection unit, a control unit and the like. The requirements of different machine types can be met by changing the bearing capacity, the lowest height and the working stroke of a single electromechanical jacking device.
The machine head jacking device 1 and the two machine body jacking devices are communicated through corresponding cables, and the cables can be stored in the electric cabinet 4 of the machine head jacking device after work is finished.
Claims (6)
1. The intelligent electric mechanical jacking device for the airplane comprises a nose jacking device (1) and two fuselage jacking devices (2); the method is characterized in that:
A machine head CCD visual sensor (14) is arranged at the bottom of the machine head jacking device (1);
The bottom of each machine body jacking device (2) is provided with a machine body CCD visual sensor.
2. The intelligent electromechanical jacking device for aircraft of claim 1, wherein:
The machine head jacking device (1) is a first-stage jacking device, and the two machine body jacking devices (2) are second-stage jacking devices.
3. The intelligent electromechanical jacking device for aircraft of claim 1, wherein: a handpiece laser ranging sensor (23) is arranged on the surface of a handpiece supporting outer cylinder (15) of the handpiece jacking device (1);
The surface of the machine body supporting outer cylinder of each machine body jacking device (2) is provided with a machine body laser ranging sensor.
4. The intelligent electromechanical jacking device for aircraft of claim 1, wherein: a machine head horizontal inclinometer (12) is arranged on the surface of a machine head supporting outer cylinder (15) of the machine head jacking device (1);
The surface of the machine body supporting outer cylinder of each machine body jacking device (2) is provided with a machine body horizontal inclinometer.
5. the intelligent electromechanical jacking device for aircraft of claim 1, wherein: a nose pressure sensor (24) is arranged at the bottom of the nose jacking device (1);
the bottom of each machine body jacking device (2) is provided with a machine body pressure sensor.
6. The intelligent electromechanical jacking device for aircraft of claim 1, wherein: a handpiece laser obstacle avoidance sensor (13) is arranged at the bottom of the handpiece jacking device (1);
And a machine body laser obstacle avoidance sensor is arranged at the bottom of each machine body jacking device (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920360268.4U CN209797364U (en) | 2019-03-21 | 2019-03-21 | Intelligent electric mechanical jacking device for airplane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920360268.4U CN209797364U (en) | 2019-03-21 | 2019-03-21 | Intelligent electric mechanical jacking device for airplane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209797364U true CN209797364U (en) | 2019-12-17 |
Family
ID=68825642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920360268.4U Active CN209797364U (en) | 2019-03-21 | 2019-03-21 | Intelligent electric mechanical jacking device for airplane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209797364U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109987541A (en) * | 2019-03-21 | 2019-07-09 | 沈阳飞研航空设备有限公司 | Aircraft intelligent electric machinery jacking apparatus |
| CN111177964A (en) * | 2019-12-25 | 2020-05-19 | 中国航空工业集团公司西安飞机设计研究所 | Balance adjusting method and equipment for jacking state of airplane |
| CN113135525A (en) * | 2020-01-19 | 2021-07-20 | 西安方元明科技股份有限公司 | Electric jack and electric control system thereof |
-
2019
- 2019-03-21 CN CN201920360268.4U patent/CN209797364U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109987541A (en) * | 2019-03-21 | 2019-07-09 | 沈阳飞研航空设备有限公司 | Aircraft intelligent electric machinery jacking apparatus |
| CN111177964A (en) * | 2019-12-25 | 2020-05-19 | 中国航空工业集团公司西安飞机设计研究所 | Balance adjusting method and equipment for jacking state of airplane |
| CN111177964B (en) * | 2019-12-25 | 2023-04-14 | 中国航空工业集团公司西安飞机设计研究所 | Balance adjusting method and equipment for jacking state of airplane |
| CN113135525A (en) * | 2020-01-19 | 2021-07-20 | 西安方元明科技股份有限公司 | Electric jack and electric control system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209797364U (en) | Intelligent electric mechanical jacking device for airplane | |
| US10894484B2 (en) | Electric automobile energy monitoring and swapping network in remote monitoring of cloud computing network | |
| CN110065647B (en) | Lifting adjustment platform in intelligent electric bullet hanging vehicle | |
| CN110092009B (en) | Intelligent electric bullet hanging vehicle for airplane | |
| CN104609314A (en) | Wireless video monitoring and anti-collision system through self-generating electricity for crampon | |
| CN109986529B (en) | Flexible intelligent mounting system for undercarriage | |
| CN109987541A (en) | Aircraft intelligent electric machinery jacking apparatus | |
| CN203128128U (en) | Maintenance working vehicle | |
| AU2020103350A4 (en) | An automatic inspection robot for coal mine belt conveyor | |
| CN108082885A (en) | A kind of coal mine leather belt machine automatic crusing robot | |
| CN211468604U (en) | Walking mechanism of intelligent service robot of express delivery factory | |
| CN209938997U (en) | Lifting mechanism for flexible intelligent mounting system of undercarriage | |
| CN104002987A (en) | Lifting arm type electric bullet car | |
| CN113371647A (en) | Remote control type small electric driving folding forklift | |
| CN105397811A (en) | Self-lifting on-wire device for hot-line work robot | |
| CN110539652B (en) | Extended-range type traction Automatic Guided Vehicle (AGV) | |
| CN110027723A (en) | Undercarriage flexible intelligent installation system elevating mechanism | |
| CN210310926U (en) | Intelligent electric missile hanging vehicle for airplane | |
| CN110000748A (en) | Undercarriage flexible intelligent installation system mechanical arm | |
| CN213892200U (en) | Charging device for AGV | |
| CN207726224U (en) | Coal mine leather belt machine automatic crusing robot | |
| CN209903204U (en) | Mechanical arm for flexible intelligent undercarriage mounting system | |
| CN105540493A (en) | Mobile battery-replacing vehicle | |
| CN116573574A (en) | Device for assembling and disassembling internal battery of energy storage container | |
| CN202139004U (en) | Power-driven omnidirectional mobile elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |