CN209903204U - Mechanical arm for flexible intelligent undercarriage mounting system - Google Patents

Abstract

The flexible intelligent mounting system of the undercarriage adopts a mechanical arm, a bearing is mounted in a bearing seat, and a gear on a power output shaft of a B-axis servo motor is meshed and connected with a B-axis gear; a claw seat is hinged at one end of the support arm through a pin shaft; a pushed sheet is fixedly arranged on the upper end surface of the clamping jaw seat; the upper end of the pushed sheet is hinged with a push rod on the electric push rod; a left claw and a right claw are arranged in the claw seat; the left and right claws are hinged with the claw seats; the gears on the left and the jaws are meshed; a jaw servo motor is fixedly arranged on the outer wall of the jaw seat; the power output shaft of the jaw servo motor is inserted into the jaw seat and meshed with the gear on the right jaw. Mechanical arm for flexible intelligent installing the system of undercarriage use mechanical structure, utilize the motor to rotate for power take off, realized A, B diaxon accurate rotatory, press from both sides tight and loosen the function of undercarriage, simultaneously, when the mechanical arm breaks down, finished product components and parts are all installed on the surface, convenient maintenance and maintenance.

Description

Mechanical arm for flexible intelligent undercarriage mounting system

Technical Field

The utility model relates to a manipulator field, especially undercarriage flexible intelligence robotic arm for installing the system.

Background

The flexible mounting system of the aircraft landing gear is necessary equipment of aircraft support 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. And the undercarriage flexible installation system equipment that installation, dismantlement of present aircraft undercarriage used is heavy, the volume is great, remove dumb, the operation is complicated, be difficult to control, equipment during operation need use external power supply and air supply, the use place is limited, it is not high to generally automatic and intelligent degree, the required operating time of installation, dismantlement is long, need the cooperation of many crews to use, bring a great deal of inconvenience for maintenance guarantee work, the needs that the army will be battle in the future and civil aviation maintenance equipment development. With the progress and development of aviation industry, the requirements on the functions and performance indexes of airplane guarantee equipment are continuously improved. The development of airplane safeguard equipment more suitable for the development of modern weaponry and civil aviation maintenance equipment is needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a solve the equipment of above-mentioned problem light, small, remove the flexible intelligent robotic arm for installing the system of undercarriage flexibility of action, effectual accuracy, the convenient operation of having guaranteed the flexible intelligent installing the system work of undercarriage.

The technical scheme of the utility model is that:

mechanical arm for flexible intelligent mounting system of undercarriage includes bearing frame, electric putter, jack catch seat, support arm and B axle servo motor. The bearing is installed in the bearing seat, the outer ring of the bearing is fixedly connected with the inner wall of the bearing seat, and the support arm is inserted into the inner ring of the bearing and is fixedly connected with the inner ring of the bearing. A B-axis gear is fixedly sleeved on the support arm through a screw. The B-axis gear is provided with a plurality of teeth in a set angle range, so that the support arm rotates in a set angle. A shell of the B-axis servo motor is fixed on the bearing seat, and a gear on a power output shaft of the B-axis servo motor is meshed with the B-axis gear. The upper end of the outer wall of the bearing seat is fixedly provided with a camera with light source and night vision function. The shell of the electric push rod is fixedly arranged on the support arm. One end of the support arm is hinged with a claw seat through a pin shaft, and the claw seat can rotate up and down around the pin shaft. The upper end surface of the clamping jaw seat is fixedly provided with a pushed sheet. The upper end of the pushed sheet is hinged with the push rod on the electric push rod. The pushed sheet and the clamping jaw seat are fixed together and act simultaneously, and the electric push rod telescopic push rod drives the pushed sheet and the clamping jaw seat to do pitching action around the shaft A. A left claw and a right claw are arranged in the claw seat. One side of the left claw and the right claw is in a claw shape, and the other side of the left claw and the right claw is in a gear shape. The gear sides of the left claw and the right claw are respectively hinged with the upper end surface and the lower end surface of the claw seat, and the left claw and the right claw can rotate to complete opening and closing actions. The gear on the left jaw is meshed with the gear on the right jaw. The outer wall of the jaw seat is fixedly provided with a jaw servo motor. A power output shaft of the jaw servo motor is inserted into the jaw seat, and a gear on the power output shaft of the jaw servo motor is meshed with a gear on the right jaw. The claw servo motor rotates to drive the left claw and the right claw to rotate simultaneously, so that the claws are opened and closed laterally to grab or loosen the grabbed object. Two manual winches are fixedly arranged at the upper end of the jaw seat and used for fixing the undercarriage.

The motor rotates to drive the support arm to reduce speed and increase torque to realize B-axis rotation, an electric push rod is installed on the support arm, the front end of the push rod is connected with a pushed piece, the pushed piece is pushed through the push rod, a jaw seat rotates around a pin shaft, the movable seat is pushed through the electric push rod to realize manipulator pitching motion, A-axis rotation is realized, the motor is connected with the jaw seat through a bolt, a pinion is connected with the motor, the pinion is meshed with a right jaw, the right jaw is meshed with a left jaw, the motor rotates to drive a clamping mechanism at the front part of a mechanical arm to loosen and clamp, the inner contour of the left jaw and the right jaw is in an inner arc shape, transparent polyurethane is installed on the surface of the inner contour of the.

The utility model has the advantages that: robotic arm can realize B rotation of axes, adjusts push rod extension length through adjustment electric putter, realizes that the jack catch seat revolutes the rotation of axes, realizes A rotation of axes, drives through the motor and realizes the clamp of left and right jack catch tightly with unclamping, undercarriage flexible intelligent installing the system use robotic arm mechanical structure, utilize the motor to rotate for power take off, realized A, B diaxon accurate rotatory, press from both sides tightly and loosen the function of undercarriage, simultaneously, when the robotic arm breaks down, finished product components and parts are all installed on the surface, convenient maintenance and maintenance.

Drawings

FIG. 1 is a schematic view of a landing gear flexible intelligent mounting system.

Fig. 2 is a schematic view of the traveling vehicle.

Fig. 3 is a schematic diagram of the internal layout of fig. 2.

FIG. 4 is a schematic view of a work wheel set.

Fig. 5 is a schematic view of a robot arm.

FIG. 6 is a schematic diagram of the device with six degrees of freedom. The three axes X, Y, Z are perpendicular to each other in the figure.

Fig. 7 is a schematic view of the Z-axis elevating mechanism.

Fig. 8 is a schematic sectional view of the XY plane moving mechanism.

Fig. 9 is a schematic view of the XY plane moving mechanism.

Fig. 10 is a schematic view of the C-axis rotating mechanism.

FIG. 11 is a schematic diagram of an intelligent control system architecture.

Detailed Description

The flexible intelligent installation system of the aircraft landing gear comprises a mechanical arm 1-1, a Z-axis lifting mechanism 1-2, a C-axis rotating mechanism 1-3, an XY-direction translation mechanism 1-4 and a walking vehicle 1-5.

The mechanical arm 1-1 comprises a bearing seat 12-6, an electric push rod 12-8, a clamping jaw seat 12-12, a support arm 12-7 and a B-axis servo motor 12-1. The bearing 12-4 is arranged in the bearing seat 12-6, the outer ring of the bearing 12-4 is fixedly connected with the inner wall of the bearing seat 12-6, and the support arm 12-7 is inserted into the inner ring of the bearing 12-4 and is fixedly connected. A B-axis gear 12-3 is fixedly sleeved on the support arm 12-7 through a screw. The B-axis gear 12-3 is provided with a plurality of teeth in a set angle range, so that the support arm 12-7 rotates in a set angle. A shell of the B-axis servo motor 12-1 is fixed on a bearing seat 12-6, and a gear on a power output shaft of the B-axis servo motor 12-1 is meshed with the B-axis gear 12-3. The upper end of the outer wall of the bearing seat 12-6 is fixedly provided with a camera 12-5 with light source and night vision functions. The outer shell of the electric push rod 12-8 is fixedly arranged on the support arm 12-7. One end of the support arm 12-7 is hinged with a claw seat 12-12 through a pin shaft, and the claw seat 12-12 can rotate up and down around the pin shaft. A pushed sheet 12-11 is fixedly arranged on the upper end surface of the clamping jaw seat 12-12. The upper end of the pushed sheet 12-11 is hinged with the push rod 12-9 on the electric push rod 12-8. The pushed piece 12-11 and the claw seat 12-12 are fixed together and act simultaneously, and the electric push rod 12-8 stretches the push rod 12-9 to drive the pushed piece 12-11 and the claw seat 12-12 to do pitching motion around the axis A. A left claw 12-14 and a right claw 12-15 are arranged in the claw seat 12-12. One side of the left claw 12-14 and the right claw 12-15 is claw-shaped, and the other side is gear-shaped. The gear sides of the left claw 12-14 and the right claw 12-15 are respectively hinged with the upper end surface and the lower end surface of the claw seat 12-12, and the left claw and the right claw can rotate to complete opening and closing actions. The gears on the left jaws 12-14 mesh with the gears on the right jaws 12-15. A jaw servo motor 12-16 is fixedly arranged on the outer wall of the jaw seat 12-12. The power output shaft of the jaw servo motor 12-16 is inserted into the jaw seat 12-12, and the gear on the power output shaft of the jaw servo motor 12-16 is meshed with the gear on the right jaw 12-15. The claw servo motors 12-16 rotate to drive the left claws 12-14 and the right claws 12-15 to rotate simultaneously, so that the claws are opened and closed to grab or release the grabbed objects. Two manual winches 12-10 are fixedly arranged at the upper ends of the jaw seats 12-12 and used for fixing the landing gear.

The shaft lifting mechanism 1-2 comprises an outer supporting cylinder 11-1, an inner movable cylinder 11-3, a Z-axis lead screw 11-6 and a Z-axis nut 11-4. The outer supporting cylinder 11-1 is sleeved outside the inner movable cylinder 11-3. The inner movable cylinder 11-3 and the outer supporting cylinder 11-1 are rectangular pipes. The Z-axis lead screw 11-6 is vertically arranged on the inner wall of the outer support cylinder 11-1 along the Z-axis direction through a lead screw mounting seat, and the lead screw can rotate in the lead screw mounting seat. The Z-axis screw nut 11-4 is fixedly arranged on the inner wall of the inner movable cylinder 11-3. The Z-axis screw nut 11-4 is sleeved on the Z-axis screw rod 11-6 and is in threaded connection. One end of a Z-axis lead screw 11-6 is connected to a power output shaft of a Z-axis reducer 11-9 through a Z-axis coupler 11-10, and a power input shaft of the Z-axis reducer 11-9 is connected to a power output shaft of a Z-axis servo motor 11-8. The outer supporting cylinder 11-1 is fixed, the motor drives the screw rod to rotate, the Z-axis screw nut 11-4 moves up and down along with the rotation of the Z-axis screw rod 11-6, and the inner movable cylinder 11-3 fixed on the Z-axis screw nut 11-4 moves up and down in the outer supporting cylinder 11-1. An outer roller 11-2 is arranged on the outer side of the outer supporting cylinder 11-1, a bracket on the outer roller 11-2 is fixed on the outer wall of the outer supporting cylinder 11-1, and the roller of the outer roller 11-2 is contacted with the outer wall of the inner movable cylinder 11-3. An inner roller 11-5 is arranged on the inner side of the inner movable cylinder 11-3, and the inner roller 11-5 is positioned on the opposite side of the outer roller 11-2. The bracket of the inner roller 11-5 is fixed on the inner wall of the inner movable cylinder 11-3, and the roller of the inner roller 11-5 is contacted with the inner wall of the outer supporting cylinder 11-1. The upper end surface of the inner movable cylinder 11-3 is fixedly connected with the outer wall of the bearing seat 12-6.

The shaft rotating mechanism 1-3 comprises a C-shaft servo motor 10-5, a pinion 10-4, a C-shaft bearing and a connecting cover 10-1. The C-axis bearing is formed by assembling a C-axis outer ring 10-2 and a C-axis inner ring 10-3, and the arc-shaped outer wall of the C-axis outer ring 10-2 is in a gear shape within a set angle range. The connecting cover 10-1 is fixedly arranged on the upper end face of the C-axis inner ring 10-3. The shell of the C-axis servo motor 10-5 is fixedly arranged on the connecting cover 10-1, and the power output shaft of the C-axis servo motor 10-5 is inserted into the central hole of the pinion 10-4 to be fixedly connected. The pinion 10-4 is disposed outside the C-axis outer race 10-2 and is in meshing engagement with the C-axis outer race 10-2. The upper end face of the connecting cover 10-1 is fixedly connected with the lower end face of the outer supporting cylinder 11-1 through bolts.

The direction translation mechanism 1-4 comprises a Y-direction moving platform 8-3 and an X-direction moving platform 8-6. The Y-direction moving platform 8-3 is arranged above the X-direction moving platform 8-6. And a Y-axis lead screw 8-2 and two Y-axis guide rails 8-1 are arranged on the upper end surface of the X-axis moving platform 8-6 along the Y-axis direction. Two Y-axis guide rails 8-1 are respectively and fixedly arranged at two ends of the X-axis moving platform 8-6. The Y-axis lead screw 8-2 is fixedly arranged in the middle of the X-axis moving platform 8-6 through a lead screw mounting seat, and the lead screw can rotate in the lead screw mounting seat. A Y-axis screw nut 9-8 is connected on the Y-axis lead screw 8-2 through threads. And a Y-axis guide sliding block 9-7 is arranged on the Y-axis guide rail 8-1 and can freely move along the guide rail. And a Y-axis guide slide block 9-7 and a Y-axis nut 9-8 are fixed on the lower end surface of the Y-axis moving platform 8-3. One end of the Y-axis lead screw 8-2 is connected to a power output shaft of the speed reducer through a coupler, and a power input shaft of the speed reducer is connected to a power output shaft of the servo motor. The other end of the Y-axis lead screw 8-2 is provided with a limit stopper for limiting the moving distance of the Y-axis moving platform 8-3. An X-axis lead screw 8-4 and two X-axis guide rails 8-5 are arranged below the X-axis moving platform 8-6 along the X-axis direction. The two X-axis guide rails 8-5 are respectively positioned at two ends of the X-axis moving platform 8-6, and the X-axis lead screw 8-4 is positioned in the middle of the X-axis moving platform 8-6. An X-axis screw nut is connected to the X-axis lead screw 8-4 through threads. An X-axis guide sliding block is arranged on the X-axis guide rail 8-5 and can freely slide along the guide rail. The X-axis guide slide block and the X-axis nut are fixed on the lower end face of the X-axis moving platform 8-6. One end of the X-axis lead screw 8-4 is connected to a power output shaft of the speed reducer through a coupler, and a power input shaft of the speed reducer is connected to a power output shaft of the servo motor. And a limiting stopper is arranged at the other end of the X-axis lead screw 8-4 and is used for limiting the moving distance of the X-axis moving platform 8-6. The upper end face of the Y-direction moving platform 8-3 is fixedly connected with the C-axis outer ring 10-2 through bolts.

The walking vehicle 1-5 comprises a vehicle body frame 2-15, four working wheel groups and a control and power supply system. The control and power supply system is mounted on the body frame 2-15. One end of the body frame 2-15 is provided with a U-shaped opening for facilitating access to the landing gear. The four working wheel sets are respectively arranged at the left and right sides of the front end and the left and right sides of the rear end of the vehicle body frame 2-15. The X-axis lead screw 8-4 is fixedly arranged on the upper end surface of the vehicle body frame 2-15 through a lead screw mounting seat and an X-axis guide rail 8-5. A plurality of hoisting points are arranged around the vehicle body frame 2-15.

The working wheel set comprises a working wheel servo motor 4-1, a working wheel reducer 4-2, a spring mounting column 4-3 and a Mecanum wheel 4-4. The power output shaft of the working wheel servo motor 4-1 is connected with the power input shaft of the working wheel reducer 4-2, and the power output shaft of the working wheel reducer 4-2 is connected with the Mecanum wheel 4-4. The spring mounting column 4-3 is sleeved with a damping spring. The upper end boss of the spring mounting column 4-3 is larger than the through hole on the connecting plate of the vehicle body frame 2-15, and the lower end of the spring mounting column 4-3 passes through the through hole on the connecting plate of the vehicle body frame 2-15 and is fixed on the shell of the running wheel speed reducer 4-2. The upper end of the damping spring is propped against the lower end surface of the connecting plate of the vehicle body frame 2-15, and the lower end of the damping spring is propped against the shell of the running wheel speed reducer 4-2.

The control and power supply system comprises a plurality of servo motor controllers 3-1, lithium iron phosphate batteries 3-2, inverters 3-3, laser obstacle avoidance devices 3-4, emergency stop switches 3-5, an electric cabinet 3-6, audible and visual alarms 3-7, safety touch edges 3-8, a PLC and auxiliary function module 3-9, a temperature controller 3-10 and two remote controllers 3-11. The servo motor controllers 3-1, the lithium iron phosphate batteries 3-2, the inverters 3-3, the PLC and the auxiliary function modules 3-9 thereof are arranged in the vehicle body frames 2-15. The laser obstacle avoidance device 3-4 and the emergency stop switch 3-5 are arranged on one side of the rear end of the vehicle body frame 2-15, and the audible and visual alarm 3-7 is arranged on the other side of the rear end of the vehicle body frame 2-15. The electric control box 3-6 is arranged on the upper end surface of the vehicle body frame 2-15. The safe touch edges 3-8 are arranged around the vehicle body frame 2-15. The temperature controller 3-10 is arranged on the upper end surface of the vehicle body frame 2-15 and is used for detecting the internal temperature of the vehicle body frame 2-15. Two remote controllers 3-11 are installed outside the vehicle body frame 2-15. The system comprises a plurality of servo motor controllers 3-1, lithium iron phosphate batteries 3-2, inverters 3-3, laser obstacle avoidance devices 3-4, emergency stop switches 3-5, an electric cabinet 3-6, audible and visual alarms 3-7, safety touch edges 3-8, a PLC and auxiliary function module 3-9, a temperature controller 3-10 and two remote controllers 3-11, wherein the servo motor controllers are connected with corresponding interfaces through wires.

The safe edge touching prevents the device from being collided; the lifting point is used for fixing the device on a set position. The remote controller is convenient for the staff to control the device in hand. A plurality of servo motor controllers drive all the servo motors on the device. The two remote controllers respectively control the four Mecanum wheels and the motion with six degrees of freedom. The electric cabinet is provided with a control button and a display screen for controlling all other auxiliary devices, such as a camera with light source and night vision function, a safety touch edge, an audible and visual alarm, a laser obstacle avoidance device, an emergency stop switch and the like.

The vehicle body frames 2-15 are made of high-strength high-quality alloy steel through welding, lightening holes are formed under the condition that the strength and the rigidity of the vehicle body are not influenced, and the structure of parts is optimally designed according to the stress form. The upper part and the periphery of the vehicle body are provided with aluminum alloy anti-skid checkered plates. A plurality of bins are arranged in a vehicle body framework, a plurality of servo motor controllers 3-1, lithium iron phosphate batteries 3-2, inverters 3-3, PLCs and auxiliary function modules 3-9 of the PLCs are arranged in the bins, each bin forms an independent space and is provided with an independent sliding door, and sealing rubber strips are arranged at each sliding door to prevent dust, water and the like from entering the sliding doors.

In the work, through adjusting the direction of rotation and the speed of each mecanum wheel, equipment can move transversely left and right, advance, retreat, slant removal and rotation in situ, realizes the omnidirectional walking function under the operating condition, and damping device absorbs the vibrations that produce in the walking process under the operating condition, keeps walking steadily.

The flexible intelligent installation system of the undercarriage can be used for transportation by using roads, railways and water ways during long-distance transportation, hoisting equipment is required to be used in the loading or shipping process, and hoisting points are installed on the side faces of the intelligent walking vehicle for hoisting.

An outer ring in a C-axis rotating system is arranged on an X-axis moving platform, an inner ring in the C-axis rotating system is arranged in the outer ring, a connecting cover in the C-axis rotating system connects the inner ring and a motor together, a pinion arranged on the inner ring of the motor in an axis rotating mechanism is meshed with the outer ring, the connecting cover in the C-axis rotating system is connected with an outer supporting barrel in a lifting mechanism, the pinion rotates along with the motor, the outer ring meshed with the pinion is fixed and does not rotate, and the connecting cover and the inner ring are driven to revolve around the outer ring due to the rotation of the pinion, so that the purpose of C-axis.

The lifting mechanism mainly comprises an outer supporting cylinder, an outer roller, an inner movable cylinder, a nut, an inner roller, a lead screw, a motor protective cover, a servo motor, a speed reducer and a coupling. The inner movable cylinder and the outer supporting cylinder are made of rectangular pipes, the outer supporting cylinder and the C-axis rotary connecting cover of the lifting mechanism are fixedly connected with the inner ring, a motor spindle drives a ball screw in the spiral lifter to rotate through a speed reducer and a coupler, and the spiral lifter converts the circular motion of the motor into the ascending and descending motion of the inner movable cylinder. The inner movable cylinder and the outer supporting cylinder are provided with anti-friction pads, rollers and other mechanisms, so that the motion posture of the inner movable cylinder is improved, the friction force is reduced, the lifting of the inner lifting cylinder can be limited, and the inner lifting cylinder is prevented from rising beyond the effective stroke by misoperation. The telescopic structure that operating system adopted, overall dimension is compact, has reduced the storage occupation space of equipment, has also avoided equipment to produce the interference with other equipment, article or building in the use, makes this product have better trafficability characteristic.

The mechanical arm mainly comprises a servo motor, a motor protective cover, a B-axis gear, a bearing, a camera, a bearing seat, a support arm, an electric push rod, a pushed sheet, a clamping jaw seat, a pinion, a left clamping jaw and a right clamping jaw. The bearing block is fixedly connected with an inner movable cylinder in the lifting mechanism, the speed reducer is fixed on the bearing block, the output end of the speed reducer is connected with the small gear, the small gear is meshed with the large gear, finally, the motor rotates to drive the moving arm to rotate, and the manipulator rotates around the B shaft. The movable seat is pushed by the electric push rod to realize the pitching action of the manipulator, and the manipulator rotates around the A shaft. In order to adapt to the posture of the undercarriage, an undercarriage clamping manipulator in the undercarriage flexible intelligent installation system needs to rotate around an A, B shaft, and a motor drives a gear to transmit so as to realize actions such as clamping and releasing of the manipulator. Transparent polyurethane is vulcanized on the clamping jaws, so that the landing gear is prevented from being damaged and the mixed colors are prevented from being dyed.

The intelligent control system comprises an intelligent operating system, an intelligent safety system, a power supply system and an intelligent self-checking system.

Intelligent operating system (program implementation)

The control mode of the flexible intelligent mounting system of the undercarriage adopts two modes to control equipment:

a remote control for needing manual intervention, an operator gives a signal through a handheld remote controller (hereinafter referred to as a remote controller), a signal instruction sent by the remote controller is sent to a communication module of an intelligent control system, the communication module transmits information to a CPU with ultra-high speed operation capability, the CPU carries out analysis processing, an execution command is sent to an I/O module and a motion control module, the execution component controls a terminal component of the execution command according to the instruction received by the I/O module and the motion control module, equipment carries out a series of operations, and then the operator grasps the operation state of a flexible intelligent mounting system of an undercarriage by observing a high-definition display screen on the handheld remote controller to form closed-loop control comprising the operator.

The other is an intelligent control system without manual intervention, the system has storage capacity, digital-analog scanning of the relative positions of the model and the undercarriage installation, which can be maintained by the device, is stored in an internal memory, and when the device works, the method comprises the steps of carrying out three-dimensional scanning on a machine type to be maintained, obtaining a model corresponding to an undercarriage to be maintained, analyzing a route reaching a working position by an intelligent control system, starting to move to the working position by self, calling the same model undercarriage mounting position data from an internal storage, detecting the attitude of the undercarriage to be maintained, calculating the position required to reach by each joint and a moving part of a flexible intelligent mounting system of the undercarriage, carrying out intelligent control on equipment by the intelligent control system according to the obtained result, adjusting the equipment to the corresponding attitude, reliably clamping the undercarriage, and avoiding manual operation in the whole working process.

Intelligent safety system

When the flexible intelligent mounting system of the undercarriage is in walking, the laser obstacle avoidance device mounted at the opposite angle of the vehicle body frame carries out omnibearing dead-angle-free scanning on the periphery of equipment, if an obstacle exists on a walking route, the laser obstacle avoidance device feeds back a signal to the vehicle-mounted controller, the walking route is modified after analysis and calculation, the walking route with the nearest walking distance and reasonable walking route is given to bypass the obstacle, and the intelligent obstacle avoidance function is realized; when the operating space is special and the intelligent walking vehicle needs to be close to an object or equipment, the laser obstacle avoidance device needs to be manually closed to operate the equipment, the safe touch edge is installed on the periphery of the bottom edge of the vehicle body, when the intelligent walking vehicle touches the object, the touch edge bears the pressure exceeding the set pressure, the vehicle automatically stops, and the loss caused by forced touch of the equipment on the obstacle avoidance device by the operator due to the fact that the environment is complex and the like is prevented.

All the action strokes of the six-freedom-degree mechanical arm are protected by an internal program and a mechanical structure, and accidents are avoided.

The clamping of the mechanical arm is controlled by a servo motor, the servo motor has a feedback function, a pressure value in a grabbing action process is fed back in real time, after data are collected, the action of the clamp is controlled by a control system in a high-precision mode, the clamping action of the mechanical arm is controlled safely and stably, and the safety of the installation and the disassembly of the undercarriage is guaranteed.

The emergency stop switches are arranged at the eye-catching positions of the vehicle body, so that emergency events are prevented, after the emergency stop switches are excited, the equipment can stop acting within the shortest time through a set emergency program, and meanwhile, the action inertia is considered, so that dangers are avoided.

Install high definition night vision camera on undercarriage flexible intelligent installation system's robotic arm, on the display screen in transmitting high definition video image to the remote controller through communication module, operating personnel is no matter what kind of control mode operation equipment is used, all can look over undercarriage dismantlement process in real time to can adjust the installation status of undercarriage.

Power supply system

The lithium iron phosphate battery includes a battery management system and a rechargeable battery pack.

The battery management system is used for controlling and managing the rechargeable lithium battery pack, an effective intelligent control system is formed by collecting terminal voltage and temperature of each battery, charging and discharging current, total voltage/current of the battery pack and other information, the information such as the charge state, the working state and the like of the battery pack is fed back in time, balance among single batteries and among battery packs is effectively controlled, the phenomenon of overcharge or overdischarge of the batteries is prevented, power supply faults can be discovered and processed in the first time, and the reliability and the high efficiency of operation of the whole battery pack are kept.

The flexible intelligent installation system of the undercarriage supplies power by using the rechargeable lithium battery pack, is convenient to move in the operation process, and when the electric quantity of the battery pack is not enough, the battery pack is rapidly charged by using an external power supply. Under special conditions, the equipment is allowed to work while charging, and the charging voltage is compatible with 220V commercial power and three-phase 380V industrial power.

The battery management system has an electric quantity alarm function, and sends out a first-level alarm when the electric quantity is 35 percent and a second-level alarm when the electric quantity is 20 percent. If the first-level alarm occurs, the battery is charged as soon as possible, and if the second-level alarm occurs, the battery is charged immediately, otherwise, the service life of the battery is shortened seriously due to over-discharge, the battery is charged after the battery is fully charged and the running time is short, the charging time is not suitable to be too long, otherwise, the battery is overcharged, and the battery is heated.

The battery pack is subjected to modular processing, is convenient to disassemble and replace, and has less maintenance action and high efficiency. Besides conventional functions, the lithium iron phosphate battery also has the following advanced technologies:

a) when the high temperature of the lithium iron phosphate battery pack exceeds 40 ℃, the assembled axial flow fan is automatically started to perform heat dissipation treatment on the battery pack, and when the low temperature is reduced to-5 ℃, a self-heating system in the battery pack is started to perform heat treatment on key devices such as a battery cell and the like, so that the normal charging and discharging efficiency of the battery pack is ensured.

b) The battery management system eliminates a mode of equipping a charger for charging the lithium battery on the market, the external charging plug of the battery management system can be used for directly charging, the charging current can be adjusted within a set range, and the battery can be fully charged within 2-3 hours.

c) The charging process is carried out under the detection control of the battery management system, and the stroke is controlled in a relatively closed loop mode, so that the charging process is safer and more reliable than an open loop mode of a charger.

Intelligent self-checking system (realized by program)

The intelligent control system has a self-checking function, when the equipment is started, the intelligent control system carries out a self-checking program, when the self-checking is finished, the running state of the equipment is normal, the equipment can directly enter a working link, if the fault is found out after the equipment self-checking, the link with the fault can be directly known according to an error code displayed on a display screen of a remote controller, after the fault is cleared, the equipment carries out self-checking again, and after the self-checking, the running state of the equipment is normal, and the equipment can enter the working link.

Claims (4)

1. Mechanical arm for flexible intelligent installing system of undercarriage, including bearing frame (12-6), electric putter (12-8), jack catch seat (12-12), support arm (12-7) and B axle servo motor (12-1), its characterized in that:

a bearing (12-4) is arranged in the bearing seat (12-6), the outer ring of the bearing (12-4) is fixedly connected with the inner wall of the bearing seat (12-6), and the support arm (12-7) is inserted into the inner ring of the bearing (12-4) and is fixedly connected; a B-axis gear (12-3) is fixedly sleeved on the support arm (12-7) through a screw; a shell of the B-axis servo motor (12-1) is fixed on the bearing seat (12-6), and a gear on a power output shaft of the B-axis servo motor (12-1) is meshed with the B-axis gear (12-3); the outer shell of the electric push rod (12-8) is fixedly arranged on the support arm (12-7); one end of the support arm (12-7) is hinged with a claw seat (12-12) through a pin shaft; a pushed sheet (12-11) is fixedly arranged on the upper end surface of the clamping jaw seat (12-12); the upper end of the pushed sheet (12-11) is hinged with the push rod (12-9) on the electric push rod (12-8); a left claw (12-14) and a right claw (12-15) are arranged in the claw seat (12-12); one side of each of the left claw (12-14) and the right claw (12-15) is claw-shaped, and the other side is gear-shaped; the gear sides of the left claw (12-14) and the right claw (12-15) are respectively hinged with the upper end surface and the lower end surface of the claw seat (12-12); the gears on the left jaws (12-14) are meshed with the gears on the right jaws (12-15); a jaw servo motor (12-16) is fixedly arranged on the outer wall of the jaw seat (12-12); the power output shaft of the jaw servo motor (12-16) is inserted into the jaw seat (12-12), and the gear on the power output shaft of the jaw servo motor (12-16) is meshed with the gear on the right jaw (12-15).

2. A robotic arm for a flexible intelligent landing gear mounting system according to claim 1, wherein: the B-axis gear (12-3) is provided with a plurality of teeth in a set angle range.

3. A robotic arm for a flexible intelligent landing gear mounting system according to claim 1, wherein: the upper end of the outer wall of the bearing seat (12-6) is fixedly provided with a camera (12-5) with light source and night vision functions.

4. A robotic arm for a flexible intelligent landing gear mounting system according to claim 1, wherein: two manual winches (12-10) are fixedly arranged at the upper ends of the jaw seats (12-12).

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