CN104002987A - Lifting arm type electric bullet car - Google Patents

Abstract

The invention discloses a lifting arm type electric bullet car which is composed of a control table 1, a lifting arm 2, a bullet hanging car chassis 10, a telescopic arm 4, a rear wheel set 12, a front wheel set 9 and the like. Compared with the prior art, the lifting arm type electric bullet car has the advantages that the modular design is adopted, the technology is advanced, and use and maintenance are convenient; four walking wheels are driven by a hub motor, so that a mechanical mechanism is simplified, the manufacturing cost is reduced, and small-radius turning can be achieved; an object bearing table is of a spherical hinge structure, so that the motion is flexible, and adaptability is high; line type laser navigation and positioning are adopted, bullet installation can be completed within the shortest time, energy consumption is small, and efficiency is high; a collision detection module is applied, the distance between a bullet and an airframe can be inducted, alarms of different levels can be given according to the danger degree, attention of workers are attracted, mutual collision and interference are avoided, and the major risk of damage to the airframe is eliminated.

Description

Lifting arm type electric bomb vehicle

Technical field

The invention relates to the technical field of military equipment, in particular to an arm-mounted vehicle, which is mainly suitable for mounting projectiles and other suspended objects (such as auxiliary fuel tanks) under the wings.

technical background

At present, most of the methods used by domestic airports to mount bombs under the wings still use manual hand-push bomb carts. According to their structural principles, this bomb cart can be roughly divided into the following two types: one is the scissors The fork-lifting type trailer; the other is a winch-lifting type trailer with a combination of rope and pulleys. The biggest features of these two types of bomb-carrying vehicles are: integrating the functions of bomb transport and bomb-carrying, low manufacturing cost, and easy maintenance. Therefore, for decades, this kind of bomb-carrying car has been widely used at home and abroad, especially in In a peaceful environment, this kind of equipment has a huge application market. The disadvantages of the hand-push bomb loading vehicle are: it takes up a lot of space and its application is limited; manual loading depends entirely on people's physical fitness, skills, experience and the natural environment, and the labor intensity is high, requiring a lot of manpower and low efficiency; manpower loading affects There are many factors, a little carelessness or improper force can easily damage the aircraft, and there is a hidden danger of causing heavy losses, which is far from meeting the needs of my country's economic development and national defense modernization. It is understood that it takes about 16 to 20 minutes for a foreign advanced bomb-loading vehicle to load a bomb, while it takes about 60 minutes for our country. The big gap can be seen. In order to change this situation, in recent years, Chinese researchers and relevant research departments have developed a variety of automatic bomb-loading vehicles, which can be divided into two types according to their power supply methods: one is powered by batteries ; One is powered by a diesel generator. According to the lifting method, it can be divided into two types: lifting table type and lifting arm type. For the lift-type bomb truck, the spring tray is located in the middle of the lift platform, and the stress conditions are good. However, the lift platform is located directly below the aircraft hanging point during operation, and it is difficult to mount and unload the hanging objects at the low hanging point. Moreover, the operating space is limited by the aircraft landing gear. , antenna and other position constraints affect the loading efficiency; the lifting arm type bomb truck, the lifting arm is like a human arm, and the magazine tray is installed at the front end of the lifting arm, just like the human palm can swing left and right, back and forth and turn. , In this way, the support tray can obtain multiple degrees of freedom, which better meets the alignment or adjustment needs of the hanging point of the projectile during mounting. However, over the years, although there have been a number of bomb vehicles with advanced indicators, they have not been popularized and applied so far. There are three reasons: 1. Complete functions, complicated technology, and expensive cost; 2. Advanced technology, inconvenient maintenance, and poor reliability; 3. The use and maintenance costs are high, and logistic support is difficult to implement. According to statistics, in ground attack-based operations, the workload of aircraft bombing operations accounts for 80% of the entire ground support operation, and occupies more than 60% of the personnel. It is the "barrel" that constitutes the ground support operation. The shortest short board". Therefore be necessary to develop a kind of technologically advanced, reliable performance, cheap, the bomb-carrying vehicle that hangs bombs is efficient, to satisfy the needs of army construction and national defense modernization under the new situation.

Contents of the invention

The utility model relates to an electric bomb-carrying vehicle with a lifting arm, which is composed of three parts: a traveling mechanism, an executing mechanism (lifting arm) and a control system. Its design idea is: divide the whole bomb-loading vehicle into several modules. According to the requirements of different users, the bomb trailers with different functions are assembled to maximize the effective utilization rate of the equipment, and each module adopts relatively mature advanced technology to minimize technical risks and development costs.

The present invention solves the technical problem, and the technical solution adopted is: a lifting arm type electric bomb vehicle, its running mechanism is mainly composed of an underframe, four running wheels and a steering mechanism, etc., the underframe and the steering mechanism of the bomb vehicle The mechanism adopts ready-made and mature products to meet the needs through partial transformation. The steering mechanism is set between the two rear wheels under the driver's console, and the four running wheels have built-in hub motors, which can be controlled independently, which is beneficial to realize small-radius turning and increase hanging. The flexibility and convenience of the bullet car. The actuator is composed of a lifting arm and a supporting platform. The rear end of the lifting arm is respectively hinged with the lifting cylinder and the underframe of the bomb-carrying vehicle. The object table is composed of a spring tray, a locking cylinder, a slide rail, a ball seat, a ball seat chassis, a jacking arm, and a jacking cylinder. The control system consists of six modules: navigation module, collision detection module, driving control module, hydraulic power module, human-computer interaction module, and battery module. The modular design is convenient for fault detection, maintenance and cost reduction. The bus communication is used between the modules. When a module failure is detected, the module can be replaced directly when the system is turned on to ensure continuous and normal use of the system.

The function of the navigation module is to use two independent one-dimensional scanning lasers to guide the bomb vehicle to travel and stop at the correct position (also called rough positioning) and to align and guide the bomb during the process (accurate positioning through fine-tuning function) .

The function of the collision detection module is to calculate the potential collision and interference between the missile body and the aircraft body through distance sensing and the working status of the bomb trailer, and issue different levels of warnings according to the degree of danger.

The function of the driving control module is to assist in the operation and control of the driving force of the bomb-trapped vehicle when driving and the braking force when parking by sensing driver information (including accelerator signal, brake pedal signal and steering wheel angle information).

The hydraulic control module mainly provides power for the actuator of the bomb trailer. In order to ensure the normal operation of the hydraulic system and increase its operational flexibility, all actions of the hydraulic system are directly operated by the main controller of the hydraulic system through relays and solenoid valves. Operators can control the operation of the hydraulic system through friendly electronic and electrified human-computer interaction. status for real-time monitoring, protection and operation.

The human-computer interaction module is mainly used for system information display, system setting (such as: selection of bullet type, conversion of operation mode, etc.) and expansion of human-computer interaction functions.

The battery module will provide electric energy for the whole bomb trailer. This module is equipped with the estimation function of battery state of charge (SoC) and state of health (SoH), charge and discharge protection function, autonomous equalization function and redundant battery pack switching control function, in order to Guarantee the normal performance of the walking of the bomb trailer, the operation of the actuator and the lighting.

A lifting arm type electric bomb vehicle, based on electromechanical integration, with intelligent control as the core, module design as the focus, high stability, high reliability, high precision and functional adaptation as the goal, information, The organic fusion of energy and structure realizes system integration, has a number of independent intellectual property rights, has outstanding innovation characteristics, and has distinctive characteristics of mechatronics and intelligence. It is an advanced equipment integrating integrated technologies in the fields of electromechanical-hydraulic integration technology, intelligent control technology, sensor and electronic information technology, computer control technology, electric vehicles and communication technology. Compared with the existing technology, the beneficial effects are: the lifting arm type electric bomb vehicle adopts modular design, advanced technology, easy to use and maintain; Small-radius turning is realized; the stage adopts a spherical hinge structure, which is flexible and adaptable; linear laser navigation and positioning can be used to complete the projectile installation in the shortest time, with low energy consumption and high efficiency; the application of the collision detection module can sense projectiles. The distance between the body and the aircraft body can be adjusted, and different levels of warnings can be issued according to the degree of danger to remind the staff to pay attention to avoid mutual collision and interference, and eliminate the major risk of damage to the aircraft body.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Fig. 1 is a schematic diagram of the overall structure of the lifting arm type bomb vehicle.

Fig. 2 is a structural schematic diagram of the lifting arm type bomb carrier platform.

Fig. 3 is a structural schematic diagram of the control system of the lifting arm type bomb vehicle.

Specific implementation mode one

Figures 1 and 2 show that a specific embodiment of the present invention is: a lifting arm type electric bomb vehicle, comprising a console 1, a lifting arm 2, a bomb vehicle underframe 10, a telescopic arm 4, a rear Wheel group 12, front wheel group 9 etc. form. The front end of the telescopic arm 4 is provided with a bearing platform, and the bearing platform is composed of a supporting spring tray 5, a slide rail 13, a ball pin seat 6, an attitude adjustment oil cylinder 18, a locking oil cylinder 14, a ball pin seat chassis 7, and a horizontal adjustment oil cylinder 15 , jacking arm 16, jacking oil cylinder 17 etc. are formed. The elastic body is fixed on the support spring tray 5 through the magazine clip, and the support spring tray 5 is supported on the annular plate (19) on the end surface of the ball pin (20) through the slide rail 13, and the ball pin seat 6 is supported at the bottom of the ball pin seat On the frame 7, the ball pin base frame 7 is hinged with the telescopic arm 4 through the bearing 8, and at the same time, the ball pin base frame 7 is hinged with the level adjustment oil cylinder 15 of the bearing platform. When working, the bomb carrier transports the missile body to a suitable area under the wing through the navigation module, and lifts the lifting arm 2 to a suitable height through the lifting cylinder 11. At the same time, the built-in software of the navigation module controls the level adjustment of the loading platform The oil cylinder 15 makes the supporting spring tray 5 rise in a horizontal state all the time and completes the initial positioning; then, through the telescopic arm push-pull oil cylinder 3, the jacking oil cylinder 17, and the attitude adjustment oil cylinder 18, the missile body hanger is automatically inserted into the slot at the bottom of the wing, Then the projectile is pushed to the terminal point of the draw-in groove by the locking oil cylinder 14 to complete the mounting of the projectile. Unclamp the magazine, drop the lifting arm 2, and the bomb-loading vehicle exits the bomb-loading area, and continues the transportation of the next missile.

Specific implementation mode two

The second embodiment of the present invention is: remove the posture adjustment cylinder 18 and the locking cylinder 14 shown in Fig. 1 and Fig. 2, and manually complete the posture adjustment of the projectile body and push the projectile body to the end of the slot to complete Body mounted.

Claims (8)

1. A lifting arm type electric bomb vehicle, consisting of a console (1), a lifting arm (2), a bomb vehicle underframe (10), a telescopic arm (4), a rear wheel group (12), a front wheel group (9), etc., the front end of the telescopic arm (4) is provided with a bearing platform, and the bearing platform is composed of a spring tray (5), a locking cylinder (14), a slide rail (13), a ball pin (20), Ball pin seat (6), ball pin seat chassis (7), jacking arm (16), jacking oil cylinder (17) etc. are formed. 2. The lifting arm type electric bomb-carrying vehicle according to claim 1, characterized in that: the object receiving platform is provided with ball pins (20). 3. A lifting arm type electric bomb vehicle according to claim 1, characterized in that: the end face of the ball pin (20) is provided with an annular plate (19), and a gesture is provided on the annular plate (19). Adjust cylinder (18). 4. The lifting arm type electric bomb-carrying vehicle according to claim 1, characterized in that: the object receiving platform is provided with a horizontal adjustment oil cylinder (15). 5 . The lifting arm type electric bomb-carrying vehicle according to claim 1 , characterized in that: hub motors are provided on the hubs of the front wheel set ( 9 ) and the rear wheel set ( 12 ). 6. The lifting arm type electric bomb vehicle according to claim 1, characterized in that: the front end of the lifting arm (2) is provided with a telescopic arm (4). 7. The lifting arm type electric bomb-carrying vehicle according to claim 1, characterized in that: a slide rail (13) is provided at the lower part of the support tray (5). 8 . The lifting arm type electric bomb trailer according to claim 1 , characterized in that: a jacking arm ( 16 ) is provided at the lower part of the ball pin seat ( 6 ).