Green Airport Intelligent Aircraft Tow Truck

Abstract

The present invention relates to a green airport intelligent aircraft tractor, including a body, a chassis, an electrical and intelligent control system, and its technical points are: the body includes left and right longitudinal beams and an annular support beam, and the annular support beam is a movable left and right movable beam corresponding to the front side of the body, and its movement trajectory is perpendicular to the length direction of the left and right longitudinal beams. The chassis includes a support turntable arranged above the annular support beam and matched with it, and the support turntable is an open end corresponding to the position of the left and right movable beams. The lower surface of the support turntable is connected to a plurality of retractable lifting actuators, and the lower end of the lifting actuator is connected to a lifting frame, and the lifting frame includes left and right longitudinal lifting rods, left and right sliding seats, front and rear lifting rods and clamping blocks, driving mechanisms and other components to achieve the clamping and lifting of the front wheels of the aircraft. The present invention avoids the safety risks caused by the traction rod and turning pin of the traditional tractor, uses new energy batteries as the power source, is green, environmentally friendly and energy-saving, has low operating costs, and ensures high efficiency and intelligence.

Description

Technical Field

[0001] The invention relates to aircraft towing equipment, in particular to a green airport intelligent aircraft towing vehicle. Background Art

[0002] In order to facilitate crew members, passengers and other personnel to enter or leave the aircraft, civil airports usually set up parking positions next to the terminal building and connect the terminal building boarding gate and the aircraft cabin door through a jet bridge. After the boarding of personnel and the assembly of luggage and cargo are completed, the jet bridge is evacuated and the aircraft cabin door is closed. The ground staff uses trailers and other equipment, such as trailers and tow bars or wheeled trailers, to push the aircraft from the parking position to the starting position so that the aircraft can start the engine and taxi under its own power. According to the announcement data of the Civil Aviation Administration of China, the domestic industry's passenger throughput in 2019 was 1.352 billion, and 11.66 million flights took off and landed. Calculated based on the fact that 85% of outbound flights need to stop at the terminal building jet bridge parking positions, 4.956 million flights used trailers to push aircraft out of the airport.

[0003] Normally, to push an aircraft from the parking position to the starting position, a trailer (with tow bar) or a wheeled trailer (without tow bar) is required, and at least three people are required, including a trailer driver, a delivery person, and a supervisor. The following problems exist:

[0004] 1. If a tow bar is used, the assembly and removal of the tow bar and the aircraft, and the tow bar and the trailer must be performed by skilled personnel. This is not only time-consuming, but the tow bar also requires regular maintenance and daily inspections. Occasionally, tow bar problems occur in the industry, leading to safety accidents during the push of the aircraft.

[0005] 2. Whether the aircraft is pushed by a trailer and a tow bar or a wheel-holding trailer, a turning pressure relief pin (referred to as turning pin) must be installed on the front landing gear of the aircraft to cut off the hydraulic power source for the front wheel turning of the aircraft, so that the front wheel of the aircraft can be deflected by the tow bar or the wheel-holding trailer during the pushing process, so that the aircraft can be pushed out along the predetermined route. Forgetting to install the turning pin will lead to serious unsafe consequences. Forgetting to remove the turning pin will cause the aircraft to be unable to turn during taxiing. Occasionally, incidents of forgetting to insert and remove the turning pin occur in the industry.

[0006] 3. Taking medium-sized aircraft such as Boeing B737 and Airbus A320 as examples, the aircraft weighs more than 70 tons when fully loaded, and a high-power trailer is needed to push the aircraft to move. Ordinary trailers and wheeled trailers are usually powered by diesel engines, which are expensive and have high operating and maintenance costs.

[0007] 4. Equipment such as trailers and towbars are usually needed to support multiple aircraft in a region, and they are not always in place in time. Usually, from the moment the aircraft receives the instruction to launch, it is necessary to complete the process of putting trailers and towbars in place, connecting the aircraft to the equipment, commanding the aircraft to be launched, reaching the starting position, and disengaging trailers, towbars and other equipment, which requires a series of actions and multi-person collaboration, which takes 5-8 minutes.

[0008] In recent years, electric (lithium battery) wheeled aircraft tractors have gradually begun to be used in the industry on a small scale. Business jets mainly use remote-controlled electric tractors without a driver's seat; electric tractors used by medium and large aircraft mainly include manually driven (with a driver's seat) and manually remote-controlled (without a driver's seat). Compared with traditional wheeled tractors, electric tractors use electricity instead of oil and have no carbon emissions, which is a highlight and trend. Remote control can reduce manpower input and improve security efficiency. However, the problem caused by the turning pin has not been solved. Summary of the invention

[0009] The purpose of the present invention is to provide a green airport intelligent aircraft tractor with a compact structure and reliable use. As a major change in the traditional aircraft pushing / towing method, it not only reduces the investment and operating costs, but also avoids the safety risks caused by the towing rod and turning pin in the original structure, and realizes timely, rapid and safe pushing of the aircraft from the parking position to the starting position. It uses new energy batteries as the power source, is green, environmentally friendly and energy-saving, has no combustion carbon dioxide emissions, and has low operating costs, high efficiency and intelligence.

[0010] The technical solution of the present invention is:

[0011] A green airport intelligent aircraft tractor, including a body, a chassis, an electrical and intelligent control system, and its technical highlights are: the body includes parallel left and right longitudinal beams, an annular support beam arranged between the left and right longitudinal beams, the position of the annular support beam corresponding to the front side of the body is a movable end and a left and right movable beam are arranged at the movable end, the left and right movable beams are respectively supported on the left and right longitudinal beams, and a driving mechanism I is further arranged between the left and right longitudinal beams and the left and right movable beams, the movement trajectory of the left and right movable beams is perpendicular to the length direction of the left and right longitudinal beams, the chassis includes a supporting turntable arranged above the annular support beam and matched therewith, the position of the supporting turntable corresponding to the movable end of the annular support beam is an open end, and the lower surface of the supporting turntable is connected to a plurality of retractable lifting actuators, each lifting actuator The lower end of the moving cylinder is connected to a lifting frame, which includes left and right longitudinal lifting rods, a rear lifting rod connected between the rear ends of the left and right longitudinal lifting rods, left and right sliding seats arranged at the front ends of the left and right longitudinal lifting rods, left and right front lifting rods arranged on the left and right sliding seats, a rear clamping block arranged on the rear lifting rod, and a front clamping block arranged on the left and right front lifting rods. A driving mechanism II is arranged between the left and right sliding seats and the left and right longitudinal lifting rods, and the movement trajectory of the left and right sliding seats is perpendicular to the length direction of the left and right longitudinal lifting rods. A driving mechanism III is arranged between the left and right front lifting rods and the left and right sliding seats, and the movement trajectory of the left and right front lifting rods is parallel to the length direction of the left and right longitudinal lifting rods. The rear clamping block corresponds to the front clamping block, and a power supply battery pack connected to the electrical and intelligent control system is also arranged on the vehicle body and chassis.

[0012] The green airport intelligent aircraft tractor mentioned above has two rear clamping blocks and two front clamping blocks, and the two front clamping blocks are respectively fixed on the left and right front lifting rods, and the opposite surfaces of the front and rear clamping blocks are arc surfaces matching the circumferential surface of the aircraft's front wheels.

[0013] In the above-mentioned green airport intelligent aircraft tractor, a plurality of roller assemblies are evenly arranged on the lower surface of the support turntable, and an annular groove corresponding to the roller is arranged on the annular support beam, so that the support turntable can rotate along the annular groove on the annular support beam.

[0014] The green airport intelligent aircraft tractor mentioned above has a slide groove I corresponding to the left and right movable beams at the front of the left and right longitudinal beams, and the driving mechanism I is composed of a thread sleeve I fixed on the upper surface of the left and right longitudinal beams above the slide groove I, and a lead screw I inserted in the thread sleeve I. Both ends of the lead screw I are supported on the left and right movable beams and one end is connected to a driving motor I. After the driving motor I drives the lead screw I to rotate, since the thread sleeve I is fixed, the lead screw I drives the left and right movable beams to slide along the slide groove I of the left and right longitudinal beams;

[0015] Alternatively, the front portions of the left and right longitudinal beams are provided with widened support seats corresponding to the left and right movable beams, and the left and right movable beams are provided with slide rail structures I that cooperate with the widened support seats, and the left and right movable beams slide along the widened support seats through the slide rail structures I, and the driving mechanism I is composed of a driving motor I fixedly connected to the widened support seat, a gear I fixed on the output shaft of the driving motor I, and a rack structure I provided on the left and right movable beams and meshing with the gear I, and after the driving motor I drives the gear I to rotate, the gear I drives the left and right movable beams to slide along the widened support seat through the rack structure I.

[0016] In the above-mentioned green airport intelligent aircraft tractor, male and female connectors I are provided at the opposite ends of the left and right movable beams. When the left and right movable beams move toward each other to the end point, they are connected as a whole through the male and female connectors I.

[0017] The green airport intelligent aircraft tractor mentioned above, the left and right sliding seats are respectively composed of a seat body and a sliding rod arranged on the side of the seat body, the front ends of the left and right longitudinal lifting rods are provided with grooves corresponding to the seat body, the width of the groove is greater than the width of the front clamping block, so as to facilitate the passage of the front clamping block, and the side of the groove is provided with a slide groove II corresponding to the sliding rod and connected to the groove;

[0018] The driving mechanism II is composed of a thread sleeve II fixed on the upper surface of the left and right longitudinal lifting rods corresponding to the upper part of the slide groove II, and a lead screw II inserted in the thread sleeve II. The two ends of the lead screw II are supported on the two ends of the sliding rod and one end is connected to a driving motor II; or, the sliding rod is provided with a slide rail structure II that cooperates with the slide groove II. The driving mechanism II is composed of a driving motor II fixed on the side of the slide groove II, a gear II fixed on the output shaft of the driving motor II, and a rack structure II provided on the sliding rod and meshing with the gear II. After the driving motor II drives the gear II to rotate, the gear II drives the sliding rod to slide along the slide groove II through the rack structure II.

[0019] The green airport intelligent aircraft tractor mentioned above has a horizontal slot in the seat body, a clearance opening communicating with the horizontal slot is provided on the upper surface of the seat body, a side opening communicating with the horizontal slot is provided on the side of the seat body facing away from the sliding rod, one end of the left and right front lifting rods is inserted into the horizontal slot of the seat body, the driving mechanism III is a hydraulic push rod fixed on the upper surface of the seat body, a connecting piece is provided at the end of the telescopic rod of the hydraulic push rod, the lower end of the connecting piece passes through the clearance opening and is connected to the left and right front lifting rods, the pushing stroke direction of the hydraulic push rod is parallel to the length direction of the left and right longitudinal lifting rods, the left and right longitudinal lifting rods are provided with cavities at the side opening positions of the seat body corresponding to the side opening positions of the seat body, and the left and right front lifting rods are provided with convex blocks inserted into the cavities under the pushing action of the hydraulic push rods. After the convex blocks are inserted into the cavities, on the one hand, the gap between the front clamp and the front wheel of the aircraft is eliminated, and on the other hand, the weight of the front wheel and fuselage of the aircraft can be directly transferred to the left and right longitudinal lifting rods to transfer the load to the supporting turntable and the vehicle beam.

[0020] In the above-mentioned green airport intelligent aircraft tractor, the opposite ends of the left and right front lifting rods are provided with male and female connectors II. When the left and right front lifting rods move toward each other to the end point, they are connected as a whole through the male and female connectors II.

[0021] The green airport intelligent aircraft tractor mentioned above has a U-shaped avoidance gap on the left and right movable beam sides of the body shell, and the front and rear clamping blocks are located within the avoidance range of the U-shaped avoidance gap in the horizontal direction.

[0022] The above-mentioned green airport intelligent aircraft tractor, the electrical and intelligent control system includes an intelligent control module, a signal acquisition module connected to the intelligent control module, and a wireless signal receiving and sending module; the signal acquisition module is used to collect vehicle driving environment information, including vehicle position information, distance information between surrounding objects and the vehicle body, vehicle movement speed information, and movement direction information; the intelligent control module determines whether the vehicle body is in a dangerous state based on the driving environment information transmitted by the acquisition module, and sends normal driving, deceleration or stop instructions, as well as card lifting and reverse reset instructions to the vehicle body; the wireless signal receiving and sending module establishes communication with the airport flight control system, receives instructions and transmits them to the intelligent control module, so that the vehicle body drives to the specified position according to the instructions, and sends vehicle condition information to the airport flight control system during the driving process to achieve remote monitoring.

[0023] The beneficial effects of the present invention are:

[0024] 1. Compared with traditional tractors, there is no need to connect a towing rod and install a turning pin. As a major change in the traditional aircraft push-out / towing method, it not only reduces the investment and operating costs, but also avoids the safety risks caused by the towing rod and turning pin in the original structure.

[0025] 2. The traction function (including lifting, holding, locking the front wheels of the aircraft and allowing them to rotate freely) is mainly completed by the support turntable, lifting actuator and lifting frame. The structural design is ingenious and the operation is convenient. It can push the aircraft from the parking position to the starting position in a timely, fast and safe manner. It uses new energy batteries as the power source, is green, environmentally friendly and energy-saving, has no combustion carbon dioxide emissions, and has a low operating cost. The overall construction cost and maintenance cost are better than those of transmission diesel tractors. In addition, it has a high degree of intelligence, so the push-out efficiency is high. It can enter the ready state from the time the aircraft is parked in place. The traditional manual operation steps are reduced during the push-out, which can reduce the overall push-out time by 3-5 minutes.

[0026] 3. It does not require space and equipment for passengers, air conditioning system, steering wheel, brake pedal and other components. It can receive control instructions from the airport flight control system and feedback on work position and working status through the intelligent control module, with a high degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the appearance structure of the present invention;

[0028] Figure 2 is a schematic structural diagram of the vehicle body of the present invention (corresponding to Embodiment 1);

[0029] Figure 3 is a schematic diagram of the assembly structure of the support turntable and the lifting frame of the present invention (corresponding to Example 1);

[0030] Figure 4 It is a schematic diagram of the assembly structure of the vehicle body, the supporting turntable and the lifting frame of the present invention (corresponding to Embodiment 1);

[0031] Figure 5 is a top view of the present invention with the vehicle body shell removed (corresponding to Embodiment 1);

[0032] Figure 6 is a schematic diagram of the assembly structure of the left front lifting rod of the present invention (corresponding to embodiment 1);

[0033] Figure 7 1 is a schematic diagram of the assembly structure of the support turntable and the lifting frame of the present invention (corresponding to Example 2);

[0034] Figure 8 is a schematic diagram of the assembly structure of the left front lifting rod of the present invention (corresponding to embodiment 2);

[0035] Fig. 9 is a schematic structural diagram of the left sliding seat of the present invention (corresponding to Embodiment 2);

[0036] Fig.10 It is a schematic diagram of the assembly structure of the support turntable and the lifting frame of the present invention from another angle (corresponding to Example 2).

[0037] In the figure: 1. Car body, 2. U-shaped avoidance gap, 3. Left longitudinal beam, 4. Right longitudinal beam, 5. Annular support beam, 6. Annular groove, 7. Left movable beam, 8. Right movable beam, 9. Sleeve I, 10. Lead screw I, 11. Support turntable, 12. Lifting cylinder, 13. Rear clamping block, 14. Front clamping block, 15. Right longitudinal lifting rod, 16. Rear lifting rod, 17. Left longitudinal lifting rod, 18. Left sliding seat, 19. Hydraulic push rod, 20. Sliding rod, 21. Sleeve II, 22. Lead screw II, 2 3. Left front lifting rod, 24. Right front lifting rod, 25. Sliding rod, 26. Right sliding seat, 27. Male and female connectors II, 28. Connecting piece, 29. Avoidance, 30. Cavity, 31. Power supply battery pack, 32. Male and female connectors I, 33. Widened support seat, 34. Slide rail structure I, 35. Rack structure II, 36. Drive motor II, 37. Gear II, 38. Slide rail structure II, 39. Drive motor I, 40. Gear I, 41. Rack structure I, 42. Side opening. DETAILED DESCRIPTION

[0038] Example 1

[0039] like Figure 1-Figure 6 As shown, the green airport intelligent aircraft tractor includes a body 1, a chassis, and an electrical control system.

[0040] The vehicle body 1 includes parallel left and right longitudinal beams 3 and 4, and an annular support beam 5 disposed between the left and right longitudinal beams 3 and 4. The position of the annular support beam 5 corresponding to the front side of the vehicle body 1 is a movable end, and left and right movable beams 7 and 8 are disposed at the movable end. The left and right movable beams 7 and 8 are supported on the left and right longitudinal beams 3 and 4, respectively, and a driving mechanism I is disposed between the left and right longitudinal beams 3 and 4 and the left and right movable beams 7 and 8. The movement trajectory of the left and right movable beams 7 and 8 is perpendicular to the length direction of the left and right longitudinal beams 3 and 4. The chassis includes a support turntable 11 disposed above the annular support beam 5 and matched therewith, and the position of the support turntable 11 corresponding to the movable end of the annular support beam 5 is an open end. The lower surface of the support turntable 11 is connected to a plurality of retractable lifting cylinders 12, and the lower end of each lifting cylinder 12 is connected to a lifting frame. The lifting frame includes left and right longitudinal lifting rods 17, 15, a rear lifting rod 16 connected between the rear ends of the left and right longitudinal lifting rods 17, 15, left and right sliding seats 18, 26 arranged at the front ends of the left and right longitudinal lifting rods 17, 15, left and right front lifting rods 23, 24 arranged on the left and right sliding seats 18, 26, a rear clamping block 13 arranged on the rear lifting rod 16, and a front clamping block 14 arranged on the left and right front lifting rods 23, 24. A driving mechanism II is arranged between the left and right sliding seats 18, 26 and the left and right longitudinal lifting rods 17, 15, and the motion trajectory of the left and right sliding seats 18, 26 is perpendicular to the length direction of the left and right longitudinal lifting rods 17, 15. A driving mechanism III is arranged between the left and right front lifting rods 23, 24 and the left and right sliding seats 18, 26, and the motion trajectory of the left and right front lifting rods 23, 24 is parallel to the length direction of the left and right longitudinal lifting rods 17, 15. The rear clamp block 13 corresponds to the front clamp block 14. A power supply battery pack 31 connected to the electrical and intelligent control system is also provided on the vehicle body 1 and the chassis.

[0041] In this embodiment, the number of the rear clamp block 13 and the number of the front clamp block 14 are two respectively, and the two front clamp blocks 14 are fixed on the left and right front lifting rods 23 and 24 respectively. The opposite surfaces of the front and rear clamp blocks 14 and 13 are arc surfaces that match the circumference of the front wheel of the aircraft. The lower surface of the support turntable 11 is evenly provided with a plurality of roller assemblies (omitted in the figure), and the annular support beam 5 is provided with an annular groove 6 corresponding to the roller, so that the support turntable 11 can rotate along the annular groove on the annular support beam 5. The number of the lifting actuator cylinders 12 is four, two by two, fixed between the left and right longitudinal lifting rods 17 and 15 and the support turntable 11, so as to drive the lifting frame to rise and fall, and then realize driving the front wheel of the aircraft to leave or contact the ground. A guide column assembly (omitted in the figure) is also connected between the left and right longitudinal lifting rods 17 and 15 and the support turntable 11.

[0042] The front part of the left and right longitudinal beams 3 and 4 is provided with a slide groove I corresponding to the left and right movable beams 7 and 8. The driving mechanism I is composed of a thread sleeve I9 ​​fixed on the upper surface of the left and right longitudinal beams above the slide groove I and a lead screw I10 inserted in the thread sleeve I9. Both ends of the lead screw I10 are supported on the left and right movable beams 7 and 8 and one end is connected to a driving motor I (omitted in the figure). After the driving motor I drives the lead screw I10 to rotate, since the thread sleeve I9 ​​is ​​fixed, the lead screw I10 drives the left and right movable beams 7 and 8 to slide along the slide groove I of the left and right longitudinal beams 3 and 4. The opposite ends of the left and right movable beams 7 and 8 are provided with male and female connectors I (see Figure 7 32), when the left and right movable beams 7 and 8 move toward each other to the end point, they are connected as a whole through the male and female connectors I.

[0043] The left sliding seat 18 is composed of a seat body and a sliding rod 25 arranged on the side of the seat body, and the right sliding seat 26 is composed of a seat body and a sliding rod 20 arranged on the side of the seat body. The front ends of the left and right longitudinal lifting rods 17 and 15 are provided with grooves corresponding to the seat body. The width of the groove is greater than the width of the front clamping block 14 to facilitate the passage of the front clamping block 14. The side of the groove is provided with a slide groove II corresponding to the sliding rod and connected to the groove; the driving mechanism II is composed of a wire sleeve II 21 fixed on the upper surface of the corresponding left and right longitudinal lifting rods 17 and 15 above the slide groove II, and a lead screw II 22 passed through the wire sleeve II 21. The two ends of the lead screw II 22 are supported on the two ends of the sliding rod 25 or the sliding rod 20, and one end is connected to a driving motor II (omitted in the figure). A horizontal slot is provided in the seat body, and an avoidance opening 29 communicating with the horizontal slot is provided on the upper surface of the seat body, and a side opening communicating with the horizontal slot is provided on the side of the seat body facing away from the sliding rod (see Fig. 9 The structure shown in the sequence number 42 in the figure), one end of the left and right front lifting rods 23 and 24 is inserted into the horizontal slot of the seat body, and the driving mechanism III is a hydraulic push rod 19 fixed on the upper surface of the seat body. The end of the telescopic rod of the hydraulic push rod 19 is provided with a connecting piece 28, and the lower end of the connecting piece 28 passes through the avoidance opening 29 to connect with the left and right front lifting rods. The pushing stroke direction of the hydraulic push rod 19 is parallel to the length direction of the left and right longitudinal lifting rods 17 and 15. The left and right longitudinal lifting rods 17 and 15 are provided with a cavity 30 at the side opening position corresponding to the seat body, and the left and right front lifting rods 23 and 24 are provided with a convex block (blocked in the figure) inserted into the cavity 30 under the pushing action of the hydraulic push rod 19 at the side opening position corresponding to the seat body. After the convex block is inserted into the cavity 30, on the one hand, the gap between the front clamp 14 and the front wheel of the aircraft is eliminated, and on the other hand, the weight of the front wheel of the aircraft and the fuselage can be directly transferred to the left and right longitudinal lifting rods to transfer the load to the supporting turntable and the vehicle beam. The opposite ends of the left and right front lifting rods 23 and 24 are provided with male and female connectors II 27. When the left and right front lifting rods 23 and 24 move toward each other to the end point, they are connected as a whole through the male and female connectors II 27.

[0044] The vehicle body 1 is provided with a U-shaped avoidance gap 2 on the side corresponding to the left and right movable beams 7 and 8, and the front and rear clamping blocks 14 and 13 are located in the avoidance range of the U-shaped avoidance gap 2 in the horizontal direction. The upper surface of the support turntable 11 is lower than the upper surface of the left and right longitudinal beams 3 and 4, and the power supply battery pack 31 is supported above the left and right longitudinal beams 3 and 4 after jumping over the support turntable 11, and the structure is compact.

[0045] The electrical and intelligent control system (omitted in the figure) includes an intelligent control module, a signal acquisition module connected to the intelligent control module, and a wireless signal receiving and sending module; the signal acquisition module is used to collect vehicle driving environment information, including vehicle position information, distance information between surrounding objects and the vehicle, vehicle movement speed information, and movement direction information; the intelligent control module determines whether the vehicle is in a dangerous state based on the driving environment information transmitted by the acquisition module, and issues normal driving, deceleration or stop instructions, as well as card lifting and reverse reset instructions to the vehicle; the wireless signal receiving and sending module establishes communication with the airport flight control system, receives instructions and transmits them to the intelligent control module, so that the vehicle drives to the specified position according to the instructions, and sends vehicle condition information to the airport flight control system during the driving process to realize remote monitoring. The electrical and intelligent control system completes the towing of aircraft operations, returns to the maintenance warehouse for charging, and transfers the work area according to the instructions issued by the airport flight control system.

[0046] The vehicle body 1 and chassis are important parts of the vehicle that bear the weight of itself and the front half of the aircraft. The power supply battery pack on the vehicle body 1 provides electricity. The power supply battery pack is a lithium battery assembly or a hydrogen fuel cell assembly. The hydrogen fuel cell can effectively solve the problem of low efficiency of lithium batteries in winter in northern regions. The intelligent control module controls the vehicle body's stationary, starting, driving, deceleration and other links. The speed of towing / pushing and pulling the aircraft is not more than 15KM / H, and the no-load driving speed is not more than 50KM / H; the steering, transmission, and braking systems have the same basic functions as general vehicles. Since the vehicle is unmanned, some interface components such as steering wheels and pedals do not need to be configured.

[0047] Combined with actual application (taking the working process of launching an aircraft as an example), the working principle is as follows:

[0048] Initially: According to information such as the flight departure plan, the vehicle reaches the parking position by issuing instructions. The signal acquisition module and intelligent control module on the vehicle accurately control the vehicle to move forward, so that the front wheel of the aircraft enters the avoidance range corresponding to the U-shaped avoidance gap 2 of the vehicle body. The lower end of the lifting actuator 12 extends outward, and the lifting frame moves downward. The front and rear clamping blocks 14 and 13 then drop close to the ground. The vehicle continues to move forward slowly until the two rear clamping blocks 13 are closely attached to the rear edge of the front wheel of the aircraft and then stop. At this time, in order to achieve the purpose of avoiding the front wheel of the aircraft, the two front clamping blocks 14 are pre-reached by the left and right front lifting rods 23 and 24 to the left and right longitudinal lifting rods 17 and 15 on both sides, and the left and right movable beams 7 and 8 are also located on both sides of the left and right longitudinal beams 3 and 4.

[0049] Lifting: After receiving the next control command, the left and right front lifting rods 23, 24 move toward each other under the drive of the left and right sliding seats 18, 26 until the male and female connectors II 27 at the opposite ends of the left and right front lifting rods 23, 24 are plugged in and matched, and at the same time, the left and right movable beams 7, 8 move toward each other until the male and female connectors I at the opposite ends of the left and right movable beams 7, 8 are plugged in and matched; the hydraulic push rod 19 is started to push the left and right front lifting rods 23, 24 to move toward the front wheel side of the aircraft until the front clamping block 14 is tightly fitted with the front edge of the front wheel of the aircraft and then stops, and the protrusions at the ends of the left and right front lifting rods 23, 24 are inserted into the cavities 30 of the left and right longitudinal lifting rods 17, 15; the lower end of the lifting actuator 12 retracts, the front wheel of the aircraft is stuck and lifted about 10mm from the ground, and the weight of the front wheel and the front fuselage of the aircraft is transmitted through the lifting frame and the supporting turntable 11 and borne by the chassis of the vehicle.

[0050] Push-out movement: After receiving the next control instruction, the vehicle automatically moves (drives) according to the preset specific aircraft position information, and pushes the aircraft to the starting point of the aircraft position quickly and accurately. Since the support turntable 11 can rotate freely around the annular support beam 5, the front wheels of the aircraft will not deflect relative to the fuselage during the movement, and there will be no relative rotation at the contact position with the vehicle, so there is no need to install a turning release pin.

[0051] Pushed into place: the aircraft is accurately pushed to the starting point, the lifting frame puts the front wheels of the aircraft down to the ground, the protrusions at the ends of the left and right front lifting rods 23, 24 withdraw from the cavities 30 of the left and right longitudinal lifting rods, the left and right movable beams 7, 8 move in opposite directions, the left and right front lifting rods 23, 24 move in opposite directions with the left and right sliding seats 18, 26, the aircraft front wheel retreat channel is opened, the lifting actuator 12 contracts again to make the lifting frame away from the ground, and then the vehicle retreats and evacuates the starting position area.

[0052] Example 2

[0053] like Figure 7-10As shown, the front part of the left and right longitudinal beams 3 and 4 of the green airport intelligent aircraft tractor is provided with a widened support seat 33 corresponding to the left and right movable beams 7 and 8, and the left and right movable beams 7 and 8 are provided with a slide rail structure I34 matched with the widened support seat 33. The left and right movable beams 7 and 8 slide along the widened support seat 33 through the slide rail structure I34. The driving mechanism I is composed of a driving motor I39 fixedly connected to the widened support seat 33, a gear I40 fixed on the output shaft of the driving motor I39, and a rack structure I41 provided on the left and right movable beams 7 and 8 and meshing with the gear I40. The rack structure I41 is located on the side of the left and right movable beams 7 and 8 facing away from the slide rail structure I34. After the driving motor I39 drives the gear I40 to rotate, the gear I40 drives the left and right movable beams 7 and 8 to slide along the widened support seat 33 through the rack structure I41. The facing ends of the left and right movable beams 7 and 8 are plugged together through male and female connectors Ⅰ32.

[0054] The left sliding seat 18 is respectively composed of a seat body and a sliding rod 25 arranged on the side of the seat body, and the right sliding seat 26 is respectively composed of a seat body and a sliding rod 20 arranged on the side of the seat body. The front ends of the left and right longitudinal lifting rods 17 and 15 are provided with grooves corresponding to the seat body, and the width of the groove is greater than the width of the front clamping block 14, so that the front clamping block 14 can pass through. The side of the groove is provided with a slide groove II corresponding to the sliding rod and connected to the groove. The sliding rods 25 and 20 are provided with a slide rail structure II38 matched with the slide groove II. The driving mechanism II is composed of a driving motor II36 fixed on the side of the slide groove II, a gear II37 fixed on the output shaft of the driving motor II36, and a rack structure II35 arranged on the sliding rod and meshed with the gear II37. After the driving motor II36 drives the gear II37 to rotate, the gear II37 drives the sliding rod to slide along the slide groove II through the rack structure II35.

[0055] The rest is the same as in Example 1.

[0056] The above embodiments of the present invention are described in detail, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the invention should still fall within the scope of this patent.

Claims

1. A green airport intelligent aircraft tractor, including a body, a chassis, an electrical and intelligent control system, characterized in that: The vehicle body comprises parallel left and right longitudinal beams, and an annular support beam arranged between the left and right longitudinal beams. The position of the annular support beam corresponding to the front side of the vehicle body is a movable end and left and right movable beams are arranged at the movable end. The left and right movable beams are respectively supported on the left and right longitudinal beams and a driving mechanism I is further arranged between the left and right longitudinal beams and the left and right movable beams. The movement trajectory of the left and right movable beams is perpendicular to the length direction of the left and right longitudinal beams. The chassis comprises a supporting turntable arranged above the annular support beam and matched therewith. The position of the supporting turntable corresponding to the movable end of the annular support beam is an open end. The lower surface of the supporting turntable is connected to a plurality of retractable lifting actuators. The lower end of each lifting actuator is connected to a lifting frame. The lifting frame comprises left and right lifting beams. A right longitudinal lifting rod, a rear lifting rod connected between the rear ends of the left and right longitudinal lifting rods, a left and right sliding seat provided at the front ends of the left and right longitudinal lifting rods, a left and right front lifting rod provided on the left and right sliding seats, a rear clamping block provided on the rear lifting rod, and a front clamping block provided on the left and right front lifting rods. A driving mechanism II is provided between the left and right sliding seats and the left and right longitudinal lifting rods. The motion trajectories of the left and right sliding seats are perpendicular to the length directions of the left and right longitudinal lifting rods. A driving mechanism III is provided between the left and right front lifting rods and the left and right sliding seats. The motion trajectories of the left and right front lifting rods are parallel to the length directions of the left and right longitudinal lifting rods. The rear clamping block corresponds to the front clamping block. A power supply battery pack connected to the electrical and intelligent control system is also provided on the vehicle body and chassis; The front part of the left and right longitudinal beams is provided with a slide groove I corresponding to the left and right movable beams, and the driving mechanism I is composed of a thread sleeve I fixed on the upper surface of the left and right longitudinal beams above the slide groove I, and a lead screw I inserted in the thread sleeve I. Both ends of the lead screw I are supported on the left and right movable beams and one end is connected to a driving motor I. After the driving motor I drives the lead screw I to rotate, since the thread sleeve I is fixed, the lead screw I drives the left and right movable beams to slide along the slide groove I of the left and right longitudinal beams; or, the front part of the left and right longitudinal beams is provided with a thread sleeve I corresponding to the left and right movable beams. A widened support seat of the movable beam, wherein the left and right movable beams are provided with a slide rail structure I matched with the widened support seat, and the left and right movable beams slide along the widened support seat through the slide rail structure I, and the driving mechanism I is composed of a driving motor I fixedly connected to the widened support seat, a gear I fixed on the output shaft of the driving motor I, and a rack structure I provided on the left and right movable beams and meshing with the gear I. After the driving motor I drives the gear I to rotate, the gear I drives the left and right movable beams to slide along the widened support seat through the rack structure I; The left and right sliding seats are respectively composed of a seat body and a sliding rod arranged on the side of the seat body. The front ends of the left and right longitudinal lifting rods are provided with grooves corresponding to the seat body. The width of the groove is greater than the width of the front clamping block to facilitate the passage of the front clamping block. The side of the groove is provided with a slide groove II corresponding to the sliding rod and connected to the groove; the driving mechanism II is composed of a silk sleeve II fixed on the upper surface of the corresponding left and right longitudinal lifting rods above the slide groove II, and a lead screw II passed through the silk sleeve II. Both ends of the lead screw II are supported on both ends of the sliding rod and one end is connected to a driving motor II; or, the sliding rod is provided with a slide rail structure II that cooperates with the slide groove II, and the driving mechanism II is composed of a driving motor II fixed on the side of the slide groove II, a gear II fixed on the output shaft of the driving motor II, and a rack structure II arranged on the sliding rod and meshing with the gear II. After the driving motor II drives the gear II to rotate, the gear II drives the sliding rod to slide along the slide groove II through the rack structure II.

2. The green airport intelligent aircraft tractor according to claim 1 is characterized by: There are two rear clamping blocks and two front clamping blocks respectively. The two front clamping blocks are respectively fixed on the left and right front lifting rods. The opposite surfaces of the front and rear clamping blocks are arc surfaces matching the circumference of the front wheels of the aircraft.

3. The green airport intelligent aircraft tractor according to claim 1 is characterized by: A plurality of roller assemblies are evenly arranged on the lower surface of the support turntable, and an annular groove corresponding to the roller is arranged on the annular support beam, so that the support turntable can rotate along the annular groove on the annular support beam.

4. The green airport intelligent aircraft tractor according to claim 1 is characterized by: The opposite ends of the left and right movable beams are provided with male and female connectors I. When the left and right movable beams move toward each other to the end point, they are connected as a whole through the male and female connectors I.

5. The green airport intelligent aircraft tractor according to claim 1 is characterized by: A horizontal slot is provided in the seat body, and an avoidance opening communicated with the horizontal slot is provided on the upper surface of the seat body; a side opening communicated with the horizontal slot is provided on the side of the seat body facing away from the sliding rod; one end of the left and right front lifting rods are inserted into the horizontal slot of the seat body; the driving mechanism III is a hydraulic push rod fixed on the upper surface of the seat body; a connecting piece is provided at the end of the telescopic rod of the hydraulic push rod; the lower end of the connecting piece passes through the avoidance opening and is connected with the left and right front lifting rods; the pushing stroke direction of the hydraulic push rod is parallel to the length direction of the left and right longitudinal lifting rods; a cavity is provided at the side opening position of the left and right longitudinal lifting rods corresponding to the seat body; a protrusion is provided at the side opening position of the seat body corresponding to the left and right front lifting rods, which is inserted into the cavity under the pushing action of the hydraulic push rod; after the protrusion is inserted into the cavity, on the one hand, the gap between the front clamp and the front wheel of the aircraft is eliminated; on the other hand, the weight of the front wheel of the aircraft and the fuselage can be directly transferred to the left and right longitudinal lifting rods, so as to transfer the load to the supporting turntable and the vehicle beam.

6. The green airport intelligent aircraft tractor according to claim 1 is characterized by: The opposite ends of the left and right front lifting rods are provided with male and female connectors II. When the left and right front lifting rods move toward each other to the end point, they are connected as a whole through the male and female connectors II.

7. The green airport intelligent aircraft tractor according to claim 1 is characterized by: The shell of the vehicle body is provided with a U-shaped avoidance gap on the left and right movable beam sides corresponding to the left and right movable beams, and the front and rear clamping blocks are located in the avoidance range of the U-shaped avoidance gap in the horizontal direction.

8. The green airport intelligent aircraft tractor according to claim 1 is characterized by: The electrical and intelligent control system includes an intelligent control module, a signal acquisition module connected to the intelligent control module, and a wireless signal receiving and sending module; the signal acquisition module is used to collect vehicle driving environment information, including vehicle position information, distance information between surrounding objects and the vehicle body, vehicle movement speed information, and movement direction information; the intelligent control module determines whether the vehicle body is in a dangerous state based on the driving environment information transmitted by the acquisition module, and sends normal driving, deceleration or stop instructions, as well as card lifting and reverse reset instructions to the vehicle body; the wireless signal receiving and sending module establishes communication with the airport flight control system, receives instructions and transmits them to the intelligent control module, so that the vehicle body drives to the specified position according to the instructions, and sends vehicle condition information to the airport flight control system during the driving process to achieve remote monitoring.

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