A wheel chocking device for an aircraft tug

Abstract

The application discloses a wheel-holding device of an airplane towing vehicle, which comprises a vehicle body, a base turntable, a load-bearing bottom plate, a mechanical arm and a clamping push plate. The base turntable is transversely arranged in an opening and is in sliding connection with the inner side of the opening, so that the base turntable can rotate around its center along the circumference of the opening. When the wheel is held and fixed with the base turntable as a whole, the airplane and the towing vehicle can be followed, and the operation is simple. The load-bearing bottom plate, the mechanical arm and the clamping push plate are cooperated with each other, so that the load-bearing surface of the load-bearing bottom plate is inclined in the initial state, and the rear end can be in contact with the lower part of the wheel. In the in-place state, the load-bearing surface is horizontal to support the wheel. The wheel is smoothly transferred to the load-bearing bottom plate and is lifted. The working process is stable. In addition, the lifting height of the wheel is determined by the height of the rotating shaft around which the load-bearing bottom plate is turned. Compared with the prior art, the lifting height of the wheel can be higher, and the application range is wider.

Description

Technical Field

[0001] This invention relates to the field of aircraft tractor technology, and more specifically to a wheel-holding device for an aircraft tractor. Background Technology

[0002] Before entering the runway, an aircraft needs to taxi a considerable distance. This taxiing relies on the air thrust generated by its jet engines, which consumes excessive fuel. Therefore, to save costs, a towing trolley is typically used to tow or push the aircraft. Furthermore, since most aircraft lack reverse gear, the towing trolley becomes even more crucial during ground movement.

[0003] Currently, towing vehicles are mainly divided into pole-mounted aircraft towing vehicles and poleless aircraft towing vehicles based on their towing methods. Compared with pole-mounted vehicles, poleless vehicles do not require a matching towing rod, have a smaller turning radius, and lower operating costs. However, the existing wheel-holding devices of poleless aircraft towing vehicles have a relatively complex structure and cause severe vibration during operation, resulting in poor stability and limited lifting height for the aircraft wheels. Considering the impact on aircraft safety, the aircraft wheels cannot be lifted more than 30 centimeters using current wheel-holding devices, thus limiting their applicability. Summary of the Invention

[0004] The purpose of this invention is to provide a wheel clamping device for an aircraft towing vehicle, in order to solve the problems of poor stability and limited lifting height of existing wheel clamping devices.

[0005] To achieve the above objectives, the present invention provides a wheel-clamping device for an aircraft towing vehicle. The wheel-clamping device includes: a vehicle body, a base turntable, a load-bearing base plate, a robotic arm, and a clamping push plate; the rear end of the vehicle body is recessed inward to form an opening, the inner side of which is an arc surface; the base turntable is laterally arranged within the opening and slidably connected to the inner side of the opening so that the base turntable can rotate around its own center along the circumference of the opening, and a clearance opening is provided at the rear end of the base turntable; the rear part of the load-bearing base plate is located at the clearance opening and hinged to the base turntable, and a first hydraulic cylinder is hinged to the platform of the base turntable, the output end of the first hydraulic cylinder being connected to the load-bearing base plate to drive the load-bearing base plate to rotate, the load-bearing base plate in its initial state The load-bearing surface is inclined and the rear end can contact the lower part of the wheel. When the load-bearing base plate is in the correct position, its load-bearing surface is horizontal to support the wheel. There are two sets of robotic arms, which are located on the left and right sides of the load-bearing base plate respectively. The robotic arm includes a first link, a second link, and a clamping rod that are hinged in sequence. The first link is hinged to the platform of the base turntable. The robotic arm also includes a second hydraulic cylinder that drives the first link to swing back and forth, a third hydraulic cylinder that drives the second link to swing back and forth, and a fourth hydraulic cylinder that drives the clamping rod to rotate towards the center. The clamping push plate is connected to the clamping rod to rotate with the clamping rod. When the load-bearing base plate is in the correct position, the clamping push plate and the front part of the load-bearing base plate clamp the wheel.

[0006] This invention provides a wheel-holding device for an aircraft towing vehicle, comprising a vehicle body, a base turntable, a load-bearing base plate, a robotic arm, and a clamping push plate. The base turntable is laterally arranged within an opening and slidably connected to the inner side of the opening, allowing it to rotate circumferentially around its center. When the aircraft wheels are held and fixed to the base turntable as a single unit, the aircraft and towing vehicle can move together, enabling the towing vehicle to drive the aircraft forward and backward. Turning maneuvers are controlled by maneuvering the aircraft wheels. The turning process is controlled by the aircraft pilot, saving manpower, simplifying operation, reducing the possibility of accidents, and ensuring towing safety.

[0007] The rear of the load-bearing base plate is located at the clearance opening and hinged to the base turntable. The first hydraulic cylinder drives the load-bearing base plate to flip. In the initial state, its load-bearing surface is inclined and the rear end can contact the lower part of the wheel, thereby using part of the aircraft's mass to increase the friction between the tractor wheel and the bottom surface, reducing fuel consumption and extending the service life of the wheel-holding device. The load-bearing base plate can be equivalent to a shovel to lift the wheel. In the position, the load-bearing surface of the load-bearing base plate is horizontal to support the wheel. The wheel is smoothly transferred to the load-bearing base plate and lifted. The working process is stable. In addition, the lifting height of the wheel in this wheel-holding device is determined by the height of the pivot around which the load-bearing base plate flips. The height of the pivot can be designed according to actual needs. Compared with the existing technology, the lifting height of the wheel can be higher and the application range is wider.

[0008] Two sets of robotic arms and clamping push plates work together, moving in tandem with the flipping motion of the load-bearing base plate. Specifically, the wheel is first clamped using the clamping push plate and the inclined load-bearing base plate. Then, the load-bearing base plate flips to its final position. During this process, the robotic arms swing flexibly, causing the clamping push plate to move the wheel and finally lift and clamp it. The clamping push plate can rotate with the clamping rod, maximizing the contact area with the wheel and facilitating a close fit. The working process of this wheel clamping device differs from the existing simple push-pull method. During the lifting of the wheel, the clamping push plate is in close contact with the wheel, thereby reducing vibration and making the working process more stable.

[0009] Therefore, this wheel-holding device has the advantages of simple operation, safety, stable operation, long service life, high lifting height, and wide applicability.

[0010] Preferably, a rotating motor is provided on the clamping rod, and the motor shaft of the rotating motor is fixedly connected to the clamping push plate.

[0011] By incorporating a rotating motor, the clamping push plate can slightly adjust its angle as the machine wheel moves during the pushing process, thereby better fitting the machine wheel, further reducing vibration, and ensuring the stability of the working process.

[0012] Preferably, the load-bearing base plate includes, from back to front, a bent shovel plate, a support plate, and a baffle plate. The bent portion between the shovel plate and the support plate is located at the clearance opening and is hinged to the base turntable. When the load-bearing base plate is in the correct position, it clamps the push plate and the baffle plate to clamp the machine wheel.

[0013] The load-bearing base plate is bent, making it easier for the shovel to contact the underside of the wheels in the initial state, preparing for the lifting operation. At the same time, part of the aircraft's mass is used to increase the friction between the wheels and the ground, reduce fuel consumption, and extend the service life of the wheel clamping device. The shovel can smoothly transition the wheels onto the support plate. In the correct position, the wheels can be limited by the baffle, and the clamping push plate and baffle will hold the wheels together, facilitating subsequent traction operations.

[0014] Preferably, the baffle has a bent structure.

[0015] The baffle has a bent structure that can limit the wheel in multiple directions, ensuring the stability of the wheel after it is in place, reducing unnecessary vibration during traction, and improving the stability of the working process.

[0016] Preferably, a force sensor is installed on the load-bearing surface of the load-bearing base plate, and a first rotation angle sensor is installed on the clamping surface of the clamping push plate. The force sensor and the first rotation angle sensor cooperate to detect the clamping force on the aircraft wheel and feed it back to the control system of the aircraft towing vehicle.

[0017] By using a force sensor in conjunction with a first rotation angle sensor to detect the clamping force on the aircraft wheels and feeding it back to the control system of the aircraft towing vehicle, the safety of clamping the aircraft wheels can be ensured, and the accuracy of the working process can be guaranteed.

[0018] Preferably, the base turntable is equipped with a second angle sensor, which detects the angle data when the wheels turn and feeds it back to the control system of the aircraft towing vehicle.

[0019] Using a second corner sensor allows the aircraft pilot to control the aircraft wheels during turns, with the towing vehicle following suit. This ensures accurate and stable operation, saves manpower, and reduces the possibility of accidents.

[0020] Preferably, one of the outer periphery of the base turntable and the inner side of the opening is provided with a protrusion, and the other of the two is provided with a groove extending circumferentially along the opening, with the protrusion slidingly disposed in the groove.

[0021] Preferably, a sliding base is installed in the groove, and a sliding guide rail that mates with the sliding base is provided on the protrusion.

[0022] The base turntable can rotate flexibly by the cooperation of protrusions and grooves. By setting a sliding base and sliding guide rail, the rotation sensitivity of the base turntable is further improved, ensuring the stability of the working process.

[0023] Preferably, the clamping surface of the clamping push plate is arc-shaped to clamp the machine wheel.

[0024] By designing the clamping surface of the clamping push plate as an arc surface, the clamping push plate can better fit with the tire surface of the wheel, reducing unnecessary vibration during the pushing process. After the wheel is in place, it can firmly clamp the wheel, preventing the wheel from moving during traction, ensuring that the tractor and the aircraft operate synchronously, and completing forward, backward, and turning actions more stably, thereby improving traction efficiency and traction accuracy.

[0025] Preferably, the clamping surface of the clamping push plate is provided with anti-slip protrusions.

[0026] By incorporating anti-slip protrusions, the friction between the clamping push plate and the aircraft wheel is increased, thereby ensuring the stability of the overall structure during the process of the clamping push plate pushing the wheel and after the wheel is in position. This ensures that the tractor and the aircraft operate synchronously, enabling more stable forward, backward, and turning maneuvers. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0028] Figure 1 This is a perspective view of the wheel clamping device in one embodiment of the present invention.

[0029] Figure 2 This is a top view of the wheel clamping device in one embodiment of the present invention.

[0030] Figure 3 This is a cross-sectional structural schematic diagram of the wheel-lifting and wheel-holding device in one embodiment of the present invention.

[0031] Figure 4 This is a three-dimensional structural diagram of the wheel-lifting and wheel-holding device in one embodiment of the present invention.

[0032] Figure 5 This is a cross-sectional view of the roller clamping device in one embodiment of the present invention.

[0033] Figure 6 for Figure 5 Enlarged schematic diagram of part A in the middle.

[0034] Explanation of reference numerals in the attached figures:

[0035] 10-Car body, 11-Wheel, 12-Opening, 13-Groove, 133-Sliding base;

[0036] 20 - Base turntable, 21 - Protrusion, 211 - Sliding guide rail;

[0037] 30-Bearing base plate, 31-Scrap plate, 32-Support plate, 321-Protruding part, 33-Baffle;

[0038] 40-robotic arm, 41-first link, 42-second link, 43-gripping rod, 433-rotating motor, 44-second hydraulic cylinder, 45-third hydraulic cylinder, 46-fourth hydraulic cylinder;

[0039] 50-Clamping push plate;

[0040] 60 - First hydraulic cylinder;

[0041] 70-Machine wheel. Detailed Implementation

[0042] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0043] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0044] In one implementation, such as Figure 1 , Figure 2As shown, a wheel-holding device for an aircraft towing vehicle includes: a vehicle body 10, a base turntable 20, a load-bearing base plate 30, a robotic arm 40, and a clamping push plate 50; wheels 11 are respectively installed on both sides of the vehicle body 10, the front end of the vehicle body 10 is connected to the aircraft towing vehicle, and the rear end of the vehicle body 10 is recessed inward to form an opening 12, the inner surface of the opening 12 being an arc surface; the base turntable 20 is arranged laterally within the opening 12 and is slidably connected to the inner surface of the opening 12 so that the base turntable 20 can rotate around its own center along the circumference of the opening 12, and a clearance opening is provided at the rear end of the base turntable 20; the rear part of the load-bearing base plate 30 is located at the clearance opening and is hinged to the base turntable 20, and a first hydraulic cylinder 60 is hinged to the platform of the base turntable 20, the output end of the first hydraulic cylinder 60 is connected to the load-bearing base plate 30 to drive the load-bearing base plate 30 to rotate, bearing... In its initial state, the load-bearing surface of the base plate 30 is inclined and its rear end can contact the lower part of the wheel. In its final state, the load-bearing surface of the base plate 30 is horizontal to support the wheel. There are two sets of robotic arms 40, which are located on the left and right sides of the base plate, respectively. The robotic arm 40 includes a first connecting rod 41, a second connecting rod 42, and a clamping rod 43 that are hinged in sequence. The first connecting rod 41 is hinged to the table surface of the base turntable 20. The robotic arm 20 also includes a second hydraulic cylinder 44 that drives the first connecting rod 41 to swing back and forth, a third hydraulic cylinder 45 that drives the second connecting rod 42 to swing back and forth, and a fourth hydraulic cylinder 46 that drives the clamping rod 43 to rotate toward the center. The clamping push plate 50 is connected to the clamping rod 43 to rotate with the clamping rod 43. In its final state, the clamping push plate 50 and the front part of the base plate 30 clamp the wheel.

[0045] like Figure 1 , Figure 2 As shown, in a preferred embodiment, a rotating motor 433 is provided on the clamping rod 43, and the motor shaft of the rotating motor 433 is fixedly connected to the clamping push plate 50.

[0046] like Figure 1 , Figure 2 As shown, in a preferred embodiment, a force sensor is installed on the load-bearing surface of the load-bearing base plate 30, and a first angle sensor is installed on the clamping surface of the clamping push plate 50. The force sensor and the first angle sensor cooperate to detect the clamping force on the aircraft wheels and feed it back to the control system of the aircraft towing vehicle. Preferably, a second angle sensor is installed on the base turntable 20. The second angle sensor detects the angle data when the aircraft wheels turn and feeds it back to the control system of the aircraft towing vehicle.

[0047] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 The working principle of the wheel-holding device for the aircraft tractor provided in this embodiment is as follows:

[0048] First, based on the aircraft wheel position, the tractor driver moves the tractor equipped with this wheel-holding device to the working position, ensuring that the aircraft wheels are aligned with the central axis of the vehicle body 10 on the device. Then, under the control of the tractor's control system, the device is activated, causing the first hydraulic cylinder 60 on the base turntable 20 to extend, thereby causing the load-bearing base plate 30 to rotate upwards to its initial state. Then, the tractor reverses, allowing the aircraft wheels to enter the opening 12 of the vehicle body 10, ensuring that the lower part of the wheels contacts the load-bearing base plate 30. In the initial state, the load-bearing surface of the base plate is inclined, and its rear end can contact the lower part of the wheels. Figure 1 , 2 The state is shown. Subsequently, the second hydraulic cylinder 44 and the third hydraulic cylinder 45 extend, causing the first connecting rod 41 and the second connecting rod 42 to swing back and forth, moving the wheel-holding device forward to the predetermined working position. At the same time, the fourth hydraulic cylinder 46 extends, causing the clamping rod to rotate towards the center. Simultaneously, the rotating motor 433 rotates, adjusting the angle of the clamping push plate 50 so that it contacts the other side of the aircraft wheel and clamps the aircraft wheel. Then, the second hydraulic cylinder 44, the third hydraulic cylinder 45, and the fourth hydraulic cylinder 46 retract, driving the wheel-holding device to operate. The load-bearing base plate 30 flips, lifting the aircraft wheel. During this period, the fourth hydraulic cylinder 46 ensures sufficient clamping force, and the rotating motor 433 adjusts the angle of the clamping push plate 50 to ensure that the aircraft wheel does not fall off. When the load-bearing base plate 30 lifts the aircraft wheel and flips to a horizontal position, the first hydraulic cylinder 60 stops retracting. At this time, the load-bearing base plate 30 rests completely on the base turntable 20, distributing the force and extending the working life of the device. Subsequently, the second hydraulic cylinder 44 and the third hydraulic cylinder 45 continue to slowly retract, pushing the aircraft wheels horizontally until they contact the front of the load-bearing base plate 30, at which point the load-bearing base plate 30 reaches its designated position. Figure 3 , 4 As shown, the clamping push plate 50 and the front of the load-bearing base plate 30 clamp the machine wheel 70, and the wheel clamping process is completed.

[0049] Once the aircraft is towed to the correct position, the tow tractor needs to smoothly lower the aircraft wheels 70. First, the first hydraulic cylinder 60, the second hydraulic cylinder 44, and the third hydraulic cylinder 45 extend in coordination, causing the load-bearing base plate 30 to tilt slowly, lifting the aircraft wheels 70. Once the load-bearing base plate 30 reaches the predetermined position, the first hydraulic cylinder 60 stops moving, while the second and third hydraulic cylinders 44 and 45 continue to extend. The rotating motor 433 drives the clamping push plate 50 to ensure the mechanism remains clamped on the wheels 70. Simultaneously, the wheel-holding device moves forward, and the aircraft wheels 70 slowly descend until they contact the ground. Then, the fourth hydraulic cylinder 46 retracts, causing the clamping rod to flip and release the wheels 70. Next, the second and third hydraulic cylinders 44 and 45 retract, causing the wheel-holding device to move backward and retract, leveling the load-bearing base plate 30.

[0050] In addition, during the above operation, force sensors are used to detect the clamping force between the load-bearing base plate 30 and the clamping push plate 50 and the aircraft wheel 70 in real time. Simultaneously, based on the first angle sensor on the clamping push plate 50, the angle between the clamping push plate 50 and the wheel 70 is constantly adjusted to maximize the contact area, thereby ensuring the safety of gripping the aircraft wheel 70. A second angle sensor is installed on the base turntable 20. This second angle sensor detects the angle data of the wheel 70 during turning and feeds it back to the control system of the aircraft towing vehicle. Using the second angle sensor allows the aircraft pilot to control the rotation of the aircraft wheel 70 during turning, with the towing vehicle body 10 following suit. This ensures accurate and stable operation, saves manpower, and reduces the possibility of accidents.

[0051] The advantages of the wheel-holding device for the aircraft tractor provided in this embodiment are as follows:

[0052] The wheel-holding device includes a vehicle body 10, a base turntable 20, a load-bearing base plate 30, a robotic arm 40, and a clamping push plate 50. The base turntable 20 is laterally arranged within the opening 12 and slidably connected to the inner side of the opening 12, allowing it to rotate around its center along the circumference of the opening 12. When the aircraft wheel 70 is held and fixed to the base turntable 20 as a whole, the aircraft and the towing vehicle can move together, enabling the towing vehicle to drive the aircraft forward and backward. Turning maneuvers are controlled by rotating the aircraft wheel 70. The turning process is controlled by the aircraft pilot, saving manpower, simplifying operation, reducing the possibility of accidents, and ensuring towing safety.

[0053] The rear of the load-bearing base plate 30 is located at the clearance opening and hinged to the base turntable 20. The first hydraulic cylinder 60 drives the load-bearing base plate 30 to rotate. In the initial state, its load-bearing surface is inclined and the rear end can contact the lower part of the wheel 70, thereby using part of the aircraft's mass to increase the friction between the tractor wheel and the bottom surface, reducing fuel consumption and extending the service life of the wheel clamping device. The load-bearing base plate 30 can be equivalent to a shovel to lift the wheel 70. In the position, the load-bearing surface of the load-bearing base plate 30 is horizontal to support the wheel 70. The wheel 70 is smoothly transferred onto the load-bearing base plate 30 and lifted. The working process is stable. In addition, the lifting height of the wheel 70 in this wheel clamping device is determined by the height of the pivot around which the load-bearing base plate 30 rotates. The height of the pivot can be designed according to actual needs. Compared with the prior art, the lifting height of the wheel 70 can be higher and the application range is wider.

[0054] Two sets of robotic arms 40 and clamping push plates 50 work together and can move in tandem with the flipping motion of the load-bearing base plate 30. Specifically, the clamping push plate 50 and the inclined load-bearing base plate 30 first clamp the wheel 70, and then the load-bearing base plate 30 flips to the near-positioned state. During this process, the robotic arms 40 swing flexibly to make the clamping push plate 50 push the wheel 70 to move, and finally lift and clamp the wheel 70. The clamping push plate 50 can rotate with the clamping rod to maximize the contact area with the wheel 70, which is conducive to fitting the wheel 70. The working process of this wheel clamping device is different from the existing simple push-pull method. During the lifting of the wheel 70, the clamping push plate 50 fits against the wheel 70, which can reduce vibration and make the working process more stable.

[0055] By setting a rotating motor 433, the clamping push plate 50 can slightly adjust its angle as the machine wheel 70 moves during the pushing process, thereby better fitting the machine wheel 70, further reducing vibration and ensuring the stability of the working process.

[0056] In summary, the wheel-holding device provided in this embodiment has the advantages of simple operation, safety, stable operation, long service life, high lifting height, and wide applicability.

[0057] This invention does not limit the fixed position of each hydraulic cylinder, such as... Figure 1 As shown, in a preferred embodiment, the projection of the first hydraulic cylinder 60 on the base turntable 20 coincides with the central axis of the vehicle body 10 to ensure that the load-bearing base plate 30 can be stably rotated and the wheels can be lifted; the fixed ends of the two second hydraulic cylinders 44 are symmetrically positioned on the platform of the base turntable to ensure that the robotic arm can swing flexibly; the third hydraulic cylinder 45 is connected to the fixed end of the first connecting rod 41 and is fixed on the platform of the base turntable 20, which is compact, reliable and flexible in operation.

[0058] The present invention does not limit the shape of the load-bearing base plate 30, such as Figure 5 As shown, in a preferred embodiment, the load-bearing base plate 30 includes, from back to front, a bent shovel plate 31, a support plate 32, and a baffle plate 33. The bent portion between the shovel plate 31 and the support plate 32 is located at the clearance opening and hinged to the base turntable 20. When the load-bearing base plate 30 is in its positioned state, refer to... Figure 4 The clamping push plate 50 and the baffle 33 clamp the machine wheel 70.

[0059] More preferably, the baffle 33 has a bent structure.

[0060] The load-bearing base plate 30 is bent, making it easier for the shovel plate to contact the underside of the wheel 70 in the initial state, preparing for the lifting operation. Simultaneously, the aircraft's mass increases the friction between the wheel and the ground, reducing fuel consumption and extending the service life of the wheel clamping device. The shovel plate allows the wheel 70 to transition more smoothly onto the support plate. In the positioned state, the wheel 70 can be limited by the baffle, and the clamping push plate 50 and the baffle hold the wheel 70 together, facilitating subsequent traction operations. The bent structure of the baffle allows for multi-directional limitation of the wheel 70, ensuring stability after the wheel 70 is positioned, reducing unnecessary vibration during traction, and improving the stability of the working process.

[0061] like Figure 5 As shown, the support plate 32 has a protrusion 321 to provide sufficient connection space for the first hydraulic cylinder 60 while avoiding increasing the overall mass.

[0062] The present invention does not limit the sliding connection method between the base turntable 20 and the opening 12. Specifically, a protrusion may be provided on one of the outer periphery of the base turntable 20 and the inner side of the opening 12, and the other of the two may be provided with a groove extending circumferentially along the opening 12, with the protrusion slidingly disposed in the groove.

[0063] like Figure 5 , Figure 6 As shown, in a preferred embodiment, the base turntable 20 has a protrusion 21 on its outer periphery and a groove 13 on the inner side of the opening 12. A sliding base 133 is installed in the groove 13, and the protrusion 21 has a sliding guide rail 211 that cooperates with the sliding base 133.

[0064] The base turntable 20 can rotate flexibly by the cooperation of the protrusion 21 and the groove 13. By setting the sliding base 133 and the sliding guide rail 211, the rotation sensitivity of the base turntable 20 is further improved, and the stability of the working process is ensured.

[0065] like Figure 4 As shown, in a preferred embodiment, the clamping surface of the clamping push plate 50 is arc-shaped to clamp the machine wheel 70.

[0066] More preferably, the clamping surface of the clamping push plate 50 is provided with anti-slip protrusions (not shown).

[0067] By designing the clamping surface of the clamping push plate 50 as an arc surface, the clamping push plate 50 can better fit with the tire surface of the wheel 70, reducing unnecessary vibration during the pushing process. After the wheel 70 is in place, it can firmly clamp the wheel 70, preventing the wheel 70 from moving during traction, ensuring that the tractor and the aircraft operate synchronously, and completing forward, backward, and turning actions more stably, thereby improving traction efficiency and traction accuracy.

[0068] By setting anti-slip protrusions, the friction between the clamping push plate 50 and the wheel 70 can be increased, thereby ensuring the stability of the overall structure during the process of the clamping push plate 50 pushing the wheel 70 and after the wheel 70 is in place. This ensures that the tractor and the aircraft operate synchronously, and can complete forward, backward, and turning movements more stably.

[0069] In the description of this invention, it should be understood that the terms "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship of the wheel clamping device in the use state. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0070] In this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0071] The technical solutions protected by this invention are not limited to the above embodiments. It should be noted that any combination of the technical solutions of any embodiment with one or more other embodiments is within the protection scope of this invention. Although the invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of this invention are within the scope of protection claimed by this invention.

Claims

1. A wheel-holding device for an aircraft tractor, characterized in that, include: Vehicle body, base turntable, load-bearing base plate, robotic arm, clamping push plate; The rear end of the vehicle body is recessed inward to form an opening, and the inner side of the opening is an arc surface; The base turntable is arranged laterally in the opening and is slidably connected to the inner side of the opening so that the base turntable can rotate around its own center along the circumference of the opening. An clearance opening is provided at the rear end of the base turntable. The rear part of the load-bearing base plate is located at the clearance opening and is hinged to the base turntable. A first hydraulic cylinder is hinged to the table surface of the base turntable. The output end of the first hydraulic cylinder is connected to the load-bearing base plate to drive the load-bearing base plate to rotate. In the initial state, the load-bearing surface of the load-bearing base plate is inclined and the rear end can contact the lower part of the machine wheel. In the position state, the load-bearing surface of the load-bearing base plate is horizontal to support the machine wheel. There are two sets of robotic arms, located on the left and right sides of the load-bearing base plate, respectively. Each robotic arm includes a first connecting rod, a second connecting rod, and a clamping rod that are hinged in sequence. The first connecting rod is hinged to the platform of the base turntable. The robotic arm also includes a second hydraulic cylinder that drives the first connecting rod to swing back and forth, a third hydraulic cylinder that drives the second connecting rod to swing back and forth, and a fourth hydraulic cylinder that drives the clamping rod to rotate towards the center. The clamping push plate is connected to the clamping rod to rotate with the clamping rod. When the load-bearing base plate is in the correct position, the clamping push plate clamps the machine wheel with the front part of the load-bearing base plate.

2. The wheel-holding device for an aircraft tractor according to claim 1, characterized in that, A rotating motor is provided on the clamping rod, and the motor shaft of the rotating motor is fixedly connected to the clamping push plate.

3. The wheel-holding device for an aircraft tractor according to claim 1, characterized in that, The load-bearing base plate includes, from back to front, a bent shovel plate, a support plate, and a baffle plate. The bent portion between the shovel plate and the support plate is located at the clearance opening and is hinged to the base turntable. When the load-bearing base plate is in the correct position, the clamping push plate and the baffle plate clamp the machine wheel.

4. The wheel-holding device for an aircraft tractor according to claim 3, characterized in that, The baffle has a bent structure.

5. The wheel-holding device for an aircraft tractor according to claim 1, characterized in that, A force sensor is installed on the load-bearing surface of the load-bearing base plate, and a first rotation angle sensor is installed on the clamping surface of the clamping push plate. The force sensor and the first rotation angle sensor cooperate to detect the clamping force on the aircraft wheel and feed it back to the control system of the aircraft towing vehicle.

6. The wheel-holding device for an aircraft tractor according to claim 1, characterized in that, The base turntable is equipped with a second angle sensor, which detects the angle data when the aircraft wheels turn and feeds it back to the control system of the aircraft towing vehicle.

7. The wheel-holding device for an aircraft tractor according to claim 1, characterized in that, One of the outer periphery of the base turntable and the inner side of the opening is provided with a protrusion, and the other of the two is provided with a groove extending circumferentially along the opening, and the protrusion is slidably disposed in the groove.

8. The wheel-holding device for an aircraft tractor according to claim 7, characterized in that, A sliding base is installed in the groove, and a sliding guide rail that mates with the sliding base is provided on the protrusion.

9. The wheel-holding device for an aircraft tractor according to claim 1, characterized in that, The clamping surface of the clamping push plate is arc-shaped to clamp the machine wheel.

10. A wheel-holding device for an aircraft tractor according to claim 1, characterized in that, The clamping surface of the clamping push plate is provided with anti-slip protrusions.

Images