Rodless aircraft traction system and load measuring device and method

Abstract

The invention discloses a rodless aircraft traction system and a load measuring device and method. The rodless aircraft traction system comprises a rodless aircraft tractor and a traction load measuring module. The traction load measurement module is used for measuring traction loads borne by the nose landing gear of the aircraft, and the traction loads comprise a longitudinal load, a vertical load and a torque; the rodless aircraft tractor comprises a mechanism mounting module, a wheel holding lifting module, a driving module and a numerical control module. The mechanism mounting module is used for mounting the wheel holding lifting module on the rodless aircraft tractor; the wheel holding and lifting module is used for clamping and lifting aircraft wheels; the driving module is used for providing power for the rodless aircraft tractor; and the numerical control module is connected with the traction load measuring module and the driving module through electric signals. Load measurement early warning is carried out from the two aspects of the traction load and the torque borne by the nose landing gear of the aircraft, and the rodless aircraft traction load measurement technology which is more comprehensive and simpler in use method is provided.

Description

Technical Field

[0001] This invention relates to the field of aviation equipment technology, and in particular to a poleless aircraft traction system and load measurement device and method. Background Technology

[0002] With the rapid development of the air transport industry and the new requirements of smart airports, the number of aircraft in operation has increased significantly, placing higher demands on airport ground towing technology. As an important piece of specialized airport ground equipment, the boomless aircraft towing vehicle plays a crucial role in towing aircraft on the ground.

[0003] Currently, for measuring traction loads in aircraft towing operations, pole-mounted aircraft towing vehicles lack traction load measuring devices. They only install shear pins on the tow bar. When the traction load reaches a limit, the shear pin breaks, stopping the towing operation and ensuring aircraft towing safety. However, due to the large turning radius and space occupation caused by the tow bar, pole-mounted aircraft towing is gradually being replaced by the more flexible poleless aircraft towing method. Patent CN10854545213B proposes a hydraulic load buffer device for poleless aircraft towing vehicles. This passively buffers axial traction loads exceeding a preset safety range under special circumstances, thus ensuring the safety of the aircraft landing gear structure. However, this design can only passively achieve traction overload warning protection along the aircraft axis; it cannot actively control the traction load, monitor the traction load magnitude, or involve real-time monitoring of vertical, lateral loads, and torque. Therefore, it cannot achieve load monitoring and protection for poleless aircraft towing operations under complex conditions. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a rodless aircraft traction system and load measurement device and method. Based on an integrated configuration, it measures and warns of load from both the traction load and torque on the aircraft's nose landing gear, providing a more comprehensive and simpler design for rodless aircraft traction load measurement.

[0005] To achieve the above objectives, the present invention adopts the following technical solution.

[0006] In some embodiments of this application, a boomless aircraft traction system is provided, the boomless aircraft traction system including a boomless aircraft traction vehicle and a traction load measurement module;

[0007] The traction load measurement module is installed on the rodless aircraft towing vehicle and is used to measure the traction load on the aircraft's nose landing gear. The traction load includes longitudinal load, vertical load, and torque.

[0008] The boomless aircraft towing vehicle includes a mechanism installation module, a wheel lifting module, a drive module, and a CNC module;

[0009] The mechanism installation module is connected to the wheel lifting module and is used to install the wheel lifting module on the poleless aircraft towing vehicle;

[0010] The wheel-holding lifting module is used to clamp and lift the aircraft wheels;

[0011] The drive module is used to provide power to the boomless aircraft towing vehicle to drive the boomless aircraft towing vehicle to perform corresponding operations, including at least one of moving, braking, clamping aircraft wheels and lifting aircraft wheels.

[0012] The numerical control module is connected to the traction load measurement module and the drive module via electrical signals. It is used to acquire the traction load on the aircraft nose landing gear measured by the traction load measurement module and control the rodless aircraft towing vehicle to perform the operation.

[0013] In some embodiments, the mechanism mounting module includes a tractor frame, a first support beam, drive wheels, and steering wheels.

[0014] The tractor frame serves as the base;

[0015] The first support beam is located inside the tractor frame to reinforce the allowable structural load.

[0016] The drive wheels are two in number and are located at the rear ends of both sides of the tractor frame to support and move the tractor frame.

[0017] There are two steering wheels, which are located at the front ends of both sides of the tractor frame to support the tractor frame and control the direction of movement.

[0018] In some embodiments, the wheel-lifting module includes a wheel-lifting platform, a wheel-lifting mechanism, and a lifting mechanism;

[0019] The wheel-lifting platform is used to hold the lifted aircraft wheels;

[0020] The wheel clamping mechanism is used to hold the aircraft wheels;

[0021] The lifting mechanism is used in conjunction with the wheel-holding mechanism to lift the aircraft wheels off the ground, thereby lifting the aircraft wheels.

[0022] The lifting mechanism includes a first push rod structure and a second support beam, wherein the first push rod structure is connected to the wheel lifting platform and the tractor frame.

[0023] The wheel clamping mechanism includes a second push rod structure, a pressure rod, and a front base plate, wherein the second push rod structure is connected to the front base plate and the pressure rod.

[0024] In some embodiments, the first push rod structure includes two first push rods, which are symmetrically arranged on the rear side of the wheel lifting platform. Each first push rod includes a first telescopic push rod, one end of which is rotatably connected to the wheel lifting platform and the other end of which is rotatably connected to the tractor frame.

[0025] The front base plate and the wheel lifting platform are rotatably connected by a first hinge around a first direction, the first direction being the vertical direction of the poleless aircraft towing vehicle;

[0026] The second push rod structure includes two second push rods, which are symmetrically arranged on both sides of the upper part of the front base plate. Each second push rod includes a second telescopic push rod. One end of the second telescopic push rod is hinged to the front base plate via a second hinge around a second direction, and the other end is fixedly connected to the pressure rod. The second direction is parallel to the axial direction of the pressure rod.

[0027] In some embodiments, the wheel-holding mechanism further includes a third push rod structure, which is disposed on the other side of the wheel-holding lifting platform opposite to the first hinge. The front base plate has a slot, and the third push rod structure includes a third telescopic push rod. One end of the third telescopic push rod is fixedly connected to the wheel-holding lifting platform, and the other end of the third telescopic push rod has a locking block for abutting against the slot of the front base plate.

[0028] The first push rod structure is an electric push rod structure, the second push rod structure is an electric push rod structure, and the third push rod structure is an electric push rod structure.

[0029] In some embodiments, the traction load measurement module includes a guide post, a guide sleeve, a pressure plate, two sets of bearing plates, two sets of springs, a first angle displacement sensor, a second angle displacement sensor, and a pressure sensor.

[0030] Two guide sleeves are symmetrically and fixedly installed on the upper part of the wheel lifting platform. The guide sleeves are parallel to a third direction, and the third direction is parallel to the longitudinal direction of the rodless aircraft towing vehicle.

[0031] There are two guide posts, and the guide posts are slidably connected to the guide sleeve on the same axis. The pressure plate is fixedly connected to the top of the guide post.

[0032] The pressure sensor axis is parallel to the third direction and is fixedly installed on the upper side of the roller lifting platform;

[0033] The two sets of bearing plates are the first set of bearing plates and the second set of bearing plates. Each set of bearing plates has two bearing plates and each bearing plate has a plate edge. The two plate edges of the first set of bearing plates are symmetrically installed on the bottom edge of the roller lifting platform through two third hinges. The two plate edges of the second set of bearing plates are symmetrically installed on the edge of the front bottom plate through two fourth hinges.

[0034] The two sets of springs are a first set of springs and a second set of springs. Each set of springs includes at least 4 springs, and at least 2 springs are set under each bearing plate. The first set of springs is fixedly installed between the first set of bearing plates and the roller lifting platform, and the second set of springs is fixedly installed between the second set of bearing plates and the front base plate.

[0035] The first angular displacement sensor is installed between the two third hinges, and the second angular displacement sensor is installed between the two fourth hinges.

[0036] In some embodiments, the drive module includes a first motor, a second motor, a first hub motor, a first steering motor, a mobile power supply, and a power distribution box;

[0037] The first motor is fixedly mounted on the front base plate. The first motor has a rotating shaft at both ends, and the rotating shaft is fixedly connected to the bottom of the two second push rods respectively.

[0038] The second motor is fixedly mounted on the roller lifting platform and is connected to the first hinge;

[0039] There are two first hub motors, and the output shafts of the two first hub motors are respectively fixedly connected to the axles of the two drive wheels on the same axis;

[0040] There are two first steering motors, which are fixedly installed on the underside of the tractor frame, and the output shafts of the two first steering motors are respectively fixedly connected to the two steering wheels.

[0041] The tractor frame includes a rear platform, and the electrical distribution box is fixedly installed on the lower side of the rear platform of the tractor frame;

[0042] The portable power supply is fixedly installed inside the distribution box.

[0043] In some embodiments, the CNC module includes a microcontroller, a data terminal, and a remote controller; the microcontroller is fixedly installed inside the power distribution box, the data terminal is fixedly installed on the upper side of the rear platform of the tractor frame, the data terminal is connected to the microcontroller via a data cable, and the remote controller is connected to the microcontroller via Bluetooth.

[0044] In some embodiments of this application, a load measuring device for a rodless aircraft traction system is also provided. The rodless aircraft traction system includes a rodless aircraft traction vehicle, which includes a wheel-lifting platform and a wheel-lifting mechanism.

[0045] The load measuring device is installed on the rodless aircraft towing vehicle and is used to measure the traction load on the aircraft's nose landing gear. The traction load includes longitudinal load, vertical load, and torque.

[0046] The load measuring device includes two sets of bearing plates, two sets of springs, a first angular displacement sensor, a second angular displacement sensor, and a pressure sensor;

[0047] The pressure sensor's axis is parallel to a third direction and is fixedly installed on the upper side of the wheel lifting platform; the third direction is parallel to the longitudinal direction of the rodless aircraft towing vehicle.

[0048] The two sets of bearing plates are the first set of bearing plates and the second set of bearing plates. Each set of bearing plates has two bearing plates and each bearing plate has a plate edge. The two plate edges of the first set of bearing plates are symmetrically installed on the bottom edge of the roller lifting platform through two third hinges. The two plate edges of the second set of bearing plates are symmetrically installed on the edge of the roller mechanism through two fourth hinges.

[0049] The two sets of springs are a first set of springs and a second set of springs. Each set of springs includes at least 4 springs, and at least 2 springs are set under each bearing plate. The first set of springs is fixedly installed between the first set of bearing plates and the wheel lifting platform, and the second set of springs is fixedly installed between the second set of bearing plates and the wheel mechanism.

[0050] The first angular displacement sensor is installed between the two third hinges, and the second angular displacement sensor is installed between the two fourth hinges.

[0051] In some embodiments of this application, a boomless aircraft towing method is also provided. The boomless aircraft towing method is performed according to the boomless aircraft towing system described in any of the above embodiments, and includes:

[0052] During the traction process, the traction load measurement module measures the longitudinal load, vertical load and torque on the aircraft's nose landing gear in real time.

[0053] When the CNC module detects that any one of the longitudinal load, vertical load, and torque reaches a preset threshold, it issues an emergency braking command to the drive module to brake the boomless aircraft towing vehicle.

[0054] The embodiments of this application have at least the following beneficial effects: The rodless aircraft towing system of this application is based on an integrated configuration, which is simple in structure, convenient in operation and control, and can simultaneously measure and warn of both the towing load and torque on the aircraft's nose landing gear. Some embodiments of this application propose a method for measuring the torque of the nose landing gear during aircraft towing operations. This method is simple and accurate in measuring the torque of the nose landing gear, and the device has an overload warning function. When the load is too large, the system will brake urgently to ensure the safety of aircraft towing. Attached Figure Description

[0055] Figure 1 This is a structural block diagram of a poleless aircraft traction system according to an embodiment of the present invention.

[0056] Figure 2 This is a three-dimensional structural diagram of the unlifted state of a poleless aircraft traction system according to an embodiment of the present invention.

[0057] Figure 3 This is a three-dimensional structural diagram of the lifting state of the boomless aircraft traction system according to an embodiment of the present invention.

[0058] Figure 4 This is a schematic diagram of the structure of the mechanism installation module according to an embodiment of the present invention.

[0059] Figure 5 This is a schematic diagram of the structure of a wheel-lifting module according to an embodiment of the present invention.

[0060] Figure 6 This is a schematic diagram of the structure of a wheel-lifting platform according to an embodiment of the present invention.

[0061] Figure 7 This is a schematic diagram of the traction load measurement module according to an embodiment of the present invention.

[0062] Explanation of reference numerals in the attached drawings: 101-Tractor frame, 102-Steering wheel, 103-Drive wheel, 104-First support beam, 201-Wheel lifting platform, 202-First push rod structure, 203-Second support beam, 204-Second push rod structure, 205-Pressure rod, 206-Front floor plate, 207-First hinge, 208-Second hinge, 209-Third push rod structure, 210-Clamping block, 301-Guide column, 30 2-Guide sleeve, 303-Pressure plate, 304-Bearing plate, 305-Spring, 306-First angle displacement sensor, 307-Third hinge, 308-Second angle displacement sensor, 309-Fourth hinge, 310-Pressure sensor, 401-First motor, 402-Second motor, 403-First hub motor, 404-First steering motor, 405-Distribution box, 501-Data terminal, 601-Aircraft wheel. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0064] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. The interpretation of such terms should be made from the perspective of a person skilled in the art. For example, "above" or "below" should be understood as the positional relationship of the main structure or structure of a component, etc., in its initial state, which may be broken during movement. "...set on" should be understood as the general connection relationship of the components, not necessarily above.

[0065] In this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," and "fix" should be interpreted broadly from the perspective of someone skilled in the art. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0067] Figure 1 This is a structural block diagram of a poleless aircraft traction system according to some embodiments of this application. Figure 2 This is a three-dimensional structural diagram of the unlifted state of a poleless aircraft traction system according to an embodiment of the present invention. Figure 3 This is a three-dimensional structural diagram of the lever-lifted state of a boomless aircraft traction system according to an embodiment of the present invention. (Reference) Figures 1-3In some embodiments of this application, the boomless aircraft towing system includes a boomless aircraft towing vehicle 1000 and a towing load measurement module 300. The towing load measurement module 300 is mounted on the boomless aircraft towing vehicle and is used to measure the towing load on the aircraft's nose landing gear, the towing load including longitudinal load, vertical load, and torque;

[0068] The boomless aircraft towing vehicle 1000 includes a mechanism installation module 100, a wheel lifting module 200, a drive module 400, and a numerical control module 500.

[0069] The mechanism installation module 100 is connected to the wheel lifting module 200 and is used to install the wheel lifting module on the poleless aircraft towing vehicle.

[0070] The wheel-holding lifting module 200 is used to clamp and lift the aircraft wheels 601;

[0071] The drive module 400 is used to provide power to the boomless aircraft towing vehicle to drive the boomless aircraft towing vehicle to perform corresponding operations, including at least one of moving, braking, clamping aircraft wheels and lifting aircraft wheels.

[0072] The numerical control module 500 is connected to the traction load measurement module and the drive module via electrical signals. It is used to acquire the traction load on the aircraft nose landing gear measured by the traction load measurement module and control the rodless aircraft towing vehicle to perform the operation.

[0073] Figure 4 This is a schematic diagram of the mechanism mounting module according to an embodiment of the present invention. (Reference) Figures 2-4 In some embodiments, the mechanism mounting module 100 includes a tractor frame 101, a first support beam 104, drive wheels 103, and steering wheels 102. The tractor frame 101 serves as a base, and the first support beam 104 is disposed inside the tractor frame 101 to reinforce the allowable load of the structure. There are two drive wheels 103, and a set of drive wheels includes two drive wheels for supporting and moving the tractor frame 101. There are two steering wheels 102, which can be omnidirectional wheels for supporting the tractor frame 101 and controlling the movement direction of the rodless aircraft tractor by rotating a motor.

[0074] Figure 5 This is a schematic diagram of the structure of a wheel-lifting module according to an embodiment of the present invention. Figure 6 This is a schematic diagram of the structure of a roller-lifting platform according to an embodiment of the present invention. (Reference) Figure 5 and Figure 6In some embodiments, the wheel-holding lifting module includes a wheel-holding lifting platform 201, a wheel-holding mechanism, and a lifting mechanism. The wheel-holding lifting platform is used to place the lifted aircraft wheel. The wheel-holding mechanism is used to clamp the aircraft wheel. The lifting mechanism is used to cooperate with the wheel-holding mechanism to lift the aircraft wheel off the ground, thus lifting the aircraft wheel. The lifting mechanism includes a first push rod structure 202 and a second support beam 203. The wheel-holding mechanism includes a second push rod structure 204, a pressure rod 205, and a front base plate 206. The first push rod structure 202 is connected to the wheel-holding lifting platform 201 and the tractor frame 101, and the second push rod structure 204 is connected to the front base plate 206 and the pressure rod 205.

[0075] In some embodiments, the first push rod structure includes two first push rods 2021 and 2022, which are symmetrically arranged on the rear side of the wheel-holding lifting platform 201, which is used to hold the lifted aircraft wheels. The front base plate 206 and the wheel-holding lifting platform 201 are connected by a first hinge 207 around a first direction ( Figure 2 The first direction (Z-direction) is rotatable and perpendicular to the poleless aircraft towing vehicle. When the poleless aircraft towing vehicle is on the ground, the first direction is perpendicular to the ground.

[0076] The first push rod includes a first telescopic push rod, one end of which is rotatably connected to the wheel-holding lifting platform 201, and the other end is rotatably connected to the tractor frame 101. When the traction load measuring device is not holding the aircraft wheels, the first telescopic push rod is in an extended state. When the first telescopic push rod is retracted, it drives the wheel-holding lifting platform 201 to rotate around the hinge point with the second support beam 203, thereby lifting the wheel-holding mechanism. (Reference) Figure 5 The hinge joint of the second support beam 203 includes a first hinge 2031 and a second hinge 2032. The second support beam 203 is located below the first push rod. There can be one or more second support beams 203.

[0077] The second push rod structure includes two second push rods 2041 and 2042, which are symmetrically arranged on both sides of the upper part of the front base plate 206. Each second push rod includes a second telescopic push rod, one end of which is hinged to the front base plate 206 via a second hinge 208 around a second direction, and the other end is fixedly connected to a pressure rod 205. The second direction is parallel to the axial direction of the pressure rod. When the traction load measuring device does not clamp the wheel, the second telescopic push rod is in a retracted state; when it begins to clamp the wheel, the second telescopic push rod extends to a suitable length to clamp the wheel.

[0078] In some embodiments, the wheel-holding mechanism further includes a third push rod structure 209, which is disposed on the other side of the wheel-holding lifting platform 201 opposite to the first hinge 207. The front base plate 206 has a slot, and the third push rod structure 209 includes a third telescopic push rod. One end of the third telescopic push rod is fixedly connected to the wheel-holding lifting platform 201, and the other end of the third telescopic push rod has a locking block 210 for abutting against the slot of the front base plate 206. When the wheel is not held, the third telescopic push rod is in an extended state, realizing a locking function. When the device starts to perform the wheel-holding operation, the third telescopic push rod retracts first, and then the front base plate rotates open under the drive of the motor (e.g., Figure 2 As shown), the aircraft wheels enter the wheel-lifting platform 201, and then the front floor plate rotates back to its initial position (as shown). Figure 3 As shown), the third telescopic push rod extends, causing the wheel clamping mechanism to return to the locked state.

[0079] In some embodiments, the first push rod structure 202 is an electric push rod structure. The second push rod structure 204 is an electric push rod structure. The third push rod structure 209 is an electric push rod structure.

[0080] Figure 7 This is a schematic diagram of the traction load measurement module according to an embodiment of the present invention. (Reference) Figure 2 , Figure 3 and Figure 7 In some embodiments, the traction load measurement module includes a guide post 301, a guide sleeve 302, a pressure plate 303, two sets of bearing plates 304, two sets of springs 305, a first angular displacement sensor 306, a second angular displacement sensor 308, and a pressure sensor 310.

[0081] Two guide sleeves 302 are symmetrically fixedly installed on the upper part of the wheel-lifting platform 201. The guide sleeves 302 are parallel to a third direction, and the third direction is parallel to the longitudinal direction of the rodless aircraft towing vehicle. Figure 2 The guide post 301 is parallel to the Y-direction; there are two guide posts 301, which are slidably connected to the guide sleeve 302 on the same axis. The pressure plate 303 is fixedly connected to the top of the guide post 301 by bolts 311; the axis of the pressure sensor 310 is parallel to the third direction, and its bottom end is fixedly installed on the upper side of the wheel lifting platform 201. The center of the top pressure bearing area is on the same straight line as the center of the pressure plate 303 along the third direction. When the device does not clamp the wheel, there is a certain distance between the pressure plate 303 and the pressure sensor 310. At this time, the pressure sensor is in a state of not detecting pressure. When the device clamps the wheel, the pressure plate slides along a straight line with the guide post in the guide sleeve, thereby pressing the top force measuring area of ​​the pressure sensor, thereby transferring the traction load to the pressure sensor for measurement, and obtaining the longitudinal load on the aircraft's nose landing gear.

[0082] The two sets of support plates 304 are the first set of support plates 3041 and the second set of support plates 3042. Each set of support plates has two support plates, and each support plate has a plate edge. The two plate edges 3041(a) and 3041(b) of the first set of support plates are symmetrically installed on the bottom edge of the roller lifting platform 201 through two third hinges 307. The two plate edges 3042(a) and 3042(b) of the second set of support plates are symmetrically installed on the edge of the front base plate 206 through two fourth hinges 309.

[0083] The two sets of springs 305 are the first set of springs and the second set of springs. Each set of springs includes at least 4 springs, and at least 2 springs are correspondingly arranged under each bearing plate. Figure 7 In the embodiment, three springs are installed under each support plate. The first set of springs is fixedly installed between the first support plate and the wheel lifting platform, and the second set of springs is fixedly installed between the second support plate and the front base plate.

[0084] The first angle displacement sensor 306 is installed between the two third hinges, and the second angle displacement sensor 308 is installed between the two fourth hinges.

[0085] There are acute angles between the first set of bearing plates and the wheel-clamping platform, and between the second set of bearing plates and the front base plate. The first set of bearing plates 3041 and the second set of bearing plates 3042 form a V-shape. When the wheels are not clamped, each bearing plate is in its initial position, and all springs are in their initial state. When the wheels are clamped, the two aircraft wheels press against the bearing plates on either side of the first angle displacement sensor 306 and the second angle displacement sensor 308, respectively. At this time, the springs are compressed due to the aircraft's weight. The first and second angle displacement sensors detect the change in the included angle and, combined with the spring stiffness, calculate the pressure on the bearing plates using the formula F = k * Δx. This pressure can be equivalent to the vertical load on the aircraft's nose landing gear. Here, k represents the stiffness coefficient of the installed spring, and Δx represents the spring deformation. When the rotation angles of the bearing plates on either side of the first angle displacement sensor 306 and the second angle displacement sensor 308 are inconsistent, the torque on the aircraft wheels, i.e., the aircraft's nose landing gear, is calculated using the formula M = ∑F * a, combined with the difference in spring deformation on both sides. Where M is the torque on the aircraft's nose wheel, and a is the distance of the wheel from the axis of symmetry.

[0086] refer to Figure 3In some embodiments, the drive module includes a first motor 401, a second motor 402, a first hub motor 403, a first steering motor 404, a power supply, and a distribution box 405. The first motor 401 is symmetrically mounted on the front end of the front base plate 206, and each end of the first motor has a rotating shaft, which is fixedly connected to the bottom of two second push rods respectively. The second motor 402 is fixedly mounted on the wheel lifting platform 201 and hinged to the front base plate 206 via a first hinge 207. The first hub motor 403 includes two first hub motors 403, and the output shafts of the two first hub motors are fixedly connected coaxially to the axles of the two drive wheels respectively. There are two first steering motors 404, which are fixedly mounted on the underside of the tractor frame, and the output shafts of the two first steering motors are fixedly connected to the two steering wheels respectively.

[0087] The tractor frame includes a rear platform 2011. The power distribution box 405 is fixedly installed on the lower side of the rear platform of the tractor frame 101. The mobile power supply is fixedly installed inside the power distribution box 405 and provides energy to the first push rod, wheel hub motor, steering motor, various sensors, etc. through the power cable.

[0088] In some embodiments, the CNC module includes a microcontroller, a data terminal 501, and a remote controller. The microcontroller is fixedly installed inside the power distribution box 405 and connected to each motor, push rod, and sensor. The bottom of the data terminal 501 is fixedly installed on the upper side of the rear platform of the tractor frame 101 and connected to the microcontroller via a data cable. The remote controller is connected to the microcontroller via Bluetooth to realize remote operation of the device.

[0089] This application provides a load measuring device for a boomless aircraft traction system in some embodiments. The boomless aircraft traction system includes a boomless aircraft traction vehicle, characterized in that the boomless aircraft traction vehicle includes a wheel-lifting platform and a wheel-lifting mechanism. In some embodiments, the boomless aircraft traction system can be any of the boomless aircraft traction systems described in the above embodiments.

[0090] The load measuring device is installed on the rodless aircraft towing vehicle and is used to measure the traction load on the aircraft's nose landing gear. The traction load includes longitudinal load, vertical load, and torque.

[0091] The load measuring device includes two sets of bearing plates, two sets of springs, a first angular displacement sensor, a second angular displacement sensor, and a pressure sensor;

[0092] The pressure sensor's axis is parallel to a third direction and is fixedly installed on the upper side of the wheel lifting platform; the third direction is parallel to the longitudinal direction of the rodless aircraft towing vehicle.

[0093] The two sets of bearing plates are the first set of bearing plates and the second set of bearing plates. Each set of bearing plates has two bearing plates and each bearing plate has a plate edge. The two plate edges of the first set of bearing plates are symmetrically installed on the bottom edge of the roller lifting platform through two third hinges. The two plate edges of the second set of bearing plates are symmetrically installed on the edge of the roller mechanism through two fourth hinges.

[0094] The two sets of springs are a first set of springs and a second set of springs. Each set of springs includes at least 4 springs, and at least 2 springs are set under each bearing plate. The first set of springs is fixedly installed between the first set of bearing plates and the wheel lifting platform, and the second set of springs is fixedly installed between the second set of bearing plates and the wheel mechanism.

[0095] The first angular displacement sensor is installed between the two third hinges, and the second angular displacement sensor is installed between the two fourth hinges.

[0096] In some embodiments, the load measuring device may be the traction load measuring module described in any of the above embodiments.

[0097] This application provides a method for towing a boomless aircraft in some embodiments. The boomless aircraft towing method is performed according to the boomless aircraft towing system described in any of the above embodiments, and includes:

[0098] During the traction process, the traction load measurement module measures the longitudinal load, vertical load and torque on the aircraft's nose landing gear in real time.

[0099] When the CNC module detects that any one of the longitudinal load, vertical load, and torque reaches a preset threshold, it issues an emergency braking command to the drive module to brake the boomless aircraft towing vehicle.

[0100] In some embodiments, the traction load measurement module measures the longitudinal load, vertical load, and torque on the aircraft's nose landing gear in real time. When the CNC module detects that any one of the longitudinal load, vertical load, and torque reaches a preset threshold, it will issue an emergency braking command to the drive system. The preset threshold for the longitudinal load, vertical load, and torque can be 80% of the limit values ​​of the longitudinal load, vertical load, and torque on the aircraft's nose landing gear.

[0101] This application presents a rodless aircraft traction system based on an integrated configuration, which is simple in structure and convenient to operate and control. While lifting the landing gear, it can simultaneously measure and provide early warning of the longitudinal, vertical, and torque loads on the aircraft's nose landing gear, without requiring additional complex sensors, and its performance is reliable. The method for measuring the nose landing gear torque is simple and accurate, and the device has an overload warning function; when the load is too high, the system will brake urgently to ensure aircraft traction safety.

[0102] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A poleless aircraft traction system, characterized in that, The boomless aircraft traction system includes a boomless aircraft traction vehicle and a traction load measurement module; The traction load measurement module is installed on the rodless aircraft towing vehicle and is used to measure the traction load on the aircraft's nose landing gear. The traction load includes longitudinal load, vertical load, and torque. The boomless aircraft towing vehicle includes a mechanism installation module, a wheel lifting module, a drive module, and a CNC module; The mechanism installation module is connected to the wheel lifting module and is used to install the wheel lifting module on the poleless aircraft towing vehicle; The wheel-holding lifting module is used to clamp and lift the aircraft wheels; The drive module is used to provide power to the boomless aircraft towing vehicle to drive the boomless aircraft towing vehicle to perform corresponding operations, including at least one of moving, braking, clamping aircraft wheels and lifting aircraft wheels. The numerical control module is connected to the traction load measurement module and the drive module via electrical signals. It is used to acquire the traction load on the aircraft nose landing gear measured by the traction load measurement module and control the rodless aircraft towing vehicle to perform the operation.

2. The poleless aircraft traction system according to claim 1, characterized in that, The mechanism mounting module includes a tractor frame, a first support beam, drive wheels, and steering wheels. The tractor frame serves as the base; The first support beam is located inside the tractor frame to reinforce the allowable structural load. The drive wheels are two in number and are located at the rear ends of both sides of the tractor frame to support and move the tractor frame. There are two steering wheels, which are located at the front ends of both sides of the tractor frame to support the tractor frame and control the direction of movement.

3. The poleless aircraft traction system according to claim 2, characterized in that, The wheel-lifting module includes a wheel-lifting platform, a wheel-lifting mechanism, and a lifting mechanism; The wheel-lifting platform is used to hold the lifted aircraft wheels; The wheel clamping mechanism is used to hold the aircraft wheels; The lifting mechanism is used in conjunction with the wheel-holding mechanism to lift the aircraft wheels off the ground, thereby lifting the aircraft wheels. The lifting mechanism includes a first push rod structure and a second support beam, wherein the first push rod structure is connected to the wheel lifting platform and the tractor frame. The wheel clamping mechanism includes a second push rod structure, a pressure rod, and a front base plate, wherein the second push rod structure is connected to the front base plate and the pressure rod.

4. The poleless aircraft traction system according to claim 3, characterized in that, The first push rod structure includes two first push rods, which are symmetrically arranged on the rear side of the wheel lifting platform. Each first push rod includes a first telescopic push rod, one end of which is rotatably connected to the wheel lifting platform and the other end of which is rotatably connected to the tractor frame. The front base plate and the wheel lifting platform are rotatably connected by a first hinge around a first direction, the first direction being the vertical direction of the poleless aircraft towing vehicle; The second push rod structure includes two second push rods, which are symmetrically arranged on both sides of the upper part of the front base plate. Each second push rod includes a second telescopic push rod. One end of the second telescopic push rod is hinged to the front base plate via a second hinge around a second direction, and the other end is fixedly connected to the pressure rod. The second direction is parallel to the axial direction of the pressure rod.

5. The poleless aircraft traction system according to claim 4, characterized in that, The wheel-holding mechanism further includes a third push rod structure, which is disposed on the other side of the wheel-holding lifting platform opposite to the first hinge. The front base plate has a slot, and the third push rod structure includes a third telescopic push rod. One end of the third telescopic push rod is fixedly connected to the wheel-holding lifting platform, and the other end of the third telescopic push rod has a locking block for abutting against the slot of the front base plate. The first push rod structure is an electric push rod structure, the second push rod structure is an electric push rod structure, and the third push rod structure is an electric push rod structure.

6. The poleless aircraft traction system according to claim 5, characterized in that, The traction load measurement module includes a guide post, a guide sleeve, a pressure plate, two sets of bearing plates, two sets of springs, a first angle displacement sensor, a second angle displacement sensor, and a pressure sensor. Two guide sleeves are symmetrically and fixedly installed on the upper part of the wheel lifting platform. The guide sleeves are parallel to a third direction, and the third direction is parallel to the longitudinal direction of the rodless aircraft towing vehicle. There are two guide posts, and the guide posts are slidably connected to the guide sleeve on the same axis. The pressure plate is fixedly connected to the top of the guide post. The pressure sensor axis is parallel to the third direction and is fixedly installed on the upper side of the roller lifting platform; The two sets of bearing plates are the first set of bearing plates and the second set of bearing plates. Each set of bearing plates has two bearing plates and each bearing plate has a plate edge. The two plate edges of the first set of bearing plates are symmetrically installed on the bottom edge of the roller lifting platform through two third hinges. The two plate edges of the second set of bearing plates are symmetrically installed on the edge of the front bottom plate through two fourth hinges. The two sets of springs are the first set of springs and the second set of springs. Each set of springs includes at least 4 springs, and at least 2 springs are correspondingly arranged under each bearing plate. The first set of springs is fixedly installed between the first set of bearing plates and the wheel lifting platform, and the second set of springs is fixedly installed between the second set of bearing plates and the front base plate. The first angular displacement sensor is installed between the two third hinges, and the second angular displacement sensor is installed between the two fourth hinges.

7. The poleless aircraft traction system according to claim 6, characterized in that, The drive module includes a first motor, a second motor, a first hub motor, a first steering motor, a mobile power supply, and a power distribution box; The first motor is fixedly mounted on the front base plate. The first motor has a rotating shaft at both ends, and the rotating shaft is fixedly connected to the bottom of the two second push rods respectively. The second motor is fixedly mounted on the roller lifting platform and is connected to the first hinge; There are two first hub motors, and the output shafts of the two first hub motors are respectively fixedly connected to the axles of the two drive wheels on the same axis; There are two first steering motors, which are fixedly installed on the underside of the tractor frame, and the output shafts of the two first steering motors are respectively fixedly connected to the two steering wheels. The tractor frame includes a rear platform, and the electrical distribution box is fixedly installed on the lower side of the rear platform of the tractor frame; The portable power supply is fixedly installed inside the distribution box.

8. The poleless aircraft traction system according to claim 7, characterized in that, The CNC module includes a microcontroller, a data terminal, and a remote controller; the microcontroller is fixedly installed inside the power distribution box, the data terminal is fixedly installed on the upper side of the rear platform of the tractor frame, the data terminal is connected to the microcontroller via a data cable, and the remote controller is connected to the microcontroller via Bluetooth.

9. A load measuring device for a boomless aircraft traction system, the boomless aircraft traction system comprising a boomless aircraft traction vehicle, characterized in that, The boomless aircraft towing vehicle includes a wheel-lifting platform and a wheel-lifting mechanism; The load measuring device is installed on the rodless aircraft towing vehicle and is used to measure the traction load on the aircraft's nose landing gear. The traction load includes longitudinal load, vertical load, and torque. The load measuring device includes two sets of bearing plates, two sets of springs, a first angular displacement sensor, a second angular displacement sensor, and a pressure sensor; The pressure sensor's axis is parallel to a third direction and is fixedly installed on the upper side of the wheel lifting platform; the third direction is parallel to the longitudinal direction of the rodless aircraft towing vehicle. The two sets of bearing plates are the first set of bearing plates and the second set of bearing plates. Each set of bearing plates has two bearing plates and each bearing plate has a plate edge. The two plate edges of the first set of bearing plates are symmetrically installed on the bottom edge of the roller lifting platform through two third hinges. The two plate edges of the second set of bearing plates are symmetrically installed on the edge of the roller mechanism through two fourth hinges. The two sets of springs are the first set of springs and the second set of springs. Each set of springs includes at least 4 springs, and at least 2 springs are correspondingly arranged under each bearing plate. The first set of springs is fixedly installed between the first set of bearing plates and the wheel lifting platform, and the second set of springs is fixedly installed between the second set of bearing plates and the wheel mechanism. The first angular displacement sensor is installed between the two third hinges, and the second angular displacement sensor is installed between the two fourth hinges.

10. A method for towing a poleless aircraft, characterized in that, The boomless aircraft towing method is performed according to any one of claims 1-8, and the boomless aircraft towing method includes: During the traction process, the traction load measurement module measures the longitudinal load, vertical load and torque on the aircraft's nose landing gear in real time. When the CNC module detects that any one of the longitudinal load, vertical load, and torque reaches a preset threshold, it issues an emergency braking command to the drive module to brake the boomless aircraft towing vehicle.

Images