CN115503977A - Deicing vehicle with one-key centering function and boom centering control method - Google Patents

Abstract

The invention relates to an deicing vehicle with a one-key centering function and an arm support centering control method, which solve the technical problems that after the deicing operation of the existing aircraft deicing vehicle is finished, an operator controls an aerial working arm to retract to an initial neutral position, the operation action is slow, the misoperation probability is high, the labor intensity of the operator is high, the centering speed of the arm support is slow, the time is long, and the risk that the arm support breaks cab glass or touches objects around the deicing vehicle exists; the invention comprises an electric automobile chassis, a power battery pack, an aerial working device, a deicing spraying system, a deicing fluid tank, an inclination angle sensor, a turntable angle encoder and an arm frame one-key return-to-middle switch, wherein the aerial working device comprises an operation cabin, a folding arm, a two-section arm, a one-section arm, a turntable, a hydraulic pump, a folding arm hydraulic cylinder, a two-section arm telescopic hydraulic cylinder, a one-section arm lifting hydraulic cylinder, an arm frame control valve group, a turntable hydraulic motor, a rotary support, a driving gear and a driven gear.

Description

De-icing vehicle with one-button centering function and boom centering control method

technical field

The invention relates to the technical field of airport ground service equipment, in particular to a deicing vehicle with a one-button centering function and a boom centering control method.

Background technique

The aircraft deicing vehicle is one of the necessary aircraft operation safety guarantee vehicles for airports and airlines in cold regions. In case of severe weather such as rain, snow and frost, the surface of the aircraft will be icy and frosty. In order to ensure flight safety, the aircraft must be required to perform deicing operations before take-off. The working principle of the aircraft deicing vehicle is to spray the heated deicing fluid on the surface of the aircraft to remove the ice and ensure the safe operation of the aircraft.

The reference authorized announcement number is CN215098345U, and the name is a utility model patent for an intelligent electric aircraft deicing vehicle. The existing electric aircraft deicing vehicle utilizes an electric vehicle chassis and an electric heating system to heat the deicing fluid. The existing electric aircraft deicing vehicle comprises an electric vehicle chassis, a power battery pack, an electric control system, an aerial work device, a deicing spray system, an anti-icing spray system, a deicing fluid tank and an antiicing fluid tank.

The aircraft deicing vehicle uses heated deicing fluid to deicing the aircraft. During the deicing operation, the operator in the operation cabin needs to control the aerial work arm to reach the part of the aircraft that needs to be deiced, and control the deicing spray gun to perform the aircraft deicing operation. , after the deicing operation is over, the operator controls the aerial work arm to retract to the initial position, and then the deicing vehicle is evacuated. Since the operator operates the boom, the line of sight faces the front of the vehicle, and the boom moves at the rear of the vehicle, so the blind area of sight is large , The operation is slow, the probability of misoperation is high, the labor intensity of the operator is high, the recovery speed of the boom is slow, and the time is long, which reduces the work efficiency, affects the flight efficiency, and affects the safety of the aircraft.

The aircraft de-icing vehicle uses heated de-icing fluid to de-ice the aircraft. During the de-icing operation, the operator needs to control the aerial work arm to reach the part of the aircraft that needs to be de-iced, and control the de-icing spray gun to perform the de-icing operation of the aircraft. The de-icing operation is over Finally, the operator controls the aerial work arm to return to the neutral position, and then recovers the operating arm. When the operating arm returns to the center, the deicing operator often faces the centering position, and the vision of the centering operation is limited, and it is often necessary to perform the centering operation repeatedly. The operation probability is high, the labor intensity of the operator is high, the speed of the boom returning to the center is slow, and the time is long, which reduces the work efficiency. In addition, a slight negligence in the operation may cause the boom to break the cab glass or touch objects around the deicing vehicle, etc. ACCIDENT.

Contents of the invention

The present invention is to solve the problem that after the deicing operation of the existing aircraft deicing vehicle is completed, the operator controls the aerial work arm to retract to the initial neutral position, the operation is slow, the probability of misoperation is high, the labor intensity of the operator is large, and the boom The centering speed is slow, the time is long, and there is a technical problem that the boom may break the cab glass or touch objects around the deicing vehicle. Provide a deicing vehicle with a one-button centering function and a control method for the boom to return to the center .

The invention provides a deicing vehicle with a one-button centering function, which includes an electric vehicle chassis, a power battery pack, an aerial work device, a deicing spray system, a deicing fluid tank, a power battery pack, an aerial work device, and a deicing fluid The tank and the deicing spraying system are connected to the chassis girder of the electric vehicle chassis. The aerial work device includes the operation cabin, folding arm, two-section arm, one-section arm, turntable, hydraulic pump, folding arm hydraulic cylinder, and two-section boom telescopic hydraulic pressure. Cylinder, one-section boom lifting hydraulic cylinder, boom control valve group, turntable hydraulic motor, slewing support, driving gear and passive gear, the control system is set in the operation cabin, the control system is equipped with a boom controller, and the electric vehicle chassis The chassis girder is connected with a column, the slewing support includes an outer ring and an inner ring, the outer ring is provided with teeth, the outer ring is fixedly connected to the top of the column, the turntable is fixedly connected with the inner ring of the slewing support, and the turntable is provided with a round The disc part, the hydraulic motor of the turntable is fixedly connected with the disc part of the turntable, the driving gear is fixedly connected with the output shaft of the hydraulic motor of the turntable, the driving gear meshes with the teeth on the outer ring of the slewing support, and the hydraulic pump is fixedly connected On the chassis girder of the electric vehicle chassis, the output port of the hydraulic pump is connected to the boom control valve group, the boom control valve group is fixedly connected to the chassis girder of the electric vehicle chassis, and the boom control valve group is respectively connected to the folding arm through the hydraulic pipeline. The boom hydraulic cylinder, the two-section boom telescopic hydraulic cylinder, the one-section boom lifting hydraulic cylinder, and the turntable hydraulic motor are connected, the boom control valve group is electrically connected with the boom controller; the cylinder body of the one-section boom lifting hydraulic cylinder passes through the hinge shaft Connected with the turntable, the output end of the lifting hydraulic cylinder of the first-section arm is connected with the first-section arm through the hinge shaft; the cylinder body of the telescopic hydraulic cylinder of the second-section arm is fixed in the first-section arm, and the output end of the telescopic hydraulic cylinder of the second-section arm is connected Sectional arm connection; the cylinder body of the folding arm hydraulic cylinder is connected to the front end of the two-section arm through the hinge shaft, and the output end of the folding arm hydraulic cylinder is hinged to the folding arm.

The de-icing vehicle with one-button return-to-centre function also includes an inclination sensor, a turntable angle encoder and a boom one-key return-to-center switch, the inclination sensor is connected to a joint arm; the turntable angle encoder is connected to the circle of the turntable The disc portion is fixedly connected, the driven gear is fixedly connected with the rotor of the turntable angle encoder, and the driven gear meshes with the teeth on the outer ring of the slewing support; the inclination sensor and the turntable angle encoder are respectively connected to the boom through signal lines The controller is connected; the operation cabin is provided with an operation platform, and the one-button return switch of the boom is set on the operation platform, and the control system is provided with the one-key return switch of the boom and the boom controller electric connect.

Preferably, the de-icing vehicle with one-button return-to-centre function also includes a heating device, which includes a first three-way, a first electromagnetic ball valve, a radiator, a hose, a second electromagnetic ball valve, a second three-way and The controller, the first three-way is connected with the de-icing spray pipeline in the de-icing spray system, the first electromagnetic ball valve is connected with the first three-way, and the first electromagnetic ball valve is connected with the inlet of the radiator through a hose The second tee is connected to the deicing liquid delivery pipeline, the outlet of the second electromagnetic ball valve is connected to the second tee, the outlet of the radiator is connected to the inlet of the second electromagnetic ball valve through the pipeline, The radiator is arranged in the cab, the controller is arranged in the cab, the first electromagnetic ball valve is connected to the controller through a cable, and the second electromagnetic ball valve is connected to the controller through a cable.

The present invention provides a method for controlling the centering of a deicing vehicle with a one-button centering function, comprising the following steps:

When the deicing vehicle is in the initial position, the boom controller sets the angle value detected by the inclination sensor and the angle value detected by the turntable angle encoder to 0 respectively; then the deicing vehicle performs deicing operations on the aircraft. When it is necessary to return the boom to the center after the deicing operation, turn on the one-key return switch of the boom, and the one-key return switch of the boom will send a signal to the boom controller, and the inclination sensor will detect the angle value of the position of a section of the boom in real time C. The angle encoder of the turntable detects the angle value D of the position of the turntable in real time, and sends the data C and D to the boom controller. When the angle value C detected by the inclination sensor is greater than the set threshold, the boom controller Send a control command to the boom control valve group to control the turntable hydraulic motor to rotate in reverse. The boom controller compares the real-time detected data D with the preset value 0 until the angle value D detected by the turntable angle encoder When it is equal to 0, the boom controller stops sending control commands to the boom control valve group, and then the turntable hydraulic motor stops. At this time, the boom returns to the initial neutral position, and the one-button return process of the boom ends.

The beneficial effects of the present invention are that the labor intensity of the operator is reduced, the boom return speed is increased, the boom return time is shortened, the work efficiency is improved, and the misoperation of the operator is avoided. It avoids safety accidents caused by the failure of the boom to return to the center due to negligence of the operator.

Further features and aspects of the present invention will be apparent from the following description of specific embodiments with reference to the accompanying drawings.

Description of drawings

Fig. 1 is the structural representation of electric aircraft deicing vehicle in the prior art;

Fig. 2 is the structural representation of deicing vehicle of the present invention;

Fig. 3 is a top view of the structure shown in Fig. 2;

Fig. 4 is a schematic diagram of the status of the deicing vehicle performing deicing operations on the aircraft.

Fig. 5 is a structural schematic diagram of the deployed state of the aerial work device;

Fig. 6 is a top view of the structure shown in Fig. 5;

Fig. 7 is a structural schematic diagram of the turntable installed on the column through the rotary support;

Fig. 8 is a diagram of the installation position of the turntable angle encoder in Fig. 7;

Fig. 9 is a structural schematic diagram of the jib lifting at a certain angle;

Fig. 10 is a schematic structural view of installing a heating device on a deicing vehicle;

Fig. 11 is a structural schematic diagram of installing a fuel heating device on a deicing vehicle.

Explanation of symbols in the figure:

100. Electric vehicle chassis, 200. Power battery pack, 300. Aerial working device, 500. Deicing spray system, 600. Anti-icing spray system, 700. Deicing fluid tank, 800. Anti-icing fluid tank; 1. Operation cabin , 2. Folding arm, 4. Two-section arm, 6. One-section arm, 7. Inclination sensor, 8. Turntable angle encoder, 9. Turntable, 9-1. Disk part, 10. Operating table, 11. Arm Frame controller, 12. Hydraulic pump, 13. Boom control valve group, 14. Turntable hydraulic motor, 15. One-section boom lifting hydraulic cylinder, 16. Two-section boom telescopic hydraulic cylinder, 17. Folding arm hydraulic cylinder, 30 .Column, 31. Slewing support, 31-1. Outer ring, 32. Driving gear, 33. Passive gear;

1A. Overflow valve, 2A. Deicing fluid heating device, 3A. Deicing spraying pipeline, 4A. The first tee, 5A. The first electromagnetic ball valve, 6A. Radiator, 7A. Inlet pipeline, 8A. Temperature Sensor, 9A. Deicing pump, 10A. Second electromagnetic ball valve, 12A. Deicing fluid delivery pipeline, 13A. Return pipeline, 14A. Hose, 15A. Pipeline, 16A. Second tee.

detailed description

Referring to the accompanying drawings, the present invention will be further described in detail with specific embodiments.

Example 1

As shown in Figure 1, the electric aircraft deicing vehicle includes an electric vehicle chassis 100, a power battery pack 200, an aerial work device 300, a deicing spray system 500, an anti-icing spray system 600, a deicing fluid tank 700, and an antiicing fluid tank 800 , the power battery pack 200, the aerial work device 300, the deicing fluid tank 700, the antiicing fluid tank 800, the deicing spray system 500, and the antiicing spray system 600 are all connected to the chassis girder of the electric vehicle chassis 100. The deicing liquid tank 700 is connected with the spraying pipeline in the high-altitude working device 300 through the deicing spraying system 500 . The anti-icing liquid tank 800 is connected with the spraying pipeline in the high-altitude working device 300 through the anti-icing spraying system 600 . It should be noted that the anti-icing spray system 600 and the anti-icing liquid tank 800 are not necessary devices, and the deicing operation can be performed normally without the anti-icing spraying system 600 and the anti-icing liquid tank 800 .

The control system is installed on the console 10 in the operation cabin 1, and the control system is used to control the work of the deicing vehicle. The control system is equipped with a battery management module, which is electrically connected to the power battery pack 200, and the battery management module provides power consumption units such as the deicing fluid spraying system 500, the anti-icing fluid spraying system 600, the aerial work device 300, and the electric vehicle chassis 100. powered by. The control system is provided with a boom controller 11 , and the boom controller 11 is used to control the action of the aerial work device 300 .

As shown in Figures 2 and 3, the aerial work device 300 includes an operation cabin 1, a folding arm 2, a two-section boom 4, a one-section boom 6, a turntable 9, a hydraulic pump 12, a folding arm hydraulic cylinder 17, and a two-section boom telescopic hydraulic cylinder. 16. One-section boom lifting hydraulic cylinder 15, boom control valve group 13, turntable hydraulic motor 14, column 30 are fixedly installed on the chassis beam of the electric vehicle chassis 100, as shown in Figures 8 and 9, the slewing support 31 includes the outer The ring 31-1 and the inner ring, the outer ring 31 is provided with teeth, the outer ring 31-1 is fixedly installed on the top of the column 30, the turntable 9 is fixedly installed on the inner ring of the slewing support 31, and the position of the turntable 9 close to the slewing support 31 A disc part 9-1 is provided, and the turntable hydraulic motor 14 is fixedly installed on the disc part 9-1. The drive gear 32 is fixedly connected with the output shaft of the turntable hydraulic motor 14. The drive gear 32 is connected to the gear on the outer ring 31-1. meshing, the turntable hydraulic motor 14 works to drive the drive gear 32 to rotate, because the drive gear 32 meshes with the teeth of the outer ring 31, the outer ring 31 is stationary, the inner ring of the slewing support 31 rotates, and then the turntable 9 rotates, and the turntable hydraulic motor 14 is used The turntable 9 is driven to rotate (usually, the turntable 9 rotates up to 350°). The hydraulic pump 12 is fixedly installed on the chassis girder of the electric vehicle chassis 100, and the hydraulic pump 12 provides hydraulic power for boom movements such as the lifting of the one-section arm, the telescoping of the two-section arm, the luffing of the folding arm, and the rotation of the turntable. The output port of the hydraulic pump 12 is connected with the boom control valve group 13 . The boom control valve group 13 is fixedly installed on the chassis girder of the electric vehicle chassis 100, and the boom control valve group 13 is respectively connected with the folding arm hydraulic cylinder 17, the two-section boom telescopic hydraulic cylinder 16, and the one-section boom lifting hydraulic cylinder through hydraulic pipelines. The cylinder 15 and the turntable hydraulic motor 14 are connected, and the hydraulic pump 12 and the boom control valve group 13 are installed on the chassis girder of the electric vehicle chassis 100 by bolts. The cylinder body of the one-section boom lifting hydraulic cylinder 15 is connected with the turntable 9 through the hinge shaft, and the output end of the one-section boom lifting hydraulic cylinder 15 is connected with the one-section boom 6 through the hinge shaft; the cylinder body of the two-section boom telescopic hydraulic cylinder 16 Fixed in the first section arm 6, the output end of the second section boom telescopic hydraulic cylinder 16 is connected with the second section arm 4 through the hinge shaft; the cylinder body of the folding arm hydraulic cylinder 17 is connected with the front end of the second section arm 4 through the hinge shaft, and the folding arm The output end of the hydraulic cylinder 17 is hinged with the folding arm 2 . The boom control valve group 13 is electrically connected with the boom controller 11 .

The structural illustrations of the above electric aircraft deicing vehicle are all prior art, and will not be repeated.

Figures 2 and 3 show that the boom is in the neutral state, and the turntable 9 is in the neutral state. Figures 5 and 6 show that the boom is not in the neutral state, and the turntable 9 is not in the neutral state.

The technical improvement of the present invention lies in that an inclination sensor 7 is installed on a jib 6 through bolts; the inclination sensor 7 is respectively connected and communicated with the boom controller 11 through signal lines. The inclination sensor 7 can measure the angle after the one-section boom 6 is deployed under the drive of the one-section boom lifting hydraulic cylinder 15 (that is, measure the angle of the jib composed of the one-section boom 6 and the two-section boom 4). As shown in Figures 8 and 9, the turntable angle encoder 8 is fixed on the disc part 9-1 of the turntable 9 by bolts, the driven gear 33 is fixedly connected with the rotor of the turntable angle encoder 8, and the driven gear 33 is connected to the rotary support 31. The teeth on the outer ring 31-1 mesh. When the turntable 9 rotates, the disc part 9-1 rotates. Since the driven gear 33 meshes with the outer ring 31-1, the rotor of the turntable angle encoder 8 will rotate, and the turntable angle encoder 8 to carry out detection work. The turntable angle encoder 8 is connected and communicated with the boom controller 11 through a signal line. When the turntable 9 rotates, the driven gear 33 rotates synchronously, and the angle value detected by the turntable angle encoder 8 is transmitted to the boom controller 11 through an electric signal, and the boom controller 11 obtains the rotation angle of the turntable 9 . A boom one-key return-to-centre switch is provided on the console 10, and the boom one-key return-to-centre switch is used to control the boom to return to the center, and the boom one-key return-to-center switch is electrically connected to the boom controller 11. When the deicing vehicle was at the initial position shown in Figures 2 and 3, the angle value detected by the inclination sensor 7 and the angle value detected by the turntable angle encoder 8 were respectively set to 0 by the boom controller 11; The aircraft performs deicing operations, as shown in Figures 4 and 5, the staff operates in the operating cabin 1 to make the aerial work device 300 move, so that the operating cabin 1 is close to the position where the aircraft needs to be deiced. Different deicing positions determine the position of the turntable 9. The rotation angle of the one-section arm lifting hydraulic cylinder 15, the stroke of the two-section boom telescopic hydraulic cylinder and the stroke of the folding arm hydraulic cylinder 17; The stroke of cylinder 15, the stroke of two-section boom telescopic hydraulic cylinder and the stroke of folding arm hydraulic cylinder 17 are not fixed, are random. When it is necessary to return the boom to the center after the deicing operation of the deicing vehicle (at this time, the boom is in the unfolded state shown in Figure 5, and the turntable 9 is in a non-neutral state), turn on the one-button centering switch of the boom, and the boom will The one-button centering switch sends a signal to the boom controller 11, the inclination sensor 7 detects the angle value C of the position of the jib 6 in real time, and the turntable angle encoder detects the angle value D of the position of the turntable 9 in real time, and the data C , D sent to the jib controller 11, when the angle value C detected by the inclination sensor 7 was greater than the set threshold (such as the threshold is 30 °, Fig. 9 shows that the angle of the jib is 30 °), by the jib controller 11 Send a control command to the boom control valve group 13 and then control the turntable hydraulic motor 14 to rotate in reverse. The boom controller 11 compares the real-time detected data D with the preset value 0 until the turntable angle encoder detects When the angle value D is equal to 0, the boom controller 11 stops sending control commands to the boom control valve group 13, and then the turntable hydraulic motor 14 is stopped. At this time, the boom returns to the initial neutral position shown in FIG. 3 , The process of returning the boom to the center with one key is over. For signal judgment, when the condition of D=0 is satisfied, the control instruction signal sent by the boom controller 11 to the boom control valve group 13 is cut off.

If the angle C detected by the inclination sensor 7 is not greater than the set threshold, the boom controller 11 will not send a control command to the boom control valve group 13 to control the turntable hydraulic motor 14 to rotate in reverse.

It can be seen that the operation of returning the boom to the initial neutral position is very convenient, and the boom can be returned to the center quickly, in a short time, and can be accurately positioned. The labor intensity of the operator is greatly reduced. Automatic return to the center, to prevent the occurrence of the operator's misoperation. Prevent accidents in which the boom touches the cab or objects around the deicing vehicle during the centering process when the boom angle is too low.

It should be noted that the inclination sensor 7 can specifically adopt the INX360D-F99-I2E2-V15 inclination sensor of the Pepperl+Fuchs company.

Example 2

For embodiment 1, the inclination sensor 7 and the turntable angle encoder 8 can realize another application. A display screen is installed on the console 10, and the display screen is electrically connected with the boom controller 11, and the boom controller 11 transmits the data C and D are sent to the display screen, and the display screen will display the movement angle value of a section arm 6 and detect the rotation angle value of the turntable 9. The data can be accurately manipulated.

Facing another technical problem in the existing technology (the aircraft deicing vehicle performs deicing operations on the apron in winter, the apron is empty, the convection wind is relatively large, and during the operation of the deicing vehicle, the self-contained heating system of the vehicle chassis heats up slowly In addition, affected by the cold wind, it is difficult for the water temperature of the cab heating system to rise to the temperature required for cab heating, resulting in the failure of the cab heating system to work normally. The temperature of the cab is usually below zero, and the operator needs to wear heavy Cotton clothes keep out the cold, the comfort is not good, affect the normal driving operation, and are not conducive to safe operation), the deicing spray system 500 is equipped with a deicing fluid heating device, and the deicing fluid heating device is used to treat the deicing fluid entering the deicing spraying system 500 heating. As shown in Figure 10, the inlet of the deicing pump 9A is connected to the deicing fluid tank 700 through the deicing fluid delivery pipeline 12A, and the outlet of the deicing pump 9A is connected to the water inlet pipeline 7A of the deicing fluid heating device 2A through the pipeline. During the deicing operation, the deicing fluid in the deicing fluid tank 700 is sent to the deicing fluid heating device 2A by the deicing pump 9A and the pipeline for heating, and the heated deicing fluid is sprayed by deicing in the deicing spraying system 500 The pipeline 3A is sprayed onto the surface of the aircraft to de-ice the aircraft. When spraying is not required, the heated deicing fluid flows back to the deicing fluid tank 700 through the overflow valve 1A and the return pipeline 13A. There are two outputs of the deicing fluid heating device 2A, namely the first output port and the second output port. The inlet of the overflow valve 1A is connected to the first output port of the deicing liquid heating device 2A, one end of the return line 13A is connected to the outlet of the overflow valve 1A, and the other end of the return line 13A is connected to the deicing liquid tank 700 . The second output port of the deicing fluid heating device 2A is connected with the deicing spray pipeline 3A. These are all prior art, and the improvement of setting up heating function is: increase and set the first three-way 4A, the first electromagnetic ball valve 5A, radiator 6A, the second electromagnetic ball valve 10A, the second three-way 16A, deicing spray system 500 set There is a deicing spray pipeline 3A, the first three-way 4A is connected to the deicing spray pipeline 3A, the first electromagnetic ball valve 5A is connected to the first three-way 4A (on the deicing spray pipeline 3A, the first three-way 4A is divided Out of a pipeline, and connected with the first electromagnetic ball valve 5A), the first electromagnetic ball valve 5A is connected with the inlet of the radiator 6A arranged in the cab through the hose 14A, and the second tee 16A is installed in the deicing fluid delivery pipeline 12A (through the tee to separate a pipeline on the deicing liquid delivery pipeline 12A), the outlet of the second electromagnetic ball valve 10A is connected to the second tee 16A, and the outlet of the radiator 6A is connected to the second through the pipeline 15A. The inlet of the electromagnetic ball valve 10A is connected, and the radiator 6A is installed in the cab 101 . The first electromagnetic ball valve 5A is connected to the controller provided in the cab through a cable, and the second electromagnetic ball valve 10A is connected to the controller through a cable. After the deicing vehicle starts the deicing fluid heating device 2A, when it is necessary to increase the temperature of the cab , the controller instructs the first electromagnetic ball valve 5A and the second electromagnetic ball valve 10A to open, and the heated deicing fluid enters the radiator 6A through the hose 14A to heat the air in the cab (the deicing fluid flowing out of the radiator 6A passes through the second After the electromagnetic ball valve 10A passes through the second three-way 16A and enters the deicing fluid delivery pipeline 12A), after heating for a period of time, if the cab is not required to be heated, the controller instructs the first electromagnetic ball valve 5A and the second electromagnetic ball valve 10A to close . It can be seen that the temperature generated by the heating device exchanges heat for the cab, increases the temperature of the cab, and improves the comfort of the operator. reliable. In addition, a temperature sensor 8A can be set in the cab, the temperature sensor 8A is bonded in the dashboard of the cab, the temperature sensor 8A is connected to the controller provided in the cab 101 through a signal line, and the first electromagnetic ball valve 5A is connected to the controller in the cab through a cable. The set controller is connected, and the second electromagnetic ball valve 10A is connected to the controller through a cable. After the deicing vehicle starts the deicing fluid heating device 2A, the temperature sensor 8A detects the cab temperature. When the cab temperature is lower than the set temperature , the controller instructs the first electromagnetic ball valve 5A and the second electromagnetic ball valve 10A to open, the heated deicing fluid enters the radiator 6A through the pipeline to heat the cab, when the temperature sensor 8A detects that the temperature of the cab is higher than the set temperature , the controller instructs the first electromagnetic ball valve 5A and the second electromagnetic ball valve 10A to close, the radiator 6A stops working, the cab heating stops, and the first electromagnetic ball valve 5A and the second electromagnetic ball valve 5A and the second electromagnetic ball valve increase with time when the cab temperature is lower than the set temperature 10A turns on again to supply heat again, and so on until the end of the deicing operation. Specifically, the radiator 6A may adopt a radiator coil.

In order to solve another technical problem, when the existing electric aircraft deicing vehicle heats the deicing fluid, it needs to use external mains power to provide power for the heating system. The heating power is large, and the power grid load is relatively large during the heating process. Some airports are in short supply. Therefore, the deicing fluid fuel heating device is added for technical improvement, and the battery is used to supply power to the deicing fluid fuel heating device, and the deicing fluid fuel heating device does not need Externally connected to the mains, the heating process does not increase the load on the power grid, and ensures the normal operation of the deicing vehicle when the airport’s power consumption is tight. It solves the problem that the electric aircraft deicing vehicle is limited by the lack of airport power, which is more suitable for the current situation of the airport and realizes the rapid promotion of aircraft. The electrification of the deicing vehicle has the advantages of fast heating, low equipment cost, and high degree of intelligence. The deicing fluid fuel heating device is installed on the chassis girder of the electric vehicle chassis 1 . The battery management module provides working power for the deicing fluid fuel heating device. As shown in Figure 11, the deicing fluid fuel heating device includes a fuel heater 23-1, a temperature sensor 23-2, and a flow sensor 23-3. The deicing fluid tank 700 is connected to the fuel heater 23-1 through a pump and corresponding pipelines. connected to the water inlet of the fuel heater 23-1, the water outlet of the fuel heater 23-1 is connected to the deicing fluid spraying pipeline of the deicing spray system through a pipeline, a temperature sensor 23-2 is set at the water inlet of the fuel heater 23-1, and the other A temperature sensor 23-2 is set at the water outlet of the fuel heater 23-1, a flow sensor 23-3 is set at the water inlet of the fuel heater, and the fuel heater 23-1 is set with an electronically controlled fan 23-4 and an electronically controlled fuel pump 23-5. The electronically controlled fuel pressure regulating valve 23-6, the electronically controlled fan 23-4 is used to deliver the air necessary for combustion into the fuel heating device, and the electronically controlled fuel pump 23-5 is used to deliver fuel to the fuel heating device. The fuel heater 23-1 is provided with a fuel input pipeline, and the electronically controlled fuel pressure regulating valve 23-6 is installed on the fuel input pipeline. The two temperature sensors 23-2 are respectively connected to the controller in the cab through signal lines, and the flow sensor 23-3 is connected to the controller in the cab through signal lines. The controller automatically collects the inlet and outlet of the fuel heater 23-1. temperature, flow and other information. The controller controls the start and stop of the deicing fluid fuel heating device. When working, the deicing fluid is input from the water inlet of the fuel heater 23-1, and the external fuel is sent into the fuel heating from the fuel input pipeline of the fuel heater 23-1. In the combustion chamber of the device 23-1, the controller adjusts the rotation speed of the electric control fan 23-4 and the rotation speed of the electric control fuel pump 23-5. The fuel burns in the combustion chamber to generate heat to heat the deicing fluid, and the controller adjusts the electronic control fuel pump. The pressure of the pressure regulating valve 23-6 is used to adjust the fuel input and then control the heating power, and finally adjust the temperature of the deicing fluid output from the water outlet of the fuel heater 23-1 (the temperature sensor at the water outlet of the fuel heater 23-1 Real-time detection of the actual temperature of the heated deicing fluid), so that the heated deicing fluid reaches the required temperature. It plays the role of rapidly heating the deicing fluid. It can be seen that adding a fuel oil heating device has the advantages of energy saving and environmental protection, low energy consumption, fast heating, low equipment cost, and high degree of intelligence.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the scope of the claims of the present invention shall fall within the protection scope of the present invention.

Claims (3)

1. An ice removing vehicle with a one-key centering function comprises an electric vehicle chassis, a power battery pack, an aerial working device, an ice removing spraying system and an ice removing liquid tank, wherein the power battery pack, the aerial working device, the ice removing liquid tank and the ice removing spraying system are all connected to a chassis girder of the electric vehicle chassis; the cylinder body of the one-section arm lifting hydraulic cylinder is connected with the rotary table through a hinge shaft, and the output end of the one-section arm lifting hydraulic cylinder is connected with the one-section arm through the hinge shaft; the cylinder body of the two-section arm telescopic hydraulic cylinder is fixed in the first section arm, and the output end of the two-section arm telescopic hydraulic cylinder is connected with the second section arm; the cylinder body of folding arm pneumatic cylinder is connected through the front end of hinge and two section arms, and the output of folding arm pneumatic cylinder is articulated with folding arm, its characterized in that:

the deicing vehicle with the one-key centering function further comprises an inclination angle sensor, a rotary table angle encoder and an arm frame one-key centering switch, wherein the inclination angle sensor is connected with a section of arm; the rotary table angle encoder is fixedly connected with a disc part of the rotary table, the driven gear is fixedly connected with a rotor of the rotary table angle encoder, and the driven gear is meshed with teeth on an outer ring of the rotary support; the tilt angle sensor and the rotary table angle encoder are respectively connected with the arm support controller through signal lines; the control system is provided with the arm support one-key return-to-open switch which is electrically connected with the arm support controller.

2. The deicing vehicle with the one-key centering function according to claim 1, further comprising a heating device, wherein the heating device comprises a first tee joint, a first electromagnetic ball valve, a radiator, a hose, a second electromagnetic ball valve, a second tee joint and a controller, the first tee joint is connected with a deicing spray pipeline in the deicing spray system, the first electromagnetic ball valve is connected with the first tee joint, the first electromagnetic ball valve is connected with an inlet of the radiator through the hose, the second tee joint is connected with a deicing liquid conveying pipeline, an outlet of the second electromagnetic ball valve is connected with the second tee joint, an outlet of the radiator is connected with an inlet of the second electromagnetic ball valve through a pipeline, the radiator is arranged in the cab, the controller is arranged in the cab, the first electromagnetic ball valve is connected with the controller through a cable, and the second electromagnetic ball valve is connected with the controller through a cable.

3. The boom centering control method of the deicing vehicle with the one-key centering function according to claim 1 is characterized by comprising the following steps of:

when the deicing vehicle is at an initial position, the arm support controller respectively sets an angle value detected by the inclination angle sensor and an angle value detected by the rotary table angle encoder to be 0 point; then the deicing vehicle carries out deicing operation on the airplane, when arm support centering is required after the deicing operation of the deicing vehicle is finished, an arm support one-key centering switch is turned on, the arm support one-key centering switch sends a signal to an arm support controller, an inclination angle sensor detects an angle value C of the position of a section of arm in real time, a rotary table angle encoder detects an angle value D of the position of a rotary table in real time, data C, D are sent to the arm support controller, when the angle value C detected by the inclination angle sensor is larger than a set threshold value, the arm support controller sends a control command to an arm support control valve group to further control a rotary table hydraulic motor to rotate reversely, the arm support controller compares the data D detected in real time with a preset value 0, when the angle value D detected by the rotary table angle encoder is equal to 0, the arm support controller stops sending the control command to the arm support valve group to further stop the rotary table hydraulic motor, at the moment, the arm support returns to an initial neutral position, and the arm support one-key centering process is finished.

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