公开(公告)号：US08515594B2

公开(公告)日：2013-08-20

申请号：US13130364

申请日：2009-11-25

申请人： Arie Perry ,  Ran Braier

发明人： Arie Perry ,  Ran Braier

IPC分类号： B64F1/22

CPC分类号： G06F11/30 ,  B60S13/00 ,  B64F1/10 ,  B64F1/22 ,  B64F1/227 ,  F16H61/4043 ,  F16H61/42 ,  Y02T50/826

摘要： An airplane tug for receiving a landing gear of an airplane. Tug comprises a chassis for receiving the landing gear, a propulsion arrangement for moving tug, force sensor(s) for measuring a force exerted by the chassis on the gear due to a speed differential between tug and airplane, and a controller for altering movement parameter(s) of tug for maintaining the force below a value. Propulsion arrangement comprises a variable angle swash plate hydraulic pump coupled to a variable angle swash plate hydraulic motor and to a bypass path valve such that fluid circulates between the pump and motor to activate the arrangement to increase the speed and/or traction force when bypass path is in a closed state, and the fluid circulates across the motor via the valve to reduce a rotational speed and/or traction force of the tug when the path is in an opened state.

摘要翻译： 用于接收飞机起落架的飞机拖船。 拖轮包括用于接收起落架的底架，用于移动拖轮的推进装置，用于测量由于牵引车和飞机之间的速度差异而由底盘施加在齿轮上的力的力传感器以及用于改变运动参数的控制器 拖把的力量维持在一个值以下。 推进装置包括联接到可变角度旋转斜盘液压马达的可变角度斜盘液压泵和旁路通路阀，使得流体在泵和马达之间循环以启动该装置，以在旁路路径时增加速度和/或牵引力 处于关闭状态，并且当路径处于打开状态时，流体经由阀循环跨过马达，以减小拖轮的旋转速度和/或牵引力。

公开(公告)号：US09090358B2

公开(公告)日：2015-07-28

申请号：US13358659

申请日：2012-01-26

申请人： Arie Perry ,  Ran Braier

发明人： Arie Perry ,  Ran Braier

IPC分类号： B64F1/22

CPC分类号： B64F1/228 ,  B64F1/227 ,  Y02T50/826

摘要： An unmanned airplane transfer system, comprising: a transfer module adapted to transfer an airplane; a landing gear holder, adapted to firmly grip a landing gear of the airplane; wherein the landing gear holder is pivotally coupled to a structural element of the unmanned transfer system; and a controller, coupled to the transfer module, adapted to control the transfer module in response to a steering induced movement of the landing gear holder.

摘要翻译： 一种无人飞行器传输系统，包括：适于传送飞机的传送模块; 起落架保持器，适于牢固地抓住飞机的起落架; 其中所述起落架保持器枢转地联接到所述无人驾驶系统的结构元件; 以及耦合到所述传送模块的控制器，其适于响应于所述起落架保持器的转向引起的移动来控制所述传递模块。

公开(公告)号：US20130081890A1

公开(公告)日：2013-04-04

申请号：US13702515

申请日：2011-06-09

申请人： Raphael E. Levy ,  Ran Braier ,  Arie Perry

发明人： Raphael E. Levy ,  Ran Braier ,  Arie Perry

IPC分类号： B62D1/28 ,  B64F1/00

CPC分类号： B62D1/283 ,  B64F1/002 ,  B64F1/22 ,  B64F1/227 ,  B64F1/228 ,  Y02T50/826

摘要： A vehicle for towing an airplane by receiving thereupon a nose landing gear of the airplane having an airplane longitudinal axis. The vehicle having a vehicle longitudinal axis and is configured to tow the airplane along a straight or curved path and comprises a controller for directing its operation, including maintaining the vehicle's in-phase position in which the vehicle longitudinal axis is parallel to the airplane longitudinal axis.

摘要翻译： 用于通过在其上接收具有飞机纵向轴线的飞机的起落架来牵引飞机的车辆。 车辆具有车辆纵向轴线并且被构造成沿着直线或弯曲路径拖动飞机，并且包括用于引导其操作的控制器，包括保持车辆的同轴位置，在该位置中车辆纵向轴线平行于飞机纵向轴线 。

公开(公告)号：US08245980B2

公开(公告)日：2012-08-21

申请号：US11798777

申请日：2007-05-16

申请人： Arie Perry ,  Ran Braier

发明人： Arie Perry ,  Ran Braier

IPC分类号： B64C13/20

CPC分类号： B64F1/22 ,  B64F1/227 ,  B64F1/228 ,  Y02T50/826

摘要： A method for transferring airplanes and an unmanned airplane transfer system. The airplane transferring system includes: receiving a transfer signal responsive of a movement of an airplane control component; and transferring an airplane, by an unmanned airplane transfer system, in response to the transfer signal.

摘要翻译： 一种用于转移飞机和无人驾驶飞机转移系统的方法。 飞机传送系统包括：响应飞机控制部件的运动接收传送信号; 并且通过无人驾驶飞行器传送系统来响应于传送信号传送飞机。

公开(公告)号：US08544792B2

公开(公告)日：2013-10-01

申请号：US12619123

申请日：2009-11-16

申请人： Arie Perry ,  Ran Braier

发明人： Arie Perry ,  Ran Braier

IPC分类号： B64C13/20

CPC分类号： B64F1/10 ,  B64C25/50 ,  B64F1/22 ,  B64F1/227

摘要： Disclosed a towbarless airplane tug and method of operating thereof. The tug comprises a chassis mounted on a plurality of tug wheels, at least some of said tug wheels being steerable tug wheels and at least some of said tug wheels being drivable tug wheels; an airplane wheel support turret assembly, rotatably mounted in connection with said chassis and operative to support at least one wheel of a nose landing gear of an airplane; at least one rotation sensor connected to said wheel support turret assembly and operative to sense rotation of said wheel support turret assembly relative to said chassis, said rotation resulting at least from steering control induced movement of the nose landing gear caused by pilot-controlled ground steering of said airplane, and to generate an output indicating a direction of said pilot-controlled ground steering of said airplane; at least one tug wheel driver unit operative to drive said drivable tug wheels; at least one tug wheel steering mechanism operative to steer said steerable tug wheels thereby providing steering of said chassis; and at least one tug controller operative to control operation of at least said tug wheel steering mechanism at least in response to said output of said rotation sensor, so as to cause steering said steerable tug wheels such that said chassis moves in the direction indicated in said output of said rotation sensor.

摘要翻译： 公开了一种无牵引式的拖拉机及其操作方法。 拖轮包括安装在多个拖轮上的底盘，至少一些所述拖轮是可转向的拖轮，并且至少一些所述拖轮是可驱动的拖轮; 飞机轮支撑转塔组件，其可旋转地安装在与所述底盘相连并用于支撑飞机的起落架的至少一个轮; 至少一个旋转传感器，其连接到所述车轮支撑转塔组件并且可操作以感测所述车轮支撑转塔组件相对于所述底盘的旋转，所述旋转至少导致转向控制引起的由先导控制的地面转向引起的前起落架的运动 并且产生指示所述飞机的所述先导控制地面转向的方向的输出; 至少一个拖轮驱动器单元，用于驱动所述可驱动拖轮; 至少一个牵引轮转向机构，用于转向所述可转向拖轮，从而提供所述底盘的转向; 至少一个牵引控制器至少响应于所述旋转传感器的所述输出来控制至少所述拖轮转向机构的操作，以便使所述可转向的拖轮轮转向，使得所述底盘沿所述转向传感器的所述方向移动， 输出所述旋转传感器。

公开(公告)号：US20110224845A1

公开(公告)日：2011-09-15

申请号：US13130364

申请日：2009-11-25

申请人： Arie Perry ,  Ran Braier

发明人： Arie Perry ,  Ran Braier

IPC分类号： B64F1/22 ,  B60K28/00 ,  B62D49/00

CPC分类号： G06F11/30 ,  B60S13/00 ,  B64F1/10 ,  B64F1/22 ,  B64F1/227 ,  F16H61/4043 ,  F16H61/42 ,  Y02T50/826

摘要： A towbarless airplane tug configured for receiving a landing gear of an airplane and towing it thereby is provided. The tug comprises a chassis configured for receiving thereon at least a portion of the landing gear, a propulsion arrangement configured to move the tug in a direction along a trajectory, at least one force sensor configured to measure, directly or indirectly, a force exerted by the chassis on the landing gear in at least the direction due to a speed differential between the tug and the airplane, and a controller in communication with the force sensor and being configured to alter one or more parameters of movement of the tug such that the force exerted by the chassis on the landing gear is maintained below a predetermined value. The propulsion arrangement comprises a variable angle swash plate hydraulic pump coupled to a variable angle swash plate hydraulic motor and to a controllable bypass path valve, configured such that a hydraulic fluid circulates between the pump and the motor so as to activate the propulsion arrangement to increase at least one of the speed and the traction force of the tug when the bypass path is in a closed state, and at least most of the hydraulic fluid circulates across the motor via the bypass path valve so as to reduce at least one of a rotational speed and traction force of the tug when the bypass path is in a opened state. The controller alters the parameters by regulating at least the power available to the propulsion arrangement, the pump and motor swash-plates, and the state of the bypass path valve.

摘要翻译： 提供了一种用于接收飞机的起落架并且由此牵引它的拖曳式拖拉机。 拖轮包括被配置为在其上接收起落架的至少一部分的底盘，构造成沿着轨迹的方向移动拖船的推进装置，至少一个力传感器，其构造成直接或间接地测量由 由于牵引车和飞机之间的速度差异，起落架至少在方向上的底盘以及与力传感器连通并被配置为改变拖轮的一个或多个运动参数的控制器，使得该力 由底盘施加在起落架上的速度保持在预定值以下。 推进装置包括耦合到可变角度旋转斜盘液压马达和可控旁路通道阀的可变角度斜盘液压泵，其构造成使得液压流体在泵和马达之间循环，以便启动推进装置以增加 当所述旁路通路处于关闭状态时，所述拖船的速度和牵引力中的至少一个，并且至少大部分所述液压流体经由所述旁路通路阀循环通过所述马达，以便减少旋转 当旁路路径处于打开状态时，拖船的速度和牵引力。 控制器通过调节至少可用于推进装置，泵和马达旋转斜盘的功率以及旁路通路阀的状态来改变参数。

公开(公告)号：US07975959B2

公开(公告)日：2011-07-12

申请号：US11528647

申请日：2006-09-28

申请人： Arie Perry ,  Ran Braier

发明人： Arie Perry ,  Ran Braier

IPC分类号： B64C25/50

CPC分类号： B64C39/024 ,  B64C2201/021 ,  B64C2201/086 ,  B64C2201/187 ,  B64F1/00 ,  Y02T50/82

摘要： A method for transferring airplanes and an unmanned airplane transfer system. The airplane transferring system includes: receiving a transfer signal responsive of a movement of an airplane control component; and transferring an airplane, by an unmanned airplane transfer system, in response to the transfer signal.

摘要翻译： 一种用于转移飞机和无人驾驶飞机转移系统的方法。 飞机传送系统包括：响应飞机控制部件的运动接收传送信号; 并且通过无人驾驶飞行器传送系统来响应于传送信号传送飞机。

公开(公告)号：US09403604B2

公开(公告)日：2016-08-02

申请号：US13238636

申请日：2011-09-21

申请人： Arie Perry ,  Ran Braier

发明人： Arie Perry ,  Ran Braier

IPC分类号： B64F1/22

CPC分类号： B64F1/228 ,  B64F1/227 ,  Y02T50/826

摘要： An airplane transfer system for transferring an airplane comprising an airplane control component. The system comprises: a transfer module comprising at least one motor and adapted to transfer an airplane; and a controller coupled to the transfer module and configured to: i) receive a at least one transfer signal that is responsive to one or more commands provided via the airplane control component; and ii) control the transfer module in response to the transfer signal, wherein the commands are a priori capable of controlling the airplane or components thereof.

摘要翻译： 一种用于转移包括飞机控制部件的飞机的飞机传送系统。 该系统包括：传输模块，包括至少一个电动机并适于传送飞机; 以及耦合到所述传送模块并被配置为：i）接收响应于经由所述飞机控制部件提供的一个或多个命令的至少一个传送信号的控制器; 以及ii）响应于所述传送信号控制所述传送模块，其中所述命令是先验地能够控制所述飞机或其组件。

公开(公告)号：US09199745B2

公开(公告)日：2015-12-01

申请号：US12619130

申请日：2009-11-16

申请人： Ran Braier ,  Arie Perry

发明人： Ran Braier ,  Arie Perry

IPC分类号： B64F1/22

CPC分类号： B64F1/22 ,  B64F1/227 ,  B64F1/228 ,  Y02T50/826

摘要： Disclosed a method of transferring airplanes and an unmanned airplane transfer system. The transfer system comprises a transfer module adapted to transfer an airplane by moving a landing gear of the airplane; and a controller being assembled with the transfer system, coupled to the transfer module, and adapted to i) receive a transfer signal; ii) to control the transfer module in response to the transfer signal; and iii) to coordinate transferring the airplane by the unmanned airplane transfer system and at least one second unmanned airplane transfer system. The method of transferring an airplane by a plurality of unmanned airplane transfer systems comprises receiving by at least one unmanned airplane transfer system among said plurality of transfer systems a transfer signal, and in response to the transfer signal, coordinating the transfer of the airplane by at least two unmanned airplane transfer systems among said plurality of transfer systems.

摘要翻译： 公开了一种转移飞机和无人驾驶飞行器传输系统的方法。 传送系统包括：转移模块，其适于通过移动飞机的起落架来转移飞机; 以及与所述传送系统组装的控制器，耦合到所述传送模块，并且适于i）接收传送信号; ii）响应于传送信号来控制传送模块; 以及iii）协调由无人驾驶飞行器传送系统和至少一个第二无人飞行器传送系统传送飞机。 通过多个无人驾驶飞行器传输系统传送飞机的方法包括由所述多个传送系统中的至少一个无人驾驶飞行器传输系统接收传送信号，并且响应于传送信号，通过以下方式协调飞机的传送： 所述多个传送系统中的至少两个无人飞行器传送系统。

公开(公告)号：US08825338B2

公开(公告)日：2014-09-02

申请号：US13700874

申请日：2011-05-30

申请人： Ran Braier ,  Arie Perry

发明人： Ran Braier ,  Arie Perry

IPC分类号： B60T8/32 ,  B60K31/00 ,  B60W30/188 ,  F16H61/47 ,  B60K6/46 ,  B64F1/22 ,  B64F1/10 ,  F16H61/472 ,  B60W10/06 ,  B60W20/00 ,  B60W10/08 ,  B60W30/18 ,  B60L11/12

CPC分类号： B60W30/18 ,  B60K6/46 ,  B60L11/12 ,  B60L2220/42 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/486 ,  B60W10/06 ,  B60W10/08 ,  B60W20/00 ,  B60W30/188 ,  B60W2710/0677 ,  B60W2710/081 ,  B60W2710/083 ,  B60W2710/1033 ,  B60W2720/28 ,  B60W2720/30 ,  B64F1/10 ,  B64F1/22 ,  F16H61/47 ,  F16H61/472 ,  Y02T10/6217 ,  Y02T10/6286 ,  Y02T10/642 ,  Y02T10/646 ,  Y02T10/7077 ,  Y10S903/93

摘要： A primary controller disclosed. The primary controller is configured for controlling operation of a drive system comprising a prime mover, a generator, and a motor, wherein the prime mover is configured to provide energy to the generator, which is configured to drive the motor. The controller comprises a speed controller configured for determining a target speed of the motor dependent on externally-supplied speed input and a torque controller configured for determining a target torque of the motor based on externally-supplied torque input and on parameters of the vehicle. The primary controller is configured to simultaneously determine the target speed and the target torque and to simultaneously control the prime mover, generator, and motor to operate the motor at the target speed and the target torque.

摘要翻译： 主要控制人披露。 主控制器被配置为控制包括原动机，发电机和电动机的驱动系统的操作，其中原动机被配置为向发电机提供能量，其被配置成驱动电动机。 该控制器包括速度控制器，该速度控制器被配置为根据外部供给的速度输入来确定电动机的目标速度;以及扭矩控制器，其被配置为基于外部提供的扭矩输入和车辆的参数来确定电动机的目标转矩。 主控制器被配置为同时确定目标速度和目标转矩，并且同时控制原动机，发电机和电动机以目标速度和目标转矩来操作电动机。