Mechanical arm based on pneumatic control surface and working method thereof

Abstract

The invention discloses a mechanical arm based on a pneumatic control surface and a working method of the mechanical arm, relates to the field of butt joint of aerospace crafts, can be suitable for various air butt joint operations, is high in control response speed and accurate in butt joint, improves the safety and reliability of air butt joint, and meanwhile improves the butt joint efficiency.The mechanical arm comprises a rigid pipe system, an angle sensor and an operation end. The rigid pipe system is formed by sequentially and movably connecting a plurality of rigid pipes, the control surfaces are installed at the tail ends of part of the rigid pipes, and the control surfaces are at least two of elevators, rudders and rolling rudders. An angle sensor is arranged at the joint of therigid pipes. One end of the rigid pipe system is movably connected with the operation machine, and the other end is provided with a working end which is an oil conveying port or a butt joint lock catch. According to the invention, maneuvering actions of a butt joint aircraft are effectively reduced, and the butt joint safety and reliability are improved. The mechanical arm is applied to aerial refueling and material supply, a complex mechanical structure is not needed, control force is generated by controlling the control surface, mechanism movement is controlled, and then the effect similar to that of a mechanical arm is achieved.

Description

technical field [0001] The invention relates to the field of docking of aerospace vehicles, in particular to a mechanical arm based on an aerodynamic rudder surface and a working method thereof. Background technique [0002] Aircraft air control mechanisms (such as mechanical arms, hoses, etc.) can be used to perform special tasks in the air between two or more aircraft, such as aerial refueling, material replenishment, etc., which can increase the range and combat radius of the aircraft and increase the number of aircraft in the air. Time, increase airborne equipment or aircraft payload, etc., greatly improve the performance of the aircraft, and have broad application prospects in special-purpose military aircraft. [0003] At present, the air control mechanism of aircraft is mainly divided into hose type (active approach of docking slave aircraft) and mechanical type (mechanical control of parent aircraft). [0004] The hose-type system is widely used in aerial refueling ...

AI Technical Summary

Problems solved by technology

[0006] The invention provides a mechanical arm based on a pneumatic rudder surface and its working method, which can be applied to a variety of aerial docking operations, and the corresponding control speed is fast, the docking is accurate, safe and reliable, and the safety and reliability of the aerial docking are improved. Improve the docking efficiency; solve the problem of slow attitude and position response and low precision of the sub-machine when the existing docking technology relies on the sub-machine to find the docking point; drive the mechanical arm to run through the pneumatic rudder surface, manipulate the docking joint to actively find the sub-machine, and improve It improves the safety and reliability of the docking, and also improves the docking efficiency; at the same time, the manipulator has the ability of segmental control, which can better suppress the aerodynamic flutter and achieve precise control

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