High-stability mechanical arm flight control device

Abstract

A kind of high stability mechanical arm flight control device, including fuselage, mechanical arm, connecting component, joystick, joystick has joystick central axis, mechanical arm includes pedestal, first motor, first swing arm, second motor, second swing arm;Pedestal is installed in the fuselage above joystick, first motor is installed on pedestal, first motor output shaft is connected with one end of first swing arm, the other end of first swing arm is installed second motor, second motor output end is connected with one end of second swing arm, the other end of second swing arm is installed connecting component;The central axis of the output shaft of first motor coincides with the joystick central axis when joystick is in original position, and the connecting piece central axis of connecting component and joystick central axis do not coincide, solve the instability problem of mechanical arm control aircraft control structure in high gravity and vibration environment.

Description

Technical Field

[0001] This invention relates to the structure of a robotic arm, and more particularly to a control device for a robot-controlled aircraft in a cockpit, specifically a high-stability robotic arm flight control device. Background Technology

[0002] Unlike drones, in-cockpit robotic automation technology helps reduce the pilot's workload. It can be configured as a pilot's assistant or replacement, for example, taking over control of the aircraft in the event of pilot incapacitation or malfunction. Combined with braking systems, this automation can further enhance aircraft control. Furthermore, in-cockpit robotic automation equipment can be temporarily installed and transferred between different aircraft without requiring invasive modifications.

[0003] However, manufacturing a robotic arm capable of rapidly executing various switches, knobs, and joysticks in high-gravity and vibration environments still faces challenges related to high cost and weight. This is particularly true in devices that use multi-segment rotating robotic arms to control aircraft joysticks. The aircraft's vibrations in turbulence manifest as disturbance accelerations on the structure, generating torques in the articulated arms and connecting structures. These torques are the product of the disturbance acceleration and the robotic arm's rotational inertia. As the robotic arm extends and the joystick tilts, these disturbance-generated torques increase exponentially, leading to instability in the connecting parts.

[0004] Therefore, it is necessary to design a highly stable robotic arm flight control device to solve the structural instability problem in high gravity and vibration environments in existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a highly stable robotic arm flight control device to solve the technical problems in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A highly stable robotic arm flight control device is characterized by comprising a fuselage, a robotic arm, a connecting assembly, and a joystick. The joystick has a central axis. The robotic arm includes a base, a first motor, a first rotating arm, a second motor, and a second rotating arm. The fuselage is mounted on the base above the joystick. The first motor is mounted on the base. The output shaft of the first motor is connected to one end of the first rotating arm. The other end of the first rotating arm is equipped with a second motor. The output end of the second motor is connected to one end of the second rotating arm. The connecting assembly is mounted on the other end of the second rotating arm. The central axis of the output shaft of the first motor coincides with the central axis of the joystick when it is in its original position, and the central axis of the connecting member of the connecting assembly does not coincide with the central axis of the joystick.

[0007] Preferably, the connecting assembly includes a ball head, an inner rod, an outer rod, and a connector; wherein the ball head is connected to the other end of the second rotating arm via a ball joint seat, and the ball head is fixedly disposed at the end of the inner rod, the inner rod is slidably connected to the inside of the outer rod, and the connector is fixedly installed at the bottom of the outer rod, and the connector is connected to the ball grip portion of the control lever.

[0008] Preferably, the second rotating arm is provided with a first ball joint fixing assembly, which includes a first locking block, a first locking motor and a first locking controller. The free end of the second rotating arm has a first sliding cavity and a first ball head positioning cavity, which are connected. The ball head is rotatably confined inside the first ball head positioning cavity. The first locking block is slidably disposed in the first sliding cavity. The first locking block has a rectangular cross section, and its side near the ball head has an arc surface that matches the outer periphery of the ball head. The side of the first locking block away from the ball head is provided with a first threaded hole. The first locking motor is disposed inside the first sliding cavity. The first locking motor has a first output shaft, and the first output shaft is connected to a lead screw, which is threadedly connected to the first threaded hole.

[0009] Preferably, the connecting component includes a limiting component, a damping component, a gripping and positioning component, and a second ball joint fixing component; the damping component includes a damping housing, a rotating shaft, a damping plate, a cover, and a locking nut; the damping housing is fixedly installed at the bottom of the outer rod, and the top of the damping housing, the interior of the outer rod, and the bottom of the inner rod form the installation space for the limiting component, which includes a coil spring, a disc spring, and a limiting ball; the rotating shaft includes an upper locking section, an upper transition section, a spline section, a lower transition section, a connecting section, and a lower locking section; a ball groove is provided at the top of the damping housing, which positions the lower half of the limiting ball at the top of the damping housing; the upper locking section of the rotating shaft passes through the damping housing and is screwed with a locking nut, which presses the disc spring onto the top surface of the damping housing; a limiting ball is located between the disc spring and the damping housing; the upper locking section and the upper transition section of the rotating shaft pass through the center hole of the disc spring, and a key connection is provided between the upper transition section of the rotating shaft and the center hole of the disc spring; the disc spring has a limiting hole corresponding to the ball groove.

[0010] Preferably, the shock-absorbing housing has a hollow cavity, the shock-absorbing plate is connected to the spline section via a spline sleeve, and a shock-absorbing partition is provided outside the spline sleeve. The shock-absorbing partition divides the central cavity inside the shock-absorbing housing into two independent chambers—a first chamber and a second chamber. The shock-absorbing housing has an inwardly protruding isolation protrusion that extends inward to the outer periphery of the spline sleeve. A cover is installed at the bottom of the shock-absorbing housing, and the lower transition section of the rotating shaft passes through the cover and extends out of the outside of the shock-absorbing housing. The connecting section of the rotating shaft is connected to the gripping and positioning assembly via a key and rotatedly locked. Then, the lower locking section is locked by a locking nut to axially lock the gripping and positioning assembly.

[0011] Preferably, the grip positioning component includes an upper spherical shell and a lower spherical shell. The upper spherical shell has a hemispherical upper spherical surface inside, and the lower spherical shell has a hemispherical lower spherical surface inside. The upper and lower spherical surfaces are combined to limit the spherical grip part. The bottom of the lower spherical shell has a through hole for the rod part to pass through.

[0012] Preferably, the top of the upper spherical shell has a laterally extending handle, the end of which has a through hole with a keyway, which is connected to the connecting section of the rotating shaft by a key.

[0013] Preferably, a second ball hinge fixing assembly is also provided on the upper spherical shell; the top of the upper spherical shell has a mounting cavity, which communicates with the upper spherical surface; the mounting cavity is provided with a second locking motor and a second locking block from top to bottom, the second locking block has a rectangular cross section, and its bottom has an arc-shaped locking surface that matches the outer side of the spherical grip part; the second locking block is slidably installed in the mounting cavity, and the cross section of the mounting cavity matches the rectangular cross section of the second locking block.

[0014] Preferably, the shock-absorbing component is also connected to an electro-hydraulic control structure. Both the first chamber and the second chamber are filled with hydraulic oil. The isolation protrusion is provided with a first oil hole and a second oil hole. The first oil hole connects the first chamber T1 to the external oil circuit one, and the second oil hole connects the second chamber to the external oil circuit two.

[0015] Preferably, a rotary encoder is coaxially mounted on the rotating shaft; oil circuit one and oil circuit two are respectively connected to port A and port B of the three-position four-way solenoid valve; port C and port D of the three-position four-way solenoid valve are connected to the two oil ports of the bidirectional variable pump; port A and port B of the three-position four-way solenoid valve are connected in the middle position; port A and port C are connected in the left position, and port B and port D are connected; port A, port B, port C, and port D of the right position are all disconnected and not connected to each other.

[0016] The beneficial effects of this invention are: This invention, by setting the connecting parts to include a limiting component, a shock-absorbing component, a gripping and positioning component, and a second ball joint fixing component, enables the control stick to drive the rotating shaft to rotate when the disturbance of the control stick exceeds the limiting resistance of the limiting ball on the disc spring. This small-range controllable rotation of the control stick allows the hydraulic oil to absorb the impact of the disturbance acceleration, preventing instability of the bolt connection between the upper and lower ball shells where the control stick ball head is installed. This solves the problem of instability of the robotic arm controlling the aircraft control structure in high gravity and vibration environments. The limiting component allows the rotary shaft to automatically adjust to match the corresponding starting torque when the joystick is at different swing angles α. When the joystick swing angle is large, the limiting component reduces the pressure of the helical spring on the disc spring, thus adapting to the need for shock absorption.

[0017] The valve position setting in the three-position four-way solenoid valve, along with the matching design of the rotating shaft, damping baffle, and two chambers in the damping assembly, allows the rotary buffer structure to be freely released, locked, shockproof, and reset, meeting the needs of different working conditions.

[0018] The central axis of the output shaft of the first motor coincides with the central axis of the joystick when it is in its original position. Furthermore, the central axis of the connecting component and the central axis of the joystick form a connection with a gap between them, which minimizes the structural size of the robotic arm and ensures that the joystick can rotate slightly around the connecting component when disturbed. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the high-stability robotic arm flight control device of the present invention; Figure 2 This is a schematic diagram of the structure of the first ball joint locking assembly of the present invention; Figure 3 This is a schematic diagram of the connection component structure of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the connection component structure of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the disc spring structure of the present invention; Figure 6 This is a schematic diagram of the rotating shaft structure of the present invention; Figure 7 This is a schematic diagram of the shock-absorbing component structure of the present invention; Figure 8 This is a schematic diagram of the control system structure of the present invention; In the diagram: Body 100, robotic arm 200, connecting assembly 300, joystick 400, spherical grip 401, rod 402, ball joint base 403, base 201, first motor 202, first rotating arm 203, second motor 204, second rotating arm 205, ball head 301, inner rod 302, outer rod 303, connector 304, first ball joint fixing assembly 500, first locking block 501, first locking motor 502, first... Locking controller 503, first sliding cavity 2052, first ball joint positioning cavity 2051, first output shaft 5021, first threaded hole 5011, limiting assembly 600, shock absorption assembly 700, grip positioning assembly 800, second ball joint fixing assembly 900, shock absorption housing 701, rotating shaft 702, shock absorption plate 703, cover 704, locking nut 705, coil spring 601, disc spring 602, limiting ball 603, upper locking section 7 021, Upper transition section 7022, Spline section 7023, Lower transition section 7024, Connecting section 7025, Lower locking section 7026, Ball groove 7011, Center hole 6022, Restricting hole 6021, Spline sleeve 7031, Vibration damping plate 7032, First chamber T1, Second chamber T2, Isolation protrusion 7011, Upper spherical shell 801, Lower spherical shell 802, Upper spherical surface 8012, Lower spherical surface 8022, Upper flange 8013, Lower flange Lan 8021, handle 8011, mounting cavity 8014, second locking motor 902, second locking block 901, second lead screw 9021, second threaded hole 9011, first oil hole 7012, second oil hole 7013, oil circuit 1, oil circuit 2, electro-hydraulic controller 5, bidirectional variable pump 4, three-position four-way solenoid valve 3, master controller 10, first motor controller 2021, second motor controller 2041, second locking controller 903. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in the embodiments of this specification, the technical solutions in the embodiments of this specification will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art should fall within the scope of protection.

[0021] like Figure 1The diagram shows the structure of the high-stability robotic arm flight control device of the present invention. It includes a fuselage 100, a robotic arm 200, a connecting assembly 300, and a joystick 400. The joystick 400 is rotatably mounted on the fuselage 100 and is a conventional control structure for aircraft. Its movement in four directions controls the rotation of the aircraft's elevators and ailerons, thereby controlling the aircraft's pitch and roll movements. For simplicity, the joystick 400 mainly includes a spherical grip 401, a stick portion 402, and a ball-joint base 403. The grip 401 is mounted at one end of the stick portion 402, and the ball-joint base 403 is connected to the other end. The ball-joint base 403 is mounted on the fuselage 100, specifically on the aircraft control panel or floor. The joystick 400 has a central axis C2, which is in a vertical P position when there is no control input, forming a 90° angle with the fuselage 100. The joystick 400 can rotate around the ball joint base 403 in any direction, and has a maximum swing angle α in a certain vertical plane, reaching the joystick's limit position P1.

[0022] The robotic arm 200 is a two-section robotic arm driven by two rotary motors, including a base 201, a first motor 202, a first rotating arm 203, a second motor 204, and a second rotating arm 205. The base 201 is mounted on the body 100 above the joystick 400. The first motor 202 is mounted on the base 201. The output shaft of the first motor 202 is connected to one end of the first rotating arm 203, and the second motor 204 is mounted on the other end of the first rotating arm 203. The output end of the second motor 204 is connected to one end of the second rotating arm 205, and the connecting assembly 300 is mounted on the other end of the second rotating arm 205. The central axis of the output shaft of the first motor 202 coincides with the central axis C2 of the joystick 400 when it is in position P (i.e., the original position). This minimizes the arm length of the robotic arm 200, ensuring that the control range of the robotic arm 200 covers the movement range of the joystick 400, while also reducing the arm length of the robotic arm 200 at its maximum control range.

[0023] In this invention, the connecting assembly 300 is responsible for connecting the ends of the robotic arm 200 and the joystick 400. The connecting assembly 300 includes a ball head 301, an inner rod 302, an outer rod 303, and a connector 304. The ball head 301 is connected to the other end of the second rotating arm 205 via a ball joint seat. At the same time, the ball head 301 is fixedly disposed at the end of the inner rod 302. The inner rod 302 is slidably connected to the inside of the outer rod 303. The connector 304 is fixedly installed at the bottom of the outer rod 303 and is connected to the spherical grip portion 401 of the joystick 400.

[0024] The connector 304 and the spherical grip 401 can be a detachable ball joint connection. However, research has shown that this detachable ball joint connection has a large moment of inertia when the control stick 400 is in a large-angle control position similar to P1. When encountering aircraft turbulence, the detachable ball joint connection is prone to instability, meaning the bolt-type disassembly structure loosens, causing misalignment between the central axis C1 of the connector 300 and the central axis C2 of the control stick. Figure 1 An angle is formed between C1' and C2' in the control. This causes the robotic arm 200 to be unable to provide stable and precise control over the joystick 400.

[0025] To solve the above-mentioned technical problems, the present invention also provides the following: Figures 2-8 The stabilization device shown.

[0026] like Figure 2 As shown, a first ball joint fixing assembly 500 is provided inside the second rotating arm 205, which includes a first locking block 501, a first locking motor 502, and a first locking controller 503. The free end of the second rotating arm 205 has a first sliding cavity 2052 and a first ball head positioning cavity 2051. The first sliding cavity 2052 and the first ball head positioning cavity 2051 are connected. The ball head 301 is rotatably confined inside the first ball head positioning cavity 2051. The first locking block 501 is slidably disposed in the first sliding cavity 1052. The first locking block 501 has a rectangular cross section, and its side near the ball head 301 has an arc surface that matches the outer periphery of the ball head. The cross section of the first sliding cavity 1052 matches the first locking block 501. The first locking block 501 has a first threaded hole 5011 on the side away from the ball head. The first locking motor 502 is disposed inside the first sliding cavity 2052. The first locking motor 502 has a first output shaft 5021, which is connected to a lead screw. The lead screw is threaded into the first threaded hole 5011. The first locking controller 503 controls the rotation of the first locking motor 502, thereby driving the first locking block 501 to move along the first sliding cavity 1052 through the rotation of the first output shaft 5021, so that the first locking block 501 can press against or release the ball head 301. When it is necessary to hold the control stick 400 in a certain position, in order to resist aircraft vibration, the ball head 301 is locked by the first ball joint fixing assembly 500, thereby keeping the connecting assembly 300 in a relative position.

[0027] like Figure 3 The structure of the connector 304 of the present invention is shown. After the connecting component 300 is connected to the control lever 400 via the connector 304, the central axis C1 of the connector of the connecting component 300 and the central axis C2 of the control lever do not coincide with each other.

[0028] like Figure 4 for Figure 3A schematic diagram of the structure of the connecting member 304. The connecting member 304 includes a limiting component 600, a shock-absorbing component 700, a gripping and positioning component 800, and a second ball joint fixing component 900.

[0029] First, the shock-absorbing assembly 700 includes a shock-absorbing housing 701, a rotating shaft 702, a shock-absorbing plate 703, a cover 704, and a locking nut 705. The shock-absorbing housing 701 is a circular cross-section housing structure, fixedly installed at the bottom of the outer rod 303. The top of the shock-absorbing housing 701, the interior of the outer rod 303, and the bottom of the inner rod 302 form the installation space for the limiting assembly 600. The limiting assembly 600 includes a helical spring 601, a disc spring 602, and a limiting ball 603. Figure 6 As shown, the rotating shaft 702 includes an upper locking section 7021, an upper transition section 7022, a spline section 7023, a lower transition section 7024, a connecting section 7025, and a lower locking section 7026. The top of the shock-absorbing housing 701 is provided with a ball groove 7011, which positions the lower half of the limiting ball 603 at the top of the shock-absorbing housing 701. The upper locking section 7021 of the rotating shaft 702 passes through the shock-absorbing housing 701 and is screwed with a locking nut. The locking nut presses the disc spring 602 against the top surface of the shock-absorbing housing 701. A limiting ball 603 is located between the disc spring 602 and the shock-absorbing housing 701. The upper locking section 7021 and the upper transition section 7022 of the rotating shaft 702 pass through the central hole 6022 of the disc spring 602, and a key connection (not shown) is provided between the upper transition section 7022 of the rotating shaft 702 and the central hole 6022 of the disc spring 602 to ensure synchronous rotation of the disc spring 602 and the rotating shaft 702. Figure 5 The diagram shows a top view of the disc spring 602. The disc spring 602 has a limiting hole 6021 corresponding to the ball groove 7011. When the rotating shaft 702 is not rotating, the limiting hole 6021 is limited by the limiting ball 603. A helical spring 601 is provided between the disc spring 602 and the bottom surface of the inner rod 302. A guide platform 3021 is provided at the bottom of the inner rod 302 to guide the helical spring 601. When the robotic arm 200 is in different rotational positions with the joystick 400, the extension and retraction between the inner rod 302 and the outer rod 303 are different. The larger the alpha angle of the joystick 400, the greater the extension and retraction between the inner rod 302 and the outer rod 303. This results in a smaller compression of the helical spring 601 at the bottom of the inner rod 302, and consequently a smaller pressure of the disc spring 602 on the limiting ball 603, making it easier for the rotating shaft 702 to rotate. Conversely, when the alpha angle of the joystick 400 is small, the rotating shaft 702 achieves a larger limiting pressure by pressing the disc spring 602 with the compressed helical spring 601.

[0030] The following is combined Figure 4 and Figure 7 The structure of the shock absorption component 700 is described. Figure 7 for Figure 4A cross-sectional schematic diagram of the 700 medium-voltage shock absorber component.

[0031] The shock-absorbing housing 701 has a hollow cavity. The shock-absorbing plate 703 is connected to the spline section 7023 via a spline sleeve 7031. A shock-absorbing partition 7032 is located outside the spline sleeve 7031, dividing the central cavity inside the shock-absorbing housing 701 into two independent chambers—a first chamber T1 and a second chamber T2. The shock-absorbing housing 701 has an inwardly protruding isolation protrusion 7011 extending inward to the outer periphery of the spline sleeve 7031. The first chamber T1 is formed between one side of the shock-absorbing partition 7032 and the isolation protrusion 7011, and the second chamber T2 is formed between the other side of the shock-absorbing partition 7032 and the isolation protrusion 7011. A cover 704 is installed at the bottom of the shock-absorbing housing 701, and the lower transition section 7024 of the rotating shaft 702 passes through the cover 704 and extends out of the outside of the shock-absorbing housing 701. The connecting section 7025 of the rotating shaft 702 is connected to the gripping and positioning assembly 800 by a key and rotates and locks, and then the lower locking section 7026 is locked by the locking nut 705 to axially lock the gripping and positioning assembly 800.

[0032] The grip positioning assembly 800 includes an upper spherical shell 801 and a lower spherical shell 802. The upper spherical shell 801 has a hemispherical upper spherical surface 8012 inside, and the lower spherical shell 802 has a hemispherical lower spherical surface 8022 inside. The upper spherical surface 8012 and the lower spherical surface 8022 are combined to limit the spherical grip part 401. The bottom of the lower spherical shell 802 has a through hole for the rod part 402 to pass through, and the diameter of the through hole is larger than the outer diameter of the rod part 402 to ensure the free rotation of the control lever.

[0033] The upper spherical shell 801 has an upper flange 8013, and the lower spherical shell 802 has a lower flange 8021. The upper flange 8013 and the lower flange 8021 are connected together by bolts.

[0034] The top of the upper spherical shell 801 has a laterally extending handle 8011, and the end of the handle 8011 has a through hole with a keyway, which is connected to the connecting section 7025 of the rotating shaft 702 by a key.

[0035] A second ball joint fixing assembly 900 is also provided on the upper spherical shell 801. The top of the upper spherical shell 801 has a mounting cavity 8014, which communicates with the upper spherical surface 8012. From top to bottom, the mounting cavity 8014 is provided with a second locking motor 902 and a second locking block 901. The second locking block 901 has a rectangular cross-section, and its bottom has an arc-shaped locking surface that matches the outer side of the spherical grip 401. The second locking block 901 is slidably installed in the mounting cavity 8014, and the cross-section of the mounting cavity 8014 matches the rectangular cross-section of the second locking block 901. The second locking block 901 and the second locking motor 902 are connected and driven by a second lead screw 9021 and a second threaded hole 9011. A second locking controller 903 is also provided, which controls the second locking motor 902 to move the second locking block 901 downward or upward to press and lock the spherical grip 401.

[0036] In addition, the damping assembly 700 is also connected to an electro-hydraulic control structure. Both the first chamber T1 and the second chamber T2 are filled with hydraulic oil. The isolation protrusion 7011 has a first oil hole 7012 and a second oil hole 7013. The first oil hole 7012 connects the first chamber T1 to external oil circuit 1, and the second oil hole 7013 connects the second chamber T2 to external oil circuit 2. A rotary encoder is coaxially mounted on the rotating shaft 702, which can mark and detect the rotational position of the damping baffle 7032 within the damping assembly 700. Oil circuit 1 and oil circuit 2 are respectively connected to ports A and B of the three-position four-way solenoid valve 3. Ports C and D of the three-position four-way solenoid valve 3 are connected to the two oil ports of the bidirectional variable pump 4. The electro-hydraulic controller 5 is connected to the rotary encoder, the bidirectional variable pump 4, and the three-position four-way solenoid valve 3. In the three-position four-way solenoid valve 3, the middle position ports A and B are connected; the left position ports A and C are connected, and ports B and D are connected; the right position ports A, B, C, and D are all disconnected and not connected to each other.

[0037] When the three-position four-way solenoid valve 3 is in the neutral position, due to the connection between ports A and B, and the presence of disturbance acceleration, the central axis C1 of the connecting component 300 and the central axis C2 of the control lever do not coincide. The handle 8011 generates a rotational torque on the rotating shaft 702, causing the damping baffle 7032 to compress either the first chamber T1 or the second chamber T2. This allows hydraulic oil to flow between the first chamber T1 and the second chamber T2 via the first oil hole 7012, oil passage 1, port A, port B, oil passage 2, and the second oil hole 7013. The throttling effect of the hydraulic oil buffers the disturbance acceleration. During the rotation of the damping baffle 7032, the rotary encoder constantly... The position of the shock-absorbing baffle 7032 is monitored. When the shock-absorbing baffle 7032 rotates to the point where the volume of the first chamber T1 or the second chamber T2 is about to be zero, the three-position four-way solenoid valve 3 moves to the left position, connecting ports A and C, and ports B and D. The bidirectional variable pump 4 fills the first chamber T1 or the second chamber T2 with oil according to the position detection data of the rotary encoder to counteract the impact of the shock-absorbing baffle 7032 and pumps oil from the other chamber, so that the shock-absorbing baffle 7032 returns to the middle position, ensuring that the volumes of the first chamber T1 and the second chamber T2 are the same. At the same time, this middle position also ensures that the limiting hole 6021 is aligned with the ball groove 7011. When it is necessary to keep the rotating shaft 702 from rotating or the shock-absorbing baffle 7032 from moving, the three-position four-way solenoid valve 3 moves to the right position, closing the connection between the first chamber T1 and the second chamber T2 and the outside world. At this time, it is necessary to ensure that the volumes of the first chamber T1 and the second chamber T2 are the same.

[0038] The following is combined Figure 8 The control device of the present invention will be described.

[0039] The system comprises a central controller 10, a first motor controller 2021, a second motor controller 2041, a first locking controller 503, a second locking controller 903, and an electro-hydraulic controller 5. The first motor controller 2021, the second motor controller 2041, and the electro-hydraulic controller 5 are respectively connected to the rotary encoders of the first motor 202, the second motor 204, and the rotating shaft 702. The first locking controller 503 and the second locking controller 903 are respectively connected to the position encoders of the first locking block 501 and the second locking block 901, thereby enabling position detection and control of each rotating and moving component. The central controller 10, the first motor controller 2021, the second motor controller 2041, the first locking controller 503, the second locking controller 903, and the electro-hydraulic controller 5 all employ conventional PLC control units. Using PLC control units as motor and hydraulic controllers is existing technology and will not be elaborated further here.

[0040] The master controller 10 is in communication with the first motor controller 2021, the second motor controller 2041, the first locking controller 503, the second locking controller 903, and the electro-hydraulic controller 5 to control the position control of the robotic arm 200 on the joystick 400.

[0041] The operation process of this invention will be described below.

[0042] by Figure 1 For example, the joystick 400 has three position states: the non-operating state at position P, the operating state at position P1, and the moving state from P to P1. Since the connecting axis C1 of the connecting component 300 and the joystick axis C2 are spaced apart, in the non-operating state at position P, the joystick axis C2 is perpendicular to the machine body and does not move any equipment; the connecting axis C1 and the joystick axis C2 form a certain angle.

[0043] When in the non-operating state at position P, the first ball joint fixing assembly 500 is locked, the second ball joint fixing assembly 900 is released, the three-position four-way solenoid valve 3 is in the right position, and the disc spring 602 is in the maximum compression state. In the non-operating state, the moment of inertia of the control lever 400 is low, and the disturbance acceleration is small.

[0044] When the robotic arm 200 needs to move the joystick 400 from P to P1, the first ball joint fixing assembly 500 is released, the second ball joint fixing assembly 900 is locked, and the three-position four-way solenoid valve 3 is in the right position. This ensures the relative fixation between the joystick 400 and the connecting assembly 300 to ensure that the joystick 400 is moved to the accurate position.

[0045] When the robotic arm 200 needs to hold the joystick 400 in position P1, the first ball joint fixing assembly 500 is locked, the second ball joint fixing assembly 900 is released, and the three-position four-way solenoid valve 3 is in the neutral position. At this time, due to the large moment of inertia of the joystick, there will be a large disturbance acceleration in the turbulence of the aircraft. When the disturbance exceeds the limiting resistance of the limiting ball 603 on the disc spring 602, the joystick 400 will drive the rotating shaft 702 to rotate. Thus, through the small-range controllable rotation of the joystick 400, the hydraulic oil absorbs the impact of the disturbance acceleration, preventing the bolt connection between the upper ball housing 801 and the lower ball housing 802 from becoming unstable.

[0046] Before the joystick 200 needs to return to its original position, the bidirectional variable pump 4 drives the rotating shaft 702 to reset, that is, the first chamber T1 and the second chamber T2 have the same volume. At the same time, this intermediate position also ensures that the limiting hole 6021 is aligned with the ball groove 7011.

[0047] It should be noted that the limiting component 600 allows the rotating shaft 702 to automatically adjust to match the corresponding starting torque when the control stick 400 is at different tilt angles α. When the tilt angle of the control stick 400 is small, the changes in the aircraft's elevator and ailerons are also small, resulting in a small disturbance acceleration. The aircraft also requires precise control, and the control stick 400 cannot produce excessive oscillations. At this time, the pressure of the helical spring 601 on the disc spring 602 is large, which also prevents the rotating shaft 702 from rotating easily.

[0048] Conversely, when the control stick 400 swings at a large angle, the elevator and aileron change significantly, resulting in a large disturbance acceleration while maintaining the flight attitude. This increases the moment of inertia of the control stick 400. At this point, the control stick 400 needs to be rotated slightly to overcome the effects of vibration. The setting of the limiting component 600 reduces the pressure of the helical spring 601 on the disc spring 602, thereby adapting to this damping requirement.

[0049] The above description is merely a specific implementation of the embodiments of this specification. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles of the embodiments of this specification, and these improvements and modifications should also be considered within the protection scope of the embodiments of this specification.

Claims

1. A high-stability robotic arm flight control device, characterized in that: It includes a body, a robotic arm, a connecting assembly, and a joystick. The joystick has a central axis. The robotic arm includes a base, a first motor, a first rotating arm, a second motor, and a second rotating arm. The base is mounted on the body above the joystick. A first motor is mounted on the base. The output shaft of the first motor is connected to one end of a first rotating arm. A second motor is mounted on the other end of the first rotating arm. The output end of the second motor is connected to one end of a second rotating arm. A connecting assembly is mounted on the other end of the second rotating arm. The central axis of the output shaft of the first motor coincides with the central axis of the joystick when it is in its original position, and the central axis of the connecting piece of the connecting assembly does not coincide with the central axis of the joystick.

2. The high-stability robotic arm flight control device as described in claim 1, characterized in that: The connecting assembly includes a ball head, an inner rod, an outer rod, and a connector; wherein, the ball head is connected to the other end of the second swing arm via a ball joint seat, and the ball head is fixedly set at the end of the inner rod, the inner rod is slidably connected to the inside of the outer rod, and the connector is fixedly installed at the bottom of the outer rod, and the connector is connected to the ball grip of the control lever.

3. The high-stability robotic arm flight control device as described in claim 2, characterized in that: The second rotating arm is internally equipped with a first ball joint fixing assembly, which includes a first locking block, a first locking motor, and a first locking controller. The free end of the second rotating arm has a first sliding cavity and a first ball head positioning cavity, which are connected. The ball head is rotatably confined within the first ball head positioning cavity. The first locking block is slidably disposed in the first sliding cavity. The first locking block has a rectangular cross-section, and its side near the ball head has an arc surface that matches the outer periphery of the ball head. The side of the first locking block away from the ball head has a first threaded hole. The first locking motor is disposed inside the first sliding cavity and has a first output shaft. The first output shaft is connected to a lead screw, which is threadedly connected to the first threaded hole.

4. The high-stability robotic arm flight control device as described in claim 3, characterized in that: The connecting components include a limiting component, a damping component, a gripping and positioning component, and a second ball joint fixing component. The damping component includes a damping housing, a rotating shaft, a damping plate, a cover, and a locking nut. The damping housing is fixedly installed at the bottom of the outer rod. The top of the damping housing, the interior of the outer rod, and the bottom of the inner rod form the installation space for the limiting component. The limiting component includes a coil spring, a disc spring, and a limiting ball. The rotating shaft includes an upper locking section, an upper transition section, a spline section, a lower transition section, a connecting section, and a lower locking section. A ball groove is provided at the top of the damping housing. The ball groove positions the lower half of the limiting ball at the top of the damping housing. The upper locking section of the rotating shaft passes through the damping housing and is screwed with a locking nut. The locking nut presses the disc spring onto the top surface of the damping housing. A limiting ball is located between the disc spring and the damping housing. The upper locking section and the upper transition section of the rotating shaft pass through the center hole of the disc spring. A key connection is provided between the upper transition section of the rotating shaft and the center hole of the disc spring. A limiting hole corresponding to the ball groove is provided on the disc spring.

5. The high-stability robotic arm flight control device as described in claim 4, characterized in that: The shock-absorbing housing has a hollow cavity. The shock-absorbing plate is connected to the spline section via a spline sleeve. A shock-absorbing baffle is located outside the spline sleeve. The shock-absorbing baffle divides the central cavity inside the shock-absorbing housing into two independent chambers—the first chamber and the second chamber. The shock-absorbing housing has an inwardly protruding isolation protrusion that extends inward to the outer periphery of the spline sleeve. A cover is installed at the bottom of the shock-absorbing housing. The lower transition section of the rotating shaft passes through the cover and extends out of the shock-absorbing housing. The connecting section of the rotating shaft is connected to the gripping and positioning assembly via a key and rotated and locked. Then, the lower locking section is locked by locking the lower locking section to axially lock the gripping and positioning assembly.

6. The high-stability robotic arm flight control device as described in claim 5, characterized in that: The grip positioning component includes an upper spherical shell and a lower spherical shell. The upper spherical shell has a hemispherical upper spherical surface inside, and the lower spherical shell has a hemispherical lower spherical surface inside. The upper and lower spherical surfaces are combined to limit the spherical grip part. The bottom of the lower spherical shell has a through hole for the rod part to pass through.

7. The high-stability robotic arm flight control device as described in claim 6, characterized in that: The top of the upper spherical shell has a laterally extending handle, the end of which has a through hole with a keyway, which is connected to the connecting section of the rotating shaft by a key.

8. The high-stability robotic arm flight control device as described in claim 7, characterized in that: The upper spherical shell is also provided with a second ball hinge fixing assembly; the top of the upper spherical shell has a mounting cavity, which is connected to the upper spherical surface; the mounting cavity is provided with a second locking motor and a second locking block from top to bottom. The second locking block has a rectangular cross section and its bottom has an arc-shaped locking surface that matches the outer side of the spherical grip. The second locking block is slidably installed in the mounting cavity, and the cross section of the mounting cavity matches the rectangular cross section of the second locking block.

9. The high-stability robotic arm flight control device as described in claim 8, characterized in that: The shock absorption assembly is also connected to an electro-hydraulic control structure. Both the first and second chambers are filled with hydraulic oil. The isolation protrusion is provided with a first oil hole and a second oil hole. The first oil hole connects the first chamber T1 to the external oil circuit one, and the second oil hole connects the second chamber to the external oil circuit two.

10. The high-stability robotic arm flight control device as described in claim 9, characterized in that: A rotary encoder is coaxially mounted on the rotating shaft. Oil circuit one and oil circuit two are respectively connected to port A and port B of the three-position four-way solenoid valve. Ports C and D of the three-position four-way solenoid valve are connected to the two oil ports of the bidirectional variable pump. Ports A and B of the three-position four-way solenoid valve are connected in the middle position. Ports A and C, and ports B and D are connected in the left position. Ports A, B, C, and D of the right position are all disconnected and not connected to each other.

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