An aerial hard stick refueling posture simulation driving device

Abstract

The application discloses an aerial hard boom refueling posture simulation driving device, which adopts integrated design for the roll and pitch units, occupies small space, and can reduce the disturbance of the equipment to the air flow field. Through the high-rigidity mechanical structure and the high-precision measuring sensor, the roll motion closed-loop control precision is guaranteed. The aerial hard boom refueling posture simulation driving device can realize the accurate control of various posture adjustments of the hard boom in the high-strength air flow field, provides an auxiliary function for obtaining the flow field parameters of the aerial hard boom in different postures in the aerial refueling process, and provides a reliable design basis for subsequent aerial refueling research.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerial refueling test equipment, in particular to an aerial hard rod refueling posture simulation driving device with high motion precision. BACKGROUND

[0002] Aerial refueling technology is a technology of supplementing fuel to other aircraft or helicopters in flight by a tanker, which can significantly improve the endurance of fighter aircraft and has an extremely important supporting role in the operation of strategic or tactical aviation troops.

[0003] Hard aerial refueling is a form of aerial refueling technology, which has the advantages of fast refueling speed and small model pilot control load compared with soft refueling. This technology can significantly extend the range and time of the receiver model, and has important application value. When a plane implements hard autonomous aerial refueling, the tanker first lowers the hard refueling rod and deflects it to one side: the receiver model approaches the tanker from directly below and maintains close formation, and opens the back oil inlet. Then the end of the hard refueling rod is connected and inserted into the oil inlet under the action of the self-control law. After successful connection, fuel is transported to the receiver model through the hard refueling rod. After refueling is completed, the hard refueling rod is retracted and disconnected from the oil inlet. In the process of hard free docking, the front end of the hard refueling rod is fixed to the tanker, the rod body flies in the air and controls the attitude through the rudder, and the length of the rod body can be controlled by extension and retraction. The body has small aerodynamic damping, and there is a complex aerodynamic / flight control coupling problem, which needs to be fully verified on the ground. Otherwise, the risk of flight safety is extremely high. Wind tunnel virtual flight is an important means to verify the aerodynamic / flight control integration of the aircraft. Compared with atmospheric flight, it has the advantages of low safety risk and controllable test conditions.

[0004] In order to obtain the flow field parameters of the aerial refueling hard rod in different postures during high-altitude refueling, a device is needed to simulate various refueling postures of the hard refueling rod in the air. In a high-intensity air flow field, since the cantilever length of the hard refueling rod from the installation position is more than 5m, the device needs to ensure sufficient rigidity to prevent the control structure from deforming. Due to the limitation of the measurement space, and in order to reduce the disturbance of the driving device to the air flow field, the design size of the device needs to be minimized. In order to ensure the accuracy of the obtained flow field data, the motion precision of the device is required to be high.

[0005] Therefore, how to provide a posture simulation driving device to realize accurate control of various posture adjustments of the hard refueling rod in a high-intensity air flow field is an urgent technical problem for those skilled in the art to solve. SUMMARY

[0006] In view of the above problems, the present application provides an air hard rod refueling attitude simulation driving device for overcoming the above problems or at least partially solving the above problems.

[0007] The present application provides the following solutions:

[0008] An air hard rod refueling attitude simulation driving device comprises:

[0009] A roll unit comprises a roll mounting base, a servo motor, a helical tooth planetary gear reducer and a first single-turn absolute value angle sensor; the servo motor and the helical tooth planetary gear reducer are both located inside the roll mounting base, and the servo motor is fixedly connected with the roll mounting base; the input end of the helical tooth planetary gear reducer is connected with the output end of the servo motor;

[0010] A pitch unit comprises a pitch mounting base, an integrated planetary roller servo electric cylinder, a second single-turn absolute value angle sensor and a refueling hard rod mounting base; the integrated planetary roller servo electric cylinder is fixedly connected with the pitch mounting base; the refueling hard rod mounting base is hingedly connected with the driving shaft of the integrated planetary roller servo electric cylinder and the pitch mounting base to form a connecting rod mechanism, so that the integrated planetary roller servo electric cylinder drives the refueling hard rod mounting base to perform a pitch action in a lever principle mode;

[0011] The pitch mounting base is hingedly connected with the roll mounting base, the output end of the helical tooth planetary gear reducer is connected with the pitch mounting base in a matched mode, so that the servo motor drives the pitch mounting base to perform a roll action; the first single-turn absolute value angle sensor is arranged at the first rotation shaft position where the pitch mounting base is hingedly connected with the roll mounting base, so as to obtain the roll angle of the pitch mounting base; the second single-turn absolute value angle sensor is arranged at the second rotation shaft position of the refueling hard rod mounting base and the pitch mounting base, so as to obtain the pitch angle of the refueling hard rod mounting base.

[0012] Preferably, the servo motor adopts a 16-bit encoder; the backlash of the helical tooth planetary gear reducer is 1 arcmin, and the torsional stiffness is greater than 1000 N•m.

[0013] Preferably, the torsional stiffness of the helical tooth planetary gear reducer is 1200 N•m / arcmin.

[0014] Preferably, the repeat positioning accuracy of the integrated planetary roller servo electric cylinder is not less than 0.01 mm.

[0015] Preferably: the center rotation shafts of the first single-turn absolute value angle sensor and the second single-turn absolute value angle sensor are respectively consistent with the centers of the first rotation shaft and the second rotation shaft.

[0016] Preferably: the accuracies of the first single-turn absolute value angle sensor and the second single-turn absolute value angle sensor are not less than 0.01°.

[0017] Preferably: the roll mounting base is provided with a pair of proximity switches, and the servo motor stops running after the proximity switches are triggered.

[0018] Preferably: the pair of proximity switches are uniformly distributed on both sides of the pitch mounting base when the roll unit is at a 0° roll position, so that the pitch unit rolls within a range of -40° to +40°.

[0019] According to the specific embodiments provided by the present application, the following technical effects are disclosed:

[0020] The roll and pitch units of the air hard rod refueling attitude simulation driving device provided by the embodiments of the present application are designed in an integrated manner, occupy a small space, and can reduce the disturbance of the equipment to the air flow field. Through the high-rigidity mechanical structure and high-precision measurement sensor, the roll motion closed-loop control precision is ensured. The air hard rod refueling attitude simulation driving device can realize accurate control of various attitude adjustments of the hard rod in a high-strength air flow field, provide auxiliary action for obtaining flow field parameters of the air hard rod refueling in different attitudes in the high-altitude refueling process, and provide reliable design basis for subsequent air refueling research.

[0021] Of course, implementing any product of the present application does not necessarily need to achieve all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0023] Figure 1 is a front view of an air hard rod refueling attitude simulation driving device provided by the embodiments of the present application;

[0024] Figure 2 is a side view of an air hard rod refueling attitude simulation driving device provided by the embodiments of the present application;

[0025] Figure 3is a change schematic diagram of the pitch unit at the two end limit angle (-40°, +40°) position in the rolling process provided by the embodiment of the present application.

[0026] In the figure: the rolling unit 1, the rolling mounting base 11, the servo motor 12, the helical tooth planetary gear reducer 13, the first single-turn absolute value angle sensor 14, the proximity switch 15, the pitch unit 2, the pitch mounting base 21, the integrated planetary roller servo electric cylinder 22, the second single-turn absolute value angle sensor 23, and the oiling hard rod mounting base 24. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in the present application belong to the scope of protection of the present application.

[0028] Referring to Figure 1 , Figure 2 A kind of air hard rod oiling posture simulation driving device provided by the embodiment of the present application, as shown in Figure 1 , Figure 3 The device can include:

[0029] The rolling unit 1 includes the rolling mounting base 11, the servo motor 12, the helical tooth planetary gear reducer 13 and the first single-turn absolute value angle sensor 14; the servo motor 12 and the helical tooth planetary gear reducer 13 are located inside the rolling mounting base 11, and the servo motor 12 is fixedly connected with the rolling mounting base 11; the input end of the helical tooth planetary gear reducer 13 is connected with the output end of the servo motor 12;

[0030] The pitch unit 2 includes the pitch mounting base 21, the integrated planetary roller servo electric cylinder 22, the second single-turn absolute value angle sensor 23 and the oiling hard rod mounting base 24; the integrated planetary roller servo electric cylinder 22 is fixedly connected with the pitch mounting base 21; the oiling hard rod mounting base 24 is hingedly connected with the driving shaft of the integrated planetary roller servo electric cylinder 22 and the pitch mounting base 21 respectively to form a linkage mechanism, so that the integrated planetary roller servo electric cylinder 22 drives the oiling hard rod mounting base 24 to perform a pitch action in a lever principle mode;

[0031] The pitch mounting base 21 is hinged with the roll mounting base 11, and the output end of the helical tooth planetary gear reducer 13 is connected with the pitch mounting base 21, so that the servo motor 12 drives the pitch mounting base 21 to perform roll action; the first single-turn absolute value angle sensor 14 is arranged at the first rotating shaft position of the pitch mounting base 21 and the roll mounting base 11, so as to obtain the roll angle of the pitch mounting base 21; and the second single-turn absolute value angle sensor 23 is arranged at the second rotating shaft position of the refueling hard rod mounting base 24 and the pitch mounting base 21, so as to obtain the pitch angle of the refueling hard rod mounting base 24.

[0032] The roll and pitch device of the air refueling posture simulation driving device provided by the embodiment of the application is designed in an integrated manner, the entire motion range is within a space range of 795mm*580.2mm*538.4mm (length* width*height), the device occupies a small space, and the disturbance of the device to the air flow field is reduced. The high-rigidity mechanical structure and the high-precision measurement sensor ensure the closed-loop control precision of the roll motion. The pitch unit 2 is designed by the lever principle to reduce the influence of the precision error of the electric cylinder on the pitch angle.

[0033] The roll unit 1 can drive the pitch unit 2 to perform roll action, so as to drive the refueling hard rod connected with the refueling hard rod mounting base 24 to perform roll action. In order to further improve the control precision of the roll unit 1, the servo motor 12 can be provided with a 16-bit encoder; the backlash of the helical tooth planetary gear reducer 13 is 1 arcmin, and the torsional stiffness is greater than 1000N*m. Further, the torsional stiffness of the helical tooth planetary gear reducer 13 is 1200N*m / arcmin.

[0034] In order to further improve the control precision of the pitch unit 2, the integrated planetary roller servo electric cylinder can be provided with a positioning precision of not less than 0.01mm.

[0035] The central rotating shafts of the first single-turn absolute value angle sensor 14 and the second single-turn absolute value angle sensor 23 respectively correspond to the centers of the first rotating shaft and the second rotating shaft. Further, the precision of the first single-turn absolute value angle sensor 14 and the second single-turn absolute value angle sensor 23 is not less than 0.01°.

[0036] The rolling unit 1 provided by the embodiment of the application adopts a helical planetary gear reducer 13, a servo motor 12 and a first absolute single-turn angle sensor to form a closed-loop control system for driving the rolling action. To ensure the control precision of 3 arcmin (0.05°) of rotation, the servo motor 12 adopts a 16-bit encoder; the backlash of the helical planetary gear reducer 13 is selected to be 1 arcmin, and the torsional stiffness is selected to be 1200 N·m / arcmin, which is greater than 1000 N·m. The reducer with high torsional stiffness can effectively avoid the angle torsional deformation caused by the load, ensure the rigidity of the mechanical structure, and avoid the influence of insufficient rigidity on the measurement precision. To ensure the measurement precision of 3 arcmin (0.05°) of rotation, the precision of the first absolute single-turn angle sensor reaches 0.01°, and the center of the rotating shaft of the sensor is consistent with the center of the first rotating shaft of the rolling. Through the high-rigidity mechanical structure and the high-precision measurement sensor, the closed-loop control precision of the rolling motion is ensured.

[0037] The pitching unit 2 adopts an integrated planetary roller servo electric cylinder 22 and a second single-turn absolute angle sensor 23 to form a closed-loop control for driving the pitching action. The integrated electric cylinder has a short installation distance, a long stroke and a large thrust, and is combined with a mounting base structure into a linkage mechanism to drive the fueling hard rod to perform the pitching action by means of the lever principle. The integrated planetary roller servo electric cylinder has a positioning precision of 0.01 mm, and through the displacement amplification of the lever principle, the influence of the precision error of the electric cylinder on the pitching angle is reduced. To ensure the measurement precision of 3 arcmin (0.05°) of rotation, the precision of the second single-turn absolute angle sensor 23 reaches 0.01°, and the center of the rotating shaft of the sensor is consistent with the center of the second rotating shaft of the rolling end.

[0038] To ensure that the overall size of the device provided by the embodiment of the application is within a certain envelope range, the rolling stroke needs to be limited. Specifically, the rolling mounting base 11 is provided with a pair of proximity switches 15, and the servo motor 12 stops running after the proximity switches 15 are triggered. Further, the pair of proximity switches 15 are uniformly distributed on the two sides of the pitching mounting base 21 when the rolling unit 1 is at the 0° rolling position, so that the pitching unit 2 can roll within the range of -40° to +40°.

[0039] The overall size of the rolling unit 1 at the 0° rolling position of the air hard rod fueling posture simulation driving device provided by the embodiment of the application is 795×420×539 mm (length×width×height). The device mainly changes in the width direction in the space during rolling, and the change at the two end limit angles (-40°, +40°) is as follows: Figure 3As shown, the width direction is 580.2 mm. The device is made to be within the envelope space of 795 mm x 580.2 mm x 539 mm (length x width x height) during the whole rolling and pitching process.

[0040] In summary, the aerial hard boom refueling posture simulation driving device provided by the application has an integrated design of rolling and pitching units, occupies a small space, and can reduce the disturbance of the equipment to the air flow field. Through a high-rigidity mechanical structure and a high-precision measurement sensor, the rolling motion closed-loop control precision is guaranteed. The aerial hard boom refueling posture simulation driving device can realize accurate control of various posture adjustments of the hard boom in a high-strength air flow field, provide auxiliary functions for obtaining flow field parameters of the aerial hard boom in different postures during aerial refueling, and provide reliable design basis for subsequent aerial refueling research.

[0041] It should be noted that, in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0042] From the above description of the embodiments, one skilled in the art can clearly understand that the application can be implemented by means of software plus a necessary universal hardware platform. Based on such an understanding, the technical solutions of the application can be embodied in a software product form, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments of the application.

[0043] The various embodiments described in this specification are presented as examples of the application. Each example is provided by way of best mode, and variations of or additions to these examples can be possible. For example, the various embodiments described in this specification can be combined in different combinations. Further, other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. For example, to implement a system embodiment, one can implement a method embodiment and one or more system modules needed to implement the method embodiment. One of ordinary skill in the art will be able to practice the application with the disclosed materials, without undue experimentation. It will be apparent to one of ordinary skill in the art that features from different embodiments can be interchanged, and / or modified, and / or substituted. Therefore, it is the intention of the inventors to be limited only by the scope of the claims and the full breadth of equivalents thereof.

[0044] The preferred embodiments of the application described herein are examples of the application only. The scope of the application is not limited by the preferred embodiments described herein, but only by the claims that follow, the full breadth of equivalents thereof, and the full breadth of the following claims.

Claims

1. An aerial hard stick refueling pose simulation driving device, characterized by, The application relates to a servo motor driving mechanism for a fueling arm, which comprises the following parts: a rolling unit, which comprises a rolling mounting base, a servo motor, a helical-tooth planetary gear reducer and a first single-turn absolute angle sensor; the servo motor and the helical-tooth planetary gear reducer are located inside the rolling mounting base, and the servo motor is fixedly connected with the rolling mounting base; the input end of the helical-tooth planetary gear reducer is connected with the output end of the servo motor; a pitching unit, which comprises a pitching mounting base, an integrated planetary roller servo electric cylinder, a second single-turn absolute angle sensor and a fueling hard rod mounting base; the integrated planetary roller servo electric cylinder is fixedly connected with the pitching mounting base; the fueling hard rod mounting base is hingedly connected with the pitching mounting base and the driving shaft of the integrated planetary roller servo electric cylinder respectively to form a connecting rod mechanism, so that the integrated planetary roller servo electric cylinder drives the fueling hard rod mounting base to perform a pitching action in a lever principle mode; wherein the pitching mounting base is hingedly connected with the rolling mounting base, the output end of the helical-tooth planetary gear reducer is connected with the pitching mounting base, so that the servo motor drives the pitching mounting base to perform a rolling action; the first single-turn absolute angle sensor is arranged at a first rotating shaft position where the pitching mounting base is hingedly connected with the rolling mounting base, so as to obtain the rolling angle of the pitching mounting base; the second single-turn absolute angle sensor is arranged at a second rotating shaft position where the fueling hard rod mounting base is hingedly connected with the pitching mounting base, so as to obtain the pitching angle of the fueling hard rod mounting base.

2. The over-the-air hard stick refueling pose simulation drive apparatus of claim 1, wherein, The servo motor adopts a 16-bit encoder; the backlash of the helical-tooth planetary gear reducer is 1 arcmin, and the torsional stiffness is greater than 1000 N.m.

3. The over-the-air hard stick refueling pose simulation drive apparatus of claim 2, wherein, The torsional stiffness of the helical-tooth planetary gear reducer is 1200 N.m / arcmin.

4. The over-the-air hard-stick refueling pose simulation drive apparatus according to claim 1, characterized by, The repeat positioning accuracy of the integrated planetary roller servo electric cylinder is not less than 0.01 mm.

5. The over-the-air hard-stick refueling pose simulation drive device of claim 1, wherein, The central rotating shaft centers of the first single-turn absolute angle sensor and the second single-turn absolute angle sensor respectively correspond to the centers of the first rotating shaft and the second rotating shaft respectively.

6. The over-the-air hard-stick refueling pose simulation drive device of claim 5, wherein, The accuracy of the first single-turn absolute angle sensor and the second single-turn absolute angle sensor is not less than 0.01 DEG.

7. The over-the-air hard-stick refueling pose simulation drive device of claim 1, wherein, The rolling mounting base is provided with a pair of proximity switches, and the servo motor stops running after the proximity switches are triggered.

8. The over-the-air hard stick refueling pose simulation drive apparatus of claim 7, wherein, The pair of proximity switches are uniformly distributed on the two sides of the pitching mounting base when the rolling unit is at a 0 DEG rolling position, so that the pitching unit can roll within a range of -40 DEG to +40 DEG.

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