Self-adaptive clamping device for aircraft control surface gap detection and control method thereof

Abstract

The invention relates to the technical field of aircraft control surface gap detection, in particular to a self-adaptive clamping device for aircraft control surface gap detection and a control method thereof, and the self-adaptive clamping device comprises a clamping mechanism, a loading clamping mechanism, a movable surface clamping mechanism and a control box; the clamping mechanism and the loading clamping mechanism are connected to form an annular structure, the movable surface clamping mechanism is arranged on the inner side of the annular structure, and a plurality of lifting support block assemblies and pressure sensors are arranged on the inner side of the annular structure; a displacement adjusting assembly for adjusting the height of the movable surface clamping mechanism is arranged on the loading clamping mechanism; the movable surface clamping mechanism is U-shaped, and a control surface clamping assembly and a pressure sensor are arranged on the inner side of the movable surface clamping mechanism; the displacement adjusting assembly and the pressure sensors are connected with the force clamping system, the feedback control system, the laser detection system and the force loading system through the control box. The movable surface rotates through force loading, the free gap between the movable surface and the stabilizing surface is obtained by measuring the rotation angle, and the accuracy and reliability of a gap measurement result can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft control surface clearance detection, and in particular to an adaptive clamping device for aircraft control surface clearance detection and a control method thereof. Background Art

[0002] Aircraft control surface (ailerons, elevators, rudder) clearance measurement is a core link in ensuring flight safety. Clearance measurement is to measure the idle travel of the relative angle between the movable surface and the stabilizer surface. Control surface clearance directly affects the response accuracy of the flight control system. In relevant standards, control surface clearance must be strictly controlled within the design tolerance range, otherwise it may lead to aerodynamic performance degradation, control jamming and even structural fatigue damage. Factory inspections and regular inspections during service require verification of control surface status through clearance measurement to identify potential faults in advance.

[0003] During the measurement of aircraft control surface clearance, the performance of the clamping device directly affects the detection accuracy and the safety of the rudder surface clearance. The Chinese invention patent with publication number CN113443168A provides a device for fixing and detecting the clearance of aircraft control surfaces, and specifically discloses a pressure loading mechanism and an automatic testing system loaded with a test program. The rudder surface clamp in the pressure loading mechanism is a U-shaped structure, and a clamping disc is provided on the inner surface of the U-shaped structure. The rudder surface clamp is provided with a rotary handle. This prior art can control the up and down displacement of the height adjustment rod by adjusting the disc to measure the control surfaces of different models of aircraft, and the aircraft control surface can be installed and fixed in the rudder surface clamp according to the actual height. However, this prior art still has the following defects: (1) The force loading platform is large in size and heavy in weight, which is not convenient for on-site operation; (2) The force loading platform requires a complex support structure, has poor stability, and is easily affected by environmental vibration; (3) The clamping device is difficult to adapt to control surfaces with different curvatures; (4) The clamping force control accuracy is low, which is easy to damage the control surface; (5) There is a lack of real-time force feedback, and safety is difficult to ensure.

[0004] The above defects seriously affect the accuracy and safety of detection, and urgently need to be improved through technological innovation to meet the strict requirements of aircraft control surface clearance detection in terms of accuracy and safety. Summary of the Invention

[0005] The object of the present invention is to provide an adaptive clamping device for detecting clearance between aircraft control surfaces and a control method thereof, so as to solve the technical problems pointed out in the background technology.

[0006] The present invention is achieved through the following technical solutions: an adaptive clamping device for aircraft control surface clearance detection, suitable for measuring the clearance of aileron movable surfaces and elevator movable surfaces, including a clamping mechanism, a loading clamping mechanism and a movable surface clamping mechanism;

[0007] The clamping mechanism and the loading clamping mechanism are both U-shaped, and the free ends of the two are connected to form an annular structure, and the movable surface clamping mechanism is arranged inside the annular structure;

[0008] The inner sides of the upper ring and the lower ring of the annular structure are both provided with a plurality of lifting support block assemblies attached to the stabilizer surface, and the attached surfaces of the lifting support block assemblies are provided with first pressure sensors;

[0009] The loading clamping mechanism is provided with a displacement adjustment component for adjusting the height position of the movable surface clamping mechanism, and the clamping mechanism and the loading clamping mechanism are respectively provided with a locking component for adjusting and maintaining the clamping state between the lifting support block assembly and the stabilizer surface;

[0010] The movable surface clamping mechanism is a U-shaped structure, and a rudder surface clamping assembly is provided on the inner side of the U-shaped structure and is attached to the movable surface. A second pressure sensor is provided on the attached surface of the rudder surface clamping assembly.

[0011] It also includes a control box, a clamping system, a force feedback control system, a laser detection system and a force loading system. The first pressure sensor, the displacement adjustment component and the second pressure sensor are all electrically connected to the control box, and the control box is communicatively connected to the clamping system, the force feedback control system, the laser detection system and the force loading system.

[0012] According to a preferred embodiment, the clamping mechanism and the loading clamping mechanism both include an upper oblique beam group, a lower oblique beam group, an upper cross beam and a lower cross beam, and the upper oblique beam group and the lower oblique beam group are both composed of two pairs of parallel inclined beams, the upper end of the upper oblique beam group is hinged to the first end of the upper cross beam, the lower end of the upper oblique beam group is hinged to the upper end of the lower oblique beam group, the lower end of the lower oblique beam group is hinged to the first end of the lower cross beam, and the angle between the upper oblique beam group and the lower oblique beam group is acute.

[0013] According to a preferred embodiment, the locking assembly on the clamping mechanism includes a first hand wheel, a first base plate, a driving plate, an upper connecting rod and a lower connecting rod;

[0014] Wherein, the first base plate is connected between the upper oblique beam group and the lower oblique beam group, and its upper and lower ends are hinged to the upper oblique beam group and the lower oblique beam group respectively;

[0015] The driving plate is arranged between parallel inclined beams, and a threaded groove is provided on the driving plate. The first hand wheel is threadedly engaged with the first substrate, and the first hand wheel passes through the end of the first substrate and is threadedly engaged with the threaded groove. The upper end of the driving plate is hinged to the first end of the upper connecting rod, and the second end of the upper connecting rod is hinged to the upper cross beam on the inner side of the upper inclined beam group. The lower end of the driving plate is hinged to the first end of the lower connecting rod, and the second end of the lower connecting rod is hinged to the lower cross beam on the inner side of the lower inclined beam group.

[0016] According to a preferred embodiment, the displacement adjustment assembly includes a servo motor box, a first fixed pulley set, a first pull wire, a second fixed pulley set and a second pull wire;

[0017] The servo motor box is connected between the upper oblique beam group and the lower oblique beam group, and its upper and lower ends are hinged to the upper oblique beam group and the lower oblique beam group respectively;

[0018] A servo motor, a reducer, and a transmission mechanism are provided in the servo motor box. The output shaft of the servo motor is connected to the reducer, and the output shaft of the reducer is connected to the transmission mechanism. The transmission mechanism is used to achieve vertical conversion of the torque direction of the servo motor. The transmission mechanism has a first output shaft located on a first side of the servo motor box and a second output shaft located on a second side of the servo motor box. The first side of the servo motor box is opposite to the second side of the servo motor box.

[0019] The first fixed pulley group is arranged on the same side as the first output shaft of the transmission mechanism, the second fixed pulley group is arranged on the same side as the second output shaft of the transmission mechanism, the first end of the first pull wire is connected to the first output shaft of the transmission mechanism, the second end of the first pull wire is connected to the upper part of the movable surface clamping mechanism via the first fixed pulley group, the first end of the second pull wire is connected to the second output shaft of the transmission mechanism, and the second end of the second pull wire is connected to the lower part of the movable surface clamping mechanism via the second fixed pulley group.

[0020] According to a preferred embodiment, tension sensors are provided on both the first pull wire and the second pull wire, and the tension sensors are electrically connected to the control box.

[0021] According to a preferred embodiment, the first fixed pulley group and the second fixed pulley group are both composed of two fixed pulleys, and the two fixed pulleys are respectively arranged at the upper and lower ends of the inclined beam inside the upper inclined beam group / lower inclined beam group, and the tension sensor is arranged on the pull line between the two fixed pulleys.

[0022] According to a preferred embodiment, the locking assembly on the loading and clamping mechanism is composed of a first locking assembly corresponding to the lower inclined beam group and a second locking assembly corresponding to the upper inclined beam group, and the first locking assembly and the second locking assembly both include a second hand wheel and a second base plate;

[0023] The second base plate is connected between parallel inclined beams, the second hand wheel is threadedly engaged with the second base plate, and the end of the second hand wheel passes through the second base plate and abuts against the rotating shaft at the upper / lower end hinge of the servo motor box.

[0024] According to a preferred embodiment, the movable surface clamping mechanism includes a first U-shaped bracket, a second U-shaped bracket and a crossbar assembly;

[0025] The crossbar assembly includes a first crossbar and a second crossbar, wherein the first crossbar is connected between the first free ends of the first U-shaped bracket and the second U-shaped bracket, and the second crossbar is connected between the second free ends of the first U-shaped bracket and the second U-shaped bracket;

[0026] A group of relatively arranged rudder surface clamping assemblies are respectively provided on the inner side of the first U-shaped bracket and the second U-shaped bracket. The rudder surface clamping assemblies are composed of a third handwheel, a third base plate and a second pressure sensor. The third base plate is connected to the free end of the U-shaped bracket, and the third handwheel is threadedly engaged with the third base plate. The third handwheel passes through the end of the third base plate and extends to the inner side of the U-shaped bracket and is connected to the second pressure sensor.

[0027] According to a preferred embodiment, one or more of the upper crossbeam, lower crossbeam, upper oblique beam assembly, lower oblique beam assembly, and U-shaped bracket is provided with a sensor wiring interface.

[0028] The present invention also provides an adaptive clamping device for detecting clearance between aircraft control surfaces, comprising the adaptive clamping device for detecting clearance between aircraft control surfaces as described above, suitable for measuring clearance between rudder movable surfaces, and also comprising a vertical tail pylon assembly;

[0029] The vertical tail pylon assembly includes a first pylon arranged on the first side of the rudder and a second pylon arranged on the second side of the rudder. The first end of the first pylon is hinged to the upper beam of the loading and clamping mechanism, the first end of the second pylon is hinged to the lower beam of the loading and clamping mechanism, and the second ends of the first pylon and the second pylon are connected to the reserved interfaces on both sides of the rudder.

[0030] The present invention also provides a control method for the adaptive clamping device for detecting clearance between aircraft control surfaces as described above, wherein the force feedback control system includes the following clearance measurement control process:

[0031] In response to a force feedback control request from the clamping system, feeding back clamping force data to the clamping system, wherein the clamping force data is used to instruct the clamping system to optimize the clamping state of the lifting bracket assembly and the stabilizer surface;

[0032] Establishing a force-displacement benchmark and sending the initial state data of the active surface to the force loading system. The force-displacement benchmark is obtained by activating the laser sensor for laser ranging calibration after the laser detection system receives the clamping system activation request. The initial state data of the active surface is used to instruct the force loading system to generate a force loading strategy. The laser emitting end of the laser sensor is facing the active surface.

[0033] Initiating force loading control based on the force loading strategy, triggering the laser detection system to dynamically monitor the displacement of the movable surface and triggering the clamping system to adjust the clamping force until the force loading is completed;

[0034] Acquiring dynamically monitored displacement data and feeding the displacement data back to the force loading system to instruct the force loading system to adjust the loading strategy;

[0035] When the force loading is completed, a release clamping instruction is sent to the clamping system and a stop detection instruction is sent to the laser detection system, wherein the release clamping instruction is used to instruct the clamping system to release the clamping of the control surface, and the stop detection instruction is used to instruct the laser detection system to stop detection;

[0036] End gap measurement control.

[0037] The technical solution of an adaptive clamping device for detecting clearance of aircraft control surfaces provided by the present invention has at least the following advantages and beneficial effects: (1) Based on the principle of measuring the free clearance of the movable surface by loading and measuring the rotation angle, the displacement adjustment component can flexibly adjust the height position of the movable surface clamping mechanism to cause the movable surface to rotate, and accurately obtain the free clearance between the movable surface and the stabilizing surface by measuring the rotation angle, thereby ensuring that the measurement process complies with the theoretical design and improving the accuracy and reliability of the measurement results; (2) The coordination between the displacement adjustment component and the movable surface clamping mechanism makes the gap measurement method of loading and measuring the rotation angle more operational, and the loading and rotation angle measurement of the movable surface can be achieved without the need for complex additional devices. , which simplifies the measurement process, improves the detection efficiency, and reduces the errors introduced by complex operations, making the gap measurement process more convenient and efficient; (3) The annular structure has a certain structural flexibility. Combined with the lifting support block components arranged at multiple points and real-time force feedback, it can achieve precise clamping and controllable force loading of the gaps of rudder surfaces with different curvatures, thereby improving the versatility and safety of the device; (4) The clamping device does not require a complex support structure, which improves stability while reducing the overall weight; (5) The decoupled suction cup laser detection system is used to achieve complete decoupling of loading force and displacement measurement. Through the cooperation of vacuum adsorption and high-precision laser ranging, real-time and accurate measurement during dynamic loading is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the overall structure of the adaptive clamping device provided in Example 1 of the present invention;

[0039] Figure 2 A schematic diagram of the overall structure of the clamping mechanism provided in Example 2 of the present invention;

[0040] Figure 3 A schematic structural diagram of a loading and clamping mechanism provided in Example 2 of the present invention;

[0041] Figure 4 A schematic structural diagram of a locking assembly in a loading and clamping mechanism provided in Example 2 of the present invention;

[0042] Figure 5A schematic structural diagram of the movable surface clamping mechanism provided in Example 2 of the present invention;

[0043] Figure 6 This is a schematic diagram of the assembly of the loading and clamping mechanism and the vertical tail pylon assembly provided in Example 3 of the present invention;

[0044] Figure 7 A schematic diagram of the gap measurement control process interaction provided in Example 4 of the present invention;

[0045] Figure 8 This is a schematic diagram of the curvature control process interaction provided in Example 5 of the present invention;

[0046] Figure 9 This is a schematic diagram of the control process interaction of the monitoring and control system provided in Example 6 of the present invention;

[0047] Reference numerals: 100 - clamping mechanism, 110 - upper inclined beam assembly, 120 - lower inclined beam assembly, 130 - upper crossbeam, 140 - lower crossbeam, 150 - locking assembly, 151 - first hand wheel, 152 - first base plate, 153 - driving disk, 154 - upper connecting rod, 155 - lower connecting rod, 200 - loading clamping mechanism, 210 - displacement adjustment assembly, 211 - servo motor box, 212 - first fixed pulley assembly, 213 - first output shaft, 21 4-Second output shaft, 220-First locking assembly, 221-Second handwheel, 230-Second locking assembly, 300-Active surface clamping mechanism, 310-Rudder surface clamping assembly, 311-Third handwheel, 320-First U-shaped bracket, 330-Second U-shaped bracket, 340-Cross bar assembly, 341-First cross bar, 342-Second cross bar, 400-Lifting support block assembly, 500-Sensor wiring interface, 600-Vertical tail rack assembly. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0049] Example 1

[0050] This embodiment provides an adaptive clamping device for detecting clearance between aircraft control surfaces. Figure 1 This is a schematic diagram of the overall structure of the adaptive clamping device, see Figure 1 As shown, the adaptive clamping device is suitable for measuring the clearance of the aileron movable surface and the elevator movable surface, and includes a clamping mechanism, a loading clamping mechanism and a movable surface clamping mechanism.

[0051] Wherein, the clamping mechanism and the loading clamping mechanism are both U-shaped, and the free ends of the two are connected to form an annular structure. The movable surface clamping mechanism is arranged inside the annular structure.

[0052] A plurality of lifting support block assemblies affixed to the stabilizer surface are provided on the inner sides of the upper ring and the lower ring of the annular structure, and a first pressure sensor is provided on the affixed surface of the lifting support block assemblies.

[0053] The loading clamping mechanism is provided with a displacement adjustment component for adjusting the height position of the movable surface clamping mechanism, and the clamping mechanism and the loading clamping mechanism are respectively provided with locking components for adjusting and maintaining the clamping state of the lifting support block assembly and the stabilizer surface.

[0054] It also includes a control box, a clamping system, a force feedback control system, a laser detection system and a force loading system that are communicatively connected. The first pressure sensor is electrically connected to the control box, and the control box is communicatively connected to the clamping system, the force feedback control system, the laser detection system and the force loading system.

[0055] The following is an explanation of the installation and fixation of the above-mentioned ring structure:

[0056] The annular structure in the adaptive clamping device is moved from the wingtip position to the position to be clamped. When it moves to the specified position, the two sides of the annular structure are locked by adjusting the locking components on the clamping mechanism and the loading clamping mechanism;

[0057] Furthermore, each first pressure sensor is connected, and the lifting support block assembly is adjusted according to the pressure value of the first pressure sensor, so that the lifting support block assembly is pressed against the stable surface to adapt to the curvature of the position to be clamped; after the curvature adjustment is completed, the installation and fixation of the annular structure in the adaptive clamping device is completed.

[0058] Specifically, the annular structure has a certain structural flexibility. Combined with the multi-point lifting support block components and real-time force feedback, it can achieve precise clamping and controllable force loading of the gaps between rudder surfaces with different curvatures, improving the versatility and safety of the device.

[0059] The movable surface clamping mechanism is a U-shaped structure, and a rudder surface clamping assembly attached to the movable surface is provided on the inner side of the U-shaped structure, and a second pressure sensor is provided on the attached surface of the rudder surface clamping assembly.

[0060] The displacement adjustment component and the second pressure sensor are both electrically connected to the control box, and the control box is communicatively connected to the clamping system, the force feedback control system, the laser detection system, and the force loading system.

[0061] The following is an explanation of the installation and fixation of the above-mentioned movable surface clamping mechanism:

[0062] The opening side of the movable surface clamping mechanism is embedded into the upper and lower sides of the movable surface from the outside of the movable surface. When it is moved to the specified position, each second pressure sensor is connected, and the rudder surface clamping assembly is adjusted according to the pressure value of the second pressure sensor. The rudder surface clamping assembly is pressed tightly against the movable surface to complete the installation and fixation of the movable surface clamping mechanism.

[0063] During the actual gap measurement process, based on the principle of gap measurement by loading and measuring the rotation angle, the displacement adjustment component is started, and the height position of the movable surface clamping mechanism is adjusted through the displacement adjustment component to cause the movable surface to rotate. The free gap between the movable surface and the stabilizer surface can be accurately obtained by measuring the rotation angle; the displacement adjustment component can provide stable force loading to ensure the accuracy and reliability of the gap measurement results.

[0064] Specifically, the coordination between the displacement adjustment component and the movable surface clamping mechanism makes the gap measurement method of loading and measuring the angle more operational. The loading and angle measurement of the movable surface can be achieved without complex additional devices, which simplifies the measurement process and improves detection efficiency. At the same time, it reduces errors introduced by complex operations, making the gap measurement process more convenient and efficient. In addition, the clamping device does not require a complex support structure, which improves stability while reducing the overall weight.

[0065] Example 2

[0066] This embodiment is based on the technical solution provided in Example 1 and further explains the specific structural design of the ring structure:

[0067] See also Figure 2 and Figure 3 As shown, the clamping mechanism and the loading clamping mechanism both include an upper oblique beam group, a lower oblique beam group, an upper cross beam and a lower cross beam, and the upper oblique beam group and the lower oblique beam group are both composed of two pairs of parallel inclined beams, the upper end of the upper oblique beam group is hinged to the first end of the upper cross beam, and the clamping mechanism and the second end of the upper cross beam in the loading clamping mechanism are connected to each other; the lower end of the upper oblique beam group is hinged to the upper end of the lower oblique beam group, the lower end of the lower oblique beam group is hinged to the first end of the lower cross beam, and the clamping mechanism and the second end of the lower cross beam in the loading clamping mechanism are connected to each other; the angle between the upper oblique beam group and the lower oblique beam group is acute, and the overall structure is hexagonal.

[0068] In some embodiments, the clamping mechanism and the loading clamping mechanism each have an upper crossbeam and a lower crossbeam, wherein the upper and lower crossbeams of the loading clamping mechanism are long crossbeams for use with the vertical tail pylon assembly to measure the clearance of the rudder movable surface; the upper and lower crossbeams of the clamping mechanism are short crossbeams, but this is not a specific limitation.

[0069] Furthermore, the upper crossbeam and the lower crossbeam are both provided with sensor wiring interfaces corresponding to the first pressure sensor; the upper inclined beam assembly and the lower inclined beam assembly are both provided with sensor wiring interfaces corresponding to the second pressure sensor; specifically, the sensor wiring interfaces are correspondingly provided on the upper crossbeam, the lower crossbeam, the upper inclined beam assembly, and the lower inclined beam assembly, which can greatly regularize the sensor wiring harness and avoid wiring entanglement in the mechanical part during installation.

[0070] Regarding the locking components of the clamping mechanism and the loading clamping mechanism, since the functions of the clamping mechanism and the loading clamping mechanism are different, the designs of the locking components are also different. The specific designs are as follows:

[0071] Regarding the locking assembly on the clamping mechanism, in some embodiments, the locking assembly on the clamping mechanism includes a first handwheel, a first base plate, a driving plate, an upper connecting rod and a lower connecting rod; wherein, the first base plate is connected between the upper oblique beam group and the lower oblique beam group, and its upper and lower ends are hinged to the upper oblique beam group and the lower oblique beam group respectively; the driving plate is arranged between the parallel inclined beams, and a threaded groove is provided on the driving plate, the first handwheel is threadedly engaged with the first base plate, the first handwheel passes through the end of the first base plate and is threadedly engaged with the threaded groove, the upper end of the driving plate is hinged to the first end of the upper connecting rod, the second end of the upper connecting rod is hinged to the upper cross beam on the inner side of the upper oblique beam group, the lower end of the driving plate is hinged to the first end of the lower connecting rod, and the second end of the lower connecting rod is hinged to the lower cross beam on the inner side of the lower oblique beam group.

[0072] The following describes the principle of the locking assembly on the clamping mechanism:

[0073] When the locking assembly is in the unlocked state, the upper and lower oblique beam groups can rotate around the upper and lower ends of the first substrate, thereby adjusting the size of the included angle. Specifically, by rotating the handwheel in the forward direction, the handwheel engages with the threaded groove at the end of the first substrate, converting the force into a linear direction, and driving the drive disk to move linearly toward the inner side of the annular structure. At this time, the first ends of the upper and lower connecting rods push their second ends, causing the angle between the upper and lower oblique beam groups and the inner oblique beams of the lower oblique beam group to increase; conversely, by rotating the handwheel in the reverse direction, the handwheel engages with the threaded groove at the end of the first substrate, converting the force into a linear direction, and driving the drive disk to move linearly toward the outer side of the annular structure. The first ends of the upper and lower connecting rods pull their second ends, causing the angle between the upper and lower oblique beam groups and the inner oblique beams of the lower oblique beam group to decrease.

[0074] The displacement adjustment component includes a servo motor box, a first fixed pulley group, a first pull wire, a second fixed pulley group and a second pull wire; wherein, the servo motor box is connected between the upper oblique beam group and the lower oblique beam group, and its upper and lower ends are respectively hinged to the upper oblique beam group and the lower oblique beam group.

[0075] Specifically, a servo motor, a reducer and a transmission mechanism are provided in the servo motor box, the output shaft of the servo motor is connected to the reducer, the output shaft of the reducer is connected to the transmission mechanism, the transmission mechanism is used to realize the vertical transformation of the torque direction of the servo motor, the transmission mechanism has a first output shaft located on the first side of the servo motor box and a second output shaft located on the second side of the servo motor box, the first side of the servo motor box is the opposite side of the second side of the servo motor box; the first fixed pulley group is arranged on the same side as the first output shaft of the transmission mechanism, the second fixed pulley group is arranged on the same side as the second output shaft of the transmission mechanism, the first end of the first pull wire is connected to the first output shaft of the transmission mechanism, the second end of the first pull wire is connected to the upper part of the movable surface clamping mechanism via the first fixed pulley group, the first end of the second pull wire is connected to the second output shaft of the transmission mechanism, the second end of the second pull wire is connected to the lower part of the movable surface clamping mechanism via the second fixed pulley group.

[0076] The following describes the principle of the displacement adjustment component:

[0077] The servo motor in the servo motor box starts up, and the output shaft drives the speed reducer to adjust the speed. The transmission mechanism achieves vertical transformation of the torque direction, transmitting power to the first and second output shafts respectively. One end of the first cable is connected to the first output shaft, and the other end is connected to the upper part of the movable surface clamping mechanism via the first fixed pulley set (to change the direction of force); one end of the second cable is connected to the second output shaft, and the other end is connected to the lower part of the movable surface clamping mechanism via the second fixed pulley set (to change the direction of force). When the servo motor is running, the transmission mechanism rotates the first and second output shafts, retracting and releasing the first and second cables, thereby precisely pulling the movable surface clamping mechanism up and down, achieving precise adjustment of its height position, causing the movable surface to rotate, and the free clearance between the movable surface and the stabilizing surface can be accurately determined by measuring the rotation angle.

[0078] Furthermore, each of the first and second pull wires is equipped with a tension sensor, which is electrically connected to the control box. Specifically, the tension sensor measures the tension of the pull wires in real time. Combined with the distance between the pull wire action point and the center of rotation of the movable surface, the torque pulling the movable surface to rotate can be accurately calculated. Based on the principle of measuring the free clearance of the movable surface by loading and measuring the rotation angle, precise torque control can ensure that the movable surface rotation is more consistent with theoretical expectations, reduce measurement errors caused by torque deviation, and thus improve the accuracy of gap measurement.

[0079] The first fixed pulley group and the second fixed pulley group are both composed of two fixed pulleys, and the two fixed pulleys are respectively arranged at the upper and lower ends of the inclined beam inside the upper inclined beam group / lower inclined beam group. The tension sensor is arranged on the pull line between the two fixed pulleys to avoid interference between the tension sensor and the fixed pulleys.

[0080] Regarding the locking assembly on the loading clamp mechanism, in some embodiments, see Figure 4 As shown, the locking assembly on the loading and clamping mechanism is composed of a first locking assembly corresponding to the lower inclined beam group and a second locking assembly corresponding to the upper inclined beam group, and the first locking assembly and the second locking assembly both include a second hand wheel and a second base plate; the second base plate is connected between the parallel arranged inclined beams, the second hand wheel is threadedly engaged with the second base plate, and the end of the second hand wheel passes through the second base plate and abuts against the rotating shaft at the upper / lower end hinge of the servo motor box.

[0081] The following describes the principle of the locking assembly on the loading clamping mechanism:

[0082] When the second hand wheel is rotated, the rotational motion of the hand wheel is converted into linear motion through the thread, so that it passes through the end of the second base plate and abuts against the rotating shaft at the upper / lower end hinge of the servo motor box.

[0083] When the second handwheel is tightened, it creates a contact force on the rotating shaft, increasing friction at the hinge, thereby restricting the rotation of the upper or lower inclined beam assembly around the hinge, locking it and maintaining structural stability. When the second handwheel is released, the contact force is eliminated, and the hinge returns to a free-rotating state, allowing the inclined beam assembly to be adjusted. In this way, the locking assembly achieves locking and unlocking control over the position of the inclined beam assembly, ensuring that the device remains fixed when needed and can be flexibly adjusted when needed.

[0084] Regarding the specific design of the active surface clamping mechanism, in some embodiments, see Figure 5 As shown, the movable surface clamping mechanism includes a first U-shaped bracket, a second U-shaped bracket and a cross bar assembly, which constitute a basic frame. The free ends of the two U-shaped brackets are connected by the cross bar to form a stable overall structure to provide support for the clamping operation.

[0085] The crossbar assembly includes a first crossbar and a second crossbar, wherein the first crossbar is connected between the first free ends of the first U-shaped bracket and the second U-shaped bracket, and the second crossbar is connected between the second free ends of the first U-shaped bracket and the second U-shaped bracket.

[0086] A group of relatively arranged rudder surface clamping assemblies are respectively provided on the inner side of the first U-shaped bracket and the second U-shaped bracket. The rudder surface clamping assemblies are composed of a third handwheel, a third base plate and a second pressure sensor. The third base plate is connected to the free end of the U-shaped bracket, and the third handwheel is threadedly engaged with the third base plate. The third handwheel passes through the end of the third base plate and extends to the inner side of the U-shaped bracket and is connected to the second pressure sensor.

[0087] Specifically, when the third handwheel is rotated, its rotational motion is converted into linear motion via a thread. The end of the handwheel, which penetrates the third baseplate, pushes the second pressure sensor toward the active surface. By controlling the handwheel's rotation, the clamping force can be precisely adjusted. Furthermore, the second pressure sensor monitors the clamping force in real time and provides feedback, ensuring that the clamping force meets the required clamping requirements while avoiding damage to the active surface.

[0088] In addition, the U-shaped bracket is also equipped with a sensor wiring interface for the installation of the second pressure sensor, which can greatly organize the sensor wiring harness and avoid wiring entanglement in the mechanical part during installation.

[0089] Example 3

[0090] This embodiment is based on the technical solution provided in any one of Examples 1 to 2, and provides an adaptive clamping device suitable for measuring the clearance between the movable surfaces of the rudder. The adaptive clamping device also includes a vertical tail pylon assembly.

[0091] In some embodiments, see Figure 6 As shown, the vertical tail pylon assembly includes a first pylon arranged on the first side of the rudder and a second pylon arranged on the second side of the rudder, the first end of the first pylon is hinged to the upper beam of the loading and clamping mechanism, the first end of the second pylon is hinged to the lower beam of the loading and clamping mechanism, and the second ends of the first pylon and the second pylon are connected to the reserved interfaces on both sides of the rudder.

[0092] The following describes the installation and use principles of the vertical tail pylon assembly:

[0093] First, install the vertical tail pylon assembly on the reserved interfaces on both sides of the rudder, remove the lifting support block assembly on the inner side of the loading clamping mechanism, and install it on the vertical tail pylon assembly, then connect the vertical tail pylon assembly with the long crossbeam of the loading clamping mechanism, and adjust the opening of the upper oblique beam assembly and the lower oblique beam assembly through the second hand wheel on the loading clamping mechanism; further connect the first pressure sensor on the lifting support block assembly, adjust the lifting support block assembly according to the pressure value of the first pressure sensor, and stably clamp the loading clamping mechanism on the stabilizer surface of the rudder.

[0094] Furthermore, the movable surface clamping mechanism is installed and fixed. Different from the movable surface clamping mechanism provided in Examples 1 and 2, when measuring the clearance of the rudder movable surface, the movable surface clamping mechanism in this embodiment only includes a single U-shaped bracket and a third hand wheel and a second pressure sensor matched therewith. The height position adjustment of the U-shaped bracket is converted into the adjustment of the left and right deflection angles, which is the same as the principle of driving the rotation of the aileron and elevator movable surfaces through the displacement adjustment component, and will not be elaborated here.

[0095] Example 4

[0096] This embodiment provides a control method for an adaptive clamping device for detecting clearance between aircraft control surfaces as described in any one of embodiments 1 to 3, wherein Figure 7 As shown in Figure 1, the force feedback control system includes the following gap measurement control process:

[0097] In response to a force feedback control request from the clamping system, feeding back clamping force data to the clamping system, wherein the clamping force data is used to instruct the clamping system to optimize the clamping state of the lifting bracket assembly and the stabilizer surface;

[0098] Establishing a force-displacement benchmark and sending the initial state data of the active surface to the force loading system. The force-displacement benchmark is obtained by activating the laser sensor for laser ranging calibration after the laser detection system receives the clamping system activation request. The initial state data of the active surface is used to instruct the force loading system to generate a force loading strategy. The laser emitting end of the laser sensor is facing the active surface.

[0099] Initiating force loading control based on the force loading strategy, triggering the laser detection system to dynamically monitor the displacement of the movable surface and triggering the clamping system to adjust the clamping force until the force loading is completed;

[0100] Acquiring dynamically monitored displacement data and feeding the displacement data back to the force loading system to instruct the force loading system to adjust the loading strategy;

[0101] When the force loading is completed, a release clamping instruction is sent to the clamping system and a stop detection instruction is sent to the laser detection system. The release clamping instruction is used to instruct the clamping system to release the clamping of the rudder surface, and the stop detection instruction is used to instruct the laser detection system to stop detection.

[0102] Specifically, this embodiment adopts a decoupled suction cup laser detection system to achieve complete decoupling of loading force and displacement measurement. Through the cooperation of vacuum adsorption and high-precision laser ranging, real-time and accurate measurement during dynamic loading is ensured.

[0103] Example 5

[0104] This embodiment provides a control method for an adaptive clamping device for detecting clearance between aircraft control surfaces as described in any one of embodiments 1 to 3, wherein Figure 8 As shown, it also includes a curvature adjustment system, which includes the following curvature control process:

[0105] During the process of the adaptive clamping device performing the cambered surface adaptive adjustment, the rudder surface curvature data is obtained, and a transmission instruction is generated based on the rudder surface curvature data, and the deformation instruction is sent to the lifting support block assembly, wherein the rudder surface curvature data is obtained by each first pressure sensor, and the deformation instruction is used to instruct the lifting support block assembly to perform deformation adjustment and feedback the state after the deformation adjustment;

[0106] Calculating an adjustment amount based on the state after deformation adjustment, and if fine-tuning is required, generating a fine-tuning instruction, and sending the fine-tuning instruction to the lifting support block assembly to instruct the lifting support block assembly to make fine adjustments until the target curvature is achieved;

[0107] A locking signal is sent to the locking component, where the locking signal is used to instruct the locking component to lock the adaptive clamping device.

[0108] The process also includes curvature condition monitoring, as follows:

[0109] Obtain the support status feedback from the lifting support block assembly, and perform real-time monitoring of the curvature based on the support status. When a change in the support status is detected, generate an adjustment instruction and send it to the lifting support block assembly to instruct the lifting support block assembly to adjust. After the adjustment of the lifting support block assembly is completed, generate a locking instruction and send it to the locking assembly to instruct the locking assembly to re-lock.

[0110] Example 6

[0111] This embodiment provides a control method for an adaptive clamping device for detecting clearance between aircraft control surfaces as described in any one of embodiments 1 to 3, wherein Figure 9 As shown, it also includes a monitoring and control system and a protection system. The monitoring and control system includes a real-time detection module and a data processing module. The protection system includes an overload detection module and an emergency release module. The monitoring and control system includes the following monitoring and control processes:

[0112] After the pressure sensor array is connected, the real-time monitoring module is used to obtain pressure data from the pressure sensor array, and the data processing module is used to perform detection and analysis based on the pressure data;

[0113] Determine whether the pressure data is abnormal. If the pressure data is abnormal, trigger overload detection. The overload detection is used to trigger the overload detection module to perform overload analysis, start the emergency release module to perform emergency release and activate the alarm system to reduce the clamping force on the rudder and achieve timely alarm;

[0114] Receive feedback processing results sent by the protection system and monitor continuously.

[0115] Specifically, a stable clamping force environment provides high-precision data for gap measurement. By monitoring the clamping force, this embodiment can prevent the clamping force from being overloaded and damaging the rudder surface, thereby ensuring the safety of the rudder surface detection.

[0116] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An adaptive clamping device for aircraft control surface clearance detection, suitable for measuring aileron movable surface clearance and elevator movable surface clearance, characterized in that: It comprises a clamping mechanism (100), a loading clamping mechanism (100) and a movable surface clamping mechanism (100); The clamping mechanism (100) and the loading clamping mechanism (100) are both U-shaped, and the free ends of the two are connected to form an annular structure, and the movable surface clamping mechanism (100) is arranged inside the annular structure; The inner sides of the upper ring and the lower ring of the annular structure are both provided with a plurality of lifting support block assemblies attached to the stabilizer surface, and the attached surfaces of the lifting support block assemblies are provided with first pressure sensors; The loading clamping mechanism (100) is provided with a displacement adjustment component for adjusting the height position of the movable surface clamping mechanism (100), and the clamping mechanism (100) and the loading clamping mechanism (100) are respectively provided with locking components for adjusting and maintaining the clamping state between the lifting support block component and the stabilizer surface; The movable surface clamping mechanism (100) is a U-shaped structure, and a rudder surface clamping assembly attached to the movable surface is provided on the inner side of the U-shaped structure, and a second pressure sensor is provided on the attached surface of the rudder surface clamping assembly; It also includes a control box, a clamping system, a force feedback control system, a laser detection system and a force loading system. The first pressure sensor, the displacement adjustment component and the second pressure sensor are all electrically connected to the control box, and the control box is communicatively connected to the clamping system, the force feedback control system, the laser detection system and the force loading system.

2. The adaptive clamping device for detecting clearance between aircraft control surfaces according to claim 1, wherein: The clamping mechanism (100) and the loading clamping mechanism (100) both comprise an upper inclined beam group (110), a lower inclined beam group, an upper cross beam, and a lower cross beam. The upper inclined beam group (110) and the lower inclined beam group both consist of two pairs of parallel inclined beams. The upper end of the upper inclined beam group (110) is hinged to the first end of the upper cross beam, the lower end of the upper inclined beam group (110) is hinged to the upper end of the lower inclined beam group, and the lower end of the lower inclined beam group is hinged to the first end of the lower cross beam. The angle between the upper inclined beam group (110) and the lower inclined beam group is acute.

3. The adaptive clamping device for detecting clearance between aircraft control surfaces according to claim 2, wherein: The locking assembly on the clamping mechanism (100) comprises a first hand wheel, a first base plate, a driving disk, an upper connecting rod and a lower connecting rod; The first base plate is connected between the upper oblique beam group (110) and the lower oblique beam group, and its upper and lower ends are hinged to the upper oblique beam group (110) and the lower oblique beam group respectively; The driving disk is arranged between the parallel inclined beams, and a thread groove is provided on the driving disk. The first hand wheel is threadedly engaged with the first base plate, and the first hand wheel passes through the end of the first base plate and is threadedly engaged with the thread groove. The upper end of the driving disk is hinged to the first end of the upper connecting rod, and the second end of the upper connecting rod is hinged to the upper cross beam on the inner side of the upper inclined beam group (110). The lower end of the driving disk is hinged to the first end of the lower connecting rod, and the second end of the lower connecting rod is hinged to the lower cross beam on the inner side of the lower inclined beam group.

4. The adaptive clamping device for detecting clearance between aircraft control surfaces according to claim 2, wherein: The displacement adjustment assembly includes a servo motor box, a first fixed pulley set, a first pull wire, a second fixed pulley set and a second pull wire; The servo motor box is connected between the upper oblique beam group (110) and the lower oblique beam group, and its upper and lower ends are hinged to the upper oblique beam group (110) and the lower oblique beam group respectively; A servo motor, a reducer, and a transmission mechanism are provided in the servo motor box. The output shaft of the servo motor is connected to the reducer, and the output shaft of the reducer is connected to the transmission mechanism. The transmission mechanism is used to achieve vertical conversion of the torque direction of the servo motor. The transmission mechanism has a first output shaft located on a first side of the servo motor box and a second output shaft located on a second side of the servo motor box. The first side of the servo motor box is opposite to the second side of the servo motor box. The first fixed pulley group is arranged on the same side as the first output shaft of the transmission mechanism, the second fixed pulley group is arranged on the same side as the second output shaft of the transmission mechanism, the first end of the first pull wire is connected to the first output shaft of the transmission mechanism, the second end of the first pull wire is connected to the upper part of the movable surface clamping mechanism (100) via the first fixed pulley group, the first end of the second pull wire is connected to the second output shaft of the transmission mechanism, and the second end of the second pull wire is connected to the lower part of the movable surface clamping mechanism (100) via the second fixed pulley group.

5. The adaptive clamping device for detecting clearance between aircraft control surfaces according to claim 4, characterized in that: The first pull wire and the second pull wire are both equipped with tension sensors, and the tension sensors are electrically connected to the control box.

6. The adaptive clamping device for detecting clearance between aircraft control surfaces according to claim 5, wherein: The first fixed pulley group and the second fixed pulley group are both composed of two fixed pulleys, and the two fixed pulleys are respectively arranged at the upper and lower ends of the inclined beam inside the upper inclined beam group (110) / lower inclined beam group, and the tension sensor is arranged on the tension line between the two fixed pulleys.

7. The adaptive clamping device for detecting clearance between aircraft control surfaces according to claim 4, wherein: The locking assembly on the loading and clamping mechanism (100) is composed of a first locking assembly corresponding to the lower inclined beam group and a second locking assembly corresponding to the upper inclined beam group (110), and the first locking assembly and the second locking assembly both include a second hand wheel and a second base plate; The second base plate is connected between parallel inclined beams, the second hand wheel is threadedly engaged with the second base plate, and the end of the second hand wheel passes through the second base plate and abuts against the rotating shaft at the upper / lower end hinge of the servo motor box.

8. The adaptive clamping device for detecting clearance between aircraft control surfaces according to any one of claims 2 to 7, characterized in that: The movable surface clamping mechanism (100) comprises a first U-shaped bracket, a second U-shaped bracket and a crossbar assembly; The crossbar assembly includes a first crossbar and a second crossbar, wherein the first crossbar is connected between the first free ends of the first U-shaped bracket and the second U-shaped bracket, and the second crossbar is connected between the second free ends of the first U-shaped bracket and the second U-shaped bracket; A group of relatively arranged rudder surface clamping assemblies are respectively provided on the inner side of the first U-shaped bracket and the second U-shaped bracket. The rudder surface clamping assemblies are composed of a third handwheel, a third base plate and a second pressure sensor. The third base plate is connected to the free end of the U-shaped bracket, and the third handwheel is threadedly engaged with the third base plate. The third handwheel passes through the end of the third base plate and extends to the inner side of the U-shaped bracket and is connected to the second pressure sensor.

9. An adaptive clamping device for detecting clearance between rudder surfaces of an aircraft, comprising the adaptive clamping device for detecting clearance between rudder surfaces of an aircraft according to any one of claims 1 to 8, suitable for measuring clearance between rudder movable surfaces, characterized in that: Also included is the vertical tail pylon assembly; The vertical tail pylon assembly comprises a first pylon arranged on a first side of the rudder and a second pylon arranged on a second side of the rudder, wherein a first end of the first pylon is hinged to an upper crossbeam of a loading and clamping mechanism (100), a first end of the second pylon is hinged to a lower crossbeam of the loading and clamping mechanism (100), and second ends of the first pylon and the second pylon are connected to reserved interfaces on both sides of the rudder.

10. A control method for an adaptive clamping device for detecting clearance between aircraft control surfaces according to any one of claims 1 to 9, characterized in that: The force feedback control system includes the following gap measurement control processes: In response to a force feedback control request from the clamping system, feeding back clamping force data to the clamping system, wherein the clamping force data is used to instruct the clamping system to optimize the clamping state of the lifting bracket assembly and the stabilizer surface; Establishing a force-displacement benchmark and sending the initial state data of the active surface to the force loading system. The force-displacement benchmark is obtained by activating the laser sensor for laser ranging calibration after the laser detection system receives the clamping system activation request. The initial state data of the active surface is used to instruct the force loading system to generate a force loading strategy. The laser emitting end of the laser sensor is facing the active surface. Initiating force loading control based on the force loading strategy, triggering the laser detection system to dynamically monitor the displacement of the movable surface and triggering the clamping system to adjust the clamping force until the force loading is completed; Acquiring dynamically monitored displacement data and feeding the displacement data back to the force loading system to instruct the force loading system to adjust the loading strategy; When the force loading is completed, a release clamping instruction is sent to the clamping system and a stop detection instruction is sent to the laser detection system, wherein the release clamping instruction is used to instruct the clamping system to release the clamping of the control surface, and the stop detection instruction is used to instruct the laser detection system to stop detection; End gap measurement control.

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