CN103291494A - Exercise-decoupling axial-symmetry thrust vectoring nozzle adjusting mechanism with sliding pairs - Google Patents
Exercise-decoupling axial-symmetry thrust vectoring nozzle adjusting mechanism with sliding pairs Download PDFInfo
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- CN103291494A CN103291494A CN2013102754028A CN201310275402A CN103291494A CN 103291494 A CN103291494 A CN 103291494A CN 2013102754028 A CN2013102754028 A CN 2013102754028A CN 201310275402 A CN201310275402 A CN 201310275402A CN 103291494 A CN103291494 A CN 103291494A
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Abstract
The invention discloses an exercise-decoupling axial-symmetry thrust vectoring nozzle adjusting mechanism with sliding pairs. The exercise-decoupling axial-symmetry thrust vectoring nozzle adjusting mechanism with the sliding pair comprises a static platform, a moving platform and a six-branch parallel mechanism with three degree of freedom. The six-branch parallel mechanism is formed by connection from the axial-symmetry thrust vectoring nozzle adjusting mechanism to the static platform and the moving platform; the axial-symmetry thrust vectoring nozzle adjusting mechanism comprises three driving branches and three driven branches. A first driven branch and a second driven branch respectively comprise a universal pair, a lower revolute pair and an upper revolute pair connected sequentially in series. A third driven branch comprises a sliding pair, a revolute pair and a universal pair sequentially connected in series. A fourth driving branch, a fifth driving branch and a sixth driving branch respectively comprise an upper spherical hinge pair, a sliding pair and a lower spherical hinge pair. With the exercise-decoupling axial-symmetry thrust vectoring nozzle adjusting mechanism with the sliding pair, pure rotating output of the adjustable ring can be realized, the adjustable ring is not driven by a shaft to rotate when rotating around the shaft, so that the exercise-decoupling axial-symmetry thrust vectoring nozzle adjusting mechanism has the advantages of good exercise-decoupling performance, easy control and the like; the exercise-decoupling axial-symmetry thrust vectoring nozzle adjusting mechanism has less spherical hinge pairs, so that production cost and mounting difficulty are reduced.
Description
Technical field
What the present invention relates to is the device in a kind of aero engine technology field, specifically is the axisymmetric vectoring exhaust nozzle controlling mechanism that a kind of mobile decoupling contains sliding pair.
Background technique
The axisymmetric Thrust Vectoring Technology is one of key technology of modern advanced fighter, be characterized in coming operating aircraft by the moment that the airflow direction that changes nozzle produces, realizing that the level propelling provides driftage pitching additional moment simultaneously, its introducing makes performances such as the stealth of fighter, mobility, agility, STOL capability and supersonic cruise obtain fully playing and improving.Realize that thrust vectoringization needs corresponding thrust vectoring device, (Axial-Symmetric Vectoring Exhaust Nozzle AVEN) has represented the developing direction of engine exhaust system design and research wherein can to make the axisymmetric vectoring exhaust nozzle that 360 degree rotate.In this vector spray apparatus, having the regulating ring structure that moves two rotational motion features is the critical component of realizing the 360 degree deflections of jet pipe do.
At present, what external disclosed such controlling mechanism (as Patent document number US5174502, US5779152, US5820024, US6142416, US6199772, US6415599, EP0886061B1) adopted is six branch road paralleling mechanisms such as 3-PRS/3-SPS or 3-PRS/3-SPS, wherein 3 SPS branch roads are done initiatively side chain, and 3 PRS or RRS make passive side chain and be used for regulating ring is felt relieved.Yet for such mechanism, it can not realize the pure rotation output of regulating ring, namely certainly leads to the movement of following when around certain rotation the time, so its coupling is stronger, motion is found the solution complicated, and control is also complicated; Contain more unmanageable S pair, make manufacture cost increase.
Therefore, design contains still less ball pivot S pair, pure rotation output, the mobile decoupling that can realize regulating ring good and be easy to control one move pressing for of two gyration vector Effuser device practical engineering application.
Summary of the invention
The present invention is directed to the prior art above shortcomings, the axisymmetric vectoring exhaust nozzle controlling mechanism that a kind of mobile decoupling contains sliding pair is proposed, can realize the pure rotation output of moving platform, namely in certain rotation, can not produce the movement of following at moving platform, so that it has a mobile decoupling is good and be easy to advantages such as control; Contain typed ball bearing pair S still less in this mechanism, thereby reduced manufacture cost and installation difficulty.
The present invention is achieved by the following technical solutions, the present invention includes: with casing as silent flatform, with regulating ring as moving platform, axisymmetric vectoring exhaust nozzle controlling mechanism by three active branch roads and three passive branch roads compositions is connected silent flatform and moving platform, thereby forms the 3-freedom parallel mechanism of six branch roads.
Described first and second passive branch road comprises: Chuan Lian universal pair and upper and lower revolute pair successively, and wherein: second rotation axis of universal pair, the axis of upper and lower revolute pair are parallel to each other;
The described the 3rd passive branch road comprises: Chuan Lian sliding pair, revolute pair and universal pair successively, and wherein: second rotation axis of revolute pair axis and universal pair is parallel to each other, the axis of sliding pair and the axis normal of revolute pair;
Described universal pair has two orthogonal rotation axiss, and wherein first axis is the rotation axis that is fixed on casing or the regulating ring, and second rotation axis is and first rotation axis that axis is perpendicular.
Described fourth, fifth, six initiatively branch roads comprise: successively Chuan Lian following typed ball bearing pair, sliding pair and on typed ball bearing pair; This sliding pair is driving pair; Initiatively the driving of sliding pair is screw body or the cylinder device driving of driven by motor.
The first universal pair in the first passive branch road and the second universal pair in the second passive branch road, and the 3rd time sliding pair in the 3rd passive branch road is the benchmark symmetric arrangement;
In the first passive branch road in first rotation axis of the first universal pair and the 3rd passive branch road on the 3rd the axis of revolute pair be parallel to each other;
In the first passive branch road on first in the axis of revolute pair and the 3rd passive branch road first rotation axis of the 3rd universal pair be parallel to each other;
First rotation axis conllinear of the second universal pair in first rotation axis of the first universal pair and the second passive branch road in the first passive branch road;
Turns auxiliary shaft line parallel on second in revolute pair axis and the second passive branch road on first in the first passive branch road.
In the first passive branch road in first rotation axis of the first universal pair, the second passive branch road in first rotation axis of the second universal pair and the 3rd passive branch road on the 3rd the axis of revolute pair all be parallel to the plane at silent flatform place.
In addition, keep the type position relation of each passive branch,, also can obtain the axisymmetric vectoring exhaust nozzle controlling mechanism of similar a kind of mobile decoupling with moving platform and silent flatform location swap once.
This controlling mechanism is active branched chain with typed ball bearing pair-sliding pair-typed ball bearing pair (SPS), and universal pair-revolute pair-revolute pair (URR) is passive side chain with sliding pair-revolute pair-universal pair (PRU); But two rotational freedoms and an one-movement-freedom-degree in the regulating ring moving platform implementation space; One of them rotational freedom is that moving platform can be around first pivot axis of the first universal pair of the first passive branch road, and another rotational freedom is that moving platform can be around first pivot axis of the 3rd passive branch road the 3rd universal pair; One-movement-freedom-degree is that moving platform can move along the common vertical line direction of the axis of revolute pair on the axis of revolute pair on first and the 3rd passive branch road the 3rd.
Technique effect
Compared with prior art, moving platform of the present invention can be realized the pure rotation around above-mentioned rotation axis, and does not produce the movement of following; Moving platform can be realized the pure movement along above-mentioned movement direction, and does not produce the rotation of following.Hence one can see that, and this mechanism kinematic is full decoupled, and motion is found the solution so it has, the easier advantage of control.
Owing to contain than original 3-PRS/3-SPS of mechanism or 3-PRS/3-SPS typed ball bearing pair S still less, so it is simple in structure, accuracy of manufacturing requires and can reduce, and manufacture cost also can reduce.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is embodiment's jet pipe overall structure figure.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed mode of execution and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, moving platform M is connected in parallel by six branches and casing F:
Among the first passive branch road I, the first universal secondary U
1Connect casing F and 11, the first times revolute pair R of first lower link
1aConnect on first lower link 11 and first revolute pair R on the connecting rod 12, the second
1bConnect connecting rod 12 and moving platform M on first;
Among the second passive branch road II, the second universal secondary U
2Connect casing F and 21, the second times revolute pair R of second lower link
2aConnect on second lower link 21 and second revolute pair R on the connecting rod 22, the second
2bConnect connecting rod 22 and moving platform M on second;
Among the 3rd passive branch road III, the 3rd time sliding pair P
3aConnect revolute pair R on casing F and the 3rd lower link 31, the three
3bConnect connecting rod 32, the three universal secondary U on the 3rd lower link 31 and the 3rd
3 Connect connecting rod 32 and moving platform M on the 3rd;
Among the 4th active branch road IV, first time typed ball bearing pair S
1aConnect casing F and the 4th lower link 41, the first sliding pair P
1Connect 42, the first times last typed ball bearing pair S of connecting rod on the 4th lower link 41 and the 4th
1bConnect connecting rod 42 and moving platform M on the 4th;
Among the 5th active branch road V, second time typed ball bearing pair S
2aConnect casing F and the 5th lower link 51, the second sliding pair P
2Connect on the 5th lower link 51 and the 5th typed ball bearing pair S on the connecting rod 52, the second
2bConnect connecting rod 52 and moving platform M on the 5th;
Among the 6th active branch road VI, the 3rd time typed ball bearing pair S
3aConnect casing F and the 6th lower link 61, the three moving sets P
3Connect on the 6th lower link 61 and the 6th typed ball bearing pair S on the connecting rod 62, the three
3bConnect connecting rod 62 and moving platform M on the 6th;
Wherein, the kinematic pair of each branch satisfies following relation:
U among the first branch road I
1Second rotation axis, first time revolute pair R
1a, revolute pair R on first
1bThe revolute pair axis is parallel to each other;
U among the second branch road II
2Second rotation axis, second time revolute pair R
2a, revolute pair R on second
2bThe revolute pair axis is parallel to each other;
Revolute pair R on the 3rd among the 3rd passive branch road III
3bAxis and the 3rd universal secondary U
3Second rotation axis be parallel to each other the 3rd time sliding pair P
3aWith the 3rd on revolute pair R
3bAxis normal;
The first universal secondary U among the first passive branch road I
1With the second universal secondary U among the second passive branch road II
2, with the 3rd time sliding pair P in the 3rd passive branch road
3aBe the benchmark symmetric arrangement;
The first universal secondary U among the first passive branch road I
1First rotation axis and the 3rd passive branch road III in revolute pair R on the 3rd
3bAxis be parallel to each other;
Revolute pair R on first among the first passive branch road I
1bAxis and the 3rd passive branch road III in the 3rd universal secondary U
2First rotation axis be parallel to each other;
The first universal secondary U among the first passive branch road I
1First rotation axis and the second passive branch road II in the second universal secondary U
2First rotation axis conllinear;
Revolute pair R on first among the first passive branch road I
1bAxis and the second passive branch road II in revolute pair R on second
2bAxis be parallel to each other.
First to three moving sets P in described fourth, fifth, six branch roads
1, P
2, P
3Be driving pair; Initiatively the driving of sliding pair is screw body or the cylinder device driving of driven by motor.
The first universal secondary U among the described first passive branch road I
1First rotation axis, the second passive branch road II in the second universal secondary U
2First rotation axis and the 3rd passive branch road III in revolute pair R on the 3rd
3bAxis all be parallel to the plane at silent flatform F place.
Claims (7)
1. a mobile decoupling contains the axisymmetric vectoring exhaust nozzle controlling mechanism of sliding pair, it is characterized in that, comprise: with casing as silent flatform, with regulating ring as moving platform, axisymmetric vectoring exhaust nozzle controlling mechanism by three active branch roads and three passive branch roads compositions is connected silent flatform and moving platform, thereby forms the 3-freedom parallel mechanism of six branch roads;
Described first and second passive branch road comprises: Chuan Lian universal pair and upper and lower revolute pair successively, wherein: second rotation axis of universal pair, rotate up and down secondary axis and be parallel to each other;
The described the 3rd passive branch road comprises: Chuan Lian sliding pair, revolute pair and universal pair successively, and wherein: second rotation axis of revolute pair axis and universal pair is parallel to each other, the axis of sliding pair and the axis normal of revolute pair;
Described fourth, fifth, six initiatively branch roads comprise: Chuan Lian last typed ball bearing pair, sliding pair and time typed ball bearing pair successively; This sliding pair is driving pair; Initiatively the driving of sliding pair is screw body or the cylinder device driving of driven by motor.
2. mechanism according to claim 1 is characterized in that, the first universal pair in the described first passive branch road and the second universal pair in the second passive branch road are the benchmark symmetric arrangement with the 3rd time sliding pair in the 3rd passive branch road.
3. mechanism according to claim 1 is characterized in that, in the described first passive branch road in first rotation axis of the first universal pair and the 3rd passive branch road on the 3rd the axis of revolute pair be parallel to each other.
4. mechanism according to claim 1 is characterized in that, in the described first passive branch road on first in the axis of revolute pair and the 3rd passive branch road first rotation axis of the 3rd universal pair be parallel to each other.
5. mechanism according to claim 1 is characterized in that, first rotation axis conllinear of the second universal pair in first rotation axis of the first universal pair and the second passive branch road in the described first passive branch road.
6. mechanism according to claim 1 is characterized in that, turns auxiliary shaft line parallel on second in revolute pair axis and the second passive branch road on first in the described first passive branch road.
7. mechanism according to claim 1, it is characterized in that, in the described first passive branch road in first rotation axis of the first universal pair, the second passive branch road in first rotation axis of the second universal pair and the 3rd passive branch road on the 3rd the axis of revolute pair all be parallel to the plane at silent flatform place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310275402.8A CN103291494B (en) | 2013-07-02 | 2013-07-02 | Mobile decoupling contains the axisymmetric vectoring exhaust nozzle controlling mechanism of sliding pair |
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|---|---|---|---|
| CN201310275402.8A CN103291494B (en) | 2013-07-02 | 2013-07-02 | Mobile decoupling contains the axisymmetric vectoring exhaust nozzle controlling mechanism of sliding pair |
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| CN103291494A true CN103291494A (en) | 2013-09-11 |
| CN103291494B CN103291494B (en) | 2015-08-19 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643606A (en) * | 2016-04-01 | 2016-06-08 | 江苏大学 | Novel three-degree-of-freedom parallel robot |
| CN106428486A (en) * | 2016-10-08 | 2017-02-22 | 西北工业大学 | Vector propelling device for small underwater vehicle |
| CN107630766A (en) * | 2017-10-11 | 2018-01-26 | 高小秒 | A kind of small-sized fixed-wing unmanned vehicle engine vector spout |
| CN108519169A (en) * | 2018-04-25 | 2018-09-11 | 浙江大唐国际绍兴江滨热电有限责任公司 | The temperature sensor assembly of the Natural Gas Power Plant of anti-dropout |
| CN111779549A (en) * | 2020-07-08 | 2020-10-16 | 孙涛 | Aircraft engine tail nozzle |
| CN115816423A (en) * | 2022-09-20 | 2023-03-21 | 北京萌友智能科技有限公司 | Parallel mechanism holder device for robot, pose control method and controller |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5174502A (en) * | 1991-05-10 | 1992-12-29 | General Electric Company | Support for a translating nozzle vectoring ring |
| US5437411A (en) * | 1992-12-14 | 1995-08-01 | General Electric Company | Vectoring exhaust nozzle flap and seal positioning apparatus |
| US5779152A (en) * | 1997-01-16 | 1998-07-14 | General Electric Company | Coordinated vectoring exhaust nozzle with scissors linkage |
| US6142416A (en) * | 1994-09-29 | 2000-11-07 | General Electric Company | Hydraulic failsafe system and method for an axisymmetric vectoring nozzle |
| US6415599B1 (en) * | 2001-05-11 | 2002-07-09 | General Electric Company | Engine interface for axisymmetric vectoring nozzle |
-
2013
- 2013-07-02 CN CN201310275402.8A patent/CN103291494B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5174502A (en) * | 1991-05-10 | 1992-12-29 | General Electric Company | Support for a translating nozzle vectoring ring |
| US5437411A (en) * | 1992-12-14 | 1995-08-01 | General Electric Company | Vectoring exhaust nozzle flap and seal positioning apparatus |
| US6142416A (en) * | 1994-09-29 | 2000-11-07 | General Electric Company | Hydraulic failsafe system and method for an axisymmetric vectoring nozzle |
| US5779152A (en) * | 1997-01-16 | 1998-07-14 | General Electric Company | Coordinated vectoring exhaust nozzle with scissors linkage |
| US6415599B1 (en) * | 2001-05-11 | 2002-07-09 | General Electric Company | Engine interface for axisymmetric vectoring nozzle |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643606A (en) * | 2016-04-01 | 2016-06-08 | 江苏大学 | Novel three-degree-of-freedom parallel robot |
| CN106428486A (en) * | 2016-10-08 | 2017-02-22 | 西北工业大学 | Vector propelling device for small underwater vehicle |
| CN106428486B (en) * | 2016-10-08 | 2018-11-27 | 西北工业大学 | A kind of vector propulsion device for small-scale underwater vehicle device |
| CN107630766A (en) * | 2017-10-11 | 2018-01-26 | 高小秒 | A kind of small-sized fixed-wing unmanned vehicle engine vector spout |
| CN108519169A (en) * | 2018-04-25 | 2018-09-11 | 浙江大唐国际绍兴江滨热电有限责任公司 | The temperature sensor assembly of the Natural Gas Power Plant of anti-dropout |
| CN111779549A (en) * | 2020-07-08 | 2020-10-16 | 孙涛 | Aircraft engine tail nozzle |
| CN115816423A (en) * | 2022-09-20 | 2023-03-21 | 北京萌友智能科技有限公司 | Parallel mechanism holder device for robot, pose control method and controller |
| CN115816423B (en) * | 2022-09-20 | 2024-07-05 | 北京萌友智能科技有限公司 | Parallel mechanism holder device for robot, pose control method and controller |
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| CN103291494B (en) | 2015-08-19 |
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