CN103291494A - Exercise-decoupling axial-symmetry thrust vectoring nozzle adjusting mechanism with sliding pairs - Google Patents

Abstract

A movement decoupling mechanism in the technical field of aero-engines includes an axisymmetric vector nozzle adjustment mechanism with moving pairs, including: a static platform, a dynamic platform, and an axisymmetric vector nozzle adjustment composed of three active branches and three passive branches. The mechanism connects the static platform and the dynamic platform to form a three-degree-of-freedom parallel mechanism with six branches; the first and second passive branches include: the universal joints connected in series and the lower and upper rotating pairs; the third passive branch includes: The moving pair, the rotating pair and the universal pair connected in series; the fourth, fifth and sixth active branches include: the upper spherical joint pair, the moving pair and the lower spherical joint pair connected in series in sequence. The invention can realize the pure rotation output of the adjustment ring, that is, when the adjustment rotates around a certain axis, there will be no accompanying movement, so it has the advantages of good motion decoupling and easy control; the mechanism contains fewer ball joints Vice, thereby reducing the manufacturing cost and installation difficulty.

Description

Kinematic decoupling of axisymmetric vector nozzle adjustment mechanism with moving pair

technical field

The invention relates to a device in the field of aero-engine technology, in particular to an axisymmetric vector nozzle adjustment mechanism with motion decoupling and a moving pair.

Background technique

Axisymmetric thrust vectoring technology is one of the key technologies of modern advanced fighter jets. It is characterized by manipulating the aircraft by changing the direction of the airflow of the engine tail nozzle to provide additional moments for yaw and pitch while achieving horizontal propulsion. The introduction has fully brought into play and improved the stealth, maneuverability, agility, short take-off and landing capability and supersonic cruise of fighter jets. Achieving thrust vectoring requires a corresponding thrust vectoring device, among which the Axial-Symmetric Vectoring Exhaust Nozzle (AVEN), which can rotate 360 degrees, represents the development direction of engine exhaust system design and research. In the vector spraying device, the adjusting ring structure with the characteristics of one movement and two rotations is the key component to realize the 360-degree deflection of the nozzle.

At present, such adjustment mechanisms disclosed abroad (such as patent literature numbers US5174502, US5779152, US5820024, US6142416, US6199772, US6415599, EP0886061B1) use six such as 3-PRS/3-SPS or 3-PRS/3-SPS In parallel mechanism, three SPS branches are used as active branch chains, and three PRS or RRS branches are used as passive branch chains for centering the adjustment ring. However, for this type of mechanism, it cannot realize the pure rotation output of the adjustment ring, that is, when it rotates around a certain axis, it must produce accompanying movement, so its coupling is strong, the motion solution is more complicated, and the control is also more complicated; Many S pairs that are difficult to process make the manufacturing cost increase.

Therefore, there is an urgent need for the actual engineering application of a one-moving two-rotation vectoring nozzle device with less spherical hinge S pairs, which can realize the pure rotation output of the adjustment ring, good motion decoupling and easy control.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention proposes an axisymmetric vector nozzle adjustment mechanism with motion decoupling and a moving pair, which can realize the pure rotation output of the moving platform, that is, the moving platform will not rotate around a certain axis at the same time. Accompanied movement is generated, so it has the advantages of good motion decoupling and easy control; the mechanism contains fewer spherical joint pairs S, thereby reducing manufacturing cost and installation difficulty.

The present invention is achieved through the following technical proposals. The present invention includes: the casing is used as a static platform, and the adjusting ring is used as a dynamic platform, which is connected by an axisymmetric vector nozzle adjustment mechanism composed of three active branches and three passive branches. The static platform and the dynamic platform form a three-degree-of-freedom parallel mechanism with six branches.

The first and second passive branches include: the universal joint and the lower and upper rotating joints connected in series in sequence, wherein: the second rotation axis of the universal joint and the axes of the lower and upper rotating joints are parallel to each other;

The third passive branch includes: a moving pair, a rotating pair and a universal pair connected in series in sequence, wherein: the axis of the rotating pair is parallel to the second rotation axis of the universal pair, and the axis of the moving pair is parallel to the axis of the rotating pair. vertical;

The universal joint has two mutually perpendicular rotation axes, wherein the first axis is the rotation axis fixed on the casing or the adjusting ring, and the second rotation axis is the rotation axis perpendicular to the first axis.

The fourth, fifth, and sixth active branches include: the lower ball joint pair, the moving pair and the upper ball joint pair connected in series; the moving pair is the active pair; the driving of the active moving pair is a screw mechanism or Driven by hydraulic cylinder system.

The first universal pair in the first passive branch, the second universal pair in the second passive branch, and the third lower moving pair in the third passive branch are based on a symmetrical arrangement;

The first rotation axis of the first universal joint in the first passive branch is parallel to the axis of the third upper rotation joint in the third passive branch;

The axis of the first upper rotating pair in the first passive branch is parallel to the first rotation axis of the third universal joint in the third passive branch;

The first rotation axis of the first universal joint in the first passive branch is collinear with the first rotation axis of the second universal joint in the second passive branch;

The axis of the first upper rotary pair in the first passive branch is parallel to the axis of the second upper rotary pair in the second passive branch.

The first rotation axis of the first universal joint in the first passive branch, the first rotation axis of the second universal joint in the second passive branch, and the axis of the third upper rotating joint in the third passive branch are all Parallel to the plane where the static platform is located.

In addition, maintaining the type-position relationship of each passive branch and exchanging the positions of the dynamic platform and the static platform, a similar motion-decoupled axisymmetric vector nozzle adjustment mechanism can also be obtained.

The adjustment mechanism uses the spherical joint-moving joint-spherical joint (SPS) as the active branch chain, the universal joint-rotating joint-rotating joint (URR) and the mobile joint-rotating joint-universal joint (PRU) as the passive supporting chain. chain; adjusting the ring motion platform can realize two degrees of freedom of rotation and one degree of freedom of movement in space; one of the degrees of freedom of rotation is that the motion platform can rotate around the first axis of rotation of the first universal joint of the first passive branch , the other degree of freedom of rotation is that the moving platform can rotate around the first rotation axis of the third universal joint of the third passive branch; the degree of freedom of movement is that the moving platform can rotate along the axis of the first upper rotating joint The common vertical direction of the axes of the three upper revolving pairs moves.

technical effect

Compared with the prior art, the moving platform of the present invention can realize pure rotation around the above-mentioned rotation axis without accompanying movement; the moving platform can realize pure movement along the above-mentioned moving direction without producing accompanying rotation. It can be seen that the motion of the mechanism is completely decoupled, so it has the advantages of relatively easy motion solution and easy control.

Because it contains fewer spherical hinge pairs S than the original mechanism 3-PRS/3-SPS or 3-PRS/3-SPS, the structure is simple, the manufacturing precision requirement can be reduced, and the manufacturing cost can also be reduced.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is the overall structure diagram of the tail nozzle of the embodiment.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

Example 1

As shown in Figure 1, the moving platform M is connected in parallel with the casing F through six branches:

In the first passive branch I, the first universal pair _U1 is connected to the case F and the first lower link 11, the first lower rotary pair _R1a is connected to the first lower link 11 and the first upper link 12, and the first lower link R1a is connected to the first lower link 11 and the first upper link 12. The second upper rotating pair R _1b connects the first upper connecting rod 12 and the moving platform M;

In the second passive branch II, the second universal pair U ₂ is connected to the casing F and the second lower link 21, and the second lower rotating pair R _2a is connected to the second lower link 21 and the second upper link 22. The second upper rotary pair R _2b connects the second upper connecting rod 22 with the moving platform M;

In the third passive branch III, the third lower moving pair P _3a is connected to the casing F and the third lower link 31, the third upper rotating pair R _3b is connected to the third lower link 31 and the third upper link 32, and the third upper link 31 is connected to the third upper link 32. The three universal pair U ₃ connects the third upper link 32 and the moving platform M;

In the fourth active branch IV, the first lower ball joint pair S _1a connects the casing F and the fourth lower link 41, the first moving pair P ₁ connects the fourth lower link 41 and the fourth upper link 42, and the first movable pair P1 connects the fourth lower link 41 and the fourth upper link 42. The upper ball joint pair S _1b connects the fourth upper link 42 with the moving platform M;

In the fifth active branch V, the second lower ball joint pair S _2a is connected to the casing F and the fifth lower link 51, the second moving pair P ₂ is connected to the fifth lower link 51 and the fifth upper link 52, and the fifth lower link 51 is connected to the fifth upper link 52. The second upper ball hinge pair S _2b connects the fifth upper connecting rod 52 and the moving platform M;

In the sixth active branch VI, the third lower ball joint pair S _3a is connected to the casing F and the sixth lower link 61, the third moving pair _P3 is connected to the sixth lower link 61 and the sixth upper link 62, and the sixth lower link 61 is connected to the sixth upper link 62. The third upper ball hinge pair S _3b connects the sixth upper connecting rod 62 and the moving platform M;

Among them, the motion pair of each branch satisfies the following relationship:

The second rotation axis of U ₁ in the first branch I, the first lower rotation pair R _1a , and the first upper rotation pair R _1b rotation pair axes are parallel to each other;

The second rotation axis of U ₂ in the second branch II, the second lower rotation pair R _2a , and the second upper rotation pair R _2b are parallel to each other;

The axis of the third upper rotating pair R _3b in the third passive branch III is parallel to the second rotating axis of the third universal joint U ₃ , and the axes of the third lower moving pair P _3a and the third upper rotating pair R _3b vertical;

The first universal pair U ₁ in the first passive branch I and the second universal pair U ₂ in the second passive branch II are symmetrical with respect to the third lower moving pair P _3a in the third passive branch arrangement;

The first rotation axis of the first universal joint U ₁ in the first passive branch I is parallel to the axis of the third upper rotating pair R _3b in the third passive branch III;

The axis of the first upper rotating pair R _1b in the first passive branch I is parallel to the first rotation axis of the third universal joint _U2 in the third passive branch III;

The first rotation axis of the first universal joint _U1 in the first passive branch I is collinear with the first rotation axis of the second universal joint _U2 in the second passive branch II;

The axis of the first upper rotating pair R _1b in the first passive branch I and the axis of the second upper rotating pair R _2b in the second passive branch II are parallel to each other.

The first to third moving pairs P ₁ , P ₂ , and P ₃ in the fourth, fifth, and sixth branches are active pairs; the driving of the active moving pairs is driven by a screw mechanism driven by a motor or a hydraulic cylinder system.

The first rotation axis of the first universal joint _U1 in the first passive branch I, the first rotation axis of the second universal joint _U2 in the second passive branch II, and the third passive branch The axes of the third upper rotary pair R _3b in III are all parallel to the plane where the static platform F is located.

Claims (7)

1. A motion-decoupling axisymmetric vector nozzle adjustment mechanism containing a moving pair, is characterized in that it comprises: the casing is used as a static platform, the adjustment ring is used as a dynamic platform, and three active branches and three passive branches are used. The axisymmetric vector nozzle adjustment mechanism composed of three paths connects the static platform and the dynamic platform, thus forming a three-degree-of-freedom parallel mechanism with six branches; The first and second passive branches include: the universal joint and the lower and upper rotating joints in series in sequence, wherein: the second rotation axis of the universal joint and the axes of the upper and lower rotating joints are parallel to each other; The third passive branch includes: a moving pair, a rotating pair and a universal pair connected in series in sequence, wherein: the axis of the rotating pair is parallel to the second rotation axis of the universal pair, and the axis of the moving pair is parallel to the axis of the rotating pair. vertical; The fourth, fifth, and sixth active branches include: an upper ball joint pair, a moving pair and a lower ball joint pair connected in series; the moving pair is an active pair; the driving of the active moving pair is a screw mechanism or Driven by hydraulic cylinder system. 2. The mechanism according to claim 1, characterized in that, the first universal pair in the first passive branch and the second universal pair in the second passive branch, and the third passive branch The third lower moving pair in is arranged symmetrically on the basis. 3. The mechanism according to claim 1, characterized in that the first rotation axis of the first universal joint in the first passive branch and the axis of the third upper rotation joint in the third passive branch are mutually parallel. 4. The mechanism according to claim 1, characterized in that the axis of the first upper rotating pair in the first passive branch and the first rotating axis of the third universal joint in the third passive branch are mutually parallel. 5. The mechanism according to claim 1, wherein the first rotation axis of the first universal joint in the first passive branch is connected to the first rotation axis of the second universal joint in the second passive branch. The axes of rotation are collinear. 6. The mechanism according to claim 1, wherein the axis of the first upper rotating pair in the first passive branch is parallel to the axis of the second upper rotating pair in the second passive branch. 7. The mechanism according to claim 1, characterized in that, the first rotation axis of the first universal joint in the first passive branch, the first rotation axis of the second universal joint in the second passive branch The root rotation axis and the axis of the third upper rotating pair in the third passive branch are parallel to the plane where the static platform is located.

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