CN105173043B - Swing arm type ship stabilizing fin/wing fin transmission simulating device - Google Patents
Swing arm type ship stabilizing fin/wing fin transmission simulating device Download PDFInfo
- Publication number
- CN105173043B CN105173043B CN201510608141.6A CN201510608141A CN105173043B CN 105173043 B CN105173043 B CN 105173043B CN 201510608141 A CN201510608141 A CN 201510608141A CN 105173043 B CN105173043 B CN 105173043B
- Authority
- CN
- China
- Prior art keywords
- fin
- swing arm
- wing
- wing fin
- linkage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The invention provides a swing arm type ship stabilizing fin/wing fin transmission simulating device. The swing arm type ship stabilizing fin/wing fin transmission simulating device comprises a linear step motor, a linear motor fixing plate, a connecting rod, a fin swinging wall, a wing fin swinging arm, a connecting rod plate, a fixing base, a linked swinging arm, a driven swinging arm, a primary fin, a wing fin, a primary fin shaft, a wing fin shaft and the like. The swing arm type ship stabilizing fin/wing fin transmission simulating device realizes simulation movement of a stabilizing fin and a wing fin when a ship sails; besides, the step motor is used as a servo mechanism, so that simulation precision of the swing arm type ship stabilizing fin/wing fin transmission simulating device is greatly improved. The swing arm type ship stabilizing fin/wing fin transmission simulating device can realize independent control on the stabilizing fin and the wing fin, and has the advantages of being low in energy consumption, simple in structure, low in cost, easy to realize, high in reliability, capable of improving ship sailing posture visualization and convenient for further learning and researching.
Description
Technical field
The present invention relates to a kind of simulator of Ship Steering Autopilot, more particularly to a kind of swing arm Ship Steering Autopilot/wing fin
Transmission simulator.
Background technology
Ship motion controller is always national emphasis problem.Ship motion controller analogue system can divide three classes, i.e. unit
Emulation, Double computers simulation and physical simulation.Physical simulation is then the various controls that ship motion is carried out using the real ship of ship model replacement
System experiment, such as the influence to attitude of ship information such as rolling control, auto navigator.Ship motion semi-physical system is adopted
With the emulation mode being combined with Mathematical Modeling in kind, can greatly save manpower and materials is the time and truly reappears ship
Athletic posture.
Transmission device generally has the diversified forms such as guide rod type, chute-type, hinge type and oscillating rod type, and traditional simulator
Volume is big, should not observe the kinetic characteristic of stabilizer/wing fin, small volume of the present invention and can reappear to subtract on ship when ship is moved and shakes
The real time kinematics characteristic of fin/wing fin, convenient further study and research.
The content of the invention
The invention aims to provide stabilizer and the operation of the wing fin when ship's navigation is accurately simulated in a kind of offer one
The swing arm Ship Steering Autopilot of situation/wing fin transmission simulator.
The object of the present invention is achieved like this：Including stabilizer and wing fin, also including the fin straight line on ship model
Stepper motor, the connecting rod connected with the output shaft of fin linear stepping motor by fin motor connector are cut with scissors with boom end is coupled
Fin swing arm and the main fin axle installed in fin swing arm end are connect, the stabilizer is arranged on main fin shaft end, in the connecting rod
Between position be installed with motor fixing plate, wing fin linear stepping motor is installed, wing fin straight line stepping electricity on motor fixing plate
The motor shaft of machine is connected by wing fin motor connector with one end of link rod plate, the other end of link rod plate and one end of wing fin swing arm
It is hinged, the other end of wing fin swing arm is fixedly connected with the linkage swing arm square shaft set being enclosed within main fin axle, linkage swing arm square shaft set
External stability is provided with linkage swing arm round sleeve, and linkage swing arm is provided with linkage swing arm round sleeve, and the wing fin passes through wing fin
Axle is arranged on the end of stabilizer, and driven swing arm is provided with wing fin axle, and the end of driven swing arm sets fluted, the linkage
The end of swing arm is provided with the cylinder with groove fit, and driven swing arm is coordinated with linkage swing arm by the shape of groove and cylinder to be realized
Connection, fixed seat is additionally provided with outside the linkage swing arm round sleeve, and the fixed seat is arranged at the larboard of ship model or starboard.
Present invention additionally comprises such some architectural features：
1. linkage swing arm square shaft set, linkage swing arm round sleeve, linkage swing arm are one described in.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention uses coupling bar, gonnecting rod body, swing arm and swing arm
The reciprocating motion of stabilizer and wing fin is realized, according to Ship Structure Reasonable adjustment structure can be avoided to collide, improve the spirit of motion
Activity；The present invention is to ensure that control accuracy greatly reduces funds again using stepper motor.The present invention can realize stabilizer fin, the wing
The independent control of fin, small volume of the present invention, simple structure, low cost and is easily achieved in addition, can be loaded on the ship model of length 70cm
Within, stabilizer/wing fin kinetic characteristic when being moved to research learning person demonstration ship can be produced in batches as experimental rig.This
The use of invention is very simple, and the present invention can be symmetricly set on the port and starboard of hull, realizes real analog simulation
Brief description of the drawings
Fig. 1 is structural representation of the invention (main view direction)；
Fig. 2 is structural representation of the invention two (side-looking direction)；
Fig. 3 is the concrete structure schematic diagram of part B in Fig. 1；
Fig. 4 is the structural representation of another angle of Fig. 1.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 4, the present invention include fin linear stepping motor 1, motor shaft 2, fin motor connector 3, coupling bar 4,
Motor fixing plate 5, wing fin linear stepping motor 6, wing fin motor connector 7, link rod plate 8, fin swing arm 9, wing fin swing arm 10, fixation
Seat 11, linkage swing arm 12, driven swing arm 13, main stabilizer 14, wing fin 15, main fin axle 16, wing fin axle 17, linkage swing arm square shaft set
18th, linkage swing arm round sleeve 19.
Be fixed on motor connector on motor shaft respectively by screw by main fin motor and wing fin motor, motor connector point
It is not connected with coupling bar, link rod plate, coupling bar and link rod plate are connected with fin swing arm and wing fin swing arm respectively, fin swing arm and main fin axle
It is fixedly linked, main fin outer shaft sleeve has linkage swing arm square shaft set, main fin axle and linkage swing arm motion are asynchronous, and link swing arm round sleeve
It is cased with fixed seat outward；Fin swing arm drives main fin axle so as to drive main fin to move back and forth；The swing arm of wing fin is solid with linkage swing arm square shaft set
Fixed to be connected, the rotary motion centered on wing fin axle is realized in linkage swing arm by driven swing arm.
The present invention includes motor fixing plate 5, and it is used for fixed-wing fin linear stepping motor 6, the electricity of fin linear stepping motor 1
Arbor 2 is fixedly linked by screw with motor connector 3, and motor connector opposite side is connected with coupling bar 4, and coupling bar 4 is another
Side end is hinged with fin swing arm 9, and swing arm 9 is fixedly linked with main fin axle 16, and fin swing arm 9 is connected the reciprocal of side with coupling bar 4
Motion drives the rotary motion of main fin axle 16, and then drives the rotation of stabilizer；Wing fin linear stepping motor 2 is screwed
Connection wing fin motor connector 7 and motor shaft, the other end and the link rod plate 8 of wing fin motor connector 7 are fixedly linked, link rod plate 8
Opposite side is hinged with wing fin swing arm 10, and wing fin swing arm 10 is fixedly linked with linkage swing arm square shaft set 18, and linkage swing arm 12 passes through
The rotary motion centered on wing fin axle 17 is realized so as to drive the rotation of wing fin with the swing of driven swing arm 13.
The present invention can also include such some architectural features：
1st, the motor shaft 2 of fin linear stepping motor 1 is fixedly linked by fin motor connector 3 with coupling bar 4；Coupling bar 4
Opposite side end is hinged with fin swing arm 9, and coupling bar 4 and fin swing arm 9 can be axle center small-angle movement with tie point；Wing fin is straight
Line stepper motor 6 is fixedly linked by wing fin motor connector 7 with link rod plate 8, opposite side and the phase of wing fin swing arm 10 of link rod plate 8
It is hinged, link rod plate 8 and wing fin swing arm 10 can be axle center small-angle movement with tie point.
2nd, the main upper end of fin axle 16 is fixedly connected with fin swing arm 9, and the main lower end of fin axle 16 is fixedly connected with stabilizer 14, main fin axle
16 middle-ends are then cased with linkage swing arm square shaft set 18, and linkage swing arm square shaft set 18 is fixedly connected with linkage swing arm round sleeve 19, links
Fixed seat 11 is cased with outside swing arm round sleeve 19.
3rd, wing fin swing arm 10 is fixedly linked with the linkage swing arm square shaft set 18 of linkage swing arm 12 top, linkage swing arm with it is driven
Swing arm 13 is rotatably connected, and the opposite side end of driven swing arm 14 is fixedly connected with wing fin axle 17, and wing fin axle 17 is fixed with wing fin 15
Connection.
4th, wing fin linear stepping motor 6 is fixed on coupling bar 4.
5th, stabilizer into symmetrically ship port and starboard is being individually positioned in, wing fin is similar to, here only to side stabilizer
Illustrated with wing fin.
Main actions process of the invention and principle are as follows：
Start each motor simultaneously, the real time kinematics of stabilizer and wing fin can be reappeared.The motor shaft 2 of fin linear stepping motor 1
Coupling bar 4 is pulled to move back and forth by fin motor connector 3, the opposite side end of coupling bar 4 is hinged with fin swing arm 9, coupling bar 4
Moving back and forth pulling fin swinging arm makes fin swing arm 9 with main fin axle 16 for axle center rotary motion, because stabilizer 14 is fixed on master
On fin axle 16, therefore the rotary motion of main fin axle 16 can realize the motion of stabilizer；The motor shaft of wing fin linear stepping motor 6 is then
It is fixedly connected with link rod plate 8 by wing fin motor connector 7, then pulls wing fin swing arm 10 to act, connection is cased with main fin axle 14
Movable pendulum arm square shaft set 18, therefore the action of fin swing arm 10 drives linkage swing arm 12 around main fin axle rotary motion, linkage swing arm 12
Rotary motion passes through the driven swing arm 11 being rotatably connected with it rotates wing fin axle so as to drive the motion of wing fin 15.
Support body of the present invention including motor fixing plate 5 and fixed seat 11 and ship model coupling part.Motor fixing plate 5 is by wing fin
Linear stepping motor 6 is fixed on ship model, and fixed seat 11 is the fixing point in ship model and outside ship model, by stabilizer 14 and wing fin 16
Extend to outside ship model.Wing fin motor is fixed on motor fixing plate, and is fixed on connecting rod by screw, is realized
Wing fin can be synchronized with the movement with stabilizer when wing fin motor stops attonity.
Wing fin swing arm 10 is fixedly linked with the linkage swing arm square shaft set 18 of the top of linkage swing arm 12, and link swing arm and slave pendulum
Arm 13 is rotatably assorted realization connection, and the opposite side end of driven swing arm 14 is fixedly connected with wing fin axle 17, wing fin axle 17 and wing fin 15
It is fixedly connected.The present invention can be symmetricly set on the port and starboard of hull, real analog simulation experiment is carried out.
Claims (2)
1. a kind of swing arm Ship Steering Autopilot/wing fin is driven simulator, including stabilizer and wing fin, it is characterised in that：Also wrap
Include the fin linear stepping motor on ship model, be connected with the output shaft of fin linear stepping motor by fin motor connector
Connecting rod is hinged fin swing arm and the main fin axle installed in fin swing arm end with boom end is coupled, and the stabilizer is arranged on main fin
Shaft end, the centre position of the connecting rod is installed with motor fixing plate, and wing fin straight line step is provided with motor fixing plate
Stepper motor, the motor shaft of wing fin linear stepping motor is connected by wing fin motor connector with one end of link rod plate, link rod plate
The other end is hinged with one end of wing fin swing arm, and the other end of wing fin swing arm covers with the linkage swing arm square shaft being enclosed within main fin axle to be fixed
Connection, the external stability of linkage swing arm square shaft set is provided with linkage swing arm round sleeve, and linkage is provided with linkage swing arm round sleeve
Swing arm, the wing fin is arranged on the end of stabilizer by wing fin axle, and driven swing arm, the end of driven swing arm are provided with wing fin axle
Portion sets fluted, and the end of the linkage swing arm is provided with the cylinder with groove fit, and driven swing arm passes through with linkage swing arm
The shape of groove and cylinder coordinates realizes connection, and fixed seat, the fixed seat peace are additionally provided with outside the linkage swing arm round sleeve
At the larboard or starboard of ship model.
2. a kind of swing arm Ship Steering Autopilot according to claim 1/wing fin is driven simulator, it is characterised in that：Institute
It is one to state linkage swing arm square shaft set, linkage swing arm round sleeve, linkage swing arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510608141.6A CN105173043B (en) | 2015-09-23 | 2015-09-23 | Swing arm type ship stabilizing fin/wing fin transmission simulating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510608141.6A CN105173043B (en) | 2015-09-23 | 2015-09-23 | Swing arm type ship stabilizing fin/wing fin transmission simulating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105173043A CN105173043A (en) | 2015-12-23 |
| CN105173043B true CN105173043B (en) | 2017-05-24 |
Family
ID=54895629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510608141.6A Expired - Fee Related CN105173043B (en) | 2015-09-23 | 2015-09-23 | Swing arm type ship stabilizing fin/wing fin transmission simulating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105173043B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2818926C3 (en) * | 1978-04-28 | 1981-10-01 | Jastram-Werke GmbH & Co KG, 2050 Hamburg | Oars for watercraft |
| SU1237556A1 (en) * | 1984-05-04 | 1986-06-15 | Клайпедское Отделение Государственного Проектно-Конструкторского Института Рыбопромыслового Флота "Гипрорыбфлот" | Ship steering gear |
| CN101519118A (en) * | 2009-04-17 | 2009-09-02 | 哈尔滨工程大学 | Transmission device of any rotation angle ratio of ship flap rudder of slide block type |
| CN201971146U (en) * | 2010-08-26 | 2011-09-14 | 无锡市东舟船舶附件有限公司 | Transmission device flap rudder with independently operated primary rudder and auxiliary rudder |
| CN102205874A (en) * | 2010-03-30 | 2011-10-05 | 江苏华阳重工科技股份有限公司 | Flapped rudder for ship |
| CN103818538A (en) * | 2012-11-17 | 2014-05-28 | 江苏华阳重工股份有限公司 | Wing rudder driving device of flap type rudder |
| CN204998735U (en) * | 2015-09-23 | 2016-01-27 | 哈尔滨工程大学 | Swing arm formula boats and ships stabilizer / wing fin transmission simulator |
-
2015
- 2015-09-23 CN CN201510608141.6A patent/CN105173043B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2818926C3 (en) * | 1978-04-28 | 1981-10-01 | Jastram-Werke GmbH & Co KG, 2050 Hamburg | Oars for watercraft |
| SU1237556A1 (en) * | 1984-05-04 | 1986-06-15 | Клайпедское Отделение Государственного Проектно-Конструкторского Института Рыбопромыслового Флота "Гипрорыбфлот" | Ship steering gear |
| CN101519118A (en) * | 2009-04-17 | 2009-09-02 | 哈尔滨工程大学 | Transmission device of any rotation angle ratio of ship flap rudder of slide block type |
| CN102205874A (en) * | 2010-03-30 | 2011-10-05 | 江苏华阳重工科技股份有限公司 | Flapped rudder for ship |
| CN201971146U (en) * | 2010-08-26 | 2011-09-14 | 无锡市东舟船舶附件有限公司 | Transmission device flap rudder with independently operated primary rudder and auxiliary rudder |
| CN103818538A (en) * | 2012-11-17 | 2014-05-28 | 江苏华阳重工股份有限公司 | Wing rudder driving device of flap type rudder |
| CN204998735U (en) * | 2015-09-23 | 2016-01-27 | 哈尔滨工程大学 | Swing arm formula boats and ships stabilizer / wing fin transmission simulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105173043A (en) | 2015-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105857597B (en) | A kind of bionical dragonfly flapping wing robot | |
| CN102013185B (en) | Less freedom body sensing device of automobile driving simulator and pose adjusting method thereof | |
| CN106840583A (en) | A kind of big attack angle mechanism of sub- transonic and supersonic wind tunnel with translation functions | |
| CN102873683A (en) | Experimental apparatus with three flexible hinges and planar parallel mechanism | |
| Truong et al. | Pitching moment generation in an insect-mimicking flapping-wing system | |
| CN103737582A (en) | High-precision advanced welding robot mechanism with six degrees of freedom | |
| CN106828922B (en) | A kind of position control mechanism that imitative insect wing is flapped | |
| CN100435050C (en) | Control method for acrobatic motion of pendulums of under-actuated double pendulum system | |
| CN105185218B (en) | A kind of swing arm ship rudder/wing rudder is driven simulator | |
| CN105173043B (en) | Swing arm type ship stabilizing fin/wing fin transmission simulating device | |
| CN107958625B (en) | Teaching device for simulating satellite rotation | |
| CN206450397U (en) | A kind of big attack angle mechanism of sub- transonic and supersonic wind tunnel with translation functions | |
| CN209112442U (en) | A kind of bionical dragonfly wing driving mechanism of mandril groove with ball pair | |
| CN205003949U (en) | Swing arm formula rudder / wing rudder transmission simulator | |
| CN204998735U (en) | Swing arm formula boats and ships stabilizer / wing fin transmission simulator | |
| CN209258422U (en) | A kind of device for adjusting posture for small-sized sounding rocket | |
| CN207359054U (en) | A kind of mechanical arm | |
| CN205079924U (en) | Multiphase flow fin motion simulation mechanism in experiment of water hole | |
| CN206040082U (en) | Rotatory inverted pendulum | |
| CN203245879U (en) | A planar parallel mechanism experimental apparatus with three flexible hinges | |
| CN205574302U (en) | Experimental pitch control mechanism of helicopter tail -rotor | |
| CN105690770B (en) | A kind of cross beam type polar coordinates 3D printer | |
| CN210244696U (en) | Double-control central rod mechanism of flight simulator | |
| CN209394663U (en) | A kind of selective compliance assembly robot arm that can be gone up and down and rotate | |
| CN104626189B (en) | Amusement robot spherical three-degree-of-freedom parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Jin Zhongjia Inventor after: Li Bing Inventor after: Liu Wenshuai Inventor after: Yao Zhen Inventor after: Lei Mingzhu Inventor after: Gu Guoliang Inventor after: Chen Meiyuan Inventor after: He Chao Inventor before: Li Bing Inventor before: Liu Wenshuai Inventor before: Yao Zhen Inventor before: Lei Mingzhu Inventor before: Gu Guoliang Inventor before: Chen Meiyuan Inventor before: He Chao |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20170923 |