CN106742059A - Jolt unmanned spacecraft landing simulation platform and method under environment - Google Patents
Jolt unmanned spacecraft landing simulation platform and method under environment Download PDFInfo
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- CN106742059A CN106742059A CN201611237081.2A CN201611237081A CN106742059A CN 106742059 A CN106742059 A CN 106742059A CN 201611237081 A CN201611237081 A CN 201611237081A CN 106742059 A CN106742059 A CN 106742059A
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Abstract
Jolted unmanned spacecraft landing simulation platform and method under environment the invention discloses one kind, including platform support mechanism and from top to bottom it is successively set on the fast-descending mechanism on platform support mechanism, five degree of freedom motion and the slow landing mechanism of hovering, platform support mechanism includes the support post and platform base that are connected by screw, support post is connected by the guide slide mechanism being arranged on the support post with the five degree of freedom motion frame in five degree of freedom motion, support post is connected by screw with the fast-descending mechanism installing plate in the fast-descending mechanism, support post is connected by screw with the slow landing mechanism installing plate of hovering of U-shaped structure in the slow landing mechanism of hovering；The present invention carries out physical analogy by the angular movement to unmanned helicopter flight and line motion process, realizes the motion simulation to depopulated helicopter machine six degree of freedom state of flight, with simple to operate, the characteristics of reproducibility is strong.
Description
Technical field：
The present invention relates to a kind of UAV Landing analogue means, more particularly to one kind is jolted unmanned spacecraft landing mould under environment
Intend platform and method.
Background technology：
Unmanned plane (UAV) is the abbreviation of UAV, is that one kind is dynamic, controllable, can carry task device, performs
Inter-related task, possess over the horizon flight performance and autonomous flight ability, and can reusable unmanned vehicle.Unmanned plane
It is almost synchronous with manned aircraft to be born, mainly had a great development after the 50's.With the hair of unmanned air vehicle technique
Exhibition, unmanned plane is used in military field more and more, such as in Afghan War, " predator " UCAV is in height
Strike mission is performed in degree hazardous environment, good effect is achieved, compared with manned aircraft, unmanned plane can be used as detecing in the air
Examine and weapon platform, can perform difficult task, it is to avoid the injures and deaths of operational staff.At civilian aspect, meteorological detection, Fight Fire in Forest,
Each field such as power circuit patrolling has very big application potential, and for example the mapping of low latitude unmanned plane aerial photography system is in many earthquakes
Significant role is played in the condition of a disaster, from Wenchuan earthquake Zhouqu County's mud-rock flow finally, unmanned plane takes the photograph the mapping system of system using boat
Disaster area image is obtained, the very first time obtains the first information, be that emergent the providing of the disaster relief ensures.Therefore, no matter from military field also
It is civilian aspect, the research for unmanned air vehicle technique is respectively provided with important meaning.
Unmanned plane is a complicated controlled device, and often has static unstability.Designed by analytic method in engineering
Control system directly make a flight test with certain risk, be the risk that directly makes a flight test of attenuating and property damage
Lose, control system needs to carry out Multi simulation running experiment on ground after the completion of design, with to its control performance, stability and reliability
Property is verified.At present, the domestic ground simulation test to unmanned plane mainly reappears nobody by three axle High Precision Flight Simulators
Machine flight attitude angular movement, will be fixed on three axle flight simulations including the attitude sensitive equipment such as vertical gyro, Inertial Measurement Unit
Hardware-in-loop Simulation Experimentation of the sensor in loop is capable of achieving on turntable, to improve the confidence level of emulation.Three axle High Precision Flight Simulators
With three degree of freedom, the simulation of unmanned plane axis attitude angular movement, the weak point of three axle High Precision Flight Simulators are capable of achieving
It is line motion when cannot embody unmanned plane during flying, especially operator applies manipulated variable to unmanned plane in ground simulation test
When, it is impossible to embody the visual influence that operator's manipulated variable is moved to unmanned plane line.
UAV Landing first stage, unmanned plane lift is gradually reduced, straight down make a concerted effort gradually increase so that nothing
Man-machine decrease speed is continuously increased, flying height rapid decrease, and this is the rapid decrease stage；When fall off rate reaches designated value
Afterwards, unmanned plane lift is increased to and gravitational equilibrium, and the constant rate of descent of unmanned plane imitates hovering with entering after dropping to specified altitude assignment
In the stage, this is ground effect hovering phase；Hovering phase is imitated on the ground for landing, unmanned plane will adjust flight attitude, reduce landing speed,
For unmanned plane is prepared into slow landing period, the stage is landing transition stage；And slow landing period, unmanned plane is highly
Declined with constant low speed first, when unmanned plane drops to it is near the ground when, unmanned plane does retarded motion until drop to ground；It is existing
Equipment cannot at the fast speed depression of order section, imitate hovering phase and the slow landing period of hovering carries out effective mould to unmanned plane
Intend.
The content of the invention：
The technical problems to be solved by the invention are：Overcome the deficiencies in the prior art, there is provided one kind can be to UAV Landing mistake
Rapid decrease stage in journey, imitate hovering phase and slow landing period is simulated, and can under the environment that jolts nobody
Unmanned spacecraft landing simulation platform and method under the environment that jolts of machine attitude five degree of freedom change modeling.
The technical scheme is that：One kind is jolted unmanned spacecraft landing simulation platform under environment, including platform
Mechanism and the fast-descending mechanism being from top to bottom successively set on platform support mechanism, five degree of freedom motion and hovering are slow
Slow landing mechanism, the platform support mechanism includes the support post and platform base that are connected by screw, the support post
By the five degree of freedom motion in the guide slide mechanism that is arranged on the support post and five degree of freedom motion
Frame is connected, and the support post is connected by screw with the fast-descending mechanism installing plate in the fast-descending mechanism, institute
Support post is stated to connect with the slow landing mechanism installing plate of hovering of U-shaped structure in the slow landing mechanism of hovering by screw
Connect.
The guide slide mechanism includes the guide rail being arranged on support post and the sliding block used cooperatively with guide rail, described
Sliding block is fixedly connected with the five degree of freedom motion frame, and the axis of the support post is vertical with platform base, and institute
Support post is stated for four, and is separately positioned on and is rectangle at the corner of the platform base of structure.
The fast-descending mechanism installing plate is two, and two fast-descending mechanism installing plates are by through described two
Power transmission shaft connection in the middle part of fast-descending mechanism installing plate, the power transmission shaft two ends are provided with driven gear, the driven tooth
Take turns upper and lower both sides and be provided with and pacified with fast-descending mechanism by line slideway and the linear slider used cooperatively with line slideway
The tooth bar of dress plate connection, is provided with wedge connecting plate, described wedge connecting plate one end between the tooth bar and linear slider
Wedge is provided with, the wedge is arranged on the both sides of fast-descending mechanism installing plate, described two fast-descending mechanism peaces
One of them in dress plate is provided with the driving gear ratcheting with driven gear, driving gear and fast-descending mechanism motor
Connection.
The slow landing mechanism installing plate of hovering passes through the vertical cunning being arranged on the slow landing mechanism installing plate of hovering
Road and the upright slide block used cooperatively with upright guide rail are provided with the slow landing mechanism connecting plate of hovering, and the hovering is slowly landed
It is provided through being provided with the matched ball-screw for using, the ball in screwed hole, and screwed hole on mechanism's connecting plate
Leading screw is connected by shaft coupling with the stepper motor being fixed on the slow landing mechanism installing plate of hovering, and the hovering is slow to land
The two ends of mechanism's connecting plate are provided with spring damping bumper and absorbing shock system, and the spring damping bumper and absorbing shock system includes locking screw
Female, mounting seat and the spring and damper that are arranged in mounting seat.
Y-direction balladeur train, the Y side are provided with by Y-direction single axis robot in the five degree of freedom motion frame
X-direction balladeur train is provided with by X-direction single axis robot on balladeur train, Z axis ratcheting mutually are provided with the X-direction balladeur train
Rotate driving gear and Z axis and rotate driven gear, the Z axis rotate driving gear by the key through X-direction balladeur train coaxially and Z
Direction drive motor is connected, and the Z axis rotate driven gear by the Z axis rotary shaft and Z-direction through X-direction balladeur train and bearing
Rotor plate is connected, and Y-direction motor is provided with the Z-direction rotor plate, and the Y-direction motor is by through Z side
It is connected with Y-direction rotor plate to the rotating shaft of rotor plate, X-direction motor, the X side is provided with the Y-direction rotor plate
It is connected with X-direction rotor plate with the rotating shaft through Y-direction rotor plate to motor, is provided with the X-direction rotor plate and regarded
Feel verifying test system, the X-direction rotor plate, Y-direction rotor plate and Z-direction rotor plate are L-type structure.
One kind is jolted unmanned spacecraft landing simulation method under environment, is moved along X, Y-axis by visual verification test system
Move and rotated around X, Y, Z axis, realize the simulation of UAV Attitude five degree of freedom, and visual verification is tested by Z axis
The control of system translational speed, realize to rapid decrease stage in UAV Landing, imitate hovering phase and rank of slowly landing
The simulation of section, its step is as follows：
A, visual verification test system are arranged on X-direction rotor plate, and are driven by setting X-direction on rotor plate in the Y direction
The rotation of motor, rotation of the X-direction rotor plate that realization is connected with X-direction motor in X-direction；
B, the rotation by being arranged on Y-direction motor on Z-direction rotor plate, the Y side that realization is connected with Y-direction motor
To rotor plate Y direction rotation；
C, the rotation by being arranged on Z-direction motor on X-direction balladeur train, the Z-direction that realization is connected with Z-direction motor
Rotation of the rotor plate in Z-direction；
D, X-direction balladeur train are arranged on X-direction single axis robot, by the effect of X-direction single axis robot, realize that X-direction is slided
Movement of the frame in X-direction；
E, X-direction single axis robot are set on single axis robot in the Y direction by Y-direction balladeur train, by Y-direction single axis robot
Effect, realize movement of the Y-direction balladeur train in Y direction；
F, step A, B, C, D, E form five degree of freedom motion, and five degree of freedom motion passes through five degree of freedom motion
Frame and the guide rail being used in conjunction with each other, sliding block are arranged on support post, and the moving up and down on guide rail by sliding block is realized
The movement in the Z-axis direction of five degree of freedom motion；
G, fast-descending mechanism motor are rotated, and drive the rotation of stopping gear and driven gear, and in the presence of tooth bar
Movement of the wedge along X-axis is realized, wedge is gradually decontroled adds five degree of freedom motion the supporting role of four sliding blocks
Speed gradually increases, and speed is continuously increased, and its height rapid decrease, sliding block completely disengages from wedge, five degree of freedom motion
One section of movement of falling object is carried out, five degree of freedom motion moves at high speed into the end position of fast-descending mechanism, completed
The simulation in rapid decrease stage；
H, five degree of freedom motion are by after the rapid decrease stage, four spring dampings in sustained height of high velocity impact delay
Shock mitigation system is rushed, four spring damping bumper and absorbing shock systems are produced along the downward compression displacement of Z axis simultaneously, and quickly absorb five certainly
By the kinetic energy of degree motion, the spring of spring damping bumper and absorbing shock system is first compressed absorbing kinetic energy process, then again by
The equilbrium position with support five degree of freedom motion is gradually returned to, spring damping buffering shock absorbing system is in equilbrium position, five
The kinetic energy of free degree motion is all absorbed, and the kinetic energy of five degree of freedom motion is zero, and the speed of service is zero, completes ground
Imitate the simulation of hovering phase；
I, five degree of freedom motion are by after ground effect hovering phase, stepper motor drives the rotation of ball screw, five degree of freedom
Motion slowly falls with the slow landing mechanism connecting plate of hovering, five degree of freedom motion and spring damping bumper and absorbing shock system
The damper upper surface contact of system, stepper motor output is rotated not during spring damping bumper and absorbing shock Systemic absorption slowly declines
The vibrations that steady or external interference is caused, complete the simulation of slow landing period.
The sliding block is fixedly connected with the five degree of freedom motion frame, axis and the platform bottom of the support post
Seat is vertical, and the support post is four, and is separately positioned on and is rectangle at the corner of the platform base of structure.
The fast-descending mechanism installing plate is two, and two fast-descending mechanism installing plates are by through described two
Power transmission shaft connection in the middle part of fast-descending mechanism installing plate, the power transmission shaft two ends are provided with driven gear, the driven tooth
Take turns upper and lower both sides and be provided with and pacified with fast-descending mechanism by line slideway and the linear slider used cooperatively with line slideway
The tooth bar of dress plate connection, is provided with wedge connecting plate, described wedge connecting plate one end between the tooth bar and linear slider
Wedge is provided with, the wedge is arranged on the both sides of fast-descending mechanism installing plate, described two fast-descending mechanism peaces
One of them in dress plate is provided with the driving gear ratcheting with driven gear, driving gear and fast-descending mechanism motor
Connection.
The slow landing mechanism installing plate of hovering passes through the vertical cunning being arranged on the slow landing mechanism installing plate of hovering
Road and the upright slide block used cooperatively with upright guide rail are provided with the slow landing mechanism connecting plate of hovering, and the hovering is slowly landed
It is provided through being provided with the matched ball-screw for using, the ball in screwed hole, and screwed hole on mechanism's connecting plate
Leading screw is connected by shaft coupling with the stepper motor being fixed on the slow landing mechanism installing plate of hovering, and the hovering is slow to land
The two ends of mechanism's connecting plate are provided with spring damping bumper and absorbing shock system, and the spring damping bumper and absorbing shock system includes locking screw
Female, mounting seat and the spring and damper that are arranged in mounting seat.
Y-direction balladeur train, the Y side are provided with by Y-direction single axis robot in the five degree of freedom motion frame
X-direction balladeur train is provided with by X-direction single axis robot on balladeur train, Z axis ratcheting mutually are provided with the X-direction balladeur train
Rotate driving gear and Z axis and rotate driven gear, the Z axis rotate driving gear by the key through X-direction balladeur train coaxially and Z
Direction drive motor is connected, and the Z axis rotate driven gear by the Z axis rotary shaft and Z-direction through X-direction balladeur train and bearing
Rotor plate is connected, and Y-direction motor is provided with the Z-direction rotor plate, and the Y-direction motor is by through Z side
It is connected with Y-direction rotor plate to the rotating shaft of rotor plate, X-direction motor, the X side is provided with the Y-direction rotor plate
It is connected with X-direction rotor plate with the rotating shaft through Y-direction rotor plate to motor, is provided with the X-direction rotor plate and regarded
Feel verifying test system, the X-direction rotor plate, Y-direction rotor plate and Z-direction rotor plate are L-type structure.
The beneficial effects of the invention are as follows：
1st, the present invention carries out physical analogy by the angular movement to unmanned helicopter flight and line motion process, realizes straight to nobody
The motion simulation of machine machine six degree of freedom state of flight is risen, with simple to operate, the characteristics of reproducibility is strong.
2nd, wedge of the present invention be in depart from motion install sliding block do not stop sliding block along Z axis move upwards it is critical
Position, driving stepper motor five degree of freedom motion is moved upwards, is moved up to sliding block and is crossed wedge lower edge position
Put, then rotary electric machine drives wedge to move outwardly, sliding block is installed to motion and produces extruding force so as to drive five freely
Degree motion lifting, rotary electric machine drives wedge to move inwardly, sliding block is installed to motion and produces extruding force so as to drive
Dynamic five degree of freedom motion declines.
3rd, driven gear of the present invention with wedge shape using straight-tooth transmission, prevent four wedges be synchronized with the movement appearance it is stuck existing
As also making motion that there is high-precision synchronism.
4th, support post of the present invention is connected by screw with platform base, and fast-descending mechanism installing plate and hovering are slow
Landing mechanism installing plate is connected by screw with support post, and convenient disassembly is easy to personnel to be operated.
5th, the present invention realizes that wedge connecting plate follows the rotation of driven gear, straight line by line slideway and linear slider
The application of guide rail improves operating accuracy and corresponding timeliness.
6th, branch stroke is provided with the slow landing mechanism installing plate of present invention hovering to arrive and upright slide block, slow to hovering
While land mechanism connecting plate plays position-limiting action, the resistance during declining also is reduced, while ball screw and stepper motor
Output shaft is connected by shaft coupling in locking mode, is prevented when the rapid decrease stage is carried out, and five degree of freedom motion is to outstanding
Stop slow landing mechanism connecting plate and form impact, the displacement of the slow landing mechanism connecting plate that causes to hover, while additionally aid carrying
In high precision.
7th, the line slideway of the slow landing mechanism installing plate both sides of present invention hovering can be to slow landing mechanism connection of hovering
Plate moves up and down along Z axis and carries out guide effect, prevents the five degree of freedom fitness machine being parked on the slow landing mechanism connecting plate of hovering
Structure slowly declines the simulation slow landing mission of unmanned plane along Z axis and deviation occurs.
8th, the absorbable slow process that declines of spring damping bumper and absorbing shock system of the present invention is because stepper motor output is rotated not
The vibrations that steady or external interference is caused make data have more persuasion so as to truly reflect the slow landing mission of unmanned plane
Power.
Brief description of the drawings：
Fig. 1 is the structural representation of unmanned spacecraft landing simulation platform under environment of jolting.
Fig. 2 is the structural representation of platform support mechanism.
Fig. 3 is the structural representation of fast-descending mechanism.
Fig. 4 is the structural representation of slow landing mechanism of hovering.
Fig. 5 is the structural representation of five degree of freedom motion.
Fig. 6 is the structural representation of spring damping bumper and absorbing shock system.
Fig. 7 is the principle schematic of spring damping bumper and absorbing shock system.
Specific embodiment：
Embodiment：Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, in figure, 1- fast-descending mechanisms, 2- five degree of freedom fortune
Motivation structure, the slow landing mechanism of 3- hoverings, 4- platform support mechanisms, 5- support posts, 6- platform bases, 7- is oriented to skate machine
Structure, 8- five degree of freedom motion frames, 9- fast-descending mechanism installing plates, the slow landing mechanism installing plate of 10- hoverings, 11-
Guide rail, 12- sliding blocks, 13- power transmission shafts, 14- driven gears, 15- line slideways, 16- linear sliders, 17- tooth bars, 18- wedges
Connecting plate, 19- wedges, 20- fast-descending mechanism motors, 21- driving gears, the vertical slideways of 22-, 23- upright slide blocks,
The slow landing mechanism connecting plate of 24- hoverings, 25- ball-screws, 26- stepper motors, 27- spring damping bumper and absorbing shock systems, 28-
Y-direction single axis robot, 29- X-direction balladeur trains, 30-X directions single axis robot, 31-Y directions balladeur train, 32-Z directions drive electricity
Machine, 33-Z directions rotor plate, 34-Z axle rotary shafts, 35-Y directions rotor plate, 36-Y direction drive motors, 37-X directions drive electricity
Machine, 38- X-direction rotor plates, 39- visual verification test systems, 40- locking nuts, 41- mounting seats, 42- springs, 43- dampings
Device.
The present invention is described in detail below in conjunction with the accompanying drawings：
Shown in Fig. 1：Fast-descending mechanism 1, five degree of freedom motion 2 and the slow landing mechanism 3 that hovers set successively from top to bottom
Put on platform support mechanism 4, platform support mechanism 4 includes the support post 5 and platform base 6 that are connected by screw, support
Column 5 is moved by the guide slide mechanism 7 being arranged on support post 5 with the five degree of freedom in five degree of freedom motion 2
Mechanism's frame 8 is connected, and five degree of freedom motion 2 realizes six degree of freedom with can be moved up and down along Z axis, and support post 5 passes through spiral shell
Nail is connected with the fast-descending mechanism installing plate 9 in fast-descending mechanism 1, and support post 5 is slow with the hovering by screw
The slow landing mechanism installing plate 10 of the hovering of U-shaped structure is connected in landing mechanism 3.
Shown in Fig. 2：Four support posts 5 screw mode and are fixedly installed on platform base 6 by screw, support post 5
Axis it is vertical with platform base 6, guide rail 11 and the sliding block 12 used cooperatively with guide rail 11, four are provided with support post 5
There is depth of parallelism requirement higher, the sliding block 12 on four guide rails 11 is in along the shape for freely up and down sliding of Z axis between guide rail 11
State, sliding block 12 is fixedly connected with five degree of freedom motion frame 8, and four sliding blocks 12 will be realized to five simultaneously in sustained height
Free degree motion 2 carries out, along the guide effect of Z axis, possessing six degree of freedom.
Shown in Fig. 3：Fast-descending mechanism installing plate 9 is two, and two fast-descending mechanism installing plates 9 are by through two
The power transmission shaft 13 at the middle part of individual fast-descending mechanism installing plate 9 is connected, and the two ends of power transmission shaft 13 are provided with driven gear 14, driven tooth
Take turns about 14 both sides be provided with by line slideway 15 and the linear slider 16 used cooperatively with line slideway 15 with it is quick under
The tooth bar 17 of the connection of descending mechanism installing plate 9, is provided with wedge connecting plate 18 between tooth bar 17 and linear slider 16, wedge connects
The one end of fishplate bar 18 is provided with wedge 19, and wedge 19 is arranged on the both sides of fast-descending mechanism installing plate 9, tooth bar 17 and therewith
The wedge 19 of connection can be carried out along the motion of X-axis, under one of them is quick relative to fast-descending mechanism installing plate 9 together
Fast-descending mechanism motor 20 is provided with descending mechanism installing plate 9.
Fast-descending mechanism motor 20 is driven direct drive driving gear 21, driving gear 21 and driven tooth by key
Wheel 14 is engaged transmission, and driven gear 14 drives tooth bar 17 to move inwardly or outwardly using engaged transmission mode, due to a left side
Right wedge 18 is rigidly connected respectively at the tooth bar 17 of respective side, therefore at the fast speed under the control of descending mechanism motor 20,
Left and right wedge 18 can inwards be moved and gradually decontroled to four supporting roles of sliding block 12 so that five degree of freedom fitness machine simultaneously
The acceleration of structure 2 gradually increases, and speed is continuously increased, its height rapid decrease, and until sliding block 12 completely disengages from wedge 18, five certainly
One section of movement of falling object is carried out by degree motion 2, five degree of freedom motion 2 moves at high speed into fast-descending mechanism 1
End position, fast-descending mechanism 1 can by the lifting of five degree of freedom motion 2 realize repeat simulation UAV Landing process.
Shown in Fig. 4：The slow landing mechanism installing plate 10 that hovers is by being arranged on the slow landing mechanism installing plate 10 of hovering
Vertical slideway 22 and the upright slide block 23 and the slow landing mechanism connecting plate 24 of hovering, hovering that use cooperatively with vertical slideway 22
It is provided through in screwed hole, and screwed hole being provided with the matched ball-screw for using on slow landing mechanism connecting plate 24
25, stepper motor 26 is installed on the slow landing mechanism installing plate 10 of hovering, the output shaft of ball screw 10 and stepper motor 26
Connected in locking mode by shaft coupling, that is, the slow landing mechanism connecting plate 24 that hovers can move up and down along Z axis, hovering is slow
The two ends of land mechanism connecting plate 24 are provided with spring damping bumper and absorbing shock system 27, have on platform support mechanism 4 front and rear two sets it is right
The slow landing mechanism 3 of hovering of title, four spring damping bumper and absorbing shock systems 27 are in sustained height, spring damping buffering all the time
Shock mitigation system 27 includes locking nut 40, mounting seat 41 and the spring 42 and damper 43 that are arranged in mounting seat 41.
Five degree of freedom motion 2 is by the rapid decrease stage by the springs in sustained height all the time of high velocity impact four
Damping buffering shock mitigation system 27, four spring damping bumper and absorbing shock systems 27 produce simultaneously along the downward compression displacement of Z axis so as to
The quick kinetic energy for absorbing five degree of freedom motion 2, the spring 42 of spring damping bumper and absorbing shock system 27 is absorbing kinetic energy process
First compressed, the equilbrium position with support five degree of freedom motion 2 is then gradually restored to again, when spring damping bumper and absorbing shock
When system 27 is in equilbrium position, the kinetic energy of five degree of freedom motion 2 is all absorbed, i.e. now five degree of freedom motion
2 kinetic energy is zero, and the speed of service is zero, five degree of freedom motion 2 always with the damping of spring damping bumper and absorbing shock system 27
The upper surface of device 43 is contacted, and five degree of freedom motion 2 is slowly moved downward by the effect of ball-screw 25, spring damping buffering
Shock mitigation system 27 can absorb slow decline process because the output of stepper motor 26 rotates the vibrations that unstable or external interference is caused.
Shown in Fig. 5：Y-direction balladeur train is provided with by Y-direction single axis robot 28 in five degree of freedom motion frame 8
31, X-direction balladeur train 29 is provided with by X-direction single axis robot 30 on Y-direction balladeur train 31；X-direction single axis robot 30 can be with Y
31 1 pieces of direction balladeur train is moved along Y-axis, and X-direction balladeur train 29 will be moved along the x-axis in the case where X-direction single axis robot 30 controls；X-direction
Z axis ratcheting mutually are provided with balladeur train 29 and rotate driving gear and Z axis rotation driven gear, Z axis rotate driving gear and pass through
Key through X-direction balladeur train 29 is coaxially connected with Z-direction motor 32, and Z axis rotate driven gear by through X-direction balladeur train
29 Z axis rotary shaft 34 is connected with Z-direction rotor plate 33, and rotate driving gear by Z axis rotates driven gear between centers with Z axis
Engagement drives Z-direction rotor plate 33 to be turned about the Z axis relative to X-direction balladeur train 29, and Y-direction motor 36 is fixedly installed in
On Z-direction rotor plate 33, it can be turned about the Z axis with Z-direction rotor plate 33；While Y-direction rotor plate 35 and Y-direction motor
36 output shaft is fixedly connected, so that Y-direction rotor plate 35 motor 36 will be driven down around Y-axis rotation, X-direction in the Y direction
Motor 37 is fixedly installed on Y-direction rotor plate 35, and it can be rotated with Y-direction rotor plate 35 around Y-axis, while X-direction turns
Dynamic plate 38 is fixedly connected with the output shaft of X-direction motor 37, so that X-direction rotor plate 38 will be in X-direction motor 37
Turned about the X axis under driving, visual verification test system 39 is fixedly installed on X-direction rotor plate 38, it can be with X-direction rotor plate
38 turn about the X axis together, and X-direction rotor plate 38, Y-direction rotor plate 35 and Z-direction rotor plate 33 are L-type structure.
Shown in Fig. 6：Mounting seat 41 is arranged on the slow landing mechanism connecting plate 24 of hovering, and is carried out by locking nut 40
Fixed, spring 42 plays cushioning effect to the five degree of freedom motion 2 of rapid decrease, and absorbs the slow process that declines due to step
The output of stepper motor 26 rotates the vibrations that unstable or external interference is caused.
Being simulated the process for operating is：
Visual verification test system 39 is rotated along X, Y-axis movement and around X, Y, Z axis, UAV Attitude five degree of freedom is realized
Simulation, and by the control on Z axis to the translational speed of visual verification test system 39, realizes under quick in UAV Landing
Depression of order section, imitate the simulation of hovering phase and slow landing period, its step is as follows：
A, visual verification test system 39 are arranged on X-direction rotor plate 38, and by setting X side on rotor plate 35 in the Y direction
To the rotation of motor 37, rotation of the X-direction rotor plate 38 that realization is connected with X-direction motor 37 in X-direction；
B, the rotation by being arranged on Y-direction motor 36 on Z-direction rotor plate 33, realization connect with Y-direction motor 36
Rotation of the Y-direction rotor plate 35 for connecing in Y direction；
C, the rotation by being arranged on Z-direction motor 32 on X-direction balladeur train 29, realization are connected with Z-direction motor 32
Z-direction rotor plate 33 Z-direction rotation；
D, X-direction balladeur train 29 are arranged on X-direction single axis robot 30, by the effect of X-direction single axis robot 30, realize X
Movement of the direction balladeur train 29 in X-direction；
E, X-direction single axis robot 30 are set on single axis robot 28 in the Y direction by Y-direction balladeur train 31, by Y-direction single shaft
The effect of robot 28, realizes movement of the Y-direction balladeur train 31 in Y direction；
F, step A, B, C, D, E form five degree of freedom motion 2, and five degree of freedom motion 2 passes through five degree of freedom fitness machine
Structure frame 8 and the guide rail 11 being used in conjunction with each other, sliding block 12 are arranged on support post 5, by sliding block 12 on guide rail 11
Move up and down, realize the movement in the Z-axis direction of five degree of freedom motion 2；
G, fast-descending mechanism motor 20 are rotated, and drive the rotation of driving gear 21 and driven gear 14, and in tooth bar 17
In the presence of realize movement of the wedge 18 along Y-axis, wedge 18 gradually decontrol the supporting role of four sliding blocks 12 is made five from
Gradually increased by the acceleration of degree motion 2, speed is continuously increased, its height rapid decrease, sliding block 12 completely disengages from wedge
18, five degree of freedom motion 2 carries out one section of movement of falling object, under five degree of freedom motion 2 is moved at high speed into quickly
The end position of descending mechanism 1, completes the simulation in rapid decrease stage；
H, five degree of freedom motion 2 by after the rapid decrease stage, four spring dampings in sustained height of high velocity impact
Bumper and absorbing shock system 27, four spring damping bumper and absorbing shock systems 27 are produced along the downward compression displacement of Z axis simultaneously, and are quickly inhaled
The kinetic energy of five degree of freedom motion 2 is received, the spring 42 of spring damping bumper and absorbing shock system 27 is first pressed in absorption kinetic energy process
Contracting, is then gradually restored to the equilbrium position with support five degree of freedom motion 2, at spring damping bumper and absorbing shock system 2 again
In equilbrium position, the kinetic energy of five degree of freedom motion 2 is all absorbed, and the kinetic energy of five degree of freedom motion 2 is zero, operation
Speed is zero, completes the simulation of ground effect hovering phase；
I, five degree of freedom motion 2 are by after ground effect hovering phase, stepper motor 26 drives the rotation of ball screw 25, and five certainly
Slowly fallen with the slow landing mechanism connecting plate 24 that hovers by degree motion 2, five degree of freedom motion 2 delays with spring damping
The upper surface of damper 43 contact of shock mitigation system 27 is rushed, spring damping bumper and absorbing shock system 27 absorbs slow stepping during declining
The output of motor 26 rotates the vibrations that unstable or external interference is caused, and completes the simulation of slow landing period.
Visual verification test system 39 is that vision guided navigation tests head, and detection equipment can be arranged on vision guided navigation by personnel
Test head, and the detection of unmanned spacecraft landing mission is realized with reference to the present invention.
The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, all
It is any simple modification, equivalent variations and the modification made to above example according to technical spirit of the invention, still falls within
In the range of technical solution of the present invention.
Claims (10)
1. one kind is jolted unmanned spacecraft landing simulation platform under environment, including platform support mechanism and is from top to bottom set gradually
Fast-descending mechanism, five degree of freedom motion and the slow landing mechanism that hovers on platform support mechanism, it is characterized in that：Institute
Stating platform support mechanism includes the support post and platform base that are connected by screw, and the support post is described by being arranged on
Guide slide mechanism on support post is connected with the five degree of freedom motion frame in five degree of freedom motion, the branch
Support column is connected by screw with the fast-descending mechanism installing plate in the fast-descending mechanism, and the support post passes through spiral shell
Follow closely and be connected with the slow landing mechanism installing plate of hovering of U-shaped structure in the slow landing mechanism of hovering.
2. unmanned spacecraft landing simulation platform under the environment that jolts according to claim 1, it is characterized in that：Described guiding is slided
Motivation structure includes the guide rail being arranged on support post and the sliding block used cooperatively with guide rail, the sliding block and the five degree of freedom
Motion frame is fixedly connected, and the axis of the support post is vertical with platform base, and the support post is four, and
It is separately positioned on and is rectangle at the corner of the platform base of structure.
3. unmanned spacecraft landing simulation platform under the environment that jolts according to claim 1, it is characterized in that：It is described it is quick under
Descending mechanism installing plate is two, and two fast-descending mechanism installing plates are by through described two fast-descending mechanism installing plates
The power transmission shaft connection at middle part, the power transmission shaft two ends are provided with driven gear, and the upper and lower both sides of driven gear are provided with
The tooth bar being connected with fast-descending mechanism installing plate by line slideway and the linear slider used cooperatively with line slideway, it is described
Wedge connecting plate is provided between tooth bar and linear slider, described wedge connecting plate one end is provided with wedge, the wedge
Shape block is arranged on the both sides of fast-descending mechanism installing plate, the one of setting in described two fast-descending mechanism installing plates
There is the driving gear ratcheting with driven gear, driving gear is connected with fast-descending mechanism motor.
4. unmanned spacecraft landing simulation platform under the environment that jolts according to claim 1, it is characterized in that：The hovering is slow
Land mechanism's installing plate of holding one's horse passes through the vertical slideway being arranged on the slow landing mechanism installing plate of hovering and coordinates with upright guide rail
The upright slide block for using is provided with the slow landing mechanism connecting plate of hovering, is provided with the slow landing mechanism connecting plate of hovering
The matched ball-screw for using is provided with screwed hole, and screwed hole, the ball-screw passes through shaft coupling and consolidates
The stepper motor connection on the slow landing mechanism installing plate of hovering is scheduled on, the two ends of the slow landing mechanism connecting plate of hovering set
Spring damping bumper and absorbing shock system is equipped with, the spring damping bumper and absorbing shock system includes locking nut, mounting seat and is arranged on
Spring and damper in mounting seat.
5. unmanned spacecraft landing simulation platform under the environment that jolts according to claim 1, it is characterized in that：Described five freely
Y-direction balladeur train is provided with by Y-direction single axis robot in degree motion frame, X-direction list is passed through on the Y-direction balladeur train
Axle robot is provided with X-direction balladeur train, Z axis ratcheting mutually is provided with the X-direction balladeur train and rotates driving gear and Z axis turn
Dynamic driven gear, the Z axis are rotated driving gear and are coaxially connected with Z-direction motor by the key through X-direction balladeur train, institute
State Z axis rotation driven gear to be connected with Z-direction rotor plate by through the Z axis rotary shaft of X-direction balladeur train and bearing, the Z side
To Y-direction motor is provided with rotor plate, the Y-direction motor is by the rotating shaft through Z-direction rotor plate and Y side
Connected to rotor plate, be provided with X-direction motor on the Y-direction rotor plate, the X-direction motor with run through Y side
It is connected with X-direction rotor plate to the rotating shaft of rotor plate, visual verification test system, the X is provided with the X-direction rotor plate
Direction rotor plate, Y-direction rotor plate and Z-direction rotor plate are L-type structure.
6. one kind is jolted unmanned spacecraft landing simulation method under environment, is moved along X, Y-axis by visual verification test system
And rotated around X, Y, Z axis, realize the simulation of UAV Attitude five degree of freedom, and on the basis of Five Freedom Simulating by
To the control of visual verification test system translational speed on Z axis, realize to rapid decrease stage in UAV Landing, imitate hovering
The six degree of freedom simulation of stage and slow landing period.
7. unmanned spacecraft landing simulation method under the environment that jolts according to claim 6, it is characterized in that：The unmanned plane
Rapid decrease stage in attitude Five Freedom Simulating and UAV Landing, imitate hovering phase and the simulation of slow landing period
Physical simulation step is as follows：
A, visual verification test system are arranged on X-direction rotor plate, and are driven by setting X-direction on rotor plate in the Y direction
The rotation of motor, rotation of the X-direction rotor plate that realization is connected with X-direction motor in X-direction；
B, the rotation by being arranged on Y-direction motor on Z-direction rotor plate, the Y side that realization is connected with Y-direction motor
To rotor plate Y direction rotation；
C, the rotation by being arranged on Z-direction motor on X-direction balladeur train, the Z-direction that realization is connected with Z-direction motor
Rotation of the rotor plate in Z-direction；
D, X-direction balladeur train are arranged on X-direction single axis robot, by the effect of X-direction single axis robot, realize that X-direction is slided
Movement of the frame in X-direction；
E, X-direction single axis robot are set on single axis robot in the Y direction by Y-direction balladeur train, by Y-direction single axis robot
Effect, realize movement of the Y-direction balladeur train in Y direction；
F, step A, B, C, D, E form five degree of freedom motion, and five degree of freedom motion passes through five degree of freedom motion
Frame and the guide rail being used in conjunction with each other, sliding block are arranged on support post, and the moving up and down on guide rail by sliding block is realized
The movement in the Z-axis direction of five degree of freedom motion；
G, fast-descending mechanism motor are rotated, and drive the rotation of stopping gear and driven gear, and in the presence of tooth bar
Movement of the wedge along X-axis is realized, wedge is gradually decontroled adds five degree of freedom motion the supporting role of four sliding blocks
Speed gradually increases, and speed is continuously increased, and its height rapid decrease, sliding block completely disengages from wedge, five degree of freedom motion
One section of movement of falling object is carried out, five degree of freedom motion moves at high speed into the end position of fast-descending mechanism, completed
The simulation in rapid decrease stage；
H, five degree of freedom motion are by after the rapid decrease stage, four spring dampings in sustained height of high velocity impact delay
Shock mitigation system is rushed, four spring damping bumper and absorbing shock systems are produced along the downward compression displacement of Z axis simultaneously, and quickly absorb five certainly
By the kinetic energy of degree motion, the spring of spring damping bumper and absorbing shock system is first compressed absorbing kinetic energy process, then again by
The equilbrium position with support five degree of freedom motion is gradually returned to, spring damping buffering shock absorbing system is in equilbrium position, five
The kinetic energy of free degree motion is all absorbed, and the kinetic energy of five degree of freedom motion is zero, and the speed of service is zero, completes ground
Imitate the simulation of hovering phase；
I, five degree of freedom motion are by after ground effect hovering phase, stepper motor drives the rotation of ball screw, five degree of freedom
Motion slowly falls with the slow landing mechanism connecting plate of hovering, five degree of freedom motion and spring damping bumper and absorbing shock system
The damper upper surface contact of system, stepper motor output is rotated not during spring damping bumper and absorbing shock Systemic absorption slowly declines
The vibrations that steady or external interference is caused, complete the simulation of slow landing period；
The sliding block is fixedly connected with the five degree of freedom motion frame, and axis and the platform base of the support post hang down
Directly, and the support post is four, and it is separately positioned on and is rectangle at the corner of the platform base of structure.
8. unmanned spacecraft landing simulation method under the environment that jolts according to claim 7, it is characterized in that：It is described it is quick under
Descending mechanism installing plate is two, and two fast-descending mechanism installing plates are by through described two fast-descending mechanism installing plates
The power transmission shaft connection at middle part, the power transmission shaft two ends are provided with driven gear, and the upper and lower both sides of driven gear are provided with
The tooth bar being connected with fast-descending mechanism installing plate by line slideway and the linear slider used cooperatively with line slideway, it is described
Wedge connecting plate is provided between tooth bar and linear slider, described wedge connecting plate one end is provided with wedge, the wedge
Shape block is arranged on the both sides of fast-descending mechanism installing plate, the one of setting in described two fast-descending mechanism installing plates
There is the driving gear ratcheting with driven gear, driving gear is connected with fast-descending mechanism motor.
9. unmanned spacecraft landing simulation method under the environment that jolts according to claim 7, it is characterized in that：The hovering is slow
Land mechanism's installing plate of holding one's horse passes through the vertical slideway being arranged on the slow landing mechanism installing plate of hovering and coordinates with upright guide rail
The upright slide block for using is provided with the slow landing mechanism connecting plate of hovering, is provided with the slow landing mechanism connecting plate of hovering
The matched ball-screw for using is provided with screwed hole, and screwed hole, the ball-screw passes through shaft coupling and consolidates
The stepper motor connection on the slow landing mechanism installing plate of hovering is scheduled on, the two ends of the slow landing mechanism connecting plate of hovering set
Spring damping bumper and absorbing shock system is equipped with, the spring damping bumper and absorbing shock system includes locking nut, mounting seat and is arranged on
Spring and damper in mounting seat.
10. unmanned spacecraft landing simulation method under the environment that jolts according to claim 7, it is characterized in that：Described five certainly
Y-direction balladeur train is provided with by Y-direction single axis robot by degree motion frame, X-direction is passed through on the Y-direction balladeur train
Single axis robot is provided with X-direction balladeur train, Z axis ratcheting mutually is provided with the X-direction balladeur train and rotates driving gear and Z axis
Driven gear is rotated, the Z axis are rotated driving gear and are coaxially connected with Z-direction motor by the key through X-direction balladeur train,
The Z axis rotate driven gear and are connected with Z-direction rotor plate by through the Z axis rotary shaft of X-direction balladeur train and bearing, the Z
Y-direction motor is provided with the rotor plate of direction, the Y-direction motor is by the rotating shaft through Z-direction rotor plate and Y
The connection of direction rotor plate, is provided with X-direction motor on the Y-direction rotor plate, the X-direction motor with run through Y
The rotating shaft of direction rotor plate is connected with X-direction rotor plate, and visual verification test system, institute are provided with the X-direction rotor plate
State X-direction rotor plate, Y-direction rotor plate and Z-direction rotor plate and be L-type structure.
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