CN106742059B - Unmanned spacecraft landing simulation platform and method in bumpy environment - Google Patents
Unmanned spacecraft landing simulation platform and method in bumpy environment Download PDFInfo
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- CN106742059B CN106742059B CN201611237081.2A CN201611237081A CN106742059B CN 106742059 B CN106742059 B CN 106742059B CN 201611237081 A CN201611237081 A CN 201611237081A CN 106742059 B CN106742059 B CN 106742059B
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Abstract
The invention discloses a landing simulation platform and a landing simulation method for an unmanned spacecraft in a bumpy environment, wherein the landing simulation platform comprises a platform supporting mechanism, a rapid descending mechanism, a five-degree-of-freedom moving mechanism and a hovering slow landing mechanism which are sequentially arranged on the platform supporting mechanism from top to bottom, the platform supporting mechanism comprises a supporting upright post and a platform base which are connected through screws, the supporting upright post is connected with a five-degree-of-freedom moving mechanism frame in the five-degree-of-freedom moving mechanism through a guide sliding mechanism arranged on the supporting upright post, the supporting upright post is connected with a rapid descending mechanism mounting plate in the rapid descending mechanism through screws, and the supporting upright post is connected with a hovering slow landing mechanism mounting plate in a U-shaped structure in the hovering slow landing mechanism through screws; according to the invention, through physical simulation of the angular movement and linear movement process of the unmanned helicopter, the movement simulation of the unmanned helicopter in a six-degree-of-freedom flight state is realized, and the method has the characteristics of simplicity in operation and strong reproducibility.
Description
Technical Field
The invention relates to an unmanned aerial vehicle landing simulation device, in particular to an unmanned spacecraft landing simulation platform and method in a bumpy environment.
Background
An Unmanned Aerial Vehicle (UAV) is a short name of an unmanned aerial vehicle, is a unmanned aerial vehicle which is powered, controllable, capable of carrying task equipment, executing related tasks, has beyond-the-horizon flight capability and autonomous flight capability, and can be reused. Unmanned aerial vehicles are almost born synchronously with manned aircraft, and have been greatly developed after 50 years. With the development of unmanned aerial vehicle technology, unmanned aerial vehicle is used in the military field more and more, compares manned aircraft, and unmanned aerial vehicle can regard as aerial reconnaissance and weapon platform, can carry out difficult task, avoids executing personnel's casualties. In civil aspects, the method has great application potential in various fields such as meteorological detection, forest fire fighting, power line inspection and the like, for example, mapping of a low-altitude unmanned aerial vehicle aerial system plays a great role in many earthquake disaster situations, from a Wenchuan earthquake to subsequent Zhuqu mud-rock flow, the unmanned aerial vehicle acquires disaster area images by using the mapping system of the aerial system, and first information is acquired at the first time, so that guarantee is provided for disaster relief and emergency. Therefore, the method has important significance for the research of unmanned aerial vehicle technology in both military field and civil field.
Unmanned aerial vehicles are a complex controlled object and often have static instability. The control system designed according to the analysis method in engineering directly carries out the flight test, has a certain risk, and in order to reduce the risk and property loss of directly carrying out the flight test, the control system needs to carry out multiple simulation tests on the ground after the design is completed so as to verify the control performance, stability and reliability of the control system. At present, the domestic ground simulation test of the unmanned aerial vehicle mainly reproduces the flying attitude angular motion of the unmanned aerial vehicle through a triaxial flying simulation turntable, and the semi-physical simulation test of the sensor on a loop can be realized by fixing attitude sensitive equipment comprising a vertical gyroscope, an inertia measurement unit and the like on the triaxial flying simulation turntable so as to improve the confidence coefficient of simulation. The three-axis flight simulation turntable has three degrees of freedom, can realize the simulation of the axial attitude and angular movement of the unmanned aerial vehicle body, and has the defects that the linear movement of the unmanned aerial vehicle during the flight cannot be reflected, and especially when an operator applies the manipulation amount to the unmanned aerial vehicle in a ground simulation test, the visual influence of the manipulation amount of the operator on the linear movement of the unmanned aerial vehicle cannot be reflected.
In the first stage of unmanned aerial vehicle landing, the lifting force of the unmanned aerial vehicle is gradually reduced, and the resultant force of the vertical downward force is gradually increased, so that the descending speed of the unmanned aerial vehicle is continuously increased, and the flying height is rapidly reduced, which is a rapid descending stage; after the descending rate reaches a specified value, the lifting force of the unmanned aerial vehicle is increased to be balanced with gravity, and the unmanned aerial vehicle enters a ground effect hovering stage after the constant descending rate of the unmanned aerial vehicle is reduced to a specified height, wherein the ground effect hovering stage is formed; in the landing ground effect hovering stage, the unmanned aerial vehicle adjusts the flight attitude, reduces the landing speed, prepares for the unmanned aerial vehicle to enter a slow landing stage, and the stage is a landing transition stage; in the slow landing stage, the unmanned aerial vehicle firstly descends at a constant low speed, and when the unmanned aerial vehicle descends to the near ground, the unmanned aerial vehicle does deceleration movement until the unmanned aerial vehicle descends to the ground; the existing equipment can not effectively simulate the unmanned aerial vehicle in a rapid descent stage, a ground effect hovering stage and a hovering slow landing stage.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the unmanned aerial vehicle landing simulation platform and the unmanned aerial vehicle landing simulation method in the bumpy environment can simulate a rapid descent stage, a ground effect hovering stage and a slow landing stage in the unmanned aerial vehicle landing process, and simulate the five-degree-of-freedom change of the posture of the unmanned aerial vehicle in the bumpy environment.
The technical scheme of the invention is as follows: the utility model provides an unmanned spacecraft landing simulation platform under environment of jolting, includes platform supporting mechanism and from top to bottom sets gradually quick decline mechanism, five degree of freedom motion and the slow landing mechanism that hovers on platform supporting mechanism, platform supporting mechanism includes the support post and the platform base of through the screw connection, the support post is through setting up direction sliding mechanism on the support post is connected with five degree of freedom motion frame in the five degree of freedom motion, the support post pass through the screw with quick decline mechanism mounting panel in the quick decline mechanism is connected, the support post pass through the screw with hover slow landing mechanism mounting panel that hovers that is U type structure in the slow landing mechanism is connected.
The guide sliding mechanism comprises a guide rail arranged on a supporting upright post and a sliding block matched with the guide rail, wherein the sliding block is fixedly connected with the five-degree-of-freedom movement mechanism frame, the axis of the supporting upright post is perpendicular to the platform base, and the number of the supporting upright posts is four and the four corners of the platform base with a rectangular structure are respectively arranged.
The utility model discloses a quick-descent mechanism mounting panel, including quick-descent mechanism mounting panel, driven gear, wedge connecting plate, wedge setting, driving gear and quick-descent mechanism driving motor, quick-descent mechanism mounting panel is two, and two quick-descent mechanism mounting panels pass through the transmission shaft connection at two quick-descent mechanism mounting panel middle parts, the transmission shaft both ends all are provided with driven gear, the both sides all are provided with the rack that is connected with quick-descent mechanism mounting panel through linear guide and the linear slider that uses with linear guide cooperation about the driven gear, be provided with the wedge connecting plate between rack and the linear slider, wedge connecting plate one end is provided with the wedge, the wedge sets up in the both sides of quick-descent mechanism mounting panel, one of two quick-descent mechanism mounting panels is provided with the driving gear with driven gear meshing, and the driving gear is connected with quick-descent mechanism driving motor.
The device is characterized in that the hovering slow landing mechanism mounting plate is provided with a hovering slow landing mechanism connecting plate through a vertical slideway arranged on the hovering slow landing mechanism mounting plate and a vertical sliding block matched with the vertical slideway, a through threaded hole is formed in the hovering slow landing mechanism connecting plate, a ball screw matched with the threaded hole is arranged in the threaded hole, the ball screw is connected with a stepping motor fixed on the hovering slow landing mechanism mounting plate through a coupler, spring damping buffering and damping systems are arranged at two ends of the hovering slow landing mechanism connecting plate, and each spring damping buffering and damping system comprises a locking nut, a mounting seat, a spring and a damper, wherein the spring and the damper are arranged on the mounting seat.
The X-axis rotating device comprises a five-degree-of-freedom motion mechanism frame, wherein a Y-direction sliding frame is arranged on the five-degree-of-freedom motion mechanism frame through a Y-direction single-axis robot, an X-direction sliding frame is arranged on the Y-direction sliding frame through an X-direction single-axis robot, a Z-axis rotating driving gear and a Z-axis rotating driven gear which are mutually meshed are arranged on the X-direction sliding frame, the Z-axis rotating driving gear is connected with a Z-direction driving motor through a key shaft penetrating through the X-direction sliding frame, the Z-axis rotating driven gear is connected with a Z-direction rotating plate through a Z-axis rotating shaft penetrating through the X-direction sliding frame and a bearing, a Y-direction driving motor is arranged on the Z-direction rotating plate and is connected with a Y-direction rotating plate through a rotating shaft penetrating through the Z-direction rotating plate, the X-direction driving motor is connected with the X-direction rotating plate, and the X-direction rotating plate is provided with a visual verification test system, and the X-direction rotating plate and the Z-direction rotating plate are of an L-shaped structure.
The simulation method for landing of the unmanned aerial vehicle in the bumpy environment realizes the simulation of five degrees of freedom of the attitude of the unmanned aerial vehicle by moving the visual verification test system along the X, Y axis and rotating the visual verification test system around the X, Y, Z axis, and realizes the simulation of a rapid descent stage, a ground effect hovering stage and a slow landing stage in landing of the unmanned aerial vehicle by controlling the moving speed of the visual verification test system on the Z axis, and comprises the following steps:
A. the visual verification test system is arranged on the X-direction rotating plate, and realizes the rotation of the X-direction rotating plate connected with the X-direction driving motor in the X-axis direction through the rotation of the X-direction driving motor arranged on the Y-direction rotating plate;
B. the rotation of the Y-direction rotating plate connected with the Y-direction driving motor in the Y-axis direction is realized through the rotation of the Y-direction driving motor arranged on the Z-direction rotating plate;
C. the rotation of a Z-direction rotating plate connected with the Z-direction driving motor in the Z-axis direction is realized through the rotation of the Z-direction driving motor arranged on the X-direction sliding frame;
D. the X-direction sliding frame is arranged on the X-direction single-axis robot, and the movement of the X-direction sliding frame in the X-axis direction is realized under the action of the X-direction single-axis robot;
E. the X-direction single-axis robot is arranged on the Y-direction single-axis robot through a Y-direction sliding frame, and the movement of the Y-direction sliding frame in the Y-axis direction is realized through the action of the Y-direction single-axis robot;
F. step A, B, C, D, E, forming a five-degree-of-freedom motion mechanism, wherein the five-degree-of-freedom motion mechanism is arranged on a support upright post through a five-degree-of-freedom motion mechanism frame, a guide rail and a sliding block which are matched with each other, and the movement of the five-degree-of-freedom motion mechanism in the Z-axis direction is realized through the up-and-down movement of the sliding block on the guide rail;
G. the rapid descending mechanism drives the motor to rotate, drives the stop gear and the driven gear to rotate, and realizes the movement of the wedge block along the X axis under the action of the rack, the wedge block gradually releases the supporting action of the four sliding blocks to gradually increase the acceleration of the five-degree-of-freedom moving mechanism, the speed is continuously increased, the height of the rapid descending mechanism rapidly descends, the sliding blocks are completely separated from the wedge block, the five-degree-of-freedom moving mechanism performs one section of free falling motion, and the five-degree-of-freedom moving mechanism moves to the end position of the rapid descending mechanism at high speed to complete the simulation of the rapid descending stage;
H. after the five-degree-of-freedom motion mechanism passes through the rapid descent stage, four spring damping buffer damping systems at the same height are collided at high speed, the four spring damping buffer damping systems simultaneously generate compression displacement downwards along the Z axis and rapidly absorb the kinetic energy of the five-degree-of-freedom motion mechanism, the springs of the spring damping buffer damping system are compressed firstly in the process of absorbing the kinetic energy and then gradually recover to the balance position for supporting the five-degree-of-freedom motion mechanism, the spring damping buffer damping system is at the balance position, the kinetic energy of the five-degree-of-freedom motion mechanism is absorbed completely, the kinetic energy of the five-degree-of-freedom motion mechanism is zero, the running speed is zero, and the simulation of the ground effect hovering stage is completed;
I. after the five-degree-of-freedom motion mechanism passes through the ground effect hovering stage, the stepping motor drives the ball screw to rotate, the five-degree-of-freedom motion mechanism slowly falls along with a hovering slow landing mechanism connecting plate, the five-degree-of-freedom motion mechanism contacts with the upper end face of a damper of the spring damping buffer shock absorption system, and the spring damping buffer shock absorption system absorbs vibration caused by unstable output rotation or external interference of the stepping motor in the slow descending process, so that simulation of the slow landing stage is completed.
The sliding blocks are fixedly connected with the five-degree-of-freedom movement mechanism frame, the axes of the supporting upright posts are perpendicular to the platform base, and the number of the supporting upright posts is four and are respectively arranged at four corners of the platform base in a rectangular structure.
The utility model discloses a quick-descent mechanism mounting panel, including quick-descent mechanism mounting panel, driven gear, wedge connecting plate, wedge setting, driving gear and quick-descent mechanism driving motor, quick-descent mechanism mounting panel is two, and two quick-descent mechanism mounting panels pass through the transmission shaft connection at two quick-descent mechanism mounting panel middle parts, the transmission shaft both ends all are provided with driven gear, the both sides all are provided with the rack that is connected with quick-descent mechanism mounting panel through linear guide and the linear slider that uses with linear guide cooperation about the driven gear, be provided with the wedge connecting plate between rack and the linear slider, wedge connecting plate one end is provided with the wedge, the wedge sets up in the both sides of quick-descent mechanism mounting panel, one of two quick-descent mechanism mounting panels is provided with the driving gear with driven gear meshing, and the driving gear is connected with quick-descent mechanism driving motor.
The device is characterized in that the hovering slow landing mechanism mounting plate is provided with a hovering slow landing mechanism connecting plate through a vertical slideway arranged on the hovering slow landing mechanism mounting plate and a vertical sliding block matched with the vertical slideway, a through threaded hole is formed in the hovering slow landing mechanism connecting plate, a ball screw matched with the threaded hole is arranged in the threaded hole, the ball screw is connected with a stepping motor fixed on the hovering slow landing mechanism mounting plate through a coupler, spring damping buffering and damping systems are arranged at two ends of the hovering slow landing mechanism connecting plate, and each spring damping buffering and damping system comprises a locking nut, a mounting seat, a spring and a damper, wherein the spring and the damper are arranged on the mounting seat.
The X-axis rotating device comprises a five-degree-of-freedom motion mechanism frame, wherein a Y-direction sliding frame is arranged on the five-degree-of-freedom motion mechanism frame through a Y-direction single-axis robot, an X-direction sliding frame is arranged on the Y-direction sliding frame through an X-direction single-axis robot, a Z-axis rotating driving gear and a Z-axis rotating driven gear which are mutually meshed are arranged on the X-direction sliding frame, the Z-axis rotating driving gear is connected with a Z-direction driving motor through a key shaft penetrating through the X-direction sliding frame, the Z-axis rotating driven gear is connected with a Z-direction rotating plate through a Z-axis rotating shaft penetrating through the X-direction sliding frame and a bearing, a Y-direction driving motor is arranged on the Z-direction rotating plate and is connected with a Y-direction rotating plate through a rotating shaft penetrating through the Z-direction rotating plate, the X-direction driving motor is connected with the X-direction rotating plate, and the X-direction rotating plate is provided with a visual verification test system, and the X-direction rotating plate and the Z-direction rotating plate are of an L-shaped structure.
The beneficial effects of the invention are as follows:
1. according to the invention, through physical simulation of the angular movement and linear movement process of the unmanned helicopter, the movement simulation of the unmanned helicopter in a six-degree-of-freedom flight state is realized, and the method has the characteristics of simplicity in operation and strong reproducibility.
2. The wedge block is positioned at a critical position which is separated from a moving mechanism mounting slide block and does not block the slide block from moving upwards along the Z axis, the stepping motor drives the five-degree-of-freedom moving mechanism to move upwards, so that the slide block moves upwards to a position beyond the lower edge of the wedge block, then the rotating motor drives the wedge block to move outwards, the moving mechanism mounting slide block is subjected to extrusion force to drive the five-degree-of-freedom moving mechanism to lift, the rotating motor drives the wedge block to move inwards, and the moving mechanism mounting slide block is subjected to extrusion force to drive the five-degree-of-freedom moving mechanism to descend.
3. The driven gear and the wedge are driven by straight teeth, so that the phenomenon of locking of synchronous movement of four wedge blocks is prevented, and the movement has high-precision synchronism.
4. According to the invention, the support upright post is connected with the platform base through the screw, the rapid descent mechanism mounting plate and the hovering slow landing mechanism mounting plate are both connected with the support upright post through the screw, so that the assembly and the disassembly are convenient, and the operation of personnel is convenient.
5. According to the invention, the wedge-shaped block connecting plate rotates along with the driven gear through the linear guide rail and the linear slide block, and the application of the linear guide rail improves the working precision and the corresponding aging.
6. According to the invention, the branch scratch and vertical sliding block is arranged on the mounting plate of the hovering slow landing mechanism, so that the limiting effect on the connecting plate of the hovering slow landing mechanism is achieved, meanwhile, the resistance in the descending process is reduced, meanwhile, the ball screw is connected with the output shaft of the stepping motor in a locking mode through the coupler, the five-degree-of-freedom motion mechanism is prevented from impacting the connecting plate of the hovering slow landing mechanism when the rapid descending stage is carried out, the displacement of the connecting plate of the hovering slow landing mechanism is caused, and the precision is improved.
7. The linear guide rails at the two sides of the hovering slow landing mechanism mounting plate can guide the hovering slow landing mechanism connecting plate to move up and down along the Z axis, so that the five-degree-of-freedom movement mechanism stopped on the hovering slow landing mechanism connecting plate is prevented from slowly descending along the Z axis to simulate the deviation of the slow landing process of the unmanned aerial vehicle.
8. The spring damping buffer shock absorbing system can absorb shock caused by unstable output rotation of the stepping motor or external interference in the slow descent process, so that the slow landing process of the unmanned aerial vehicle is truly reflected, and research data is more persuasive.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned spacecraft landing simulation platform in a bumpy environment.
Fig. 2 is a schematic structural view of the platform supporting mechanism.
Fig. 3 is a schematic structural view of the quick descent mechanism.
FIG. 4 is a schematic structural view of a hover slow landing mechanism.
Fig. 5 is a schematic diagram of a five degree of freedom motion mechanism.
Fig. 6 is a schematic structural view of a spring damping cushioning system.
Fig. 7 is a schematic diagram of a spring damping cushioning system.
Detailed Description
Examples: referring to fig. 1, 2, 3, 4, 5, 6 and 7, in the drawings, a 1-quick descent mechanism, a 2-five-degree-of-freedom motion mechanism, a 3-hover slow landing mechanism, a 5-support column, a 6-stage mount, a 7-guide slide mechanism, an 8-five-degree-of-freedom motion mechanism frame, a 9-quick descent mechanism mounting plate, a 10-hover slow landing mechanism mounting plate, a 11-guide rail, a 12-slider, a 13-drive shaft, a 14-driven gear, a 15-linear guide, a 16-linear slider, a 17-rack, a 18-wedge connection plate, a 19-wedge, a 20-quick descent mechanism driving motor, a 21-drive gear, a 22-vertical slide, a 23-vertical slide, a 24-hover slow landing mechanism connection plate, a 25-ball screw, a 26-stepper motor, a 27-spring damping buffer vibration absorption system, a 28-Y direction single-axis robot, a 29-X direction carriage, a 30-X direction single-axis robot, a 31-Y direction carriage, a 32-Z direction driving motor, a 33-Z direction rotating plate, a 34-Z axis motor, a 35-Y direction rotating plate, a 35-Y direction driving plate, a 36-Y direction driving plate, a 37-Y direction, a spring-Y driving plate, a 37-Y direction, a visual inspection system, a damping system, a test device, and a test device.
The invention is described in detail below with reference to the attached drawing figures:
fig. 1 shows: the rapid descent mechanism 1, the five-degree-of-freedom motion mechanism 2 and the hovering slow landing mechanism 3 are sequentially arranged on a platform supporting mechanism from top to bottom, the platform supporting mechanism comprises a supporting upright 5 and a platform base 6 which are connected through screws, the supporting upright 5 is connected with a five-degree-of-freedom motion mechanism frame 8 in the five-degree-of-freedom motion mechanism 2 through a guide sliding mechanism 7 arranged on the supporting upright 5, the five-degree-of-freedom motion mechanism 2 can move up and down along a Z axis to realize six degrees of freedom, the supporting upright 5 is connected with a rapid descent mechanism mounting plate 9 in the rapid descent mechanism 1 through screws, and the supporting upright 5 is connected with a hovering slow landing mechanism mounting plate 10 which is of a U-shaped structure in the hovering slow landing mechanism 3 through screws.
Fig. 2 shows: the four support columns 5 are fixedly arranged on the platform base 6 in a screw rotation mode, the axes of the support columns 5 are perpendicular to the platform base 6, guide rails 11 and sliding blocks 12 matched with the guide rails 11 for use are arranged on the support columns 5, high parallelism requirements are achieved among the four guide rails 11, the sliding blocks 12 on the four guide rails 11 are in a state of sliding freely up and down along a Z axis, the sliding blocks 12 are fixedly connected with the five-freedom-degree movement mechanism frame 8, the four sliding blocks 12 are at the same height, and meanwhile, the five-freedom-degree movement mechanism 2 is guided along the Z axis, and six degrees of freedom are achieved.
Fig. 3 shows: the two rapid descent mechanism mounting plates 9 are connected through a transmission shaft 13 penetrating through the middle parts of the two rapid descent mechanism mounting plates 9, driven gears 14 are arranged at two ends of the transmission shaft 13, racks 17 connected with the rapid descent mechanism mounting plates 9 through linear guide rails 15 and linear sliding blocks 16 matched with the linear guide rails 15 are arranged on the upper side and the lower side of the driven gears 14, wedge-shaped block connecting plates 18 are arranged between the racks 17 and the linear sliding blocks 16, wedge-shaped blocks 19 are arranged at one end of each wedge-shaped block connecting plate 18, the wedge-shaped blocks 19 are arranged on two sides of the rapid descent mechanism mounting plates 9, the racks 17 and the wedge-shaped blocks 19 connected with the racks can move along an X axis relative to the rapid descent mechanism mounting plates 9, and a rapid descent mechanism driving motor 20 is arranged on one rapid descent mechanism mounting plate 9.
The driving motor 20 of the quick lowering mechanism directly drives the driving gear 21 through key transmission, the driving gear 21 and the driven gear 14 are in meshed transmission, the driven gear 14 drives the rack 17 to move inwards or outwards in a meshed transmission mode, and the left wedge block 18 and the right wedge block 18 are respectively and rigidly connected with the racks 17 on the corresponding sides, so that under the control of the driving motor 20 of the quick lowering mechanism, the left wedge block 18 and the right wedge block 18 can simultaneously move inwards gradually to release the supporting effect on the four sliding blocks 12, so that the acceleration of the five-degree-of-freedom moving mechanism 2 is gradually increased, the speed is continuously increased, the height of the quick lowering mechanism is quickly lowered until the sliding blocks 12 are completely separated from the wedge blocks 18, the five-degree-of-freedom moving mechanism 2 performs one section of free falling body movement, the five-degree-of-freedom moving mechanism 2 moves to the end position of the quick lowering mechanism 1 at a high speed, and the quick lowering mechanism 1 can lift the five-degree-of-freedom moving mechanism 2 to repeatedly simulate the landing process of the unmanned aerial vehicle.
Fig. 4 shows: the hovering slow landing mechanism mounting plate 10 is provided with a through threaded hole through a vertical slideway 22 arranged on the hovering slow landing mechanism mounting plate 10, a vertical sliding block 23 matched with the vertical slideway 22 and a hovering slow landing mechanism connecting plate 24, the hovering slow landing mechanism connecting plate 24 is provided with a ball screw 25 matched with the through threaded hole, the stepping motor 26 is arranged on the hovering slow landing mechanism mounting plate 10, the ball screw 10 is connected with an output shaft of the stepping motor 26 in a locking mode through a coupling, namely, the hovering slow landing mechanism connecting plate 24 can move up and down along a Z axis, two ends of the hovering slow landing mechanism connecting plate 24 are provided with spring damping buffer shock absorbing systems 27, the platform supporting mechanism is provided with a front set of hovering slow landing mechanism 3 and a back set of symmetrical suspension slow landing mechanism 3, the four spring damping buffer shock absorbing systems 27 are always at the same height, and the spring damping buffer shock absorbing systems 27 comprise a locking nut 40, a mounting seat 41, and springs 42 and dampers 43 arranged on the mounting seat 41.
The five-degree-of-freedom motion mechanism 2 collides with four spring damping buffer damping systems 27 which are always at the same height at high speed through a rapid descending stage, the four spring damping buffer damping systems 27 simultaneously generate compression displacement downwards along the Z axis so as to rapidly absorb the kinetic energy of the five-degree-of-freedom motion mechanism 2, the springs 42 of the spring damping buffer damping systems 27 are compressed firstly in the process of absorbing the kinetic energy, then gradually recover to the balance position for supporting the five-degree-of-freedom motion mechanism 2, when the spring damping buffer damping systems 27 are at the balance position, the kinetic energy of the five-degree-of-freedom motion mechanism 2 is absorbed completely, namely, the kinetic energy of the five-degree-of-freedom motion mechanism 2 is zero at the moment, the running speed is zero, the five-degree-of-freedom motion mechanism 2 is always in contact with the upper end face of the damper 43 of the spring damping buffer shock absorption system 27, the five-degree-of-freedom motion mechanism 2 slowly moves downwards under the action of the ball screw 25, and the spring damping buffer shock absorption system 27 can absorb shock caused by unstable output rotation of the stepping motor 26 or external interference in the slow descending process.
Fig. 5 shows: a Y-direction sliding frame 31 is arranged on the five-degree-of-freedom motion mechanism frame 8 through a Y-direction single-axis robot 28, and an X-direction sliding frame 29 is arranged on the Y-direction sliding frame 31 through an X-direction single-axis robot 30; the X-direction single-axis robot 30 can move along the Y-axis along with the Y-direction carriage 31, and the X-direction carriage 29 will move along the X-axis under the control of the X-direction single-axis robot 30; the X-direction carriage 29 is provided with a Z-axis rotation driving gear and a Z-axis rotation driven gear which are meshed with each other, the Z-axis rotation driving gear is coaxially connected with a Z-direction driving motor 32 through a key penetrating through the X-direction carriage 29, the Z-axis rotation driven gear is connected with a Z-direction rotating plate 33 through a Z-axis rotation shaft 34 penetrating through the X-direction carriage 29, the Z-direction rotating plate 33 is driven to rotate around the Z axis relative to the X-direction carriage 29 through the meshing effect between the Z-axis rotation driving gear and the Z-axis rotation driven gear shaft, and a Y-direction driving motor 36 is fixedly arranged on the Z-direction rotating plate 33 and can rotate around the Z axis along with the Z-direction rotating plate 33; meanwhile, the Y-direction rotating plate 35 is fixedly connected with an output shaft of the Y-direction driving motor 36, so that the Y-direction rotating plate 35 rotates around the Y-axis under the driving of the Y-direction driving motor 36, the X-direction driving motor 37 is fixedly arranged on the Y-direction rotating plate 35 and can rotate around the Y-axis along with the Y-direction rotating plate 35, meanwhile, the X-direction rotating plate 38 is fixedly connected with an output shaft of the X-direction driving motor 37, so that the X-direction rotating plate 38 rotates around the X-axis under the driving of the X-direction driving motor 37, the visual verification test system 39 is fixedly arranged on the X-direction rotating plate 38 and can rotate around the X-axis along with the X-direction rotating plate 38, and the X-direction rotating plate 38, the Y-direction rotating plate 35 and the Z-direction rotating plate 33 are all of L-shaped structures.
Fig. 6 shows: the mounting seat 41 is arranged on the hovering slow landing mechanism connecting plate 24 and is fixed by the locking nut 40, and the spring 42 plays a role in buffering the fast descending five-degree-of-freedom motion mechanism 2 and absorbing the shock caused by unstable output rotation of the stepping motor 26 or external interference in the slow descending process.
The simulation operation is carried out by the following steps:
the visual verification test system 39 moves along the X, Y axis and rotates around the X, Y, Z axis, so that simulation of five degrees of freedom of the unmanned aerial vehicle posture is realized, and simulation of a rapid descent stage, a ground effect hovering stage and a slow landing stage in unmanned aerial vehicle landing is realized through control of the movement speed of the visual verification test system 39 on the Z axis, and the steps are as follows:
A. the visual verification test system 39 is arranged on the X-direction rotating plate 38, and realizes the rotation of the X-direction rotating plate 38 connected with the X-direction driving motor 37 in the X-axis direction by the rotation of the X-direction driving motor 37 arranged on the Y-direction rotating plate 35;
B. the rotation of the Y-direction rotating plate 35 connected to the Y-direction driving motor 36 in the Y-axis direction is achieved by the rotation of the Y-direction driving motor 36 provided on the Z-direction rotating plate 33;
C. the rotation of the Z-direction rotation plate 33 connected to the Z-direction drive motor 32 in the Z-axis direction is achieved by the rotation of the Z-direction drive motor 32 provided on the X-direction carriage 29;
D. the X-direction carriage 29 is provided on the X-direction single-axis robot 30, and movement of the X-direction carriage 29 in the X-axis direction is realized by the action of the X-direction single-axis robot 30;
E. the X-direction single-axis robot 30 is provided on the Y-direction single-axis robot 28 by the Y-direction carriage 31, and the movement of the Y-direction carriage 31 in the Y-axis direction is realized by the action of the Y-direction single-axis robot 28;
F. step A, B, C, D, E is to form a five-degree-of-freedom motion mechanism 2, wherein the five-degree-of-freedom motion mechanism 2 is arranged on a support upright 5 through a five-degree-of-freedom motion mechanism frame 8, a guide rail 11 and a slide block 12 which are matched with each other, and the movement of the five-degree-of-freedom motion mechanism 2 in the Z-axis direction is realized through the up-down movement of the slide block 12 on the guide rail 11;
G. the rapid descending mechanism drives the motor 20 to rotate, drives the driving gear 21 and the driven gear 14 to rotate, and realizes the movement of the wedge block 18 along the Y axis under the action of the rack 17, the wedge block 18 gradually releases the supporting action of the four sliding blocks 12 to gradually increase the acceleration of the five-degree-of-freedom moving mechanism 2, the speed is continuously increased, the height of the rapid descending mechanism rapidly descends, the sliding blocks 12 completely separate from the wedge block 18, the five-degree-of-freedom moving mechanism 2 performs one section of free falling body movement, the five-degree-of-freedom moving mechanism 2 moves to the end position of the rapid descending mechanism 1 at a high speed, and the simulation of the rapid descending stage is completed;
H. after the five-degree-of-freedom motion mechanism 2 passes through a rapid descent stage, four spring damping buffer damping systems 27 at the same height are collided at a high speed, the four spring damping buffer damping systems 27 simultaneously generate compression displacement downwards along a Z axis and rapidly absorb the kinetic energy of the five-degree-of-freedom motion mechanism 2, the springs 42 of the spring damping buffer damping systems 27 are compressed firstly in the process of absorbing the kinetic energy and then gradually recover to the balance position for supporting the five-degree-of-freedom motion mechanism 2, the spring damping buffer damping systems 2 are positioned at the balance position, the kinetic energy of the five-degree-of-freedom motion mechanism 2 is absorbed completely, the kinetic energy of the five-degree-of-freedom motion mechanism 2 is zero, the running speed is zero, and simulation of an earth effect hovering stage is completed;
I. after the five-degree-of-freedom motion mechanism 2 passes through the ground effect hovering stage, the stepping motor 26 drives the ball screw 25 to rotate, the five-degree-of-freedom motion mechanism 2 slowly drops along with the hovering slow landing mechanism connecting plate 24, the five-degree-of-freedom motion mechanism 2 contacts with the upper end surface of the damper 43 of the spring damping buffer shock absorption system 27, and the spring damping buffer shock absorption system 27 absorbs vibration caused by unstable rotation or external interference output by the stepping motor 26 in the slow descending process, so that the simulation of the slow landing stage is completed.
The visual verification test system 39 is a visual navigation test cradle head, and a person can set the detection equipment on the visual navigation test cradle head and detect the landing process of the unmanned spacecraft in combination with the invention.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical principles of the present invention still fall within the scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides an unmanned spacecraft landing simulation platform under environment of jolting, includes platform supporting mechanism and from top to bottom sets gradually quick descent mechanism, five degrees of freedom motion and the slow landing mechanism that hovers on platform supporting mechanism, characterized by: the platform supporting mechanism comprises a supporting upright post and a platform base which are connected through screws, the supporting upright post is connected with a five-degree-of-freedom movement mechanism rack in the five-degree-of-freedom movement mechanism through a guide sliding mechanism arranged on the supporting upright post, the supporting upright post is connected with a rapid descent mechanism mounting plate in the rapid descent mechanism through screws, and the supporting upright post is connected with a hovering slow landing mechanism mounting plate in a U-shaped structure in the hovering slow landing mechanism through screws;
the guide sliding mechanism comprises a guide rail arranged on a supporting upright post and a sliding block matched with the guide rail, the sliding block is fixedly connected with the five-degree-of-freedom movement mechanism frame, the axis of the supporting upright post is vertical to the platform base, and the number of the supporting upright posts is four and is respectively arranged at four corners of the platform base in a rectangular structure;
the device is characterized in that the hovering slow landing mechanism mounting plate is provided with a hovering slow landing mechanism connecting plate through a vertical slideway arranged on the hovering slow landing mechanism mounting plate and a vertical sliding block matched with the vertical slideway, a through threaded hole is formed in the hovering slow landing mechanism connecting plate, a ball screw matched with the threaded hole is arranged in the threaded hole, the ball screw is connected with a stepping motor fixed on the hovering slow landing mechanism mounting plate through a coupler, spring damping buffering and damping systems are arranged at two ends of the hovering slow landing mechanism connecting plate, and each spring damping buffering and damping system comprises a locking nut, a mounting seat, a spring and a damper, wherein the spring and the damper are arranged on the mounting seat.
2. The unmanned spacecraft landing simulation platform in a bumpy environment of claim 1, wherein: the utility model discloses a quick-descent mechanism mounting panel, including quick-descent mechanism mounting panel, driven gear, wedge connecting plate, wedge setting, driving gear and quick-descent mechanism driving motor, quick-descent mechanism mounting panel is two, and two quick-descent mechanism mounting panels pass through the transmission shaft connection at two quick-descent mechanism mounting panel middle parts, the transmission shaft both ends all are provided with driven gear, the both sides all are provided with the rack that is connected with quick-descent mechanism mounting panel through linear guide and the linear slider that uses with linear guide cooperation about the driven gear, be provided with the wedge connecting plate between rack and the linear slider, wedge connecting plate one end is provided with the wedge, the wedge sets up in the both sides of quick-descent mechanism mounting panel, one of two quick-descent mechanism mounting panels is provided with the driving gear with driven gear meshing, and the driving gear is connected with quick-descent mechanism driving motor.
3. The unmanned spacecraft landing simulation platform in a bumpy environment of claim 1, wherein: the X-axis rotating device comprises a five-degree-of-freedom motion mechanism frame, wherein a Y-direction sliding frame is arranged on the five-degree-of-freedom motion mechanism frame through a Y-direction single-axis robot, an X-direction sliding frame is arranged on the Y-direction sliding frame through an X-direction single-axis robot, a Z-axis rotating driving gear and a Z-axis rotating driven gear which are mutually meshed are arranged on the X-direction sliding frame, the Z-axis rotating driving gear is connected with a Z-direction driving motor through a key shaft penetrating through the X-direction sliding frame, the Z-axis rotating driven gear is connected with a Z-direction rotating plate through a Z-axis rotating shaft penetrating through the X-direction sliding frame and a bearing, a Y-direction driving motor is arranged on the Z-direction rotating plate and is connected with a Y-direction rotating plate through a rotating shaft penetrating through the Z-direction rotating plate, the X-direction driving motor is connected with the X-direction rotating plate, and the X-direction rotating plate is provided with a visual verification test system, and the X-direction rotating plate and the Z-direction rotating plate are of an L-shaped structure.
4. The simulation method for landing of the unmanned spacecraft in the bumpy environment realizes the simulation of five degrees of freedom of the posture of the unmanned aerial vehicle by moving a visual verification test system along a X, Y axis and rotating the visual verification test system around a X, Y, Z axis, and realizes the six-degree-of-freedom simulation of a rapid descent stage, a ground effect hovering stage and a slow landing stage in landing of the unmanned aerial vehicle by controlling the moving speed of the visual verification test system on a Z axis on the basis of the simulation of the five degrees of freedom;
the specific simulation steps of the unmanned aerial vehicle attitude five-degree-of-freedom simulation, the rapid descent phase, the ground effect hovering phase and the slow landing phase simulation in the unmanned aerial vehicle landing are as follows:
A. the visual verification test system is arranged on the X-direction rotating plate, and realizes the rotation of the X-direction rotating plate connected with the X-direction driving motor in the X-axis direction through the rotation of the X-direction driving motor arranged on the Y-direction rotating plate;
B. the rotation of the Y-direction rotating plate connected with the Y-direction driving motor in the Y-axis direction is realized through the rotation of the Y-direction driving motor arranged on the Z-direction rotating plate;
C. the rotation of a Z-direction rotating plate connected with the Z-direction driving motor in the Z-axis direction is realized through the rotation of the Z-direction driving motor arranged on the X-direction sliding frame;
D. the X-direction sliding frame is arranged on the X-direction single-axis robot, and the movement of the X-direction sliding frame in the X-axis direction is realized under the action of the X-direction single-axis robot;
E. the X-direction single-axis robot is arranged on the Y-direction single-axis robot through a Y-direction sliding frame, and the movement of the Y-direction sliding frame in the Y-axis direction is realized through the action of the Y-direction single-axis robot;
F. step A, B, C, D, E, forming a five-degree-of-freedom motion mechanism, wherein the five-degree-of-freedom motion mechanism is arranged on a support upright post through a five-degree-of-freedom motion mechanism frame, a guide rail and a sliding block which are matched with each other, and the movement of the five-degree-of-freedom motion mechanism in the Z-axis direction is realized through the up-and-down movement of the sliding block on the guide rail;
G. the rapid descending mechanism drives the motor to rotate, drives the stop gear and the driven gear to rotate, and realizes the movement of the wedge block along the X axis under the action of the rack, the wedge block gradually releases the supporting action of the four sliding blocks to gradually increase the acceleration of the five-degree-of-freedom moving mechanism, the speed is continuously increased, the height of the rapid descending mechanism rapidly descends, the sliding blocks are completely separated from the wedge block, the five-degree-of-freedom moving mechanism performs one section of free falling motion, and the five-degree-of-freedom moving mechanism moves to the end position of the rapid descending mechanism at high speed to complete the simulation of the rapid descending stage;
H. after the five-degree-of-freedom motion mechanism passes through the rapid descent stage, four spring damping buffer damping systems at the same height are collided at high speed, the four spring damping buffer damping systems simultaneously generate compression displacement downwards along the Z axis and rapidly absorb the kinetic energy of the five-degree-of-freedom motion mechanism, the springs of the spring damping buffer damping system are compressed firstly in the process of absorbing the kinetic energy and then gradually recover to the balance position for supporting the five-degree-of-freedom motion mechanism, the spring damping buffer damping system is at the balance position, the kinetic energy of the five-degree-of-freedom motion mechanism is absorbed completely, the kinetic energy of the five-degree-of-freedom motion mechanism is zero, the running speed is zero, and the simulation of the ground effect hovering stage is completed;
I. after the five-degree-of-freedom motion mechanism passes through the ground effect hovering stage, the stepping motor drives the ball screw to rotate, the five-degree-of-freedom motion mechanism slowly falls along with a hovering slow landing mechanism connecting plate, the five-degree-of-freedom motion mechanism contacts with the upper end surface of a damper of the spring damping buffer shock absorption system, and the spring damping buffer shock absorption system absorbs vibration caused by unstable output rotation of the stepping motor or external interference in the slow descending process, so that simulation of the slow landing stage is completed;
the sliding blocks are fixedly connected with the five-degree-of-freedom movement mechanism frame, the axes of the supporting upright posts are perpendicular to the platform base, and the number of the supporting upright posts is four and are respectively arranged at four corners of the platform base in a rectangular structure.
5. The simulation method for landing an unmanned spacecraft in a bumpy environment according to claim 4, wherein the method comprises the following steps: the utility model discloses a quick-descent mechanism mounting panel, including quick-descent mechanism mounting panel, driven gear, wedge connecting plate, wedge setting, driving gear and quick-descent mechanism driving motor, quick-descent mechanism mounting panel is two, and two quick-descent mechanism mounting panels pass through the transmission shaft connection at two quick-descent mechanism mounting panel middle parts, the transmission shaft both ends all are provided with driven gear, the both sides all are provided with the rack that is connected with quick-descent mechanism mounting panel through linear guide and the linear slider that uses with linear guide cooperation about the driven gear, be provided with the wedge connecting plate between rack and the linear slider, wedge connecting plate one end is provided with the wedge, the wedge sets up in the both sides of quick-descent mechanism mounting panel, one of two quick-descent mechanism mounting panels is provided with the driving gear with driven gear meshing, and the driving gear is connected with quick-descent mechanism driving motor.
6. The simulation method for landing an unmanned spacecraft in a bumpy environment according to claim 4, wherein the method comprises the following steps: the device is characterized in that the hovering slow landing mechanism mounting plate is provided with a hovering slow landing mechanism connecting plate through a vertical slideway arranged on the hovering slow landing mechanism mounting plate and a vertical sliding block matched with the vertical slideway, a through threaded hole is formed in the hovering slow landing mechanism connecting plate, a ball screw matched with the threaded hole is arranged in the threaded hole, the ball screw is connected with a stepping motor fixed on the hovering slow landing mechanism mounting plate through a coupler, spring damping buffering and damping systems are arranged at two ends of the hovering slow landing mechanism connecting plate, and each spring damping buffering and damping system comprises a locking nut, a mounting seat, a spring and a damper, wherein the spring and the damper are arranged on the mounting seat.
7. The simulation method for landing an unmanned spacecraft in a bumpy environment according to claim 4, wherein the method comprises the following steps: the X-axis rotating device comprises a five-degree-of-freedom motion mechanism frame, wherein a Y-direction sliding frame is arranged on the five-degree-of-freedom motion mechanism frame through a Y-direction single-axis robot, an X-direction sliding frame is arranged on the Y-direction sliding frame through an X-direction single-axis robot, a Z-axis rotating driving gear and a Z-axis rotating driven gear which are mutually meshed are arranged on the X-direction sliding frame, the Z-axis rotating driving gear is connected with a Z-direction driving motor through a key shaft penetrating through the X-direction sliding frame, the Z-axis rotating driven gear is connected with a Z-direction rotating plate through a Z-axis rotating shaft penetrating through the X-direction sliding frame and a bearing, a Y-direction driving motor is arranged on the Z-direction rotating plate and is connected with a Y-direction rotating plate through a rotating shaft penetrating through the Z-direction rotating plate, the X-direction driving motor is connected with the X-direction rotating plate, and the X-direction rotating plate is provided with a visual verification test system, and the X-direction rotating plate and the Z-direction rotating plate are of an L-shaped structure.
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| CN109724482B (en) * | 2019-01-07 | 2021-03-23 | 哈尔滨工业大学 | Recoverable rocket landing condition simulation equipment based on rope-driven parallel robot |
| CN110827611B (en) * | 2019-11-29 | 2021-10-29 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
| CN115112153B (en) * | 2022-08-30 | 2023-01-20 | 中国石油天然气集团有限公司 | Indoor simulation calibration device for double-horizontal-well magnetic steering measurement |
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