CN108381521B - Six-degree-of-freedom mechanism for high Mach number high dynamic pressure high lift model capture track test - Google Patents
Six-degree-of-freedom mechanism for high Mach number high dynamic pressure high lift model capture track test Download PDFInfo
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- CN108381521B CN108381521B CN201810255524.3A CN201810255524A CN108381521B CN 108381521 B CN108381521 B CN 108381521B CN 201810255524 A CN201810255524 A CN 201810255524A CN 108381521 B CN108381521 B CN 108381521B
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- 230000033001 locomotion Effects 0.000 claims abstract description 63
- 238000005096 rolling process Methods 0.000 claims abstract description 48
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 18
- 230000036544 posture Effects 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 2
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- 239000000969 carrier Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The six-degree-of-freedom mechanism for the high Mach number high dynamic pressure high lift model capture track test comprises a three-degree-of-freedom translation mechanism, a pitching/yawing motion mechanism and a rolling motion mechanism, wherein the three-degree-of-freedom translation parallel mechanism comprises three groups of guide rail bases, three groups of first sliding blocks, three groups of first linear driving mechanisms, three groups of first universal hinges and three first connecting rods, and the pitching/yawing bases realize translation motion along three coordinate axes by controlling the coordinated motion of the three first sliding blocks; the pitching/yawing movement mechanism comprises a pitching/yawing base, three groups of second linear driving mechanisms, three groups of second sliding blocks, three groups of rotating hinges, three groups of second universal hinges and three groups of second connecting rods, and the rolling movement mechanism comprises a rolling head, a rolling head servo motor, a pair of spur gears, a hollow harmonic reducer, a coupler and a pylon tail rod. The invention has the advantages of large movement stroke, high bearing capacity, high rigidity and high movement precision.
Description
Technical Field
The invention relates to a six-degree-of-freedom mechanism for a high Mach number high dynamic pressure high lift model capture track test.
Background
The capture track test is a special wind tunnel test for researching the separation safety characteristics of a store and a carrier. The six-degree-of-freedom mechanism is a supporting device for capturing the stores in the track test system and a motion executing device thereof, and is a core part of the whole system. The six-degree-of-freedom mechanism is controlled by a computer and provides six degrees of freedom (axial X, lateral Y, normal Z, pitch alpha, yaw beta, roll gamma) motions for the pylon model. The motion stroke and the motion precision of the six-degree-of-freedom mechanism in all directions directly influence the precision and the effect of the capture track test. At present, a foreign supersonic wind tunnel CTS system is represented by an AEDC von Karman laboratory supersonic CTS system, and the wind tunnel is a continuous wind tunnel, and has low dynamic pressure and small bearing load; the temporary impact wind tunnel is high in dynamic pressure and large in impact, and represented by FL-3, FD-12 and FL-28 wind tunnel CTS systems in China; only small load (small lifting surface) model tests can be undertaken. There is no six-degree-of-freedom mechanism suitable for CTS test of the large lift surface model under the high dynamic pressure condition when the temporary impact wind tunnel M=2-4 at home and abroad.
Disclosure of Invention
In order to solve the problems of small stroke, poor bearing capacity, poor rigidity and the like of the existing six-degree-of-freedom mechanism, the invention aims to: the six-degree-of-freedom mechanism is used for a high Mach number high dynamic pressure high lift model capture track test and is used for a test device for simulating the separation state of a pylon and a carrier.
The technical scheme of the invention is as follows: the six-degree-of-freedom mechanism for the high Mach number high dynamic pressure high lift model capture track test comprises a three-degree-of-freedom translation mechanism, a pitching yaw motion mechanism and a rolling motion mechanism, wherein the three-degree-of-freedom translation parallel mechanism is connected with the pitching yaw motion mechanism, and the pitching yaw motion mechanism is connected with the rolling motion mechanism;
the three-degree-of-freedom translation parallel mechanism comprises three groups of guide rail bases, three groups of first sliding blocks, three groups of first linear driving mechanisms, three groups of first universal hinges and three first connecting rods, wherein the three groups of guide rail bases are fixed on a wind tunnel test section at equal intervals along the circumference, each group of guide rail bases is provided with one group of first linear driving mechanisms, each group of first linear driving mechanisms is connected with one first sliding block, each first sliding block is hinged with one end of one first connecting rod, the other end of each first connecting rod is connected with a pitching yaw base through one group of first universal hinges, the first linear driving mechanisms drive the first sliding blocks to move along the wind tunnel axial direction, the three first connecting rods are connected with the first sliding blocks and the pitching yaw base through the first universal hinges, and the pitching yaw base realizes translational movement along three coordinate axes through controlling the coordinated movement of the three first sliding blocks;
the pitching yaw movement mechanism comprises a pitching yaw base, three groups of second linear driving mechanisms, three groups of second sliding blocks, three groups of rotating hinges, three groups of second universal hinges and three groups of second connecting rods, wherein the three groups of second universal hinges are arranged on the circumference of the bottom plane of the rolling head at average intervals, the three groups of second linear driving mechanisms are arranged on the pitching yaw base at average intervals along the radial direction, one second sliding block is arranged on each group of second linear driving mechanisms, each group of second sliding blocks is connected with one end of each second connecting rod through one group of rotating hinges, and the other end of each second connecting rod is connected with one second universal hinge;
the rolling motion mechanism comprises a rolling head, a rolling head servo motor, a pair of spur gears, a hollow harmonic reducer, a coupler and a store tail rod, wherein the tail end of the store tail rod is inserted into the rolling head, the rolling head servo motor, the spur gears, the hollow harmonic reducer and the coupler are arranged in the rolling head, the hollow harmonic reducer is connected with the rolling head servo motor through the pair of spur gears, and the hollow harmonic reducer is connected with the inner shaft of the store tail rod through the coupler so as to realize rolling motion of the store around the axis of the store. The invention has the innovation points and beneficial effects that:
(1) The six-degree-of-freedom mechanism adopts seven servo motors to realize linear motion and angular motion in three directions. The three-degree-of-freedom translational parallel mechanism and the three-degree-of-freedom two-rotation one-translational parallel mechanism are adopted to realize the motion of the other five degrees of freedom except the rolling. The rolling motion is achieved using a harmonic reducer. Under the condition of meeting the requirements of the movement stroke of the mechanism and the wind tunnel blocking degree, the integral bearing capacity and the rigidity of the mechanism are increased, so that the requirement of the external store on large load is met.
(2) The three-degree-of-freedom translation mechanism adopts a parallel connection mode. The three connecting rods connect the three sliding blocks with the pitching yaw base through universal hinges at two ends. The three sliding blocks are connected with the three groups of linear driving mechanisms to realize the axial movement of the sliding blocks along the wind tunnel. The linear displacement in three directions is realized through the coordinated movement of the sliding blocks, and particularly, the large-stroke movement along the axial direction of the wind tunnel can be realized, and the maximum axial movement stroke can reach 1000mm. The sliding block, the linear driving mechanism and the base are all arranged on the leeward surface of the test section Duan Biban, and only the universal hinge and the connecting rod are positioned in the wind tunnel flow field, so that the occupied space of the moving mechanism in the wind tunnel flow field is reduced, and the bearing capacity and the rigidity of the mechanism are increased in a parallel connection mode; compared with the traditional serial connection mode, the motion error of the mechanism is improved.
(3) The pitching yaw movement mechanism adopts a three-degree-of-freedom parallel mechanism with two rotation degrees and one translation degree, wherein only two rotation degrees of freedom are controlled, and the range of pitching yaw angles can reach +/-45 degrees respectively. The three connecting rods are respectively connected with the three sliding blocks and the rolling head through the rotary hinge and the universal comparator. The connecting rod is divided into two sections, and the two sections of connecting rods realize rotation around the connecting root axis through the rolling bearing. The three sliding blocks are connected with the three groups of linear driving mechanisms to realize the axial movement of the sliding blocks along the wind tunnel. The pitching and yawing movement is realized through the coordinated movement of the sliding blocks. The slide block and the linear driving mechanism are both arranged on the pitching yaw base.
(4) The rolling mechanism is driven by the harmonic speed reducer, so that the rolling angle range can reach more than +/-360 degrees. The input end of the hollow speed reducer is connected with the servo motor through a pair of gears, so that the offset of the servo motor is realized, and the wiring requirement of the mechanism is met.
(5) Seven high-precision servo motors are adopted for the six-degree-of-freedom mechanism to coordinate the driving mechanism, so that the linear displacement precision in three directions can reach 0.1mm, and the angular displacement precision in three directions can reach 1'. The mechanism utilizes the parallel mechanism to realize the motion of the rest 5 degrees of freedom except the rolling, greatly improves the bearing capacity and rigidity of the mechanism, and has the normal bearing capacity as high as 2000N.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a three degree of freedom translation mechanism of the present invention.
FIG. 3 is a schematic view of the pitch yaw motion mechanism of the present invention.
Fig. 4 is a schematic view of the roll motion mechanism of the present invention.
Detailed Description
The invention is further illustrated by the following examples:
example 1
As shown in FIG. 1, the six-degree-of-freedom mechanism for the high Mach number high dynamic pressure high lift model capture trajectory test is suitable for the high lift surface model capture trajectory test under the condition of high Mach number high dynamic pressure of a 1 m-order ultrasonic wind tunnel and comprises a three-degree-of-freedom translation mechanism 1, a pitching yaw motion mechanism 2 and a rolling motion mechanism 3;
as shown in fig. 2, the three-degree-of-freedom translational parallel mechanism 1 comprises three groups of guide rail bases 4, three groups of first sliding blocks 5, three groups of first linear driving mechanisms 6, three groups of first universal hinges 7 and three first connecting rods 8, wherein the three groups of guide rail bases 4 are fixed on a wind tunnel test section at equal intervals along the circumference, each group of guide rail bases 4 is provided with one group of first linear driving mechanisms 6, each group of first linear driving mechanisms 6 is connected with one first sliding block 5, each first sliding block 5 is hinged with one end of one first connecting rod 8, the other end of each first connecting rod 8 is connected with a pitching yaw base 9 through one group of first universal hinges 7, the first linear driving mechanisms 6 drive the first sliding blocks 5 to move along the wind tunnel axial direction, and the three first connecting rods 8 are connected with the first sliding blocks 5 and the pitching yaw base 9 through the first universal hinges 7; each group of first linear driving mechanisms 6 comprises a first servo motor 10, a first speed reducer 11, a first lead screw 12 and a first linear guide rail 13, and three sliding blocks 5 are in coordinated movement by controlling three servo motors 10 to drive the lead screws 12, so that the pitching yaw base 9 realizes translational movement along three coordinate axes.
As shown in fig. 3, the pitching yaw movement mechanism 2 comprises a pitching yaw base 9, three groups of second linear driving mechanisms 14, three groups of second sliding blocks 15, three groups of rotating hinges 16, three groups of second universal hinges 17 and three groups of connecting rod mechanisms 18, wherein the three groups of second universal hinges 17 are arranged on the circumference of the bottom plane of a rolling head 19 at equal intervals, the three groups of second linear driving mechanisms 14 are arranged on the pitching yaw base 9 at equal intervals along the radial direction, one second sliding block 15 is arranged on each group of second linear driving mechanisms 14, each group of second sliding blocks 15 is connected with one end of one group of connecting rod mechanisms 18 through one group of rotating hinges 16, and the other end of the connecting rod mechanism 18 is connected with one second universal hinge 17; each group of linkage 18 comprises a second link 24, a third link 25 and a rolling bearing 26, the second link 24 being connected with the third link 25 by the rolling bearing 26;
each group of second linear driving mechanisms 14 comprises a second servo motor 20, a second speed reducer 21, a second lead screw 22 and a second linear guide rail 23;
three second servo motors 20 are controlled to drive three groups of second lead screws 22, so that the three second sliding blocks 15 move in a coordinated manner, and the rolling head 19 realizes pitching, yawing and linear movement along the axial direction of the wind tunnel. Pitch and yaw motions are achieved here only with this mechanism. During the movement, the mechanism generates additional movement along the normal direction and the transverse direction of the wind tunnel, and the partial movement is compensated by the three-degree-of-freedom translational parallel mechanism 1.
As shown in fig. 4, the rolling motion mechanism 3 includes a rolling head 19, a rolling head servo motor 27, a pair of spur gears 28, a hollow harmonic reducer 29, a coupler 30 and a store tail 31, wherein the end of the store tail 31 is inserted into the rolling head 19, the rolling head 19 is internally provided with the rolling head servo motor 27, the spur gears 28, the hollow harmonic reducer 29 and the coupler 30, the hollow harmonic reducer 29 is connected with the rolling head servo motor 27 through the pair of spur gears 28, and the hollow harmonic reducer 29 is connected with an inner shaft 32 of the store tail 31 through the coupler 30 so as to realize rolling motion of the store around the axis thereof.
The working principle of the invention is as follows:
1) And (3) installing the stores and the balance on a store tail rod of the six-degree-of-freedom mechanism, determining initial theoretical relative positions and postures of the stores and the carrier according to test requirements, and controlling the six-degree-of-freedom mechanism to enable the stores to move to the initial positions and postures so as to finish initial positioning of the stores.
2) According to the spatial positions of a plurality of carriers under the flow field after the stores are separated, seven servo motor motors of a three-degree-of-freedom translation mechanism, a pitching mechanism and a rolling mechanism are controlled to enable the stores to reach corresponding test positions and postures, and pneumatic load measurement is carried out through a store balance.
The operation process of the whole system is as follows: firstly, initial positioning of the stores and the carrier is carried out, wherein the initial positioning comprises initial relative positions and postures, and according to the theoretical relative positions of the stores and the carrier, the posture differences delta X, delta Y, delta Z, delta alpha, delta beta and delta gamma of the stores in six directions of the opposite carrier are actually measured. The three-degree-of-freedom translation mechanism 1, the pitching yaw motion mechanism 2 and the rolling motion mechanism 3 are controlled to move in a coordinated manner in a mode with compensation motion, so that the pose difference in six directions meets the initial positioning error. And then controlling the six-degree-of-freedom mechanism to move the stores to corresponding measuring positions and postures according to the test requirements and computer calculation, and then performing a track capturing test.
Claims (1)
1. The utility model provides a six degree of freedom mechanisms of high mach number high dynamic pressure high lift model capture orbit test, includes three degree of freedom translation parallel mechanism (1), every single move yaw motion mechanism (2) and roll motion mechanism (3), three degree of freedom translation parallel mechanism (1) be connected with every single move yaw motion mechanism (2), every single move yaw motion mechanism (2) are connected with roll motion mechanism (3), its characterized in that:
the three-degree-of-freedom translation parallel mechanism (1) comprises three groups of guide rail bases (4), three groups of first sliding blocks (5), three groups of first linear driving mechanisms (6), three groups of first universal hinges (7) and three first connecting rods (8), wherein the three groups of guide rail bases (4) are fixed on a wind tunnel test section at equal intervals along the circumference, each group of guide rail bases (4) is provided with one group of first linear driving mechanisms (6), each group of first linear driving mechanisms (6) is connected with one first sliding block (5), each first sliding block (5) is hinged with one end of one first connecting rod (8), the other end of each first connecting rod (8) is connected with a pitching yaw base (9) through one group of first universal hinges (7), the first linear driving mechanisms (6) drive the first sliding blocks (5) to move along the axial direction of the wind tunnel, and the three first connecting rods (8) are connected with the first sliding blocks (5) and the pitching base (9) through the first universal hinges (7), and then three coordinate axes of movement of the three first sliding blocks (5) are controlled to realize the translation of the yaw base (9) along the three coordinate axes;
the pitching yaw movement mechanism (2) comprises a pitching yaw base (9), three groups of second linear driving mechanisms (14), three groups of second sliding blocks (15), three groups of rotating hinges (16), three groups of second universal hinges (17) and three groups of connecting rod mechanisms (18), wherein the three groups of second universal hinges (17) are arranged on the circumference of the bottom plane of the rolling head (19) at average intervals, the three groups of second linear driving mechanisms (14) are arranged on the pitching yaw base (9) at average intervals along the radial direction, one second sliding block (15) is arranged on each group of second linear driving mechanisms (14), one end of each group of second sliding blocks (15) is connected with one end of one group of connecting rod mechanisms (18) through one group of rotating hinges (16), and the other end of each connecting rod mechanism (18) is connected with one second universal hinge (17); each group of connecting rod mechanisms (18) comprises a second connecting rod (24), a third connecting rod (25) and a rolling bearing (26), and the second connecting rod (24) is connected with the third connecting rod (25) through the rolling bearing (26);
the rolling motion mechanism (3) comprises a rolling head (19), a rolling head servo motor (27), a pair of spur gears (28), a hollow harmonic reducer (29), a coupler (30) and a store tail rod (31), wherein the tail end of the store tail rod (31) is inserted into the rolling head (19), the rolling head servo motor (27), the spur gears (28), the hollow harmonic reducer (29) and the coupler (30) are arranged in the rolling head (19), the hollow harmonic reducer (29) is connected with the rolling head servo motor (27) through the pair of spur gears (28), and the hollow harmonic reducer (29) is connected with an inner shaft (32) of the store tail rod (31) through the coupler (30) so as to realize rolling motion of the store around the axis of the store.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111473949B (en) * | 2020-04-14 | 2022-04-01 | 日照坤仑智能科技有限公司 | Device and method for measuring time difference of falling wings, rolling and washing of aircraft |
| CN112067248B (en) * | 2020-07-27 | 2022-09-23 | 中国航天空气动力技术研究院 | Nine-degree-of-freedom capture track test device and method for two-stage motion |
| CN112747889B (en) * | 2020-12-28 | 2022-03-01 | 中国航天空气动力技术研究院 | Track capture test system for simultaneous separation and simulation of double external stores |
| CN116399543B (en) * | 2023-04-10 | 2023-12-12 | 四川省机械研究设计院(集团)有限公司 | Six-degree-of-freedom wind tunnel model supporting system based on Hexaglide parallel mechanism and control method |
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| CN103831821A (en) * | 2014-03-26 | 2014-06-04 | 哈尔滨工业大学 | Seven-freedom-degree heavy load moving operation arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8245595B2 (en) * | 2009-04-30 | 2012-08-21 | Wisconsin Alumni Research Foundation | Two-axis non-singular robotic wrist |
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| CN103831821A (en) * | 2014-03-26 | 2014-06-04 | 哈尔滨工业大学 | Seven-freedom-degree heavy load moving operation arm |
| CN106272386A (en) * | 2016-09-22 | 2017-01-04 | 中国科学院合肥物质科学研究院 | A kind of hinge type double freedom modular mechanical arm for EAST device |
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