CN109094817A - The adaptive undercarriage of carrier-based helicopter warship simulation system - Google Patents
The adaptive undercarriage of carrier-based helicopter warship simulation system Download PDFInfo
- Publication number
- CN109094817A CN109094817A CN201810992926.1A CN201810992926A CN109094817A CN 109094817 A CN109094817 A CN 109094817A CN 201810992926 A CN201810992926 A CN 201810992926A CN 109094817 A CN109094817 A CN 109094817A
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- warship
- hawser
- mounting seat
- carrier
- undercarriage
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 19
- 238000004088 simulation Methods 0.000 title claims abstract description 12
- 230000002787 reinforcement Effects 0.000 claims description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 238000004080 punching Methods 0.000 claims 1
- 230000000630 rising effect Effects 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The adaptive undercarriage of carrier-based helicopter warship simulation system, the invention belongs to the adaptive undercarriages of carrier-based helicopter to simulate dip test technical field, to solve the problems, such as that existing helicopter landing gear cannot wave warship face or complicated landform be safely completed rising and falling.Several serial machines are hung upside down per capita in robot mounting seat, laser radar and inertance element are installed in robot mounting seat, the end of each serial manipulator is from top to bottom sequentially installed with a six-dimension force sensor and a sufficient end laser range sensor, and a cushion is housed below the laser range sensor of each foot end；The one ends wound of hawser is on the output wheel of motor, the other end of hawser is connected around two pulleys with robot mounting seat, warship face analog platform is arranged below cushion, and motor and two pulleys are packed on frame, and the parallel institution and frame in the analog platform of warship face are affixed.The present invention is waving warship face or complicated landform is landed for helicopter simulating.
Description
Technical field
The invention belongs to the adaptive undercarriages of carrier-based helicopter to simulate dip test technical field, and in particular to one kind is used for
The adaptive undercarriage of helicopter simulates the experimental rig of warship.
Background technique
Preceding most of helicopters still rely on very simple wheeled or slide type bracket when rising and falling.This means that biography
System helicopter can not be completed to rise and fall in the inclination even ground of out-of-flatness at all, therefore a kind of new airborne robot type is adaptive
Answer undercarriage by be helicopter landing gear development trend.In order to verify the performance of this adaptive undercarriage, need to carry out sample
The experiment of machine, this just proposes demand to the type undercarriage simulation carrier landing system.The present invention is based on the above reason, proposes
A kind of adaptive undercarriage of carrier-based helicopter warship simulation system, to meet the warship of simulating of helicopter adaptive undercarriage
Demand.
Summary of the invention
The purpose of the present invention is cannot wave warship face or complicated landform is pacified to solve existing helicopter landing gear
Complete entirely the problem of rising and falling, and provide a kind of adaptive undercarriage of carrier-based helicopter warship simulation system.
To achieve the above object, the technical scheme is that
The adaptive undercarriage of carrier-based helicopter of the invention warship simulation system, composition include that undercarriage, warship face mould are quasi-
Platform, motor, hawser, installation frame 1 and two pulleys；
Undercarriage includes robot mounting seat, laser radar, inertance element, several serial manipulators, several six-dimensional forces
Sensor, several sufficient end laser range sensors and several cushions, several serial machines are hung upside down per capita installs bottom in robot
On seat, laser radar and inertance element are installed in robot mounting seat, and the end of each serial manipulator is from top to bottom
The sufficient end laser range sensor of a six-dimension force sensor and one is sequentially installed with, under the laser range sensor of each foot end
Face is equipped with a cushion；
For the one ends wound of hawser on the output wheel of motor, the other end of hawser installs bottom around two pulleys and robot
Seat is connected, and warship face analog platform is arranged below cushion, and motor and two pulleys are packed on frame, and warship face mould is quasi- flat
Parallel institution and frame in platform is affixed.
Compared with the prior art, the invention has the following beneficial effects:
One, the present invention is devised in the adaptive undercarriage for waving warship face or complicated landform is landed, and utilizes electricity
Machine positive and negative rotation controls its landing, and a kind of helicopter landing simulation system is formed in conjunction with the analog platform of warship face.Due to cascade machine
Device people have multiple rotary freedoms, can larger range of carry out pose adjustment, to the better adaptability of landform, to solve
Current helicopter cannot have been expanded straight the problem of slope, uneven ground and dynamic warship face carry out steady landing
The application range of the machine of liter；Can not only undercarriage be made to decline by motor positive and inverse, but also can increase undercarriage, be widely used.
Two, for the present invention using being driven by electricity, noise is small, pollution-free.
Three, the present invention installs laser radar in robot mounting seat and is equipped with 6 DOF in serial manipulator end
Force snesor and sufficient end laser range sensor, can accurately detect warship face situation, provide landform letter for the landing of undercarriage
Breath.
Four, the present invention simulates the swinging condition in warship face using the parallel institution of six degree of freedom, and control system can provide
Any type of oscillating motion, and also can be carried out longitudinal movement, any type of sea situation can be simulated completely, it is adaptable,
And human and material resources can be saved, substantially reduce experimental cost.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is invention course of work schematic diagram of the invention.
Specific embodiment
Illustrate present embodiment below with reference to Fig. 1, present embodiment include undercarriage, warship face analog platform 11, motor 1,
Hawser 2, installation frame 12 and two pulleys 3；
Undercarriage includes robot mounting seat 4, laser radar 9, inertance element 10, several serial manipulators 5, Shuo Geliu
Dimensional force sensor 6, several sufficient end laser range sensors 7 and several cushions 8, several serial manipulators 5 are hung upside down in machine
In people's mounting seat 4, laser radar 9 and inertance element 10 are installed in robot mounting seat 4, each serial manipulator 5
End be from top to bottom sequentially installed with the sufficient end laser range sensor 7 of a six-dimension force sensor 6 and one, each foot end is swashed
One cushion 8 is housed below ligh-ranging sensor 7；
The one ends wound of hawser 2 on the output wheel of motor 1, pacify around two pulleys 3 and robot by the other end of hawser 2
It fills pedestal 4 to be connected, warship face analog platform 11 is arranged below cushion 8, and motor 1 and two pulleys 3 are packed in frame 12
On, the parallel institution 11-2 and frame 12 in warship face analog platform 11 are affixed.
Warship face analog platform 11 is driven using the six-degree-of-freedom parallel connection mechanism of steward form.
The serial manipulator 5, six-dimension force sensor 6, sufficient end laser range sensor 7 are identical with the quantity of cushion 8,
I.e. each serial manipulator 5 have the sufficient end 7, cushions 8 of laser range sensor of six-dimension force sensor 6, one with
It is mating.
Above embodiment further includes three reinforcement hawsers 13, and three reinforcement hawsers 13, which are uniformly arranged, installs bottom in robot
The upper surface of seat 4, and the upper end for reinforcing hawser 13 is connect with hawser 2, the lower end and robot mounting seat 4 for reinforcing hawser 13 connect
It connects.There is robot mounting seat 4 during can preventing undercarriage from adjusting and significantly shakes in reinforcement hawser 13.
Warship face analog platform 11 is the prior art, and warship face analog platform 11 is using Stewart platform parallel mechanism, i.e.,Parallel institution；I.e. warship face analog platform 11 is made of one piece of circle plate 11-1 and six-degree-of-freedom parallel connection mechanism 11-2, circle
The outer surface of shape plate 11-1, which applies, warship mark, and warship face analog platform 11 is used to substitute warship face and lands for helicopter.Warship face mould
Quasi- platform 11 has lateral, longitudinal, vertical, pitching, rolling and yaw six-freedom degree, by the fortune for controlling parallel institution 11-2
It moves to simulate the swinging condition in warship face, is driven by six electric cylinders on parallel institution 11-2, electric cylinder drives by its institute
Control computer control even.Stewart platform is proposed by Stewart and 1970s.It is constituted substantially to divide
It is connected for moving platform, silent flatform and six space supporting legs, each supporting leg with moving platform with flexural pivot.In the centre of supporting leg, can be
The prismatic pair being made of hydraulic cylinder or the screw pair being made of ball-screw are prime mover parts of each supporting leg.
It is driven by motor 1 to control the lifting of robot mounting seat 4, whole process is risen and fallen for helicopter simulating；
The effect of motor 1 is the speed for driving hawser to control lifting and the lifting of undercarriage；
The effect of serial manipulator 5 is three landing legs for substituting carrier-based helicopter undercarriage, and each serial manipulator 5 has
There are multiple rotary freedoms, large range of pose adjustment may be implemented, to meet the requirement of different terrain；It is equipped in robot
Six-dimension force sensor 6 and sufficient end laser range sensor 7 for detect landing leg end warship when contact situation, then will
This signal feeds back the control system to robot, preferably to adjust the posture of each serial manipulator 5；The effect of cushion 8 is
Certain buffer function is played in robot end and warship face contact, the greater impact damage caused by avoiding because of misoperation
Element.
The effect of robot mounting seat 4 is the chassis for substituting helicopter, for hanging upside down serial manipulator, laser above
The effect of radar 9 is detected to warship face, is provided observation data to processing unit, is carried out the three-dimensionalreconstruction of landform；Inertia member
Part 10 is used to detect the posture of body.
The course of work of the invention be divided into body landing phases, warship preparation stage, Adaptive Attitude adjusting stage and drop
Fall end.Detailed process is as follows: starting device first, so that each equipment is started to work, dynamic warship face analog platform 11 is according to pre-
If movement rule makees oscillating motion；Originally undercarriage is in higher position, is integrally begun to decline with a biggish speed V1, this
Process is equivalent to helicopter entire lowering, but undercarriage does not have started movement；According to 9 scanning result of laser radar, entrance of selecting a good opportunity
The warship preparation stage, then serial manipulator 5 is deployed into certain angle, otherwise continues to land；Then due to 8 lower end surface of cushion away from
It is closer from round plate 11-1, it will continue to decline with a lesser speed V2, according to the measurement of sufficient end laser range sensor 7
As a result, when cushion 8 and circle plate 11-1 will be contacted, into the Adaptive Attitude adjusting stage, then serial manipulator 5 into
Otherwise row pose adjustment is continued with adapting to the swing situation in warship face with smaller speed V2 decline；Serial manipulator 5 carries out posture
Dynamic is adjusted to indexs such as balance, sufficient end stress when meeting the requirements, and is locked each joint of serial manipulator 5, is completed landing.
Finally, it is worth noting that, which is not limited only to above description, can extend to defined in claims its
His deformation scheme.
Claims (4)
1. a kind of adaptive undercarriage of carrier-based helicopter warship simulation system, it is characterised in that: the system comprises undercarriages, warship
Face analog platform (11), motor (1), hawser (2), frame (12) and two pulleys (3)；
Undercarriage includes robot mounting seat (4), laser radar (9), inertance element (10), several serial manipulators (5), number
A six-dimension force sensor (6), several sufficient end laser range sensors (7) and several cushions (8), several serial manipulators (5)
It hangs upside down on robot mounting seat (4), laser radar (9) and inertance element (10) are installed in robot mounting seat
(4) on, the end of each serial manipulator (5) is from top to bottom sequentially installed with a six-dimension force sensor (6) and a sufficient end
Laser range sensor (7) is equipped with a cushion (8) below each foot end laser range sensor (7)；
For the one ends wound of hawser (2) on the output wheel of motor (1), the other end of hawser (2) bypasses two pulleys (3) and machine
People's mounting seat (4) is connected, and warship face analog platform (11) is arranged below cushion (8), motor (1) and two pulleys (3)
It is packed on frame (12), the parallel institution (11-2) and frame (12) in warship face analog platform (11) are affixed.
2. the adaptive undercarriage of a kind of carrier-based helicopter according to claim 1 warship simulation system, it is characterised in that: institute
Warship face analog platform (11) is stated to drive using the six-degree-of-freedom parallel connection mechanism of steward form.
3. the adaptive undercarriage of a kind of carrier-based helicopter according to claim 1 or 2 warship simulation system, feature exist
In: the serial manipulator (5), six-dimension force sensor (6), sufficient end laser range sensor (7) and cushion (8) quantity phase
Together, i.e., each serial manipulator 5 have a six-dimension force sensor (6), a sufficient end laser range sensor (7), one it is slow
Punching pad (8) is matched.
4. the adaptive undercarriage of a kind of carrier-based helicopter according to claim 3 warship simulation system, it is characterised in that: institute
The system of stating further includes three reinforcement hawsers (13), and three reinforcements hawser (13) are uniformly arranged in the upper of robot mounting seat (4)
Face, and the upper end for reinforcing hawser (13) is connect with hawser (2), the lower end and robot mounting seat (4) for reinforcing hawser (13) are even
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810992926.1A CN109094817B (en) | 2018-08-29 | 2018-08-29 | Carrier-based helicopter self-adaptive landing gear landing simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810992926.1A CN109094817B (en) | 2018-08-29 | 2018-08-29 | Carrier-based helicopter self-adaptive landing gear landing simulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109094817A true CN109094817A (en) | 2018-12-28 |
| CN109094817B CN109094817B (en) | 2021-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810992926.1A Active CN109094817B (en) | 2018-08-29 | 2018-08-29 | Carrier-based helicopter self-adaptive landing gear landing simulation system |
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| Country | Link |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108445764A (en) * | 2018-03-23 | 2018-08-24 | 吉林大学 | The Active Compliance Control strategy of Stewart platforms |
| CN110816866A (en) * | 2019-10-21 | 2020-02-21 | 燕山大学 | Variable-topology foldable and unfoldable shipborne helicopter take-off and landing stable platform |
| CN112340058A (en) * | 2020-11-05 | 2021-02-09 | 燕山大学 | Test platform for carrier-based helicopter landing auxiliary equipment and operation method thereof |
| CN113879515A (en) * | 2021-10-08 | 2022-01-04 | 哈尔滨工业大学 | Three-foot type self-adaptive landing gear and control method thereof |
| CN115457833A (en) * | 2022-09-15 | 2022-12-09 | 吉林大学 | Traction robot track control experiment table of offshore operation helicopter |
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| CN106125765A (en) * | 2016-08-03 | 2016-11-16 | 中国人民解放军总参谋部第六十研究所 | A kind of boat-carrying depopulated helicopter vehicle-mounted landing analog systems |
| CN107037823A (en) * | 2017-06-08 | 2017-08-11 | 中国海洋大学 | A kind of experiment porch and its experimental method for being used to simulate ocean platform motion compensation |
| EP3208593A1 (en) * | 2016-02-18 | 2017-08-23 | The Boeing Company | Optical monitoring system and method for imaging a component under test |
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| CN102072804A (en) * | 2010-12-21 | 2011-05-25 | 南京航空航天大学 | High-accuracy airplane wheel pre-rotating mechanism for drop test of airplane landing gear |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108445764A (en) * | 2018-03-23 | 2018-08-24 | 吉林大学 | The Active Compliance Control strategy of Stewart platforms |
| CN108445764B (en) * | 2018-03-23 | 2021-01-12 | 吉林大学 | Active compliance control strategy of Stewart platform |
| CN110816866A (en) * | 2019-10-21 | 2020-02-21 | 燕山大学 | Variable-topology foldable and unfoldable shipborne helicopter take-off and landing stable platform |
| CN110816866B (en) * | 2019-10-21 | 2022-06-28 | 燕山大学 | Variable-topology foldable and unfoldable shipborne helicopter take-off and landing stable platform |
| CN112340058A (en) * | 2020-11-05 | 2021-02-09 | 燕山大学 | Test platform for carrier-based helicopter landing auxiliary equipment and operation method thereof |
| CN112340058B (en) * | 2020-11-05 | 2022-05-06 | 燕山大学 | Test platform for carrier-based helicopter landing auxiliary equipment and operation method thereof |
| CN113879515A (en) * | 2021-10-08 | 2022-01-04 | 哈尔滨工业大学 | Three-foot type self-adaptive landing gear and control method thereof |
| CN115457833A (en) * | 2022-09-15 | 2022-12-09 | 吉林大学 | Traction robot track control experiment table of offshore operation helicopter |
| CN115457833B (en) * | 2022-09-15 | 2024-04-19 | 吉林大学 | Traction robot track control experiment table of offshore operation helicopter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109094817B (en) | 2021-05-14 |
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