CN111462573B - Platform is swayd to slope rotation axis formula - Google Patents
Platform is swayd to slope rotation axis formula Download PDFInfo
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- CN111462573B CN111462573B CN202010331890.XA CN202010331890A CN111462573B CN 111462573 B CN111462573 B CN 111462573B CN 202010331890 A CN202010331890 A CN 202010331890A CN 111462573 B CN111462573 B CN 111462573B
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- vertical shaft
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/085—Special purpose teaching, e.g. alighting on water, aerial photography
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/46—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer the aircraft being a helicopter
Abstract
The invention relates to a tilting rotary shaft type swinging platform, wherein a driving device and a vertical supporting sleeve are arranged on a base of the platform, a vertical shaft is arranged in the vertical supporting sleeve, the driving device is connected with the lower end of the vertical shaft through a gear pair, the upper end of the vertical shaft is connected with the lower end of a tilting shaft, the tilting shaft is arranged in a tilting supporting sleeve, and the upper end of the tilting supporting sleeve is fixedly connected with a training platform. The invention adopts a single motor to drive, can realize three-degree-of-freedom swinging and vertical fluctuation actions, simplifies the control program and reduces the difficulty of swinging curve simulation.
Description
Technical Field
The invention belongs to the field of flight training, relates to a swing platform for simulating carrier-based helicopter landing training, and particularly relates to an inclined rotating shaft type swing platform.
Background
The ship-based helicopter is mainly used for activities on the sea and based on ships, and the using environment of the ship-based helicopter is greatly different from that of a land-based helicopter. The landing and taking-off of the carrier-based helicopter are mainly characterized in that maneuvering is carried out on a flight deck which is swung in six degrees of freedom and is influenced by complex airflow, so that the problems of landing point deviation, overlarge descending speed, slippage and the like easily occur, and once an accident occurs, the common consequences are serious, so that the carrier-based helicopter landing training simulated landing platform is very required to be built on land for training carrier-based helicopter pilots.
The six-degree-of-freedom swinging motion of the simulated flight deck is a function pursued by various simulated take-off and landing platforms, but in many cases, the six-degree-of-freedom motion platform has certain waste and a high complexity of a control system, so that the six-degree-of-freedom swinging and heave motion working mode is mostly three-degree-of-freedom swinging and heave motion working mode. The invention provides a three-axis swing table, which adopts an inner layer frame, a middle layer frame and an outer layer frame, utilizes a servo motor to drive a ball screw to push, realizes the swing motion of the three frames of the working table, and further provides a three-degree-of-freedom swing motion environment. The invention CN108227517A provides a three-degree-of-freedom swing platform, which adopts a plurality of oil cylinders with two ends supporting the swing platform through hinged supports, and realizes three-degree-of-freedom swing motion by servo control of the oil cylinders. The special device for superposing and heaving can realize the partial motion simulation of the flight deck.
However, most of the prior devices adopt more motion drives, so that the structure is complex and heavy, the manufacturing cost is high, the maintenance is difficult, and the drive is also complex.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides an inclined rotating shaft type swing platform, and aims to provide an inclined shaft type swing platform which can realize three-degree-of-freedom swing and vertical fluctuation actions by adopting single motor drive, and a control program is simplified.
The technical scheme is as follows:
a tilting rotary shaft type swinging platform comprises a base, a gear pair, a driving device, a vertical supporting sleeve, a vertical shaft, a tilting supporting sleeve, a sliding block, a guide pillar and a training platform;
the base is provided with a driving device and a vertical supporting sleeve, a vertical shaft is arranged in the vertical supporting sleeve, the driving device is connected with the lower end of the vertical shaft through a gear pair, the upper end of the vertical shaft is connected with the lower end of an inclined shaft, the inclined shaft is arranged in an inclined supporting sleeve, and the upper end of the inclined supporting sleeve is fixedly connected with a training platform;
the outer surface of the inclined supporting sleeve is fixedly connected with a cylindrical anti-rotating rod, the end part of the anti-rotating rod is inserted into a sliding block, the sliding block is in clearance fit with a sliding way arranged at the upper end of a guide pillar, and the guide pillar is arranged on the base.
The axis of the vertical shaft, the axis of the inclined shaft and the axis of the anti-rotation rod are intersected at a point A, an included angle alpha is formed between the axis of the vertical shaft and the axis of the inclined shaft, and the axis of the anti-rotation rod is perpendicular to the axis of the inclined shaft.
The included angle alpha formed between the axis of the vertical shaft and the axis of the inclined shaft ranges from 0 degree to 30 degrees.
The upper end of the vertical shaft is provided with an eccentric disc, the lower end of the inclined shaft is provided with a connecting disc, and the eccentric disc is fixedly connected with the connecting disc.
The tilting shaft is mounted in a tilting support sleeve by means of bearings, and the vertical shaft is mounted in a vertical support sleeve by means of bearings.
The inside cylinder hole that is of slider, the downthehole anti-rotation pole that inserts of cylinder, slider periphery clearance fit is in the slide.
The axis of the vertical shaft, the axis of the tilting shaft and the axis of the anti-rotation rod jointly intersect at a point A, and the point A is located on a middle plane between the two side surfaces of the slideway.
The advantages and effects are as follows:
(1) compared with the traditional swing platform scheme, the three-freedom-degree swing platform adopts a single motor to drive, can realize three-freedom-degree swing and vertical fluctuation, simplifies the control program and reduces the difficulty of swing curve simulation.
(2) Compared with the traditional swing platform scheme, the method for rotating the inclined shaft greatly reduces the whole size, and has more reasonable layout and more compact structure.
(3) Compared with the swing platform of the same type, the swing platform has simple structure and convenient control and maintenance.
Description of the drawings:
FIG. 1 is a schematic view of the overall structure of a rocking platform;
FIG. 2 is a schematic view of a swing table rotating 90 degrees;
FIG. 3 is a schematic view of a swing table rotating 180 degrees;
FIG. 4 is a perspective view of the connection between the inclined support sleeve and the guide post;
in the figure, 1, a base, 2, a gear pair, 2-1, a pinion, 2-2, a bull gear, 3, a driving device, 4, a vertical supporting sleeve, 5, a vertical shaft, 5-1, an eccentric disc, 6, an inclined shaft, 6-1, a connecting disc, 6-2, a baffle, 7, an inclined supporting sleeve, 8, an anti-rotation rod, 9, a sliding block, 10, a training platform, 11, a slideway, 12, a guide post and 15 are dotted circles.
The specific implementation mode is as follows:
as shown in fig. 1, the tilting axis type rocking platform mainly includes:
a tilting swivel rocking platform comprising a base 1, a gear pair 2, a drive means 3, a vertical support sleeve 4, a vertical shaft 5, a tilting shaft 6, a tilting support sleeve 7 and a training platform 10;
be provided with drive arrangement 3 and vertical support cover 4 on the base 1, be provided with vertical axle 5 in the vertical support cover 4, drive arrangement 3 passes through gear pair 2 with the lower extreme of vertical axle 5 and is connected, and the upper end and the 6 lower extremes of tilt axle of vertical axle 5 are connected, and place in the tilt axle 6 in the tilt support cover 7, and the tilt support cover 7 upper end is connected with training platform 10.
The driving device 3 is composed of a motor and a speed reducer, wherein the motor and the speed reducer are all conventional universal products, and can be purchased from any normal manufacturer, and the specific model is selected according to the size of the structure.
The outer surface of the inclined support sleeve 7 is fixedly connected with a cylindrical anti-rotation rod 8, the end part of a cantilever of the anti-rotation rod 8 is inserted into a cylindrical hole of the sliding block 9, and the cylindrical structure of the anti-rotation rod 8 is matched with the cylindrical hole of the sliding block 9, so that the anti-rotation rod 8 and the sliding block 9 can rotate relatively; the slide block 9 is in clearance fit with a slide way 11 arranged at the upper end of a guide post 12, the slide block 9 can slide up and down along the slide way 11, and the guide post 12 is arranged on the base 1.
The axis of the vertical shaft 5, the axis of the inclined shaft 6 and the axis of the anti-rotation rod 8 intersect at a point A, the axis of the vertical shaft 5 and the axis of the inclined shaft 6 form an included angle alpha, and the axis of the anti-rotation rod 8 is perpendicular to the axis of the inclined shaft 6. The vertical shaft 5, the inclined shaft 6 and the anti-rotation rod 8 move in a coordinated manner, support and restrain each other, so that three-degree-of-freedom swinging is realized, and the requirement of a simulated flight deck on six-degree-of-freedom swinging motion is met.
Preferably, the included angle alpha formed between the axis of the vertical shaft 5 and the axis of the inclined shaft 6 is 0-30 degrees. That is, the inclined axis 6 forms an angle of 0 to 30 DEG with the vertical direction. When α is zero, i.e. the axis of the vertical shaft 5 is in line with the axis of the tilting shaft 6, the training platform 10 can be rotated and rocked along a plane.
Specifically, from a geometrical point of view, there is a dashed circle 15 on the outer circumferential surface of the inclined support sleeve 7, centered at point a, as shown by the dashed line in fig. 2. The dotted circle 15 swings around the axis 14 of the vertical shaft 5, no matter which direction the dotted circle 15 swings to, a radial line always passes through the symmetry plane of the slideway 11, and the elevation angles of different radial lines in the symmetry plane of the slideway 11 are different, because the inclined support sleeve 7 can freely rotate around the inclined shaft 6, the axis of the rotation preventing rod 8 connected with the inclined support sleeve must rotate to the symmetry plane of the slideway 11 relative to the axis of the inclined shaft 6, namely, the axis of the rotation preventing rod 8 is always in the symmetry plane of the slideway 11, and the elevation angle is always changed. Under the restriction of the rotation driving and rotation preventing rod 8 of the inclined shaft 6, the inclined support sleeve 7 drives the training platform 10 to swing.
The upper end of the vertical shaft 5 is integrally provided with an eccentric disc 5-1, the lower end of the inclined shaft 6 is integrally provided with a connecting disc 6-1, the size of the eccentric disc 5-1 is consistent with that of the connecting disc 6-1, namely the contact surface area of the eccentric disc 5-1 and the connecting disc 6-1 is consistent, the eccentric disc 5-1 of the vertical shaft 5 and the connecting disc 6-1 of the inclined shaft 6 are fixedly connected through bolts, and the axis of the vertical shaft 5 deviates from the axis of the inclined shaft 6 by a certain distance on the flange surface where the eccentric disc 5-1 and the connecting disc 6-1 are connected.
The tilting shaft 6 is bearing-mounted in a tilting support sleeve 7 and the vertical shaft 5 is bearing-mounted in a vertical support sleeve 4.
As shown in fig. 4, the inside of the slider 9 is a cylindrical hole, the anti-rotation rod 8 is inserted into the cylindrical hole, the periphery of the slider 9 is flat, and the periphery of the slider 9 is in clearance fit between two surfaces of the slide rail 11. The slide block 9 can slide up and down in the slide way 11 and can swing in a plane parallel to two surfaces of the slide way 11 so as to adapt to the up-and-down swing of the rotation preventing rod 8.
The common point of intersection a of the axis of the vertical shaft 5 with the axis of the tilting shaft 6 and with the axis of the anti-rotation lever 8 lies on the median plane between the two sides of the slideway 11, in which plane the anti-rotation lever 8 oscillates.
The gear pair 2 is formed by meshing a small gear 2-1 and a large gear 2-2, the small gear 2-1 is connected with a driving device 3, and the large gear 2-2 of the gear pair 2 is connected with a vertical shaft 5. The small gear 2-1 drives the big gear 2-2 to rotate, so that labor is saved.
The top end of the inclined shaft 6 is provided with a baffle 6-2, the inner bearing ring between the inclined shaft 6 and the inclined support sleeve 7 is fixed on the inclined shaft 6 by the baffle 6-2, the outer bearing ring supports the inclined support sleeve 7, the inclined shaft 6 and the inclined support sleeve 7 can freely rotate, and the baffle 6-2 is used for axially fixing the inclined support sleeve 7 on the inclined shaft 6.
The specific working process is as follows: the driving device 3 drives the vertical shaft 5 to rotate through the gear pair 2, thereby driving the inclined shaft 6 to rotate around the vertical axis 14, no matter where the inclined shaft 6 rotates, because the outer circle of the cross section passing through the point A on the outer cylindrical surface of the inclined support sleeve 7 is always unchanged, and the inclined support sleeve 7 is driven by the inclined shaft 6 to rotate around the vertical axis 14, the outer circle swings around the point A, meanwhile, because the rotation preventing rod 8 fixedly connected on the outer circle is the radius extension line of the circle, the inclined support sleeve 7 is freely sleeved on the inclined shaft 6 through the bearing, no matter which direction the inclined shaft 6 drives the inclined support sleeve 7 to rotate around the vertical axis 14, the inclined support sleeve 7 is limited by the rotation preventing rod 8, the inclined support sleeve 7 rotates back to the position where the radius line of the rotation preventing rod 8 is collinear with the axis of the cylindrical hole of the sliding block 9 relative to the inclined shaft 6, and the elevation angle of the rotation preventing rod 8 changes, this change is realized through the slip of slider 9 in slide 11, and rotation prevention pole 8 also has the rotation around self axis, and this rotation is realized through the clearance fit of the outer cylinder face of rotation prevention pole 8 and the cylinder hole in slider 9, and axial displacement changes still between rotation prevention pole 8 and the slider 9, and the clearance fit of the outer cylinder face of rotation prevention pole 8 and the cylinder hole in slider 9 also allows this axis direction to produce the displacement. Thereby realizing three-degree-of-freedom swinging and vertical fluctuation.
Example 1
As shown in fig. 1, on the base 1 of the tilt rotation axis type rocking platform, a vertical support sleeve 4 in which a vertical shaft 5 is supported by a bearing is mounted by bolts. The lower end of the vertical shaft 5 penetrates into the base 1, the shaft head of the vertical shaft is provided with a large gear 2-2, the large gear 2-2 and another small gear 2-1 form a gear pair 2, and the small gear 2-1 is arranged on the output shaft head of the driving device 3, so that the driving device 3 can be started to drive the vertical shaft 5 to rotate through the gear pair 2. The upper end of the vertical shaft 5 is provided with an eccentric disc 5-1 which is integrated with the vertical shaft, and the upper part of the eccentric disc 5-1 is fixedly connected with a connecting disc 6-1 through bolts. The connecting disc 6-1 is positioned at the lower end shaft head of the inclined shaft 6 and is an integral part with the inclined shaft 6, and the axis of the inclined shaft 6 is inclined at a certain angle with the mounting flange surface of the connecting disc 6-1. On the interface of the eccentric disc 5-1 and the connecting disc 6-1, the axis of the vertical shaft 5 is not opposite to the axis of the tilting shaft 6, but is offset by a certain distance. The axis of the tilting shaft 6 extends upwards, intersecting the axis of the vertical shaft 5 at the upper part at point a. The tilting shaft 6 supports a tilting support sleeve 7 through a bearing, the tilting shaft 6 and the tilting support sleeve 7 can rotate relatively, the top end of the tilting shaft 6 is provided with a bolt and a baffle 6-2 for axially fixing the tilting support sleeve 7 on the tilting shaft 6, and the top of the tilting support sleeve 7 is fixed with a training platform 10 through a bolt.
As shown in fig. 1, 2 and 3, the working principle of the tilting rotary shaft type swing platform is as follows: for example, fig. 1 shows the starting position of the present invention, fig. 2 shows the position of 90 ° of the present invention, fig. 3 shows the position of 180 ° of the present invention, and at the beginning, the driving device 3 is started, the vertical shaft 5 is rotated by the gear pair 2, the tilting shaft 6 will rotate around the axis of the vertical shaft 5, and the tilting shaft 6 will drive the tilting support sleeve 7 to rotate around the axis of the vertical shaft 5, but since the tilting support sleeve 7 has the rotation preventing rod 8, the rotation preventing rod 8 is located between the point a and the slideway 11, and no matter the tilting support sleeve 7 is rotated to any position by the tilting shaft 6, the point a is a fixed point, limited by the rotation preventing rod 8 and the slideway 11, the tilting support sleeve 7 can only rotate around the axis of the vertical shaft 5, and can not rotate, as shown in fig. 2 and 3. Geometrically, the movement of the inclined supporting sleeve 7, which corresponds to the oscillating movement of the dotted circle 15 in fig. 2, centred on point a, inclined about the axis of the vertical shaft 5, extends to the upper surface of the training platform 10,
in particular, during the swinging of the broken-line circle 15 shown in fig. 2, no matter the tilting support sleeve 7 is rotated to a certain position by the tilting shaft 6, a radial line on the broken-line circle 15 always points in the direction of the slideway 11, since the tilting support sleeve 7 can rotate around the tilting shaft 6, the axis of the rotation prevention lever 8 is always kept in a position corresponding to the radial line, so that the rotation of the tilting support sleeve 7 and the training platform 11 on the upper part thereof around the vertical shaft 5 together with the tilting shaft 6 is limited, but at the same time, since the tilting support sleeve 7 swings, the rotation prevention lever 8 itself is driven to rotate in the circumferential direction, since the hole of the rotation prevention lever 8 is also cylindrical, the rotation of the rotation prevention lever 8 is allowed to be realized in the cylindrical hole of the slider 9. Meanwhile, when the inclined support sleeve 7 rotates to different positions, the rotation preventing rod 8 also swings around the point A, and the swinging is realized through the relative axial movement between the rotation preventing rod 8 and the cylindrical hole support of the sliding block 9 and the up-and-down movement of the sliding block 9 along the slide way 11.
Claims (5)
1. The utility model provides a platform is swayd to slope rotation axis formula which characterized in that: the platform comprises a base (1), a gear pair (2), a driving device (3), a vertical supporting sleeve (4), a vertical shaft (5), an inclined shaft (6), an inclined supporting sleeve (7), a sliding block (9), a guide pillar (12) and a training platform (10);
the base (1) is provided with a driving device (3) and a vertical supporting sleeve (4), a vertical shaft (5) is arranged in the vertical supporting sleeve (4), the driving device (3) is connected with the lower end of the vertical shaft (5) through a gear pair (2), the upper end of the vertical shaft (5) is provided with an eccentric disc (5-1), the lower end of the inclined shaft (6) is provided with a connecting disc (6-1), and the eccentric disc (5-1) is fixedly connected with the connecting disc (6-1); the inclined shaft (6) is arranged in the inclined support sleeve (7), and the upper end of the inclined support sleeve (7) is fixedly connected with the training platform (10);
the outer surface of the inclined support sleeve (7) is fixedly connected with a cylindrical anti-rotation rod (8), the end part of the anti-rotation rod (8) is inserted into a sliding block (9), the sliding block (9) is in clearance fit with a sliding way (11) arranged at the upper end of a guide pillar (12), and the guide pillar (12) is arranged on the base (1);
the axis of the vertical shaft (5), the axis of the inclined shaft (6) and the axis of the anti-rotation rod (8) intersect at a point A, the axis of the vertical shaft (5) and the axis of the inclined shaft (6) form an included angle alpha, and the axis of the anti-rotation rod (8) is perpendicular to the axis of the inclined shaft (6).
2. The tilt spindle roll platform of claim 1, wherein: the included angle alpha formed between the axis of the vertical shaft (5) and the axis of the inclined shaft (6) ranges from 0 degree to 30 degrees.
3. The tilt spindle roll platform of claim 1, wherein: the tilting shaft (6) is mounted in a tilting support sleeve (7) by means of bearings, and the vertical shaft (5) is mounted in a vertical support sleeve (4) by means of bearings.
4. The tilt spindle roll platform of claim 1, wherein: the inside cylinder hole that is of slider (9), the downthehole anti-rotation pole (8) that inserts of cylinder, slider (9) periphery clearance fit is in slide (11).
5. The tilt spindle roll platform of claim 1, wherein: the axis of the vertical shaft (5) and the axes of the inclined shaft (6) and the anti-rotation rod (8) jointly intersect at a point A, and the point A is positioned on a middle plane between two side surfaces of the slideway (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010331890.XA CN111462573B (en) | 2020-04-24 | 2020-04-24 | Platform is swayd to slope rotation axis formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010331890.XA CN111462573B (en) | 2020-04-24 | 2020-04-24 | Platform is swayd to slope rotation axis formula |
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| Publication Number | Publication Date |
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| CN111462573A CN111462573A (en) | 2020-07-28 |
| CN111462573B true CN111462573B (en) | 2022-02-22 |
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| CN202010331890.XA Active CN111462573B (en) | 2020-04-24 | 2020-04-24 | Platform is swayd to slope rotation axis formula |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113635010B (en) * | 2021-08-12 | 2023-07-28 | 山西北方机械制造有限责任公司 | Small-angle accurate side-tipping device |
| CN115435203A (en) * | 2022-11-07 | 2022-12-06 | 青岛镭测创芯科技有限公司 | High-reliability swing table |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85102109B (en) * | 1985-04-01 | 1986-12-10 | 大连冷冻机厂 | Three-dimensional comlex dodder device with single deck mesa |
| US6007338A (en) * | 1997-11-17 | 1999-12-28 | Disney Enterprises, Inc. | Roller coaster simulator |
| CN1300652C (en) * | 2003-12-25 | 2007-02-14 | 中国科学院长春光学精密机械与物理研究所 | AC motor driven analogue three shaft rocking device |
| CN206638975U (en) * | 2017-04-07 | 2017-11-14 | 沈阳工业大学 | Three Degree Of Freedom layer-stepping tilter |
| US10520063B2 (en) * | 2017-04-21 | 2019-12-31 | The Boeing Company | Mechanical virtual elliptical drive |
| CN109048808A (en) * | 2018-08-29 | 2018-12-21 | 江苏大学 | A kind of Three Degree Of Freedom waves turntable |
| CN109737835A (en) * | 2018-11-06 | 2019-05-10 | 上海航天计算机技术研究所 | A kind of light-load tilter |
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