CN111681492A - Centrifugal flight load and illusion simulator - Google Patents
Centrifugal flight load and illusion simulator Download PDFInfo
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- CN111681492A CN111681492A CN202010718304.7A CN202010718304A CN111681492A CN 111681492 A CN111681492 A CN 111681492A CN 202010718304 A CN202010718304 A CN 202010718304A CN 111681492 A CN111681492 A CN 111681492A
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- 206010021143 Hypoxia Diseases 0.000 description 1
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- 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
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Abstract
The invention relates to the technical field of simulated flight, and particularly discloses a centrifugal flight load and illusion simulation device which comprises a transmission bearing system, a rotating arm system, a yaw frame system, a pitching frame system and a cabin system, wherein the transmission bearing system supports the rotating arm system, the rotating arm system is provided with the pitching frame system and drives the pitching frame system to rotate around a connecting point with the rotating arm system, the yaw frame system is arranged on the pitching frame system, the pitching frame system drives the yaw frame system to rotate around the connecting point with the yaw frame system, the cabin system is arranged on the yaw frame system, and the yaw frame system drives the cabin system to rotate around the connecting point with the yaw frame system. The invention has the advantages that the main shaft rotates to generate overload acceleration, three degrees of freedom of yaw, pitch and roll relative to a human body coordinate system are generated at the tail end of the rotating arm, and a trained pilot sits in a cabin system and bears centrifugal overload acceleration and three attitude angle motions of space, thereby realizing the simulation training of space orientation disorder.
Description
Technical Field
The invention relates to the technical field of simulated flight, in particular to a centrifugal type flight load and illusion simulation device.
Background
A centrifugal flying load and space orientation obstacle simulator is a simulator based on a centrifugal machine platform, continuous overload acceleration is generated by using rotation of the centrifugal machine, a three-degree-of-freedom rotating frame system is installed at the tail end of the centrifugal machine, accurate simulation of a load value and direction can be achieved, and meanwhile posture simulation under an overload environment can be carried out.
Flight load simulation can train the pilot's ability to resist overload. In the maneuvering flight process of a high-performance fighter plane, when overlarge head-foot overload occurs, cerebral blood supply is reduced to cause cerebral tissue hypoxia, and further, gray vision, blackness and even consciousness loss of pilots are caused, so that flight accidents are easily caused. The increase in the overload resistance requires, in addition to the equipment guarantees, the pilot to have a certain action of resisting overload, which is carried out on a dedicated device.
Space-oriented obstacles, which are another major aeronautical medical problem that currently threatens flight safety seriously, occur with a high probability and can be encountered by both skilled and novice pilots, whatever the model may occur. And is particularly easy to occur in environments with limited sight lines such as dark night and haze. The spatial orientation obstacle easily induces the pilot to judge the position and the attitude of the pilot incorrectly, thereby causing flight accidents. And (3) performing space directional obstacle training, namely generating an environment which is easy to generate space directional obstacle through a simulator, helping pilots to correctly recognize the space directional obstacle, making measures for preventing the space directional obstacle, and actively overcoming the space directional obstacle.
The prior art is as follows:
the patent No. CN201821463335.7 discloses a "dynamic flight simulator of helicopter with four degrees of freedom", which describes a platform with four degrees of freedom based on a centrifuge platform, and the function of the platform is similar to the technical scheme of the present invention.
However, the dynamic flight simulator of the four-degree-of-freedom helicopter in the patent adopts a double-layer layout structure, namely, a main driving motor and a speed reducer are positioned at the underground layer and need to be arranged in a special basement, so that the defects of complicated civil engineering construction, high cost and high difficulty in installation and debugging of equipment are caused.
The position of the mass center of the cabin and the position of the main shaft supporting point of the cabin are in two planes, so that the yawing frame bears overlarge overturning moment, meanwhile, the bending moment of the rotating arm is large, the deformation of the rotating arm during movement is intensified, and meanwhile, the yawing frame is required to have enough strength and rigidity, so that the weight of the yawing frame is increased.
The balance weight and the center of mass of the cabin system are not on the same line parallel to the ground, so that couple imbalance is formed, vibration is easily caused, and the bearing is stressed seriously.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a centrifugal flight load and illusion simulation device.
The purpose of the invention is realized by the following technical scheme: a centrifugal flying load and illusion simulation device comprises a transmission bearing system, a rotating arm system, a yaw frame system, a pitching frame system and a cabin system, wherein the transmission bearing system supports the rotating arm system and drives the rotating arm system to rotate to generate overload acceleration, the rotating arm system is provided with the pitching frame system and drives the pitching frame system to rotate around a connecting point with the rotating arm system, the rotating center of the pitching frame system is perpendicular to the rotating center of the transmission bearing system to realize pitching motion of the system, the yaw frame system is arranged on the pitching frame system and drives the yaw frame system to rotate around the connecting point with the yaw frame system, the rotating center of the yaw frame system is perpendicular to the rotating center of the pitching frame system to realize yawing motion of the system, the cabin system is arranged on the yaw frame system, and the yaw frame system drives the cabin system to rotate around the connecting point with the yaw frame system, the rotation center of the cabin system is vertical to the rotation center of the yaw frame system, and the rolling motion of the system is realized.
Specifically, the transmission supporting system comprises a base and a main motor, wherein the main motor is arranged at the bottom of the base, a main shaft mounting hole is formed in the base, the output end of the main motor is connected with a main shaft, the main shaft is arranged in the main shaft mounting hole, a bearing system is arranged in the main shaft mounting hole, and the main shaft is rotatably connected with the base through the bearing system.
Specifically, the rotating arm system comprises an arm support, a driving motor, a rotating shaft and a speed reducer, wherein one end of the arm support is fixedly connected with the main shaft, the other end of the arm support is provided with a rotating shaft mounting hole, the rotating shaft mounting hole is horizontally arranged, the output end of the driving motor is connected with the input end of the speed reducer, the output end of the speed reducer is connected with the rotating shaft, and the rotating shaft is arranged in the rotating shaft mounting hole and is rotatably connected with the arm support.
Specifically, every single move frame system includes every single move frame, driftage driving motor, driftage drive shaft, driftage driven shaft, every single move frame and rotation axis fixed connection, it is provided with driftage drive shaft mounting hole and driftage driven shaft mounting hole to go up the concentric, and the axial lead of the axial lead perpendicular to rotation axis of driftage drive shaft mounting hole and driftage driven shaft mounting hole, driftage driving motor fixes on every single move frame, and yaw drive shaft is connected to its output, the driftage driving shaft is arranged in the driftage drive shaft mounting hole and rather than rotate and be connected, the driftage driven shaft is arranged in the driftage driven shaft mounting hole and rather than rotate and be connected.
Specifically, the yaw frame system comprises a yaw frame, a cabin driving motor, a cabin driven shaft and a cabin driving shaft, wherein the yaw frame is of an annular symmetrical structure, the outer side of the yaw frame is fixedly connected with the yaw driving shaft and the yaw driven shaft respectively, a cabin driven shaft mounting hole and a cabin driving shaft mounting hole are arranged on the yaw frame along the symmetrical center in a penetrating mode, the cabin driving motor is fixed on the yaw frame, the output end of the cabin driving motor is connected with the cabin driving shaft, the cabin driving shaft is arranged in the cabin driving shaft mounting hole and is connected with the cabin driving shaft in a rotating mode, and the cabin driven shaft is arranged in the cabin driven shaft mounting hole and is connected with the cabin driven shaft in a rotating mode.
Specifically, the cabin system includes the cabin body, screen, instrument desk, seat, the outside of the cabin body respectively with cabin drive shaft and cabin driven shaft fixed connection, screen, camera, seat all set up in the cabin body.
Specifically, the bearing system comprises a bearing sleeve, a first ball bearing, a first thrust ball bearing and a first angle contact bearing, wherein the bearing sleeve is fixed in the main shaft mounting hole, and the bearing sleeve, the ball bearing, the first thrust ball bearing and the first angle contact bearing are all arranged in the bearing sleeve, so that the main shaft and the base form a revolute pair.
Specifically, the cantilever crane is provided with a connecting hole, a connecting expansion sleeve is arranged in the connecting hole, the connecting expansion sleeve is sleeved on the main shaft, the cantilever crane is fixedly connected with the main shaft through the connecting expansion sleeve, a counterweight is further arranged at the end part of one end of the cantilever crane, which is fixedly connected with the main shaft, a second angular contact bearing, a second thrust bearing and a second ball bearing are arranged in the rotating shaft mounting hole, and the rotating shaft is rotatably connected with the cantilever crane through the second angular contact bearing, the second thrust bearing and the second ball bearing.
Specifically, the pitching frame is of a U-shaped structure, the two sides of the pitching frame are symmetrically provided with connecting support lugs, a yaw driving shaft mounting hole and a yaw driven shaft mounting hole are respectively arranged on one connecting support lug, the pitching frame is also provided with a fixed mounting hole, the rotating shaft is arranged in the fixed mounting hole and is fixedly connected with the pitching frame through a fixed expansion sleeve, and one end of the rotating shaft is also provided with a clamp for positioning the pitching frame; the yaw driving shaft mounting hole is internally provided with a third angular contact bearing, the yaw driving shaft is rotationally connected with the pitching frame through a third angular contact bearing, the yaw driven shaft mounting hole is internally provided with a fourth angular contact bearing, and the yaw driven shaft is rotationally connected with the pitching frame through the fourth angular contact bearing.
Specifically, be provided with the axle sleeve in the passenger cabin drive shaft mounting hole, be provided with fifth angle contact bearing in the axle sleeve, the passenger cabin drive shaft passes through fifth angle contact bearing and is connected with the axle sleeve rotation, forms the revolute pair with the driftage frame, the passenger cabin driven shaft mounting hole in be provided with the bearing housing, be provided with the hexagonal contact bearing in the bearing housing, the passenger cabin driven shaft passes through the sixth angle contact bearing and is connected with the bearing housing rotation, forms the revolute pair with the driftage frame.
The invention has the following advantages:
1. the cabin system, the yaw frame system, the pitching frame system and the rotating arm system are all designed into an axisymmetric structure or an approximately axisymmetric structure, and carry out counterweight balance and simultaneously realize force balance and couple balance. And the phenomenon that the vertical deformation of the rotating arm is aggravated by huge bending moment caused by excessive centrifugal force generated by movement is reduced.
2. The arm support in the rotating arm system is connected with the pitching frame system through the rotating shaft, a shaft system consisting of the second angular contact bearing, the second thrust bearing and the second ball bearing can bear the composite load of axial force, radial force and bending moment, and the shaft system bears the action of the axial force generated in a centrifugal field and the bending moment generated by gravity of the cabin system, the yawing frame system and the pitching frame system. The axial force is more than 6 times of the gravity, so that the bearing capacity of the thrust bearing can be fully exerted, the span between the bearings is reduced, the compact layout of a shaft system is realized, the defect of severe bearing stress caused by a single-point supporting structure can be overcome, a plurality of conventional bearing sets are used for replacing a special bearing, the cost is reduced, the main stress in the prior art is changed from bending moment into main bearing force to be the axial force, and the bearing stress is reasonably matched.
3. The pitching frame in the pitching frame system has a fork-shaped structure or a half-frame structure, and two ends of a connecting fork lug in the pitching frame are provided with paired angular contact bearings and a shaft system consisting of the paired angular contact bearings, so that two-point support for the yawing frame system is realized, and the yawing frame is prevented from bearing an overlarge overturning moment in the movement process.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic illustration of the drive support system and the swing arm system of the present invention;
FIG. 3 is a schematic structural diagram of a pitch frame system of the present invention;
FIG. 4 is a schematic view of the yaw frame system and cockpit system configuration of the present invention;
FIG. 5 is a schematic view of a clamp of the present invention;
in the figure: 1-cabin system, 11-cabin, 12-cabin, 13-instrument desk, 14-screen, 15-seat, 2-yaw frame system, 21-yaw frame, 22-cabin drive motor, 23-cabin drive shaft, 24-cabin driven shaft, 25-shaft sleeve, 26-fifth angle contact bearing, 27-sixth angle contact bearing, 28-cabin driven shaft slip ring, 29-bearing sleeve, 3-pitch frame system, 31-pitch frame, 32-yaw drive motor, 33-yaw drive shaft, 34-yaw driven shaft, 35-yaw driven shaft slip ring, 36-connection lug, 37-fourth angle contact bearing, 38-third angle contact bearing, 4-jib system, 41-jib, 42-drive motor, 43-reducer, 44-rotating shaft, 45-second angular contact bearing, 46-second thrust bearing, 47-second ball bearing, 48-yoke, 5-drive bearing system, 51-base, 52-main motor, 53-main shaft, 54-bearing sleeve, 55-first ball bearing, 56-first thrust ball bearing, 57-first angular contact bearing, 58-brake, 6-instrument bay, 7-counterweight.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following.
As shown in fig. 1 to 5, a centrifugal flying load and illusion simulator comprises a transmission support system 5, a rotating arm system 4, a yaw frame system 2, a pitch frame system 3 and a cabin system 1, wherein the transmission support system 5 supports the rotating arm system 4 and drives the rotating arm system 4 to rotate to generate an overload acceleration, the rotating arm system 4 is provided with the pitch frame system 3 and drives the pitch frame system 3 to rotate around a connection point with the rotating arm system 4, the rotation center of the pitch frame system 3 is perpendicular to the rotation center of the transmission support system 5 to realize the pitch motion of the system, the yaw frame system 2 is arranged on the pitch frame system 3, the pitch frame system 3 drives the yaw frame system 2 to rotate around a connection point with the yaw frame system 2, the rotation center of the yaw frame system 2 is perpendicular to the rotation center of the pitch frame system 3 to realize the yaw motion of the system, the cabin system 1 is arranged on the yaw frame system 2, and the yaw frame system 2 drives the cabin system to rotate around a connecting point of the cabin system and the yaw frame system 2, and the rotation center of the cabin system 1 is perpendicular to the rotation center of the yaw frame system 2, so that the rolling motion of the system is realized. In the scheme, a yaw frame system 2, a pitch frame system 3 and a cockpit system 1 are arranged at one end of a rotating arm system 4 far away from the end connected with a transmission supporting system 5, three degrees of freedom of yaw, pitch and roll relative to a human body coordinate system are generated, all rotating shafts 44 can continuously rotate, a pilot to be trained sits in the cockpit system 1 and bears centrifugal overload acceleration and three attitude angle motions of space, and space orientation obstacle simulation training is realized; the centrifugal flight load and illusion simulation device in the scheme adopts a single-layer layout, all elements are positioned on one layer of the ground, the transmission support system 5 supports the rotating arm system 4 and provides rotating power to drive the rotating arm system 4 to rotate in a horizontal plane, the rotating center of the transmission support system 5 is in the vertical direction, the pitching frame system 3 is arranged at one end, away from the transmission support system 5, of the rotating arm system 4, the pitching frame system 4 is driven to perform pitching motion while rotating horizontally, and the rotating center of the pitching frame system 3 is in the horizontal direction; meanwhile, the pitching frame system 3 can drive the yawing frame system 2 to rotate, the rotation center of the yawing frame system 2 is in the vertical direction, the yawing frame system 2 drives the rotation center of the cabin system 1 to rotate to be in the horizontal direction, the cabin system 1, the yawing frame system 2, the pitching frame system 3 and the rotating arm system 4 in the scheme are all designed into axisymmetric structures, and balance weights 7 are carried out, and meanwhile, the pivot points of all free movements are approximately positioned in the same plane parallel to the ground, force balance and couple balance are simultaneously achieved, and huge aggravation of bending moment caused by excessive centrifugal force generated by movement is reduced, so that overturning moment and rotating arm bending moment born by the yawing frame system 2 can be reduced, vertical deformation of the rotating arm is reduced, and vibration of the system is reduced.
Further, the transmission support system 5 includes a base 51 and a main motor 52, the main motor 52 is disposed at the bottom of the base 51, the base 51 is provided with a main shaft mounting hole, an output end of the main motor 52 is connected with a main shaft 53, the main shaft 53 is disposed in the main shaft mounting hole, a bearing system is disposed in the main shaft mounting hole, and the main shaft 53 is rotatably connected with the base 51 through the bearing system. In the scheme, a direct-drive motor is adopted as a main motor 52, a base 51 is of a conical structure, the edge of the bottom of the base is fixed on a civil foundation through foundation bolts, the main motor 52 is arranged inside the bottom of the base 51, single-layer layout of a system is realized, civil construction difficulty and cost can be reduced, and installation and debugging of products can be facilitated, a stator of the main motor 52 is fixed on the base 51 through screws, a rotor of the main motor 52 is connected with a main shaft 53 through a coupler, the coupler is connected with the main shaft 53 through an expansion sleeve, one end of the main shaft 53 is also connected with a slip ring rotor of a main motor slip ring through a spigot and bolt structure, the slip ring stator of the main motor slip ring is fixed on the motor stator through a rope, a chain and a steel rod, a brake 58 is further arranged on the base 51, the brake 58 is positioned on the base 51 through a spigot and, the brake 58 brakes by gripping the main shaft 53.
Further, the rotating arm system 4 includes an arm support 41, a driving motor 42, a rotating shaft 44, and a speed reducer 43, where one end of the arm support 41 is fixedly connected to the main shaft 53, the other end of the arm support 41 is provided with a rotating shaft mounting hole, the rotating shaft mounting hole is horizontally disposed, an output end of the driving motor 42 is connected to an input end of the speed reducer 43, an output end of the speed reducer 43 is connected to the rotating shaft 44, and the rotating shaft 44 is disposed in the rotating shaft mounting hole and rotatably connected to the arm support 41. In the scheme, the top of the arm support 41 is provided with a structure with two convex ends and a concave middle part, wherein a rotating shaft mounting hole is arranged on the convex part at one end of the arm support 41, the driving motor 42 and the speed reducer 43 are mounted at the concave part of the arm support 41 through bolts, the output shaft of the driving motor 42 is connected with the output shaft of the speed reducer 43 through a coupling, the speed reducer further comprises a speed reducer slip ring, a rotor of the speed reducer slip ring is fixed at one end of the output shaft of the speed reducer 43 through screws, a stator of the speed reducer slip ring is fixed on a shell of the speed reducer 43 through a rope or rod structure, and the other end of the output shaft; a second angular contact bearing 45, a second thrust bearing 46 and a second ball bearing 47 are arranged in the rotating shaft mounting hole, so that a rotating pair is formed by the rotating shaft 44 and the arm support 41, inner rings of the second angular contact bearings 45 arranged in pairs are respectively positioned through a shaft shoulder and a shaft sleeve, and outer rings are free; the second thrust bearing 46 realizes positioning and force transmission through a hole shoulder and a shaft sleeve; the second ball bearing 47 realizes the positioning of the inner ring and the outer ring through a shaft shoulder, a hole shoulder, a bearing retainer ring and a round nut, the shaft system can realize the composite bearing of unidirectional axial force and radial force, the outer ring of the second angular contact bearing 45 is free and has a certain slight displacement amount, the bearing of the radial load can be ensured without bearing the axial load, the axial load is completely borne by the second thrust bearing 46, the positioning can be realized through the bearing retainer ring at the outer ring of the second angular contact bearing 45 close to the end of the speed reducer 43, the bearing of the bidirectional axial force mainly bearing the centrifugal load can be realized, wherein the axial force is more than 6 times of gravity, the bearing capacity of the thrust bearing can be fully exerted, the span between the bearings is reduced, the compact layout of the shaft system is realized, and the main stress is changed from bending moment to the. The structure of the rotating arm system 4 of the scheme is reduced by a frame structure, the system rotational inertia can be reduced, higher overload change rate can be realized under the same driving power and torque, the requirement of high overload change rate can be met on the premise of four-degree-of-freedom driving, and the requirements of space orientation obstacle and overload resistance training can be met simultaneously.
Further, the pitching frame system 3 comprises a pitching frame 31, a yaw driving motor 32, a yaw driving shaft 33 and a yaw driven shaft 34, the pitching frame 31 is fixedly connected with the rotating shaft 44, the pitching frame 31 is concentrically provided with a yaw driving shaft mounting hole and a yaw driven shaft mounting hole, the axial lines of the yaw driving shaft mounting hole and the yaw driven shaft mounting hole are perpendicular to the axial line of the rotating shaft 44, the yaw driving motor 32 is fixed on the pitching frame 31, the output end of the yaw driving motor is connected with the yaw driving shaft 33, the yaw driving shaft 33 is arranged in the yaw driving shaft mounting hole and is rotatably connected with the yaw driving shaft mounting hole, the yaw driven shaft 34 is arranged in the yaw driven shaft mounting hole and is rotatably connected with the yaw driven shaft mounting hole, the pitching frame 31 is of a U-shaped structure, two sides of the pitching frame 31 are symmetrically provided with connecting lugs 36, the yaw driving shaft mounting hole and the yaw driven shaft mounting hole are, the pitching frame 31 is further provided with a fixed mounting hole, the rotating shaft 44 is arranged in the fixed mounting hole and is fixedly connected with the pitching frame 31 through a fixed expansion sleeve, and one end of the rotating shaft 44 is further provided with a clamp 48 for positioning the pitching frame 31; a third angular contact bearing 38 is arranged in the yaw driving shaft mounting hole, the yaw driving shaft 33 is rotationally connected with the pitch frame 31 through the third angular contact bearing 38, a fourth angular contact bearing 37 is arranged in the yaw driven shaft mounting hole, and the yaw driven shaft 34 is rotationally connected with the pitch frame 31 through the fourth angular contact bearing 37. In the scheme, the fixed mounting holes arranged on the pitching frame 31 are arranged in the middle positions between the symmetrically arranged connecting lugs 36, one end of the rotating shaft 44 is matched with the pitching frame 31 through a cylindrical surface to realize positioning, and the structural combination of the arm support 41 and the U-shaped pitching frame 31 is adopted, so that one frame structure is reduced, and the rotational inertia of the system can be reduced; wherein the number of the fixed expansion sleeves is two, the fixed mounting hole is a step hole, the two fixed expansion sleeves are arranged in the step hole, a hoop 48 is arranged at one end of the rotating shaft 44, the fixed expansion sleeve is positioned in the stepped hole, the hoop 48 is in a structure of two half rings, connecting parts are arranged at two ends of each half ring, the two half rings are fixedly connected at the connecting parts through bolts, a groove structure is arranged on the rotating shaft 44, the hoop 48 is clamped in the groove structure to realize positioning and bear centrifugal load, meanwhile, the rotating shaft 44 and the pitching frame 31 further realize axial positioning and force bearing of the pitching frame system 3 through a spigot structure, the pitching frame system 3 further comprises a yaw driven shaft slip ring 35, a stator of the yaw driven shaft slip ring 35 is fixed on the pitching frame 31 through bolts, and a rotor of the yaw driven shaft slip ring 35 is installed on the yaw driven shaft 34 through a crossing structure and rotates together with the yaw driven shaft 34.
Further, the yaw frame system 2 includes a yaw frame 21, a cabin driving motor 22, a cabin driven shaft 24, and a cabin driving shaft 23, wherein the yaw frame 21 is of a ring-shaped symmetrical structure, the outer side of the yaw frame 21 is fixedly connected with a yaw driving shaft 33 and a yaw driven shaft 34, a cabin driven shaft mounting hole and a cabin driving shaft mounting hole are oppositely arranged on the yaw frame 21 along a symmetrical center, the cabin driving motor 22 is fixed on the yaw frame 21, the output end of the cabin driving motor 22 is connected with the cabin driving shaft 23, the cabin driving shaft 23 is arranged in the cabin driving shaft mounting hole and is rotatably connected with the cabin driving shaft, and the cabin driven shaft 24 is arranged in the cabin driven shaft mounting hole and is rotatably connected with the cabin driven shaft; a shaft sleeve 25 is arranged in the cabin driving shaft mounting hole, a fifth angular contact bearing 26 is arranged in the shaft sleeve 25, the cabin driving shaft 23 is rotatably connected with the shaft sleeve 25 through the fifth angular contact bearing 26 and forms a rotation pair with the yaw frame 21, a bearing sleeve 29 is arranged in the cabin driven shaft mounting hole, a sixth angular contact bearing 27 is arranged in the bearing sleeve 29, and the cabin driven shaft 24 is rotatably connected with the bearing sleeve 29 through the sixth angular contact bearing 27 and forms a rotation pair with the yaw frame 21. In the scheme, a rotor of a cabin driving motor 22 is connected with a cabin driving shaft 23 through an expansion sleeve, a motor stator is fixed on a yaw frame 21 through bolts, the cabin driving shaft 23 is rotatably connected with a shaft sleeve 25 through a fifth angle contact bearing 26, the shaft sleeve 25 is in tight clearance fit with a matching hole of the yaw frame 21, the fifth angle contact bearing 26 realizes the positioning of an inner ring and an outer ring through a round nut, a shaft shoulder, a hole shoulder and a bearing retainer ring structure, the bidirectional axial and radial combined bearing is realized, the scheme also comprises a cabin driven shaft slip ring 28, the stator of the cabin driven shaft slip ring 28 is fixedly arranged on the yaw frame 21 through a screw and a bearing sleeve 29, the rotor of the cabin driven shaft slip ring 28 is fixedly connected with a cabin driven shaft 24 through a fork structure,
further, the cabin system 1 includes a cabin 11, a screen 14, an instrument desk 13, and a seat 15, an outer side of the cabin 11 is fixedly connected to a cabin driving shaft 23 and a cabin driven shaft 24, respectively, and the screen 14, the camera, and the seat 15 are all disposed in the cabin 11. In the scheme, the cabin body 11 is respectively and fixedly connected with the cabin driving shaft 23 and the cabin driven shaft 24 through the expansion sleeves to drive the cabin system 1 to rotate, the cabin driven shaft 24 and the cabin body 11 adopt a cylindrical surface matching seam allowance structure, and the position of the cabin system 1 is adjusted through the gasket, so that the conical surface positioning matching structure of the cabin driving shaft 23 is simultaneously contacted with the cylindrical surface matching seam allowance structure of the cabin driven shaft 24, and the axial force brought by different poses of the cabin system 1 can be borne; the video that shows through screen 14 renders the scene provides simulation visual environment, carry out sense organ and shift compensation or carry out visual illusion training, train the pilot to carry out the aircraft state through instrument desk 13, posture cognition, rely on it to judge and improve the space orientation obstacle state, seat 15 is installed in cabin 11 bottom, instrument desk 13 is located 15 the place ahead and both sides of seat, set up hatch door 12 in cabin 11 side simultaneously, the pilot passes through portable ladder discrepancy, portable ladder has the platform structure, the altitude control of will operating the computer is in certain extent, screen 14 is located instrument desk 13 the place ahead, comfortable sight distance has.
Further, the bearing system comprises a bearing sleeve 54, a first ball bearing 55, a first thrust ball bearing 56 and a first angular contact bearing 57, the bearing sleeve 54 is fixed in the main shaft mounting hole, and the bearing sleeve 54, the ball bearing, the first thrust ball bearing 56 and the first angular contact bearing 57 are all arranged in the bearing sleeve 54, so that the main shaft 53 and the base 51 form a rotation pair. In this scheme, bearing sleeve 54 crosses the tang location, fix in the main shaft mounting hole of base 51 through the screw, main shaft 53 passes first thrust bearing, first ball bearing 55, first angle contact bearing 57 rotates with bearing sleeve 54 to be connected, first angle contact bearing 57 outer lane is free, the inner circle is fixed a position with the shaft shoulder and axle sleeve location respectively, guarantee that third angle contact bearing 38 does not bear the axial force, only bear the axial force by first thrust bearing, the bearing system can bear the axial force, radial force and moment of flexure, can reduce the bearing installation degree of difficulty through bearing sleeve 54
Further, a connecting hole is formed in the arm support 41, a connecting expansion sleeve is arranged in the connecting hole, the connecting expansion sleeve is sleeved on the main shaft 53, the arm support 41 is fixedly connected with the main shaft 53 through the connecting expansion sleeve, a counterweight 7 is further arranged at the end of one end, fixedly connected with the main shaft 53, of the arm support 41, a second angular contact bearing 45, a second thrust bearing 46 and a second ball bearing 47 are arranged in the rotating shaft mounting hole, and the rotating shaft 44 is rotatably connected with the arm support 41 through the second angular contact bearing 45, the second thrust bearing 46 and the second ball bearing 47.
Furthermore, the pitching frame 31 is of a U-shaped structure, the connecting lugs 36 are symmetrically arranged on two sides of the pitching frame 31, the yaw driving shaft mounting hole and the yaw driven shaft mounting hole are respectively arranged on one connecting lug 36, a fixed mounting hole is further arranged on the pitching frame 31, the rotating shaft 44 is arranged in the fixed mounting hole and is fixedly connected with the pitching frame 31 through a fixed expansion sleeve, and a clamp 48 is further arranged at one end of the rotating shaft 44 for positioning the pitching frame 31; a third angular contact bearing 38 is arranged in the yaw driving shaft mounting hole, the yaw driving shaft 33 is rotationally connected with the pitch frame 31 through the third angular contact bearing 38, a fourth angular contact bearing 37 is arranged in the yaw driven shaft mounting hole, and the yaw driven shaft 34 is rotationally connected with the pitch frame 31 through the fourth angular contact bearing 37.
Further, a shaft sleeve 25 is arranged in the cabin driving shaft mounting hole, a fifth angular contact bearing 26 is arranged in the shaft sleeve 25, the cabin driving shaft 23 is rotatably connected with the shaft sleeve 25 through the fifth angular contact bearing 26 to form a rotation pair with the yaw frame 21, a bearing sleeve 29 is arranged in the cabin driven shaft mounting hole, a sixth angular contact bearing 27 is arranged in the bearing sleeve 29, and the cabin driven shaft 24 is rotatably connected with the bearing sleeve 29 through the sixth angular contact bearing 27 to form a rotation pair with the yaw frame 21.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Those skilled in the art can make numerous possible variations and modifications to the described embodiments, or modify equivalent embodiments, without departing from the scope of the invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technology of the present invention are within the protection scope of the present invention, unless the content of the technical solution of the present invention is departed from.
Claims (8)
1. A centrifugal flight load and illusion simulator is characterized in that: the device comprises a transmission supporting system (5), a rotating arm system (4), a pitching frame system (3), a yawing frame system (2) and a cabin system (1), wherein the transmission supporting system (5) supports the rotating arm system (4) and drives the rotating arm system (4) to rotate to generate overload acceleration, the rotating arm system (4) is provided with the pitching frame system (3) and drives the pitching frame system (3) to rotate around a connection point with the rotating arm system (4), the rotation center of the pitching frame system (3) is perpendicular to the rotation center of the transmission supporting system (5) to realize the pitching motion of the system, the yawing frame system (2) is arranged on the pitching frame system (3), the pitching frame system (3) drives the yawing frame system (2) to rotate around the connection point with the yawing frame system (2), and the rotation center of the yawing frame system (2) is perpendicular to the rotation center of the pitching frame system (3), the yaw motion of the system is realized, the cabin system (1) is arranged on the yaw frame system (2), the yaw frame system (2) drives the cabin to rotate around a connecting point of the cabin system and the yaw frame system (2), and the rotation center of the cabin system (1) is perpendicular to the rotation center of the yaw frame system (2) so as to realize the roll motion of the system;
the transmission supporting system (5) comprises a base (51) and a main motor (52), wherein the main motor (52) is arranged at the bottom of the base (51), a main shaft mounting hole is formed in the base (51), the output end of the main motor (52) is connected with a main shaft (53), the main shaft (53) is arranged in the main shaft mounting hole, a bearing system is arranged in the main shaft mounting hole, and the main shaft (53) is rotatably connected with the base (51) through the bearing system;
the rotating arm system (4) comprises an arm support (41), a driving motor (42), a rotating shaft (44) and a speed reducer (43), one end of the arm support (41) is fixedly connected with the main shaft (53), the other end of the arm support (41) is provided with a rotating shaft mounting hole, the rotating shaft mounting hole is horizontally arranged, the output end of the driving motor (42) is connected with the input end of the speed reducer (43), the output end of the speed reducer (43) is connected with the rotating shaft (44), and the rotating shaft (44) is arranged in the rotating shaft mounting hole and is rotatably connected with the arm support (41).
2. A centrifugal flying load and illusion simulator as claimed in claim 1, wherein: every single move frame system (3) including every single move frame (31), driftage driving motor (32), driftage drive shaft (33), driftage driven shaft (34), every single move frame (31) and rotation axis (44) fixed connection, it is provided with driftage driving shaft mounting hole and driftage driven shaft mounting hole to go up the heart in every single move frame (31), and the axial lead of driftage driving shaft mounting hole and driftage driven shaft mounting hole is perpendicular to the axial lead of rotation axis (44), driftage driving motor (32) are fixed on every single move frame (31), and driftage driving shaft (33) is connected to its output, driftage driving shaft (33) are arranged in the driftage driving shaft mounting hole and rather than rotate and be connected, driftage driven shaft (34) are arranged in the driftage driven shaft mounting hole and rather than rotate and be connected.
3. A centrifugal flying load and illusion simulator as claimed in claim 2, wherein: the yaw frame system (2) comprises a yaw frame (21), a cabin driving motor (22), a cabin driven shaft (24) and a cabin driving shaft (23), wherein the yaw frame (21) is of an annular symmetrical structure, the outer side of the yaw frame (21) is fixedly connected with a yaw driving shaft (33) and the yaw driven shaft (34) respectively, a cabin driven shaft mounting hole and a cabin driving shaft mounting hole are arranged on the yaw frame (21) in a penetrating mode along a symmetrical center, the cabin driving motor (22) is fixed on the yaw frame (21), the output end of the cabin driving motor (22) is connected with the cabin driving shaft (23), the cabin driving shaft (23) is arranged in the cabin driving shaft mounting hole and is in rotating connection with the cabin driven shaft, and the cabin driven shaft (24) is arranged in the cabin driven shaft mounting hole and is in rotating connection with the cabin driven shaft.
4. A centrifugal flying load and illusion simulator as claimed in claim 3, wherein: the cabin system (1) comprises a cabin body (11), a screen (14), an instrument desk (13) and a seat (15), wherein the outer side of the cabin body (11) is fixedly connected with a cabin driving shaft (23) and a cabin driven shaft (24) respectively, and the screen (14), the camera and the seat (15) are arranged in the cabin body (11).
5. A centrifugal flying load and illusion simulator as claimed in claim 1, wherein: the bearing system comprises a bearing sleeve (54), a first ball bearing (55), a first thrust ball bearing (56) and a first angular contact bearing (57), wherein the bearing sleeve (54) is fixed in the main shaft mounting hole, and the bearing sleeve (54), the ball bearing, the first thrust ball bearing (56) and the first angular contact bearing (57) are all arranged in the bearing sleeve (54), so that the main shaft (53) and the base (51) form a rotation pair.
6. A centrifugal flying load and illusion simulator as claimed in claim 1, wherein: the cantilever crane is characterized in that a connecting hole is formed in the cantilever crane (41), a connecting expansion sleeve is arranged in the connecting hole, the connecting expansion sleeve is sleeved on the main shaft (53), the cantilever crane (41) is fixedly connected with the main shaft (53) through the connecting expansion sleeve, a counterweight (7) is further arranged at the end part of one end of the cantilever crane (41) fixedly connected with the main shaft (53), a second angular contact bearing (45), a second thrust bearing (46) and a second ball bearing (47) are arranged in the rotating shaft mounting hole, and the rotating shaft (44) is rotatably connected with the cantilever crane (41) through the second angular contact bearing (45), the second thrust bearing (46) and the second ball bearing (47).
7. A centrifugal flying load and illusion simulator as claimed in claim 2, wherein: the pitching frame (31) is of a U-shaped structure, the two sides of the pitching frame are symmetrically provided with connecting support lugs (36), a yaw driving shaft mounting hole and a yaw driven shaft mounting hole are respectively arranged on one connecting support lug (36), the pitching frame (31) is also provided with a fixed mounting hole, the rotating shaft (44) is arranged in the fixed mounting hole and is fixedly connected with the pitching frame (31) through a fixed expansion sleeve, and one end of the rotating shaft (44) is also provided with a clamp (48) for positioning the pitching frame (31); the yaw driving shaft installing hole is internally provided with a third angular contact bearing (38), the yaw driving shaft (33) is rotationally connected with the pitching frame (31) through a third angular contact bearing (38), a fourth angular contact bearing (37) is arranged in the yaw driven shaft installing hole, and the yaw driven shaft (34) is rotationally connected with the pitching frame (31) through the fourth angular contact bearing (37).
8. A centrifugal flying load and illusion simulator as claimed in claim 3, wherein: be provided with axle sleeve (25) in the passenger cabin drive shaft mounting hole, be provided with fifth angle contact bearing (26) in axle sleeve (25), passenger cabin drive shaft (23) rotate with axle sleeve (25) through fifth angle contact bearing (26) and be connected, form the revolute pair with driftage frame (21), passenger cabin driven shaft mounting hole in be provided with bearing housing (29), be provided with sixth angle contact bearing (27) in bearing housing (29), passenger cabin driven shaft (24) rotate with bearing housing (29) through sixth angle contact bearing (27) and are connected, form the revolute pair with driftage frame (21).
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| CN202010718304.7A CN111681492B (en) | 2020-07-23 | 2020-07-23 | Centrifugal flight load and illusion analogue means |
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| CN117943337A (en) * | 2024-03-26 | 2024-04-30 | 内蒙古工业大学 | Intelligent airborne photovoltaic belt cleaning device suitable for super large scale photovoltaic power plant |
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