CN113820096B - Six-degree-of-freedom wind tunnel test model attitude control device - Google Patents
Six-degree-of-freedom wind tunnel test model attitude control device Download PDFInfo
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- CN113820096B CN113820096B CN202111381766.5A CN202111381766A CN113820096B CN 113820096 B CN113820096 B CN 113820096B CN 202111381766 A CN202111381766 A CN 202111381766A CN 113820096 B CN113820096 B CN 113820096B
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- 230000033001 locomotion Effects 0.000 claims abstract description 61
- 230000035939 shock Effects 0.000 claims abstract description 27
- 238000009413 insulation Methods 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 136
- 238000007789 sealing Methods 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
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- 238000002955 isolation Methods 0.000 claims description 5
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- 238000006073 displacement reaction Methods 0.000 description 2
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- 230000007774 longterm Effects 0.000 description 2
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- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/08—Aerodynamic models
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a six-degree-of-freedom wind tunnel test model attitude control device. The attitude control device of the wind tunnel test model with six degrees of freedom is positioned in a test section and is fixed on a shock insulation foundation through a shock insulation support column assembly; the device comprises an X-direction moving assembly, a Z-direction moving assembly, a beta-direction rotating assembly, a Y-direction moving assembly, an alpha-direction rotating assembly and a gamma-direction rotating assembly which are distributed in a pyramid shape from bottom to top; and a support rod is arranged on the central axis of the gamma-direction rotating assembly, and a test model facing the wind tunnel incoming flow is arranged at the front end of the support rod. The attitude control device of the wind tunnel test model with six degrees of freedom adopts a six-degree of freedom independent motion driving mode, and has the advantages of stable structure, high motion precision and convenience in maintenance.
Description
Technical Field
The invention belongs to the technical field of hypersonic wind tunnel tests, and particularly relates to a six-degree-of-freedom wind tunnel test model attitude control device.
Background
When a hypersonic wind tunnel test is carried out, a wind tunnel test model needs to be stably delivered into test airflow after a wind tunnel flow field is stable, and a specific attitude is kept in the airflow so as to obtain a test result of a corresponding attitude; the model attitude control device is one of important components of a wind tunnel system and is used as a mechanical platform for supporting a test model and adjusting the attitude of the wind tunnel test model;
in the aspect of installation environment, in order to prevent the vibration of wind tunnel operation from being transmitted to the model attitude control device and the wind tunnel test model, measures are needed to be taken to isolate the wind tunnel vibration and meet the vacuum sealing requirement of a test section; in the aspect of structural rigidity, as pneumatic load impact and artificial impact of model installation personnel need to be borne, the long-term stability of the whole device is ensured, and the model posture control device needs to have enough rigidity and avoid weak links, namely improper bearing of a guide rail slide block and a lead screw nut; in the aspect of freedom of movement, the model attitude control device needs to convey the wind tunnel test model from the outside of the flow field area to the inside of the flow field area and is suitable for the positioning requirements of the wind tunnel test models with different sizes in the flow field, so that the model attitude control device needs to have linear displacement freedom degrees along the gravity direction (Y direction), along the airflow direction (X direction) and in the lateral direction (Z direction) perpendicular to the XY plane; in addition, when the test is carried out, the pitching (alpha direction), yawing (beta direction) and rolling (gamma direction) attitude angles of the wind tunnel test model need to be adjusted to obtain pneumatic test results of corresponding attitudes; therefore, the model attitude control device needs to have a corresponding degree of freedom of angular displacement; in the aspect of motion control, in order to enable servo motors of the mechanism to correspond to respective degrees of freedom one by one and avoid kinematics resolving work caused by coupling control of the servo motors, mechanical structures with various degrees of freedom need to be reasonably distributed;
currently, there is a need to develop a new attitude control device for a six-degree-of-freedom wind tunnel test model.
Disclosure of Invention
The invention aims to solve the technical problem of providing a six-degree-of-freedom wind tunnel test model attitude control device;
the attitude control device of the six-degree-of-freedom wind tunnel test model is characterized in that the attitude control device of the six-degree-of-freedom wind tunnel test model is positioned in a test section and fixed on a shock insulation foundation through a shock insulation support column assembly;
the attitude control device of the wind tunnel test model with six degrees of freedom comprises an X-direction motion component, a Z-direction motion component, a beta-direction rotation component, a Y-direction motion component, an alpha-direction rotation component and a gamma-direction rotation component which are distributed in a pyramid shape from bottom to top; a support rod is arranged on the central axis of the gamma-direction rotating assembly, and a test model facing the wind tunnel incoming flow is arranged at the front end of the support rod;
the shock insulation support column assembly comprises a support column and a shock insulation sealing corrugated pipe; the lower end of the support column is fixed on a shock insulation foundation, and the upper end of the support column is connected with an X-direction base of the X-direction movement assembly through a support column mounting flange of the X-direction movement assembly; the shock insulation sealing corrugated pipe is sleeved on the support column, the lower end of the shock insulation sealing corrugated pipe is welded around the support column, and the upper end of the shock insulation sealing corrugated pipe is connected to the lower surface of the test section shell through a flange.
Further, the X-direction moving assembly comprises: the X-direction base, the X-direction linear guide rail sliding block mechanism, the support column mounting flange, the X-direction lead screw flange nut assembly, the X-direction servo motor and the X-direction flange are arranged on the support column;
the X-direction base is a rectangular flat plate, the upper surface of the X-direction base is provided with an upper mounting surface, and the lower surface of the X-direction base is provided with a lower mounting surface;
an X-direction linear guide rail sliding block mechanism, an X-direction lead screw flange nut assembly and an X-direction servo motor are arranged on the upper mounting surface; the X-direction screw rod and flange nut assembly is provided with a screw rod and flange nut kinematic pair, the X-direction screw rod is positioned on the central axis of the X-direction base, an X-direction flange is arranged on the X-direction nut assembled with the X-direction screw rod, the Z-direction kinematic assembly is provided with an X-direction flange ring corresponding to the X-direction flange, and the X-direction flange ring is clamped on the X-direction flange; the guide rails of the X-direction linear guide rail sliding block mechanism are symmetrically arranged on two sides of the X-direction lead screw, a plurality of sliding blocks are clamped on the guide rails, the Z-direction moving assembly is provided with X assembly mounting flanges which correspond to the sliding blocks one by one, and the X assembly mounting flanges are clamped on the corresponding sliding blocks;
a support column mounting flange corresponding to the support column is arranged on the lower mounting surface and is fixedly connected with the support column;
the X-direction servo motor drives the X-direction lead screw to rotate, the X-direction nut moves along the X-direction lead screw, the Z-direction base is driven to move along the X-direction through the X-direction flange and the slider of the X-direction linear guide rail slider mechanism, and the six-degree-of-freedom wind tunnel test model posture control device drives the test model to move along the X-direction.
Furthermore, the Z-direction moving assembly comprises a Z-direction base, a Z-direction linear guide rail slider mechanism, an X-direction assembly flange, a Z-direction screw rod flange nut assembly, a Z-direction servo motor, a beta-direction base fixed block and an X-direction flange ring;
the Z-direction base is a rectangular flat plate, the upper surface of the Z-direction base is provided with an upper mounting surface, and the lower surface of the Z-direction base is provided with a lower mounting surface;
the upper mounting surface is provided with a Z-direction linear guide rail sliding block mechanism, a Z-direction lead screw flange nut assembly and a Z-direction servo motor; the Z-direction screw rod flange nut assembly is provided with a screw rod nut kinematic pair, a Z-direction screw rod is vertical to an X-direction screw rod and is positioned on one side edge of the Z-direction base, a beta-direction base fixing block is arranged on a Z-direction nut assembled with the Z-direction screw rod, and the beta-direction base fixing block is fixedly connected with the side wall of a beta-direction lower base of the beta-direction kinematic assembly; the Z-direction linear guide rail sliding block mechanism is provided with 2 groups, the guide rails of each group of Z-direction linear guide rail sliding block mechanisms are parallel to the Z-direction lead screw, one guide rail and the Z-direction lead screw are positioned on the same side edge of the Z-direction base, and the other guide rail is positioned on the opposite side edge of the Z-direction base; a plurality of sliders are clamped on a guide rail of a Z-direction linear guide rail slider mechanism, Z assembly mounting flanges which are in one-to-one correspondence with the sliders are arranged on the lower surface of a beta downward base of a beta movement assembly, and the Z assembly mounting flanges are clamped on the corresponding sliders;
an X assembly mounting flange corresponding to an X-direction slider of the X-direction linear guide rail slider mechanism is arranged on the lower mounting surface, and the X assembly mounting flange is clamped on an X-direction slider of the X-direction linear guide rail slider mechanism; an X-direction flange ring corresponding to the X-direction flange is further arranged and clamped on the X-direction flange;
the Z-direction servo motor drives the Z-direction lead screw to rotate, the Z-direction nut moves along the lead screw, and the beta-direction base fixing block and the slide block of the Z-direction linear guide rail slide block mechanism drive the beta-direction lower base of the beta-direction movement assembly to move along the Z direction, so that the six-degree-of-freedom wind tunnel test model attitude control device drives the test model to move along the Z direction.
Furthermore, the beta-direction rotating assembly comprises a beta-direction downward base, a beta-direction upward base, a beta-direction arc guide rail sliding block mechanism, a Z assembly mounting flange, a sliding block fixing screw hole, a beta-direction arc gear rack mechanism, a Y assembly mounting and positioning flange, a beta-direction servo motor and a middle shaft;
the beta-direction rotating assembly is of a rectangular block structure and is divided into an upper layer, a middle layer and a lower layer, the upper layer is a beta-direction upward base, the middle layer is a beta-direction arc guide rail sliding block mechanism, the lower layer is a beta-direction downward base, a middle shaft penetrates through the centers of the upper layer, the middle layer and the lower layer, and the middle shaft is assembled with a bearing seat arranged at the center position of the beta-direction downward base; a positioning flange hole of the Y-direction movement assembly is sleeved on the middle shaft, and the positioning flange is installed through the Y assembly to realize coaxial positioning and fixing;
the arc guide rail of the beta-direction arc guide rail sliding block mechanism is arranged on the upper mounting surface of the beta-direction lower base, the arc rack of the beta-direction arc gear rack mechanism is also arranged on the upper mounting surface of the beta-direction lower base, the radius of the arc guide rail is smaller than that of the arc rack, and the circle centers of the arc guide rail and the arc rack are coaxial with the central axis; the slide block of the beta-direction arc guide rail slide block mechanism is fixed on the lower mounting surface of the beta-direction upper base through a slide block fixing screw hole, and the slide block is clamped on the arc guide rail of the beta-direction arc guide rail slide block mechanism; a beta-direction servo motor is arranged on the beta-direction base, an output shaft of the beta-direction servo motor is connected with a gear of a beta-direction arc gear rack mechanism, and the gear is meshed with a rack of the beta-direction arc gear rack mechanism; the Z assembly mounting flange is mounted on the lower mounting surface of the beta downward base and clamped on a slider of the Z-direction linear guide rail slider mechanism; the beta-direction base fixing block is fixed on a side mounting surface of the beta-direction base through a nut;
the beta-direction servo motor is started, a gear of the beta-direction arc gear rack mechanism is meshed with a rack to drive the beta-direction servo motor to rotate along the rack, a slide block of the beta-direction arc guide rail slide block mechanism slides along the arc guide rail, and the beta-direction arc guide rail slide block mechanism rotates around the central shaft towards the upper base, so that the six-degree-of-freedom wind tunnel test model posture control device drives the test model to change the yaw angle beta.
Furthermore, the Y-direction movement assembly comprises a Y-direction U-shaped frame base, a Y-direction guide rail sliding block mechanism, a Y-direction lead screw and flange nut assembly, a Y-direction servo motor, a balancing weight, a steel wire lifting rope, a balancing weight guide rod and a positioning flange hole;
a positioning flange hole is formed in the center of the bottom of the Y-direction U-shaped frame base, and a Y-component mounting and positioning flange is sleeved on the middle shaft and fixed; vertical tower-shaped bases on two sides of the Y-direction U-shaped frame base are positioned on two sides of the central axis of the X-direction base of the X-direction movement assembly, the tower-shaped base on one side is a driving side, the tower-shaped base on the other side is a driven side, the opposite side of the driving side and the driven side is an inner side wall surface, and the deviated side is an outer side wall surface; two sets of Y-direction guide rail sliding block mechanisms are arranged on the inner side wall surface of the driving side, the other two sets of corresponding Y-direction guide rail sliding block mechanisms are arranged on the inner side wall surface of the driven side, guide rails of the Y-direction guide rail sliding block mechanisms are positioned in the vertical direction, a plurality of sliding blocks which correspond to each other are respectively clamped on 4 guide rails, and the sliding blocks are connected with corresponding screw holes arranged on an alpha-direction rotating base of an alpha-direction rotating assembly through bolts; 4 steel wire lifting ropes are fixed at the bottom of the alpha-direction rotating base through a lifting ring, and the 4 steel wire lifting ropes are respectively led out to the outer side wall surface of the tower-shaped base through 4 pulleys at the top end of the tower-shaped base and are respectively connected with respective balancing weights; the outer side wall surface is also provided with a balancing weight guide rod for guiding the balancing weight to move up and down; a Y-direction lead screw flange nut assembly is arranged on the central axis of the driving side, a Y-direction lead screw is positioned on the central axis of the driving side, and a Y-direction nut assembled on the Y-direction lead screw is connected with the side wall surface of the alpha-direction rotating base through a flange;
the Y-direction servo motor drives the Y-direction lead screw to rotate in the positive direction, the Y-direction nut drives the alpha-direction rotating base to move upwards through the flange, the sliding block moves upwards along the guide rail, and meanwhile, the counterweight block moves downwards along the counterweight block guide rod, so that the six-degree-of-freedom wind tunnel test model posture control device drives the test model to move upwards along the Y direction; and the Y-direction servo motor drives the Y-direction screw rod to rotate reversely, so that the attitude control device of the wind tunnel test model with six degrees of freedom drives the test model to move downwards along the Y direction.
Furthermore, the alpha-direction rotating assembly comprises an alpha-direction rotating base, an alpha-direction arc guide rail sliding block mechanism, an alpha-direction arc gear rack mechanism, an alpha-direction servo motor, an alpha-direction rotating platform and a model supporting bent arm;
the alpha-direction rotating base is fixedly connected with a sliding block of a Y-direction guide rail sliding block mechanism of the Y-direction moving assembly through a screw hole on the side surface; the alpha-direction rotating base is fixedly connected with a nut of the Y-direction screw rod flange nut assembly through a flange; the alpha-direction rotating base is respectively connected with the four groups of balancing weights through four steel wire lifting ropes; an alpha-direction arc guide rail sliding block mechanism and an alpha-direction arc gear rack mechanism are arranged on the alpha-direction rotating base, and an arc guide rail of the alpha-direction arc guide rail sliding block mechanism and an arc rack of the alpha-direction arc gear rack mechanism are arranged in parallel; the arc guide rail is clamped with a sliding block, and the alpha-direction rotating platform is fixedly connected with the sliding block through a screw hole; an alpha-direction servo motor is arranged on the alpha-direction rotating platform, an output shaft of the alpha-direction servo motor is fixedly connected with a gear of an alpha-direction arc gear rack mechanism, and the gear is meshed with an arc rack; the lower end of the model supporting bent arm is fixed on the alpha-direction rotating platform, and the upper end of the model supporting bent arm is fixedly connected with the gamma-direction base of the gamma-direction moving assembly;
the alpha-direction servo motor is started, a gear of the alpha-direction arc gear rack mechanism is meshed with an arc rack to drive the alpha-direction servo motor to rotate along the rack, a sliding block of the alpha-direction arc guide rail sliding block mechanism slides along an arc guide rail, and alpha-direction rotating platform and a model supporting bent arm do arc motion, so that the six-freedom-degree wind tunnel test model posture control device drives the test model to change a pitch angle alpha.
Furthermore, the gamma-direction rotating assembly comprises a gamma-direction base, a gamma-direction rotating output shaft and a gamma-direction servo motor;
the gamma-direction base is arranged at the upper end of the model supporting bent arm of the alpha-direction rotating assembly, the gamma-direction servo motor is arranged in the inner cavity of the gamma-direction base, and the output shaft of the gamma-direction servo motor is fixedly connected with the gamma-direction output shaft;
the gamma-direction servo motor is started to drive the gamma-direction output shaft to rotate along the central axis of the gamma-direction base, so that the six-degree-of-freedom wind tunnel test model posture control device drives the test model to change the roll angle gamma.
Furthermore, the arc rack of the beta-direction arc rack-and-pinion mechanism adopts cylindrical gear teeth.
Furthermore, the arc rack of the alpha-direction arc rack-and-pinion mechanism adopts cylindrical gear teeth.
The attitude control device of the wind tunnel test model with six degrees of freedom can provide six degrees of freedom of motion for the wind tunnel test model; realizing the motion of the model through an X-direction motion assembly; the up-and-down movement of the model is realized through the Y-direction movement assembly; the model is moved left and right through the Z-direction movement assembly; the change of the pitch angle alpha of the model is realized through an alpha-direction rotating assembly; realizing the change of the model yaw angle beta through a beta-direction rotating assembly; the change of the roll angle gamma of the model is realized through a gamma-direction rotating assembly; the six motion assemblies are sequentially distributed from bottom to top according to the X-direction motion assembly, the Z-direction motion assembly, the beta-direction rotation assembly, the Y-direction motion assembly, the alpha-direction rotation assembly and the gamma-direction rotation assembly, so that the motion relation of each degree of freedom meets the national standard specification, the mutual coupling of each degree of freedom is avoided, the control program is simplified, and the reliability is improved.
The X-direction motion assembly, the Z-direction motion assembly, the beta-direction rotation assembly, the Y-direction motion assembly, the alpha-direction rotation assembly and the gamma-direction rotation assembly in the attitude control device of the wind tunnel test model with six degrees of freedom are symmetrically distributed and supported in a left-right symmetrical mode, and supporting points of the whole mechanical structure are distributed in a pyramid shape, so that the rigidity and the long-term stability of the whole mechanical structure are guaranteed.
The attitude control device for the six-degree-of-freedom wind tunnel test model adopts the support column with the shock insulation sealing corrugated pipe, so that the whole mechanical structure is not influenced by the shock of the wind tunnel body, and the sealing performance of the wind tunnel body is not damaged.
The attitude control device of the wind tunnel test model with six degrees of freedom adopts the gear rack of the cylindrical gear teeth to realize the driving of the rotational degrees of freedom in the alpha direction and the beta direction, improves the transmission efficiency compared with a worm and gear transmission mode, reduces the meshing clearance and improves the motion precision of the whole mechanical structure.
The alpha-direction rotating base in the attitude control device of the wind tunnel test model with six degrees of freedom is connected with the steel wire lifting rope through the lifting ring and forms a counterweight system with the Y-direction balancing weight through the pulley, so that the load of the weight of the alpha-direction rotating assembly and the weight of the gamma-direction rotating assembly on the alpha-direction arc guide rail sliding block is reduced, the service life of the sliding block of the alpha-direction arc guide rail sliding block mechanism is prolonged, and the movement precision of the whole mechanical structure is ensured.
The attitude control device of the wind tunnel test model with six degrees of freedom adopts a six-degree of freedom independent motion driving mode, and has the advantages of stable structure, high motion precision and convenience in maintenance.
Drawings
FIG. 1 is an overall layout (side view) of a six-degree-of-freedom wind tunnel test model attitude control apparatus of the present invention;
FIG. 2 is a schematic structural diagram (top view) of an X-direction motion assembly in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
FIG. 3 is a schematic structural diagram (top view) of a Z-direction motion component in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
FIG. 4a is a schematic structural diagram (top view) of a β -direction motion component in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
FIG. 4b is a schematic structural diagram (side view) of a β -direction motion component in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
FIG. 5a is a schematic structural diagram (front view) of a Y-direction motion assembly in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
FIG. 5b is a schematic structural diagram (side view) of a Y-direction motion component in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
FIG. 6a is a schematic structural diagram (front view) of an α -direction motion component in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
FIG. 6b is a schematic structural diagram (top view) of an α -direction motion component in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
FIG. 6c is a schematic structural diagram (side view) of an α -direction motion component in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention;
fig. 7 is a schematic structural diagram (sectional view) of a γ -direction motion component in the attitude control device of a six-degree-of-freedom wind tunnel test model according to the present invention.
In the figure, 1, a six-freedom wind tunnel test model attitude control device; 2. a shock isolation strut assembly; 3. a test section; 4. shock insulation foundation;
an X-direction motion assembly; a Z-motion assembly; 13. a beta rotating assembly; a Y-direction motion assembly; 15. an alpha-direction rotating component; 16. a gamma rotation assembly; 17. a strut; 18. a test model;
21. a support pillar; 22. a shock insulation sealing bellows;
an X-direction base; 112, an X-direction linear guide rail sliding block mechanism; 113. mounting a flange on a supporting column; an X-direction lead screw flange nut assembly; 115. an X-direction servo motor; an X-direction flange;
a Z-direction base 121; a Z-direction linear guide slider mechanism; an X assembly mounting flange; a Z-direction lead screw flange nut assembly; a Z-direction servo motor; 126. a beta-direction base fixing block; an X-direction flange ring;
131. a beta downward base; 132. a beta-up base; 133. a beta-direction arc guide rail sliding block mechanism; a Z-assembly mounting flange; 135. the sliding block is fixed with a screw hole; 136. a beta-direction circular arc gear rack mechanism; mounting and positioning flanges on the Y component; 138. a beta-direction servo motor; 139. a middle shaft;
a Y-direction U-shaped frame base; a Y-guide rail slider mechanism; a Y-direction lead screw flange nut assembly; 144. Y-direction servo motor; 145. a balancing weight; 146. a steel wire lifting rope; 147. a counterweight guide rod; 148. positioning a flange hole;
151. an alpha-direction rotating base; 152. an alpha-direction arc guide rail sliding block mechanism; 153. an alpha-direction circular arc gear rack mechanism; 154. an alpha-direction servo motor; 155. an alpha-direction rotating platform; 156. the model supports the bent arm;
161. a gamma-oriented base; 162. a gamma-direction rotary output shaft; 163. and a gamma-direction servo motor.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, a six-degree-of-freedom wind tunnel test model attitude control device 1 of the embodiment is positioned in a test section 3 and fixed on a seismic isolation foundation 4 through a seismic isolation strut assembly 2;
the attitude control device 1 of the wind tunnel test model with six degrees of freedom comprises an X-direction motion component 11, a Z-direction motion component 12, a beta-direction rotation component 13, a Y-direction motion component 14, an alpha-direction rotation component 15 and a gamma-direction rotation component 16 which are distributed in a pyramid shape from bottom to top; a support rod 17 is arranged on the central axis of the gamma-direction rotating assembly 16, and a test model 18 facing the wind tunnel incoming flow is arranged at the front end of the support rod 17;
the shock insulation support column assembly 2 comprises a support column 21 and a shock insulation sealing corrugated pipe 22; the lower end of the supporting column 21 is fixed on the seismic isolation foundation 4, and the upper end of the supporting column 21 is connected with an X-direction base 111 of the X-direction movement assembly 11 through a supporting column mounting flange 113 of the X-direction movement assembly 11; the shock insulation sealing corrugated pipe 22 is sleeved on the support column 21, the lower end of the shock insulation sealing corrugated pipe 22 is welded around the support column 21, and the upper end of the shock insulation sealing corrugated pipe is connected to the lower surface of the shell of the test section 3 through a flange.
Further, as shown in fig. 2, the X-direction moving assembly 11 includes: an X-direction base 111, an X-direction linear guide rail sliding block mechanism 112, a support column mounting flange 113, an X-direction lead screw flange nut assembly 114, an X-direction servo motor 115 and an X-direction flange 116;
the X-direction base 111 is a rectangular flat plate, the upper surface of the X-direction base is provided with an upper mounting surface, and the lower surface of the X-direction base is provided with a lower mounting surface;
an X-direction linear guide rail sliding block mechanism 112, an X-direction lead screw flange nut assembly 114 and an X-direction servo motor 115 are arranged on the upper mounting surface; the X-direction lead screw, flange and nut assembly 114 is provided with a lead screw and nut kinematic pair, the X-direction lead screw is positioned on the central axis of the X-direction base 111, an X-direction flange 116 is arranged on the X-direction nut assembled with the X-direction lead screw, the Z-direction kinematic assembly 12 is provided with an X-direction flange ring 127 corresponding to the X-direction flange 116, and the X-direction flange ring 127 is clamped on the X-direction flange 116; the guide rails of the X-direction linear guide rail sliding block mechanism 112 are symmetrically arranged on two sides of the X-direction lead screw, a plurality of sliding blocks are clamped on the guide rails, the Z-direction moving assembly 12 is provided with X assembly mounting flanges 123 which are in one-to-one correspondence with the sliding blocks, and the X assembly mounting flanges 123 are clamped on the corresponding sliding blocks;
a support column mounting flange 113 corresponding to the support column 21 is arranged on the lower mounting surface, and the support column mounting flange 113 is fixedly connected with the support column 21;
the X-direction servo motor 115 drives the X-direction lead screw to rotate, the X-direction nut moves along the X-direction lead screw, the Z-direction base 121 is driven to move along the X direction through the X-direction flange 116 and the slider of the X-direction linear guide rail slider mechanism 112, and the six-degree-of-freedom wind tunnel test model attitude control device 1 drives the test model 18 to move along the X direction.
Further, as shown in fig. 3, the Z-direction moving assembly 12 includes a Z-direction base 121, a Z-direction linear guide rail slider mechanism 122, an X-direction assembly mounting flange 123, a Z-direction lead screw flange nut assembly 124, a Z-direction servo motor 125, a β -direction base fixing block 126, and an X-direction flange ring 127;
the Z-direction base 121 is a rectangular flat plate, the upper surface of the Z-direction base is provided with an upper mounting surface, and the lower surface of the Z-direction base is provided with a lower mounting surface;
a Z-direction linear guide rail slider mechanism 122, a Z-direction lead screw flange nut assembly 124 and a Z-direction servo motor 125 are arranged on the upper mounting surface; the Z-direction lead screw, flange nut assembly 124 is provided with a lead screw nut kinematic pair, a Z-direction lead screw is vertical to an X-direction lead screw and is positioned on one side edge of the Z-direction base 121, a beta-direction base fixing block 126 is arranged on the Z-direction nut assembled with the Z-direction lead screw, and the beta-direction base fixing block 126 is fixedly connected with the side wall of a beta downward base 131 of the beta-direction moving assembly 13; the Z-direction linear guide rail sliding block mechanisms 122 are provided with 2 groups, the guide rails of each group of Z-direction linear guide rail sliding block mechanisms 122 are all parallel to the Z-direction screw rod, one guide rail and the Z-direction screw rod are positioned on the same side edge of the Z-direction base 121, and the other guide rail is positioned on the opposite side edge of the Z-direction base 121; a plurality of sliders are clamped on the guide rail of the Z-direction linear guide rail slider mechanism 122, Z assembly mounting flanges 134 which are in one-to-one correspondence with the sliders are arranged on the lower surface of a beta downward base 131 of the beta movement assembly 13, and the Z assembly mounting flanges 134 are clamped on the corresponding sliders;
an X assembly mounting flange 123 corresponding to an X-direction slider of the X-direction linear guide rail slider mechanism 112 is arranged on the lower mounting surface, and the X assembly mounting flange 123 is clamped on the X-direction slider of the X-direction linear guide rail slider mechanism 112; an X-direction flange ring 127 corresponding to the X-direction flange 116 is further arranged, and the X-direction flange ring 127 is clamped on the X-direction flange 116;
the Z-direction servo motor 125 drives the Z-direction lead screw to rotate, the Z-direction nut moves along the lead screw, and the beta-direction base fixing block 126 and the slide block of the Z-direction linear guide rail slide block mechanism 122 drive the beta-direction moving component 13 to move towards the lower base 131 along the Z direction, so that the six-degree-of-freedom wind tunnel test model attitude control device 1 drives the test model 18 to move along the Z direction.
Further, as shown in fig. 4a and 4b, the β -direction rotating assembly 13 includes a β -direction downward base 131, a β -direction upward base 132, a β -direction arc guide rail slider mechanism 133, a Z-assembly mounting flange 134, a slider fixing screw 135, a β -direction arc gear rack mechanism 136, a Y-assembly mounting and positioning flange 137, a β -direction servo motor 138 and a central shaft 139;
the beta-direction rotating assembly 13 is a rectangular block structure and is divided into an upper layer, a middle layer and a lower layer, wherein the upper layer is a beta-direction upward base 132, the middle layer is a beta-direction arc guide rail sliding block mechanism 133, the lower layer is a beta-direction downward base 131, a middle shaft 139 penetrates through the centers of the upper layer, the middle layer and the lower layer, and the middle shaft 139 is assembled with a bearing seat arranged at the center of the beta-direction downward base 131; a positioning flange hole 148 of the Y-direction movement component 14 is sleeved on the middle shaft 139, and coaxial positioning and fixing are realized through a Y-component mounting and positioning flange 137;
the arc guide rail of the beta-direction arc guide rail sliding block mechanism 133 is arranged on the upper mounting surface of the beta-direction lower base 131, the arc rack of the beta-direction arc gear rack mechanism 136 is also arranged on the upper mounting surface of the beta-direction lower base 131, the radius of the arc guide rail is smaller than that of the arc rack, and the circle centers of the arc guide rail and the arc rack are coaxial with the central shaft 139; the slide block of the beta-direction arc guide rail slide block mechanism 133 is fixed on the lower mounting surface of the beta-direction upper base 132 through a slide block fixing screw hole 135, and the slide block is clamped on the arc guide rail of the beta-direction arc guide rail slide block mechanism 133; a beta-direction servo motor 138 is arranged on the beta-direction base 132, an output shaft of the beta-direction servo motor 138 is connected with a gear of a beta-direction arc gear rack mechanism 136, and the gear is meshed with a rack of the beta-direction arc gear rack mechanism 136; a Z assembly mounting flange 134 is mounted on the lower mounting surface of the beta downward base 131, and the Z assembly mounting flange 134 is clamped on a slider of the Z-direction linear guide rail slider mechanism 122; the β -direction base fixing block 126 is fixed to the side mounting surface of the β -direction base 131 by a nut;
the beta-direction servo motor 138 is started, the gear of the beta-direction arc gear rack mechanism 136 is meshed with the rack to drive the beta-direction servo motor 138 to rotate along the rack, the slide block of the beta-direction arc guide rail slide block mechanism 133 slides along the arc guide rail, and the beta-direction arc guide rail slide block mechanism rotates around the central shaft 139 towards the upper base 132, so that the six-degree-of-freedom wind tunnel test model attitude control device 1 drives the test model 18 to change the yaw angle beta.
Further, as shown in fig. 5a and 5b, the Y-direction moving assembly 14 includes a Y-direction U-shaped frame base 141, a Y-direction guide rail slider mechanism 142, a Y-direction lead screw and flange nut assembly 143, a Y-direction servo motor 144, a weight 145, a steel wire lifting rope 146, a weight guide rod 147 and a positioning flange hole 148;
a positioning flange hole 148 is formed in the center of the bottom of the Y-direction U-shaped frame base 141, and the Y-direction U-shaped frame base is sleeved on the middle shaft 139 through a Y-component mounting and positioning flange 137 and is fixed; the vertical tower-shaped bases on two sides of the Y-direction U-shaped frame base 141 are positioned on two sides of the central axis of the X-direction base 111 of the X-direction movement assembly 11, the tower-shaped base on one side is a driving side, the tower-shaped base on the other side is a driven side, the opposite side of the driving side and the driven side is an inner side wall surface, and the side deviating from the driving side and the driven side is an outer side wall surface; two sets of Y-direction guide rail sliding block mechanisms 142 are arranged on the inner side wall surface of the driving side, the other two sets of corresponding Y-direction guide rail sliding block mechanisms 142 are arranged on the inner side wall surface of the driven side, guide rails of the Y-direction guide rail sliding block mechanisms 142 are located in the vertical direction, a plurality of sliding blocks which correspond to each other are respectively clamped on 4 guide rails, and the sliding blocks are connected with corresponding screw holes arranged on an alpha-direction rotating base 151 of the alpha-direction rotating assembly 15 through bolts; 4 steel wire lifting ropes 146 are fixed at the bottom of the alpha-direction rotating base 151 through a lifting ring, and the 4 steel wire lifting ropes 146 are respectively led out to the outer side wall surface of the tower-shaped base through 4 pulleys at the top end of the tower-shaped base and are respectively connected with respective balancing weights 145; the outer side wall surface is also provided with a counterweight block guide rod 147 for guiding the counterweight block 145 to move up and down; a Y-direction lead screw flange nut assembly 143 is arranged on the central axis of the driving side, a Y-direction lead screw is positioned on the central axis of the driving side, and a Y-direction nut assembled on the Y-direction lead screw is connected with the side wall surface of the alpha-direction rotating base 151 through a flange;
the Y-direction servo motor 144 drives the Y-direction lead screw to rotate in the positive direction, the Y-direction nut drives the alpha-direction rotating base 151 to move upwards through the flange, the sliding block moves upwards along the guide rail, and meanwhile, the balancing weight 145 moves downwards along the balancing weight guide rod 147, so that the six-degree-of-freedom wind tunnel test model attitude control device 1 drives the test model 18 to move upwards along the Y direction; the Y-direction servo motor 144 drives the Y-direction screw rod to rotate reversely, so that the six-degree-of-freedom wind tunnel test model attitude control device 1 drives the test model 18 to move downwards along the Y direction.
Further, as shown in fig. 6a, 6b, and 6c, the α -direction rotating assembly 15 includes an α -direction rotating base 151, an α -direction arc guide rail slider mechanism 152, an α -direction arc gear rack mechanism 153, an α -direction servo motor 154, an α -direction rotating platform 155, and a model supporting curved arm 156;
the alpha-direction rotating base 151 is fixedly connected with a sliding block of the Y-direction guide rail sliding block mechanism 142 of the Y-direction moving assembly 14 through a screw hole on the side surface; the alpha-direction rotating base 151 is fixedly connected with a nut of the Y-direction screw rod flange nut assembly 143 through a flange; the alpha-direction rotating base 151 is respectively connected with four groups of balancing weights 145 through four steel wire lifting ropes 146; an alpha-direction arc guide rail sliding block mechanism 152 and an alpha-direction arc gear rack mechanism 153 are arranged on the alpha-direction rotating base 151, and arc guide rails of the alpha-direction arc guide rail sliding block mechanism 152 and arc racks of the alpha-direction arc gear rack mechanism 153 are arranged in parallel; the arc guide rail is clamped with a slide block, and the alpha-direction rotating platform 155 is fixedly connected with the slide block through a screw hole; an alpha-direction servo motor 154 is arranged on the alpha-direction rotating platform 155, an output shaft of the alpha-direction servo motor 154 is fixedly connected with a gear of an alpha-direction arc gear rack mechanism 153, and the gear is meshed with an arc rack; the lower end of the model supporting bent arm 156 is fixed on the alpha-direction rotating platform 155, and the upper end of the model supporting bent arm 156 is fixedly connected with the gamma-direction base 161 of the gamma-direction moving assembly 16;
the alpha-direction servo motor 154 is started, a gear of the alpha-direction arc gear rack mechanism 153 is meshed with an arc rack to drive the alpha-direction servo motor 154 to rotate along the rack, a sliding block of the alpha-direction arc guide rail sliding block mechanism 152 slides along an arc guide rail, and the alpha-direction rotating platform 155 and the model supporting bent arm 156 perform arc motion, so that the six-degree-of-freedom wind tunnel test model attitude control device 1 drives the test model 18 to change the pitch angle alpha.
Further, as shown in fig. 7, the γ -direction rotating assembly 16 includes a γ -direction base 161, a γ -direction rotating output shaft 162 and a γ -direction servo motor 163;
the gamma-direction base 161 is arranged at the upper end of the model supporting bent arm 156 of the alpha-direction rotating assembly 15, the gamma-direction servo motor 163 is arranged in the inner cavity of the gamma-direction base 161, and the output shaft of the gamma-direction servo motor 163 is fixedly connected with the gamma-direction output shaft 162;
the gamma-direction servo motor 163 is started to drive the gamma-direction output shaft 162 to rotate along the central axis of the gamma-direction base 161, so that the six-degree-of-freedom wind tunnel test model attitude control device 1 drives the test model 18 to change the roll angle gamma.
Further, the circular arc rack of the β -direction circular arc rack-and-pinion mechanism 136 is a cylindrical gear tooth.
Further, the arc rack of the α -direction arc rack-and-pinion mechanism 153 is a cylindrical gear tooth.
Although the embodiments of the present invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, but it can be applied to various fields suitable for the present invention. Additional modifications and refinements of the present invention will readily occur to those skilled in the art without departing from the principles of the present invention, and therefore the present invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the claims and their equivalents.
Claims (6)
1. A six-degree-of-freedom wind tunnel test model attitude control device is characterized in that the six-degree-of-freedom wind tunnel test model attitude control device (1) is positioned in a test section (3) and is fixed on a shock insulation foundation (4) through a shock insulation strut assembly (2);
the six-degree-of-freedom wind tunnel test model attitude control device (1) comprises an X-direction motion component (11), a Z-direction motion component (12), a beta-direction rotation component (13), a Y-direction motion component (14), an alpha-direction rotation component (15) and a gamma-direction rotation component (16) which are distributed in a pyramid shape from bottom to top; a support rod (17) is arranged on the central axis of the gamma-direction rotating assembly (16), and a test model (18) facing the wind tunnel incoming flow is arranged at the front end of the support rod (17);
the shock insulation support column assembly (2) comprises a support column (21) and a shock insulation sealing corrugated pipe (22); the lower end of the supporting column (21) is fixed on the seismic isolation foundation (4), and the upper end of the supporting column is connected with an X-direction base (111) of the X-direction moving assembly (11) through a supporting column mounting flange (113) of the X-direction moving assembly (11); the shock insulation sealing corrugated pipe (22) is sleeved on the support column (21), the lower end of the shock insulation sealing corrugated pipe (22) is welded around the support column (21), and the upper end of the shock insulation sealing corrugated pipe is connected to the lower surface of the shell of the test section (3) through a flange;
the X-direction moving assembly (11) comprises: the device comprises an X-direction base (111), an X-direction linear guide rail slider mechanism (112), a support column mounting flange (113), an X-direction lead screw flange nut assembly (114), an X-direction servo motor (115) and an X-direction flange (116);
the X-direction base (111) is a rectangular flat plate, the upper surface of the X-direction base is provided with an upper mounting surface, and the lower surface of the X-direction base is provided with a lower mounting surface;
an X-direction linear guide rail sliding block mechanism (112), an X-direction lead screw flange nut assembly (114) and an X-direction servo motor (115) are arranged on the upper mounting surface; the X-direction lead screw, flange and nut assembly (114) is provided with a lead screw and nut kinematic pair, the X-direction lead screw is positioned on the central axis of the X-direction base (111), an X-direction flange (116) is arranged on the X-direction nut assembled with the X-direction lead screw, the Z-direction kinematic assembly (12) is provided with an X-direction flange ring (127) corresponding to the X-direction flange (116), and the X-direction flange ring (127) is clamped on the X-direction flange (116); the guide rails of the X-direction linear guide rail sliding block mechanism (112) are symmetrically arranged on two sides of the X-direction lead screw, a plurality of sliding blocks are clamped on the guide rails, the Z-direction moving assembly (12) is provided with X assembly mounting flanges (123) which are in one-to-one correspondence with the sliding blocks of the X-direction linear guide rail sliding block mechanism (112), and the X assembly mounting flanges (123) are clamped on the corresponding sliding blocks of the X-direction linear guide rail sliding block mechanism (112);
a supporting column mounting flange (113) corresponding to the supporting column (21) is arranged on the lower mounting surface, and the supporting column mounting flange (113) is fixedly connected with the supporting column (21);
the X-direction servo motor (115) drives the X-direction lead screw to rotate, the X-direction nut moves along the X-direction lead screw, the Z-direction base (121) is driven to move along the X direction by the X-direction flange (116) and a slide block of the X-direction linear guide rail slide block mechanism (112), and the six-degree-of-freedom wind tunnel test model posture control device (1) drives the test model (18) to move along the X direction;
the Z-direction moving assembly (12) comprises a Z-direction base (121), a Z-direction linear guide rail slider mechanism (122), an X-direction assembly mounting flange (123), a Z-direction lead screw flange nut assembly (124), a Z-direction servo motor (125), a beta-direction base fixing block (126) and an X-direction flange ring (127);
the Z-direction base (121) is a rectangular flat plate, the upper surface of the Z-direction base is provided with an upper mounting surface, and the lower surface of the Z-direction base is provided with a lower mounting surface;
a Z-direction linear guide rail slider mechanism (122), a Z-direction lead screw flange nut assembly (124) and a Z-direction servo motor (125) are arranged on the upper mounting surface; the Z-direction lead screw flange nut assembly (124) is provided with a lead screw nut kinematic pair, a Z-direction lead screw is vertical to an X-direction lead screw and is positioned on one side edge of the Z-direction base (121), a beta-direction base fixing block (126) is arranged on the Z-direction nut assembled with the Z-direction lead screw, and the beta-direction base fixing block (126) is fixedly connected with the side wall of a beta-direction lower base (131) of the beta-direction kinematic assembly (13); the Z-direction linear guide rail sliding block mechanisms (122) are provided with 2 groups, the guide rails of each group of Z-direction linear guide rail sliding block mechanisms (122) are parallel to the Z-direction screw rod, one guide rail and the Z-direction screw rod are positioned on the same side edge of the Z-direction base (121), and the other guide rail is positioned on the opposite side edge of the Z-direction base (121); a plurality of sliders are clamped on a guide rail of a Z-direction linear guide rail slider mechanism (122), Z assembly mounting flanges (134) which are in one-to-one correspondence with the sliders of the Z-direction linear guide rail slider mechanism (122) are arranged on the lower surface of a beta-downward base (131) of a beta-direction moving assembly (13), and the Z assembly mounting flanges (134) are clamped on the sliders of the corresponding Z-direction linear guide rail slider mechanism (122);
an X assembly mounting flange (123) corresponding to an X-direction slider of the X-direction linear guide rail slider mechanism (112) is arranged on the lower mounting surface, and the X assembly mounting flange (123) is clamped on an X-direction slider of the X-direction linear guide rail slider mechanism (112); an X-direction flange ring (127) corresponding to the X-direction flange (116) is further arranged, and the X-direction flange ring (127) is clamped on the X-direction flange (116);
the Z-direction servo motor (125) drives the Z-direction lead screw to rotate, the Z-direction nut moves along the lead screw, and a beta-direction lower base (131) of the beta-direction movement assembly (13) is driven to move along the Z direction by a beta-direction base fixing block (126) and a slide block of the Z-direction linear guide rail slide block mechanism (122), so that the six-degree-of-freedom wind tunnel test model attitude control device (1) drives the test model (18) to move along the Z direction;
the beta-direction rotating assembly (13) comprises a beta-direction lower base (131), a beta-direction upper base (132), a beta-direction arc guide rail slider mechanism (133), a Z assembly mounting flange (134), a slider fixing screw hole (135), a beta-direction arc gear rack mechanism (136), a Y assembly mounting and positioning flange (137), a beta-direction servo motor (138) and a middle shaft (139);
the beta-direction rotating assembly (13) is of a rectangular block structure and is divided into an upper layer, a middle layer and a lower layer, the upper layer is a beta-direction upward base (132), the middle layer is a beta-direction arc guide rail sliding block mechanism (133), the lower layer is a beta-direction downward base (131), a middle shaft (139) penetrates through the centers of the upper layer, the middle layer and the lower layer, and the middle shaft (139) is assembled with a bearing seat arranged at the center of the beta-direction downward base (131); a positioning flange hole (148) of the Y-direction movement assembly (14) is sleeved on the middle shaft (139), and coaxial positioning and fixing are realized through a Y-assembly mounting positioning flange (137);
the arc guide rail of the beta-direction arc guide rail sliding block mechanism (133) is arranged on the upper mounting surface of the beta-direction lower base (131), the arc rack of the beta-direction arc gear rack mechanism (136) is also arranged on the upper mounting surface of the beta-direction lower base (131), the radius of the arc guide rail is smaller than that of the arc rack, and the circle centers of the arc guide rail and the arc rack are coaxial with the central shaft (139); a slide block of the beta-direction arc guide rail slide block mechanism (133) is fixed on a lower mounting surface of the beta-direction upper base (132) through a slide block fixing screw hole (135), and the slide block is clamped on an arc guide rail of the beta-direction arc guide rail slide block mechanism (133); a beta-direction servo motor (138) is arranged on the beta-direction base (132), an output shaft of the beta-direction servo motor (138) is connected with a gear of a beta-direction arc gear rack mechanism (136), and the gear is meshed with a rack of the beta-direction arc gear rack mechanism (136); the Z assembly mounting flange (134) is mounted on a lower mounting surface of the beta downward base (131), and the Z assembly mounting flange (134) is clamped on a slider of the Z-direction linear guide rail slider mechanism (122); the beta-direction base fixing block (126) is fixed on a side mounting surface of the beta-direction lower base (131) through a nut;
the beta-direction servo motor (138) is started, a gear of the beta-direction arc gear rack mechanism (136) is meshed with a rack to drive the beta-direction servo motor (138) to rotate along the rack, a slide block of the beta-direction arc guide rail slide block mechanism (133) slides along an arc guide rail, and the beta-direction arc guide rail slide block mechanism rotates towards the upper base (132) around the central shaft (139), so that the six-degree-of-freedom wind tunnel test model attitude control device (1) drives the test model (18) to change the yaw angle beta.
2. The attitude control device of the six-degree-of-freedom wind tunnel test model according to claim 1, wherein the Y-direction motion assembly (14) comprises a Y-direction U-shaped frame base (141), a Y-direction guide rail slider mechanism (142), a Y-direction lead screw, flange and nut assembly (143), a Y-direction servo motor (144), a counterweight (145), a steel wire lifting rope (146), a counterweight guide rod (147) and a positioning flange hole (148);
a positioning flange hole (148) is formed in the center of the bottom of the Y-direction U-shaped frame base (141), and a Y-component mounting and positioning flange (137) is sleeved on the middle shaft (139) and fixed; vertical tower-shaped bases on two sides of the Y-direction U-shaped frame base (141) are positioned on two sides of the central axis of the X-direction base (111) of the X-direction moving assembly (11), the tower-shaped base on one side is a driving side, the tower-shaped base on the other side is a driven side, opposite side surfaces of the driving side and the driven side are inner side wall surfaces, and the side surface deviating from the driving side and the driven side is an outer side wall surface; two sets of Y-direction guide rail sliding block mechanisms (142) are arranged on the inner side wall surface of the driving side, the other two sets of corresponding Y-direction guide rail sliding block mechanisms (142) are arranged on the inner side wall surface of the driven side, guide rails of the Y-direction guide rail sliding block mechanisms (142) are positioned in the vertical direction, a plurality of sliding blocks which correspond to each other are clamped on 4 guide rails respectively, and the sliding blocks are connected with corresponding screw holes which are arranged on an alpha-direction rotating base (151) of an alpha-direction rotating assembly (15) through bolts; 4 steel wire lifting ropes (146) are fixed at the bottom of the alpha-direction rotating base (151) through a lifting ring, and the 4 steel wire lifting ropes (146) are respectively led out to the outer side wall surface of the tower-shaped base through 4 pulleys at the top end of the tower-shaped base and are respectively connected with respective balancing weights (145); the outer side wall surface is also provided with a counterweight block guide rod (147) for guiding the counterweight block (145) to move up and down; a Y-direction lead screw flange nut assembly (143) is installed on the central axis of the driving side, a Y-direction lead screw is positioned on the central axis of the driving side, and a Y-direction nut assembled on the Y-direction lead screw is connected with the side wall surface of the alpha-direction rotating base (151) through a flange;
the Y-direction servo motor (144) drives the Y-direction lead screw to rotate in the positive direction, the Y-direction nut drives the alpha-direction rotating base (151) to move upwards through the flange, the sliding block moves upwards along the guide rail, and meanwhile, the balancing weight (145) moves downwards along the balancing weight guide rod (147), so that the six-degree-of-freedom wind tunnel test model posture control device (1) drives the test model (18) to move upwards along the Y direction; the Y-direction servo motor (144) drives the Y-direction screw rod to rotate reversely, and the six-degree-of-freedom wind tunnel test model attitude control device (1) drives the test model (18) to move downwards along the Y direction.
3. The attitude control device for the six-degree-of-freedom wind tunnel test model according to claim 1, wherein the α -direction rotating assembly (15) comprises an α -direction rotating base (151), an α -direction arc guide rail sliding block mechanism (152), an α -direction arc gear rack mechanism (153), an α -direction servo motor (154), an α -direction rotating platform (155) and a model supporting bent arm (156);
the alpha-direction rotating base (151) is fixedly connected with a sliding block of a Y-direction guide rail sliding block mechanism (142) of the Y-direction moving assembly (14) through a screw hole on the side surface; the alpha-direction rotating base (151) is fixedly connected with a nut of the Y-direction screw rod flange nut assembly (143) through a flange; the alpha-direction rotating base (151) is respectively connected with four groups of balancing weights (145) through four steel wire lifting ropes (146); an alpha-direction arc guide rail sliding block mechanism (152) and an alpha-direction arc gear rack mechanism (153) are arranged on the alpha-direction rotating base (151), and arc guide rails of the alpha-direction arc guide rail sliding block mechanism (152) and arc racks of the alpha-direction arc gear rack mechanism (153) are arranged in parallel; the arc guide rail is provided with a slide block in a clamping way, and the alpha-direction rotating platform (155) is fixedly connected with the slide block through a screw hole; an alpha-direction servo motor (154) is arranged on the alpha-direction rotating platform (155), an output shaft of the alpha-direction servo motor (154) is fixedly connected with a gear of an alpha-direction arc gear rack mechanism (153), and the gear is meshed with an arc rack; the lower end of the model supporting bent arm (156) is fixed on the alpha-direction rotating platform (155), and the upper end of the model supporting bent arm (156) is fixedly connected with a gamma-direction base (161) of the gamma-direction moving assembly (16);
the alpha-direction servo motor (154) is started, a gear of the alpha-direction arc gear rack mechanism (153) is meshed with an arc rack to drive the alpha-direction servo motor (154) to rotate along the rack, a slider of the alpha-direction arc guide rail slider mechanism (152) slides along an arc guide rail, and an alpha-direction rotating platform (155) and a model supporting bent arm (156) do arc motion, so that the six-degree-of-freedom wind tunnel test model posture control device (1) drives a test model (18) to change the pitch angle alpha.
4. The attitude control device for the six-degree-of-freedom wind tunnel test model according to claim 1, wherein the gamma-direction rotating assembly (16) comprises a gamma-direction base (161), a gamma-direction rotating output shaft (162) and a gamma-direction servo motor (163);
the gamma-direction base (161) is arranged at the upper end of a model supporting bent arm (156) of the alpha-direction rotating assembly (15), the gamma-direction servo motor (163) is arranged in the inner cavity of the gamma-direction base (161), and the output shaft of the gamma-direction servo motor (163) is fixedly connected with the gamma-direction output shaft (162);
the gamma-direction servo motor (163) is started to drive the gamma-direction output shaft (162) to rotate along the central axis of the gamma-direction base (161), so that the six-degree-of-freedom wind tunnel test model attitude control device (1) drives the test model (18) to change the roll angle gamma.
5. The attitude control device for the six-degree-of-freedom wind tunnel test model according to claim 1, wherein the circular arc rack of the β -direction circular arc rack-and-pinion mechanism (136) is a cylindrical gear tooth.
6. The attitude control device for the six-degree-of-freedom wind tunnel test model according to claim 3, wherein the arc rack of the α -direction arc rack-and-pinion mechanism (153) is cylindrical gear teeth.
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| CN112747889A (en) * | 2020-12-28 | 2021-05-04 | 中国航天空气动力技术研究院 | Track capture test system for simultaneous separation and simulation of double external stores |
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