CN201780198U - Wind-tunnel high attack angle dynamic testing device based on hybrid mechanism - Google Patents

Abstract

The utility model relates to a wind tunnel large attack angle dynamic experimental device based on a hybrid mechanism, which belongs to an aircraft experimental device. It includes a base (1), three kinematic chains (3), and a moving platform (9); it also includes a machete (8), a first active rotary joint (5), an end effector (6), a second active rotary joint ( 7); one end of the machete (8) is installed on the moving platform (9) through the first active rotating joint (5), and the end effector (6) is installed on the other end of the machete through the second active rotating joint (7) The rotation axis of the above-mentioned first rotation joint is perpendicular to the moving platform, the rotation axis of the second rotation joint is parallel to the movement platform, and the body axis of the end effector (6) itself coincides with the rotation axis of the second rotation joint. A three-degree-of-freedom planar parallel mechanism and a series-connected two-degree-of-freedom rotating device are used to complete a spatial three-degree-of-freedom rotation around a fixed point on the aircraft. The movement space is large, the structure is simple, the cost is low, and it is easy to implement.

Description

Dynamic Experimental Device of Large Angle of Attack in Wind Tunnel Based on Hybrid Mechanism

technical field

The utility model belongs to an aircraft experiment device, in particular to a wind tunnel large attack angle dynamic experiment device which realizes three-degree-of-freedom rotation around a certain fixed point on the aircraft.

Background technique

The new generation of aircraft requires high agility and maneuverability. In order to study the unsteady aerodynamics in the maneuvering process of aircraft, innovations in wind tunnel test technology are needed. At present, many studies have been carried out in the field of high angle of attack unsteady aerodynamics at home and abroad, especially in the aspect of wind tunnel test technology, and many large-amplitude dynamic experimental devices for simulating the maneuvering flight of fighter jets have been built. For example, a dynamic experimental device is disclosed in the 3-meter wind tunnel of the Canadian Institute of Aeronautics and Astronautics (see: http://www.nrc-cnrc.gc.ca/eng/programs/iar/non-linear.html); A set of dynamic experimental devices disclosed by Stanford University in the U.S.; a similar dynamic experimental device is also disclosed by the Russian Central Aerohydrodynamic Research Center. These devices can only realize the motion control of the single degree of freedom of the model attitude. A set of dynamic experimental devices that can realize two-degree-of-freedom motion is published by the University of Virginia (see: http://www.aoe.vt.edu/research/facilities/dyppir); Nanjing University of Aeronautics and Astronautics has developed a set that can realize Dynamic experimental device for pitch-roll two-degree-of-freedom motion (see the literature "Pitch-roll coupled two-degree-of-freedom large-amplitude unsteady experimental technology", Journal of Nanjing University of Aeronautics and Astronautics, 1999, 31(2)). These devices can realize two-degree-of-freedom motion control of the pose of the model. Others include the dynamic experimental device of the 3-meter wind tunnel at the Langley Center in the United States, and domestic 627 and 29 bases also have similar large-amplitude dynamic experimental devices.

Judging from these experimental equipment, most dynamic experimental devices can only achieve one degree of freedom of motion, and a few of them can achieve two degrees of freedom of motion, and these motion mechanisms can only complete simple simple harmonic oscillation motion, which cannot be truly simulated The complex motion of fighter jets during actual post-stall maneuvers.

From the prior art, the closest experimental equipment with the utility model has the MPM experimental device of German DLR (see document "Ground-based simulation of complex maneuvers of a delta-wing aircraft", Journal of Aircraft, 2008, 45( 1)). The device uses a six-degree-of-freedom parallel drive mechanism, which can realize three-degree-of-freedom rotation control of the model attitude, but the movement space of the movement device is relatively small, and the drive of the movement mechanism is relatively complicated.

Before the present utility model, the rotation that can be realized around a fixed point on the aircraft is at most a single degree of freedom or two degrees of freedom, and most of these devices adopt a series and open chain structure, and the action response is slow; based on the parallel mechanism The motion space of the model attitude control system is relatively small, and the drive of the motion mechanism is complex. The utility model will overcome these disadvantages, and has the characteristics of large movement space, less degree of freedom of mechanism, simple structure and the like.

Contents of the invention

The purpose of the utility model is to provide a large working space, good response speed, and easy control of a wind tunnel large angle of attack dynamic experiment device based on a hybrid mechanism.

A wind tunnel large angle of attack dynamic experiment device based on a hybrid mechanism, characterized in that:

The experimental device includes a base, three kinematic chains, and a moving platform; each of the above-mentioned kinematic chains is composed of an active moving pair located in the middle, a first driven rotating pair connected to the lower end of the active moving pair, and a first driven rotating pair connected to the active moving pair. The upper end is composed of the second driven revolving pair; the first driven revolving pair is connected to the base, and the second driven revolving pair is connected to the moving platform; the base, the moving platform and three kinematic chains connecting them together constitute the A planar parallel mechanism with two degrees of freedom for movement and one rotation;

The experimental device also includes a machete, a first active rotary joint, an end effector, and a second active rotary joint; one end of the machete is mounted on the moving platform through the first active rotary joint, and the end effector is mounted on the second active rotary joint. At the other end of the scimitar; the rotation axis of the first rotation joint is perpendicular to the moving platform, the rotation axis of the second rotation joint is parallel to the movement platform, and the body axis of the end effector itself coincides with the rotation axis of the second rotation joint.

The utility model is characterized in that: a three-degree-of-freedom planar parallel mechanism and a two-degree-of-freedom rotating device in series are used to complete a three-degree-of-freedom rotation in space around a fixed point on the aircraft. The movement space is large, the structure is simple, the cost is low, and it is easy to implement.

Description of drawings

Fig. 1 is a schematic diagram of the utility model realizing the three-degree-of-freedom rotating device around a certain fixed point on the aircraft.

Label names in the figure: 1. Base, 2. First driven revolving joint, 3. Active moving joint, 4. Second driven revolving joint, 5. First active revolving joint, 6. End effector, 7. Second active revolving joint, 8. Scimitar, 9. Moving platform, MN. Rotation axis of the first active revolving joint, MP. Revolving axis of the second active revolving joint.

Detailed ways

As shown in Figure 1, the base 1 and the moving platform 9 are connected in parallel through three RPR kinematic chains. A planar three-degree-of-freedom parallel mechanism with two movements and one rotation is formed. The three kinematic chains are all RPR kinematic chains. The moving pair P is the active joint. In specific applications, it can be driven by hydraulic cylinders, electric push cylinders, or screw nut pairs driven by motors. The two rotating pairs R are driven. vice. The coordinated movement of the three RPR kinematic chains can make the moving platform complete two movements and one rotation in the XOY plane.

The moving platform 9 and the scimitar 8 are connected through the first active rotary joint 5, and its rotation axis MN is perpendicular to the moving platform 9 and in the XOY plane. The first active rotary joint 5 can be driven by a motor or a rotary hydraulic cylinder during implementation. The other end of the scimitar 8 is connected to the end effector 6 through the second active rotary joint 7, the rotation axis MP of the second active rotary joint 7 coincides with the body axis of the end effector 6, and is aligned with the first active rotary joint 5 The axis of rotation MN perpendicularly intersects at point M. The second active rotary joint can be driven by a motor or a rotary hydraulic cylinder during implementation. The device can complete three rotations around point M on the end effector 6 . Since the end effector 6 has a certain length, when it is rotated, the movable platform 9 will be displaced in two directions in the XOY plane.

The end effector 6 can realize movement in two directions and three rotations in space within the plane where the mechanism is located. The planar three-degree-of-freedom parallel mechanism connecting the moving platform 9 and the base 1 is mainly used to compensate the displacement caused by the rotation around the fixed point M on the end effector 6 .

Claims (1)

1. high-angle-of attack dynamic experimental device of wind tunnel based on hybrid mechanism is characterized in that:

This experimental provision comprises pedestal (1), three kinematic chains, moving platform (9); Above-mentioned every kinematic chain by the active moving sets (3) in the middle of being positioned at, be coupled to the first driven revolute pair (2) of active moving sets lower end and be coupled to the second driven revolute pair (4) composition of active moving sets upper end; The first driven revolute pair (2) links with pedestal (1), and the second driven revolute pair (4) links with moving platform (9); Pedestal (1), moving platform (9) and three kinematic chains that connect both have constituted one jointly to have two and moves and the plane parallel mechanism of a rotational freedom;

This experimental provision also comprises tulwar (8), the first active rotation joint (5), end effector (6), the second active rotation joint (7); One end of tulwar (8) is installed on the moving platform (9) by the first active rotation joint (5), and end effector (6) is installed on the other end of tulwar by the second active rotation joint (7); The turning axle of above-mentioned first cradle head is perpendicular to moving platform, and the rotating shaft parallel of second cradle head is in moving platform, and the axon of end effector (6) self overlaps with the turning axle of second cradle head.

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