CN205675261U - Gyroplane flight simulation platform for airborne tripod head test - Google Patents
Gyroplane flight simulation platform for airborne tripod head test Download PDFInfo
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- CN205675261U CN205675261U CN201620642448.8U CN201620642448U CN205675261U CN 205675261 U CN205675261 U CN 205675261U CN 201620642448 U CN201620642448 U CN 201620642448U CN 205675261 U CN205675261 U CN 205675261U
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Abstract
This utility model relates to a kind of gyroplane flight simulation platform for airborne tripod head test, belong to aircraft flight simulation technical field, including base and the four-degree-of-freedom platform being arranged on base two ends, sprocket wheel active driving mechanisms and sprocket driven mechanism it is respectively equipped with on the four-degree-of-freedom platform at two ends, sprocket wheel active driving mechanisms and sprocket driven mechanism are connected by chain, chain is provided above with camera head support, and camera head support is provided with camera head.This utility model is rigidly connected by two four-degree-of-freedom platforms and can realize it by the displacement control in X, Z-direction.It may thus be appreciated that, the angle of pitch of platform can be controlled by X, Z-direction single axis robot coupling, and control can directly control platform roll angle by X-axis rotating mechanism, and gyroplane flight can be controlled dive and roll is jolted environmental simulation, chain-drive mechanism controls the movement velocity of gyroplane, reduces cost.
Description
Technical field
This utility model belongs to aircraft flight simulation technical field, is specifically related to a kind of rotor for airborne tripod head test
Machine flight simulation platform.
Background technology
Miniature self-service rotor have VTOL, hovering, can be along the good machine of the longitudinal axis/X direction all directions flight
Move the features such as property, and easy to carry, good concealment, quick, the low cost of startup, modern military, fight against terrorism and violence and civilian side
Mask has the most wide application prospect, after especially stereopsis vision system is moved in portable machine carrying, as a maneuverability
Commanding elevation, low latitude, is highly suitable for the automatic tracking system of current tight demand.
In order to expand the scope of gyroplane monitoring external environment information, most of miniature self-service gyroplanes are equipped with two
Dimension or the rotating servo machinery The Cloud Terrace of three-dimensional.In terms of cradle head control, mobile Automatic Target Tracking technology is ground by visual system
Study carefully focus and be concentrated mainly on computer vision and image procossing aspect, mainly around how extracting characteristics of image, detection target
And carry out mating, calculating the locus etc. of target.Visual system towards small-sized gyroplane has perhaps with computer vision system
Many something in common, therefore can directly utilize the achievement in research of computer vision, but owing to both application backgrounds are different, especially
It is to there is many differences at aspects such as real-time, environmental suitability, processing units, and miniature self-service gyroplane is in operation
Time be easily subject to external interference, self attitudes vibration and the impact of body vibration, therefore come by image processing method merely
During regulation servounit The Cloud Terrace, compensation range is little, and real-time and picture steadiness are the most poor.Therefore, based on miniature self-service rotor
The low latitude monitoring and controlling system of machine has high accuracy, high adaptivity in the urgent need to one and responds quick airborne tripod head and control
System processed, to this end, this system also becomes the study hotspot of many mechanisms in the world.
Currently in order to test airborne tripod head and the performance of control system thereof, it is the most all that the airborne tripod head designed is installed
Unmanned plane carries out practical flight test, although this mode can reflect unmanned plane situation in actual job really,
But in the preliminary debugging stage developed at airborne tripod head, test will carry out practical flight by unmanned plane, is so easily caused: 1. every time
Lose time, affect product development cycle, increase R&D costs；2. the program instability of airborne tripod head model machine can increase unmanned plane
Flight controls difficulty, even causes the machine of falling；3. in order to ensure unmanned plane not air crash in practical flight, therefore can not be to airborne cloud
The limiting performance test of platform.Therefore, for the ease of performance test and the debugging of airborne tripod head system, in the urgent need to having simulation nothing
The experiment test system of man-machine state of flight, this system can simulate the typical attitude in unmanned plane operation flight course.
Utility model content
It is less that the purpose of this utility model is to provide a kind of cost, and can simulate gyroplane flight thus fairly simple
Complete the gyroplane flight simulation platform for airborne tripod head test of the test of The Cloud Terrace camera.
This utility model is for the gyroplane flight simulation platform of airborne tripod head test, including base and be arranged on base two
The four-degree-of-freedom platform of end, the four-degree-of-freedom platform at two ends is respectively equipped with sprocket wheel active driving mechanisms and sprocket driven mechanism,
Sprocket wheel active driving mechanisms and sprocket driven mechanism are connected by chain, and chain is provided above with camera head support, camera cloud
It is provided with camera head on platform support.
Described four-degree-of-freedom platform includes X-axis single axis robot, Z axis single axis robot, X-axis slide rail and Z axis slide rail, X-axis
Single axis robot and X-axis slide rail are fixed on base, connect to have by X-axis slide block and prop up above X-axis single axis robot and X-axis slide rail
Support seat, bearing block is fixedly arranged above vertical rack, and the inner side of vertical rack is fixed with Z axis single axis robot and Z axis slide rail, Z axis
Single axis robot and Z axis slide rail fixing connection by Z axis slide block have Z axis slide, Z axis slide to be provided with X-axis rotating mechanism, two ends
X-axis rotating mechanism connect sprocket wheel active driving mechanisms and sprocket driven mechanism respectively, this four-degree-of-freedom platform comprises 4 freedom
Degree, is respectively movement in X, Z-direction, turns about the X axis and around the rotation of Y-axis.Mobile respectively by X-axis in X, Z-direction
Single axis robot and Z axis single axis robot control, and turn about the X axis and are controlled by X-axis rotating mechanism, and the emulation of Y-axis corner correspondence is flat
The angle of pitch of platform, is rigidly connected by two four-degree-of-freedom platforms and can realize it by the displacement control in X, Z-direction.Therefore
Understand, the angle of pitch of platform can be controlled by X, Z-direction single axis robot coupling, and can be direct by the control of X-axis rotating mechanism
Control platform roll angle.
Described X-axis rotating mechanism includes X-axis rotary electric machine, X-axis rotary electric machine support and Y-axis rotary shaft bearing, and X-axis rotates
Motor is arranged on X-axis rotary electric machine support, and X-axis rotary electric machine support and Y-axis rotating shaft base are connected to Y by Y-axis rotary shaft
In axle rotary shaft bearing, Y-axis rotary shaft bearing is fixed on Z axis slide, and X-axis rotary electric machine outfan passes through shaft coupling one and X
Axle is rotationally connected seat and connects, and the X-axis of two ends four-degree-of-freedom platform is rotationally connected seat and connects sprocket wheel active driving mechanisms and chain respectively
Wheel follower, and can directly control platform roll angle by X-axis rotary electric machine, and whole X-axis rotating mechanism all can be with X-axis
Rotating shaft base rotates around Y-axis, so that the realization parallel with chain wheel driving mechanism all the time of X-axis rotary electric machine axis is to emulation platform
Control of sideward roll.
Described sprocket wheel active driving mechanisms include chain wheel drive motor, shaft coupling two, motor transmission shaft, chain wheel transmission shaft and
Drive sprocket, chain wheel drive motor is installed on a mounting board by support one, and chain wheel drive motor output end passes through shaft coupling two
Being connected with motor transmission shaft, the motor transmission shaft other end is installed on a mounting board by bearing block one, and motor transmission shaft connects
Gear wheel, gear wheel connects little gear by carrier gear, and carrier gear is arranged on gap bridge wheel shaft, and gap bridge wheel shaft passes through bearing
Seat two is installed on a mounting board, and chain wheel transmission shaft is installed on a mounting board by bearing block three, and drive sprocket is arranged on sprocket wheel and passes
End shaft, transmits torque to chain wheel transmission shaft by gear drive, thus band movable sprocket rotates, it is achieved chain wheel driving mechanism
Active control.
Described sprocket driven mechanism includes the follower shaft being arranged in mounting seat by bearing block four, follower shaft two ends
Being provided with driven sprocket, driven two-wheeled is connected with drive sprocket by chain.
Compared with prior art, the utility model has the advantage of:
It is rigidly connected by two four-degree-of-freedom platforms and can realize it by the displacement control in X, Z-direction.Therefore may be used
Know, the angle of pitch of platform can be controlled by X, Z-direction single axis robot coupling, and control directly to control by X-axis rotating mechanism
Platform roll angle processed, and gyroplane flight can be controlled dive and roll is jolted environmental simulation, chain-drive mechanism controls rotor
The movement velocity of machine, reduces cost.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of this utility model four-degree-of-freedom platform；
Fig. 3 is this utility model sprocket wheel active driving mechanisms structural representation；
In figure: 1, base, 2, four-degree-of-freedom platform, 2.1, X-axis single axis robot, 2.2, X-axis slide rail, 2.3, Z axis single shaft
Robot, 2.4, Z axis slide rail, 2.5, Z axis slide, 2.6, X-axis rotary electric machine, 2.7, X-axis rotary electric machine support, 2.8, support
Seat, 2.9, vertical rack, 2.10, Y-axis rotary shaft bearing, 2.11, shaft coupling one, 2.12, Y-axis rotating shaft base, 2.13, X-axis turns
Be dynamically connected seat, 3, sprocket wheel active driving mechanisms, 3.1, chain wheel drive motor, 3.2, shaft coupling two, 3.3, motor transmission shaft, 3.4,
Gear wheel, 3.5, carrier gear, 3.6, gap bridge wheel shaft, 3.7, little gear, 3.8, installing plate, 3.9, chain wheel transmission shaft, 3.10, main
Movable sprocket, 4, chain, 5, sprocket driven mechanism, 6, camera head support, 7, camera head.
Detailed description of the invention
Below against accompanying drawing, detailed description of the invention of the present utility model is described in further detail.
The gyroplane flight simulation platform for airborne tripod head test as shown in Figure 1, including base 1 be arranged on base
The four-degree-of-freedom platform 2 at 1 two ends, the four-degree-of-freedom platform 2 at two ends is respectively equipped with sprocket wheel active driving mechanisms 3 and sprocket driven
Mechanism 5, sprocket wheel active driving mechanisms 3 and sprocket driven mechanism 5 are connected by chain 4, and chain 4 is provided above with camera head and props up
Frame 6, camera head support 6 is provided with camera head 7.
Four-degree-of-freedom platform 2 includes X-axis single axis robot 2.1, Z axis single axis robot 2.3, X-axis slide rail as shown in Figure 2
2.2 and Z axis slide rail 2.4, X-axis single axis robot 2.1 and X-axis slide rail 2.2 be fixed on base 1, X-axis single axis robot 2.1 and X
Being connected by X-axis slide block above axle slide rail 2.2 and have support seat 2.8, bearing block is fixedly arranged above vertical rack 2.9, vertical rack
The inner side of 2.9 is fixed with Z axis single axis robot 2.3 and Z axis slide rail 2.4, and Z axis single axis robot 2.3 and Z axis slide rail 2.4 are fixed
Being connected by Z axis slide block has Z axis slide 2.5, Z axis slide 2.5 to be provided with X-axis rotating mechanism, and the X-axis rotating mechanism at two ends is respectively
Connect sprocket wheel active driving mechanisms 3 and sprocket driven mechanism 5.Mobile respectively by X-axis single axis robot and Z in X, Z-direction
Axle single axis robot controls, and turns about the X axis and is controlled by X-axis rotating mechanism, and the angle of pitch of Y-axis corner correspondence emulation platform, logical
Cross two four-degree-of-freedom platforms be rigidly connected can realize its by X, Z-direction displacement control.Thus, it can be known that by X, Z
Direction single axis robot coupling can control the angle of pitch of platform, and controls can directly control platform roll by X-axis rotating mechanism
Angle.
X-axis rotating mechanism includes X-axis rotary electric machine 2.6, X-axis rotary electric machine support 2.7 and Y-axis rotary shaft as shown in Figure 2
Bearing 2.10, X-axis rotary electric machine 2.6 is arranged on X-axis rotary electric machine support 2.7, and X-axis rotary electric machine support 2.7 and Y-axis rotate
Axle bed 2.12 is connected in Y-axis rotary shaft bearing 2.10 by Y-axis rotary shaft, and Y-axis rotary shaft bearing 2.10 is fixed on Z axis slide
On 2.5, X-axis rotary electric machine 2.6 outfan is rotationally connected seat 2.13 by shaft coupling 1 with X-axis and is connected, and two ends four are freely
The X-axis of degree platform 2 is rotationally connected seat 2.13 and connects sprocket wheel active driving mechanisms 3 and sprocket driven mechanism 5 respectively, and passes through X-axis
Rotary electric machine can directly control platform roll angle, and whole X-axis rotating mechanism all can rotate around Y-axis with X-axis rotating shaft base, from
And make the X-axis rotary electric machine axis realization parallel with the chain wheel driving mechanism control of sideward roll to emulation platform all the time.
Sprocket wheel active driving mechanisms 3 includes chain wheel drive motor 3.1, shaft coupling 2 3.2, motor transmission shaft as shown in Figure 3
3.3, chain wheel transmission shaft 3.9 and drive sprocket 3.10, chain wheel drive motor 3.1 is arranged on installing plate 3.8 by support one, chain
Wheel drive motor 3.1 outfan is connected with motor transmission shaft 3.3 by shaft coupling 2 3.2, and motor transmission shaft 3.3 other end passes through
Bearing block one is arranged on installing plate 3.8, and motor transmission shaft 3.3 connects gear wheel 3.4, and gear wheel 3.4 passes through carrier gear
3.5 connect little gear 3.7, and carrier gear 3.5 is arranged on gap bridge wheel shaft 3.6, and gap bridge wheel shaft 3.6 is arranged on by bearing block two
On installing plate 3.8, chain wheel transmission shaft 3.9 is arranged on installing plate 3.8 by bearing block three, and drive sprocket 3.10 is arranged on sprocket wheel
Power transmission shaft 3.9 two ends.Transmit torque to chain wheel transmission shaft by gear drive, thus band movable sprocket rotates, it is achieved sprocket wheel passes
The active of motivation structure controls.
Sprocket driven mechanism 5 includes the follower shaft being arranged in mounting seat by bearing block four, and follower shaft two ends set
Being equipped with driven sprocket, driven two-wheeled is connected with drive sprocket 3.10 by chain 4.
During use, control the shifting in X, Z-direction respectively by X-axis single axis robot 2.1 and Z axis single axis robot 2.3
Dynamic, the angle of pitch of the corresponding emulation platform of regulation, then control can directly control platform roll angle by X-axis rotating mechanism, and
Transmit torque to chain wheel transmission shaft 3.9 by gear drive, thus band movable sprocket rotates, it is achieved chain-drive mechanism controls rotor
The movement velocity of machine, it is achieved that environmental simulation that control gyroplane flight is dived and roll is jolted, thus conveniently test camera head
Performance.
This utility model is rigidly connected by two 4DOF platforms can realize it by the displacement control in X, Z-direction
System.Thus, it can be known that the angle of pitch of platform can be controlled by X, Z-direction single axis robot coupling, and controlled by X-axis rotating mechanism
Can directly control platform roll angle, and gyroplane flight can be controlled dive and roll is jolted environmental simulation, chain-drive mechanism
Control the movement velocity of gyroplane, reduce cost.
Claims (5)
1. the gyroplane flight simulation platform for airborne tripod head test, it is characterised in that include base (1) and be arranged on
The four-degree-of-freedom platform (2) at base (1) two ends, the four-degree-of-freedom platform (2) at two ends is respectively equipped with sprocket wheel active driving mechanisms
(3) connected by chain (4) with sprocket driven mechanism (5), sprocket wheel active driving mechanisms (3) and sprocket driven mechanism (5), chain
(4) it is provided above with camera head support (6), camera head support (6) is provided with camera head (7).
Gyroplane flight simulation platform for airborne tripod head test the most according to claim 1, it is characterised in that described
Four-degree-of-freedom platform (2) includes that X-axis single axis robot (2.1), Z axis single axis robot (2.3), X-axis slide rail (2.2) and Z axis are sliding
Rail (2.4), X-axis single axis robot (2.1) and X-axis slide rail (2.2) are fixed on base (1), X-axis single axis robot (2.1) and X
Axle slide rail (2.2) top is connected by X-axis slide block support seat (2.8), and bearing block is fixedly arranged above vertical rack (2.9), perpendicular
The inner side of straight bracket (2.9) is fixed with Z axis single axis robot (2.3) and Z axis slide rail (2.4), Z axis single axis robot (2.3) and Z
Axle slide rail (2.4) is fixing to be connected by Z axis slide block has Z axis slide (2.5), Z axis slide (2.5) to be provided with X-axis rotating mechanism, and two
The X-axis rotating mechanism of end connects sprocket wheel active driving mechanisms (3) and sprocket driven mechanism (5) respectively.
Gyroplane flight simulation platform for airborne tripod head test the most according to claim 2, it is characterised in that described X
Axle rotating mechanism includes X-axis rotary electric machine (2.6), X-axis rotary electric machine support (2.7) and Y-axis rotary shaft bearing (2.10), X-axis
Rotary electric machine (2.6) is arranged in X-axis rotary electric machine support (2.7), X-axis rotary electric machine support (2.7) and Y-axis rotating shaft base
(2.12) being connected in Y-axis rotary shaft bearing (2.10) by Y-axis rotary shaft, it is sliding that Y-axis rotary shaft bearing (2.10) is fixed on Z axis
On seat (2.5), X-axis rotary electric machine (2.6) outfan is rotationally connected seat (2.13) by shaft coupling one (2.11) with X-axis and is connected,
The X-axis at two ends four-degree-of-freedom platform (2) is rotationally connected seat (2.13) and connects sprocket wheel active driving mechanisms (3) and sprocket driven respectively
Mechanism (5).
4. according to the gyroplane flight simulation platform for airborne tripod head test described in claim 1 or 3, it is characterised in that institute
State sprocket wheel active driving mechanisms (3) and include chain wheel drive motor (3.1), shaft coupling two (3.2), motor transmission shaft (3.3), sprocket wheel
Power transmission shaft (3.9) and drive sprocket (3.10), chain wheel drive motor (3.1) is arranged on installing plate (3.8) by support one, chain
Wheel drive motor (3.1) outfan is connected with motor transmission shaft (3.3) by shaft coupling two (3.2), and motor transmission shaft (3.3) is another
One end is arranged on installing plate (3.8) by bearing block one, and motor transmission shaft (3.3) connects gear wheel (3.4), gear wheel
(3.4) connecting little gear (3.7) by carrier gear (3.5), carrier gear (3.5) is arranged on gap bridge wheel shaft (3.6), passes a bridge
Wheel shaft (3.6) is arranged on installing plate (3.8) by bearing block two, and chain wheel transmission shaft (3.9) is arranged on peace by bearing block three
On dress plate (3.8), drive sprocket (3.10) is arranged on chain wheel transmission shaft (3.9) two ends.
Gyroplane flight simulation platform for airborne tripod head test the most according to claim 4, it is characterised in that described
Sprocket driven mechanism (5) includes the follower shaft being arranged in mounting seat by bearing block four, follower shaft two ends be provided with from
Movable sprocket, driven two-wheeled is connected with drive sprocket (3.10) by chain (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620642448.8U CN205675261U (en) | 2016-06-24 | 2016-06-24 | Gyroplane flight simulation platform for airborne tripod head test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620642448.8U CN205675261U (en) | 2016-06-24 | 2016-06-24 | Gyroplane flight simulation platform for airborne tripod head test |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205675261U true CN205675261U (en) | 2016-11-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620642448.8U Expired - Fee Related CN205675261U (en) | 2016-06-24 | 2016-06-24 | Gyroplane flight simulation platform for airborne tripod head test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205675261U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923168A (en) * | 2016-06-24 | 2016-09-07 | 济宁学院 | Rotorcraft flight simulating platform applied to airborne cradle head testing |
| CN106892133A (en) * | 2017-03-02 | 2017-06-27 | 武汉星巡智能科技有限公司 | Load the aircraft head stability test device and method of camera head |
-
2016
- 2016-06-24 CN CN201620642448.8U patent/CN205675261U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923168A (en) * | 2016-06-24 | 2016-09-07 | 济宁学院 | Rotorcraft flight simulating platform applied to airborne cradle head testing |
| CN105923168B (en) * | 2016-06-24 | 2018-07-17 | 济宁学院 | Gyroplane flight simulation platform for airborne tripod head test |
| CN106892133A (en) * | 2017-03-02 | 2017-06-27 | 武汉星巡智能科技有限公司 | Load the aircraft head stability test device and method of camera head |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161109 Termination date: 20170624 |
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| CF01 | Termination of patent right due to non-payment of annual fee |