CN208005671U - The mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing - Google Patents
The mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing Download PDFInfo
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- CN208005671U CN208005671U CN201820415087.2U CN201820415087U CN208005671U CN 208005671 U CN208005671 U CN 208005671U CN 201820415087 U CN201820415087 U CN 201820415087U CN 208005671 U CN208005671 U CN 208005671U
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- 238000005096 rolling process Methods 0.000 claims abstract description 49
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Abstract
A kind of mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing, including Three Degree Of Freedom translation mechanism, pitching/yawing rotation mechanism and rolling movement mechanism, the Three Degree Of Freedom translation parallel connection mechanism includes three groups of guide rail bases, three group of first sliding block, three groups of first straight line driving mechanisms, three group of first universal coupling, three first connecting rods, by controlling the coordinated movement of various economic factors of three the first sliding blocks, and then pitching/yaw base is made to realize along three translation of axes campaigns；The pitching/yawing rotation mechanism includes pitching/yaw base, three groups of second straight line driving mechanisms, three group of second sliding block, three groups of turning joints, three group of second universal coupling and three groups of second connecting rods, and the rolling movement mechanism includes rolling head, rolling head servo motor, a pair of of spur gear, hollow harmonic speed reducer, shaft coupling and store Combinations foot piece.The utility model has the advantages of big movement travel, high bearing capacity and rigidity, high kinematic accuracy.
Description
Technical field
The utility model is related to a kind of mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing.
Background technology
Captive trajectory testing is a kind of extraordinary wind tunnel test of research store Combinations and carrier separation security feature.Wherein six certainly
It is the support device of store Combinations and its Motor execution device in captive trajectory testing system by degree mechanism, is the core of whole system
Part.Mechanism in six degree of freedom is controlled by computer, and providing six-freedom degree for store Combinations model (axial X, lateral Y, normal direction Z, bows
Face upward α, yaw β, rolling γ) movement.The movement travel of mechanism in six degree of freedom all directions and kinematic accuracy directly affect capture
The precision and effect of trajectory tests.Currently, external supersonic wind tunnel CTS system is with Feng's AEDC toll bar laboratory supersonic speed CTS systems
System is representative, and wind-tunnel is continuous wind tunnel, and dynamic pressure is low, it is small to bear load；The country, with FL-3, FD-12, FL-28 wind-tunnel CTS
System is representative, and intermittent wind tunnel dynamic pressure is high, impact is big；Side crops industry (small lifting surface) model test can only be undertaken.Both at home and abroad still
It is not suitable for the mechanism in six degree of freedom of lift surface model CTS experiments under the conditions of high dynamic pressure when intermittent wind tunnel M=2~4.
Utility model content
In order to solve the problems such as existing mechanism in six degree of freedom stroke is small, bearing capacity is poor and poor rigidity, the utility model
Purpose be：A kind of mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing is provided, which uses
In High Mach number captive trajectory testing, the experimental rig of store Combinations and carrier separation state is simulated.
The technical solution of the utility model is as follows：The six of a kind of High Mach number high dynamic pressure lift model captive trajectory testing
Degree of freedom mechanism, including Three Degree Of Freedom translation mechanism, pitching/yawing rotation mechanism and rolling movement mechanism, described three freely
Degree translation parallel connection mechanism is connected with pitching/yawing rotation mechanism, and pitching/yawing rotation mechanism is connect with rolling movement mechanism；
The Three Degree Of Freedom translation parallel connection mechanism includes three groups of guide rail bases, three group of first sliding block, three groups of first straight lines
Driving mechanism, three group of first universal coupling, three first connecting rods, circumferentially equispaced is fixed on wind-tunnel examination to three groups of guide rail bases
Test in section, one group of first straight line driving mechanism be installed on every group of guide rail base, every group of first straight line driving mechanism with one the
One sliding block connects, and one end of each first sliding block and a first connecting rod is hinged, and the other end of every first connecting rod passes through one
The first universal coupling of group is connect with pitching/yaw base, and first straight line driving mechanism drives its first sliding block axially to be transported along wind-tunnel
Dynamic, three first connecting rods are connect by the first universal coupling with the first sliding block and pitching/yaw base.By controlling three first
The coordinated movement of various economic factors of sliding block, and then pitching/yaw base is made to realize along three translation of axes campaigns；
The pitching/yawing rotation mechanism include pitching/yaw base, three groups of second straight line driving mechanisms, three group
Two sliding blocks, three groups of turning joints, three group of second universal coupling and three groups of second connecting rods, the bottom plane circumference of rolling head is by average
Interval is equipped with three group of second universal coupling, and radially equispaced is equipped with three groups of second straight line drivings to pitching/yaw base
Mechanism, in every group of second straight line driving mechanism installation there are one the second sliding block, every group of second sliding block by one group of turning joint with
One end of second connecting rod connects, and the other end of second connecting rod is connect with second universal coupling；
The rolling movement mechanism includes rolling head, rolling head servo motor, a pair of of spur gear, hollow harmonic reduction
The end of device, shaft coupling and store Combinations foot piece, store Combinations foot piece is inserted into rolling head, and rolling head servo is equipped in rolling head
Motor, spur gear, hollow harmonic speed reducer and shaft coupling, hollow harmonic speed reducer pass through a pair of of spur gear and rolling head servo electricity
Machine connects, and hollow harmonic speed reducer is by the interior axis connection of shaft coupling and store Combinations foot piece, to realize store Combinations around its axis
Rolling movement.The innovative point and advantageous effect of the utility model be：
(1) linear motion and angular movement of this mechanism in six degree of freedom using seven servo motors realizations, three directions.Using
The cascade of Three Degree Of Freedom translation parallel connection mechanism and Three Degree Of Freedom two rotation-translation parallel institution realizes its in addition to rolling
Remaining the movements of five degree of freedom.Rolling movement is realized using harmonic speed reducer.This form is reaching mechanism kinematic stroke and wind-tunnel
Under the requirement of congestion degree, increase the integrated carrying ability and rigidity of mechanism, to meet the big load requirement of store Combinations.
(2) Three Degree Of Freedom translation mechanism uses parallel form.Three connecting rods are by the universal coupling at both ends by three sliding blocks
It is connected with pitching/yaw base.Three sliding blocks are connect with three groups of straight line driving mechanisms, realize movement of the sliding block along wind-tunnel axial direction.
The displacement of the lines in three directions is realized by the coordinated movement of various economic factors of sliding block, and the big stroke motion along wind-tunnel axial direction, axis especially can be achieved
To movement travel maximum up to 1000mm.Sliding block, straight line driving mechanism and pedestal are installed in test section section siding leeward, only
Universal coupling and connecting rod are located in Flow Field in Wind Tunnel, reduce occupied space of the motion in Flow Field in Wind Tunnel, and parallel form increases
The bearing capacity and rigidity of mechanism；Compared with traditional cascade, the kinematic error of mechanism is improved.
(3) there are two the 3-freedom parallel mechanisms of rotation and a translation using tool for pitching/yaw structure, wherein only right
Two rotational freedoms are controlled, reachable respectively ± 45 ° of the range of pitching/yaw angle.Three connecting rods by turning joint and
Universal trial of strength is connect with three sliding blocks and rolling head respectively.Connecting rod is divided to two sections, and two sections of connecting rods are realized by rolling bearing around even root
The rotation of axis.Three sliding blocks are connect with three groups of straight line driving mechanisms, realize movement of the sliding block along wind-tunnel axial direction.Pass through sliding block
Pitching/yawing rotation is realized in the coordinated movement of various economic factors.Sliding block and straight line driving mechanism are installed in pitching/yaw base.
(4) rotation mechanism for wind is driven by harmonic speed reducer, makes reachable ± 360 ° of rolling angular region or more.Hollow reduction gear is defeated
Enter end to connect with servo motor by a pair of of gear, the biasing of servo motor is realized, to meet the cabling requirement of mechanism.
(5) mechanism in six degree of freedom uses seven high-precision servo motor coordination driving mechanisms, realizes the line position in three directions
Precision is moved up to 0.1mm, the angular displacement precision in three directions is up to 1 '.This mechanism realizes its in addition to rolling using parallel institution
Remaining the movements of 5 degree of freedom, the bearing capacity and rigidity of the mechanism greatly promoted, normal direction bearing capacity are up to 2000N.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the Three Degree Of Freedom translation mechanism schematic diagram of the utility model.
Fig. 3 is the pitching/yawing rotation structural scheme of mechanism of the utility model.
Fig. 4 is the rolling movement structural scheme of mechanism of the utility model.
Specific implementation mode
It illustrates below and the utility model is described further：
Embodiment 1
As shown in Figure 1, a kind of mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing, is applicable in
It is translated in 1m magnitude hypersonic wind tunnel High Mach number high dynamic pressure condition lift surface model captive trajectory testings, including Three Degree Of Freedom
Mechanism 1, pitching/yawing rotation mechanism 2 and rolling movement mechanism 3；
As shown in Fig. 2, the Three Degree Of Freedom translation parallel connection mechanism 1 include three groups of guide rail bases, 4, three group of first sliding block 5,
Three groups of 6, three group first of first straight line driving mechanism first connecting rods 8 of universal coupling 7, three, three groups of guide rail bases 4 are circumferentially average
Interval is fixed on test chamber, and one group of first straight line driving mechanism 6 is equipped on every group of guide rail base 4, and every group first straight
Line driving mechanism 6 is connect with first sliding block 5, and one end of each first sliding block 5 and a first connecting rod 8 is hinged, every the
The other end of one connecting rod 8 is connect by one group of first universal coupling 7 with pitching/yaw base 9, first straight line driving mechanism 6
Its first sliding block 5 is driven to be axially moved along wind-tunnel, three first connecting rods 8 are by the first universal coupling 7 and the first sliding block 5 and bow
Face upward/the connection of yaw base 9；Every group of first straight line driving mechanism 6 includes first servo motor 10, the first retarder 11, first
Thick stick 12 and first straight line guide rail 13 drive leading screw 12 by controlling three servo motors 10, make three 5 coordinated movements of various economic factors of sliding block, from
And pitching/yaw base 9 is made to realize along three translation of axes campaigns.
As shown in figure 3, the pitching/yawing rotation mechanism 2 includes 9, the three groups of second straight line drivings of pitching/yaw base
14, three group second of mechanism, 15, three groups of sliding block turning joint, 16, three group of second universal coupling 17 and three groups of link mechanisms 18, rolling
First 19 bottom plane circumference is equipped with three group of second universal coupling 17 by equispaced, and pitching/yaw base 9 is radially average
It is spaced and three groups of second straight line driving mechanisms 14 is installed, there are one the second sliding blocks for installation in every group of second straight line driving mechanism 14
15, every group of second sliding block 15 is connect by one group of turning joint 16 with one end of one group of link mechanism 18, link mechanism 18 it is another
Outer one end is connect with second universal coupling 17；Every group of link mechanism 18 includes second connecting rod 24, third connecting rod 25 and rolls
Bearing 26, second connecting rod 24 are connect with by rolling bearing 26 with third connecting rod 25；
Every group of second straight line driving mechanism 14 includes the second servo motor 20, the second retarder 21, the second leading screw 22 and the
Two the linear guides 23；
Three group of second leading screw 22 is driven by controlling three the second servo motors 20, three the second sliding blocks 15 is made to coordinate fortune
It is dynamic, to make rolling head 19 realize pitching, yaw and along the linear motion of wind-tunnel axial direction.Here pitching is realized merely with this mechanism
And yawing rotation.This mechanism is will produce during the motion along wind-tunnel normal direction and lateral additional movement, this componental movement is by three
Degree of freedom translation parallel connection mechanism 1 compensates.
As shown in figure 4, the rolling movement mechanism 3 includes rolling head 19, rolling head servo motor 27, a pair of of spur gear
28, the end of hollow harmonic speed reducer 29, shaft coupling 30 and store Combinations foot piece 31, store Combinations foot piece 31 is inserted into rolling head 19
It is interior, rolling head servo motor 27, spur gear 28, hollow harmonic speed reducer 29 and shaft coupling 30 are installed in rolling head 19, it is hollow
Harmonic speed reducer 29 is connect by a pair of of spur gear 28 with rolling head servo motor 27, and hollow harmonic speed reducer 29 passes through shaft coupling
30 connect with the inner shaft 32 of store Combinations foot piece 31, to realize rolling movement of the store Combinations around its axis.
The operation principle of the utility model：
1) store Combinations and balance are mounted on the store Combinations foot piece of mechanism in six degree of freedom.According to test requirements document, determine outer
Hang the initial theory relative position and posture of object and carrier aircraft.By control six free mechanisms make store Combinations move to initial position with
Posture completes the initial alignment of store Combinations.
2) according to the spatial position under several carrier aircraft flow fields for giving or being calculated after the separation of store Combinations, pass through control
Seven servo motor motors of Three Degree Of Freedom translation mechanism, pitching/mechanism and rotation mechanism for wind make store Combinations reach corresponding experiment
Position and posture, and pass through the measurement of store Combinations balance progress aerodynamic loading.
The operational process of whole system is：The initial alignment of store Combinations and carrier aircraft, including initial relative position are carried out first
And posture.According to the theoretical relative position of store Combinations and carrier aircraft, the pose residual quantity Δ of plug-in opposite carrier aircraft six direction is surveyed
X,ΔY,ΔZ,Δα,Δβ,Δγ.Three Degree Of Freedom translation mechanism (1), pitching/yaw fortune are controlled in a manner of with compensation campaign
Motivation structure (2) and rolling movement mechanism (3) coordinated movement of various economic factors, make the pose residual quantity of six direction meet initial alignment error.Then
It being calculated according to test requirements document and computer, store Combinations are moved to corresponding measurement position and posture by control mechanism in six degree of freedom,
It can carry out captive trajectory testing.
Claims (1)
1. a kind of mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing, including Three Degree Of Freedom translation
Mechanism (1), pitching/yawing rotation mechanism (2) and rolling movement mechanism (3), the Three Degree Of Freedom translation parallel connection mechanism (1) and
Pitching/yawing rotation mechanism (2) connection, pitching/yawing rotation mechanism are connect with rolling movement mechanism (3)；It is characterized in that：
The Three Degree Of Freedom translation parallel connection mechanism (1) include three groups of guide rail bases (4), three group of first sliding block (5), three group first
Straight line driving mechanism (6), three group of first universal coupling (7), three first connecting rods (8), three groups of guide rail bases (4) are circumferentially average
Interval is fixed on test chamber, is equipped with one group of first straight line driving mechanism (6) on every group of guide rail base (4), every group the
One straight line driving mechanism (6) is connect with first sliding block (5), one end of each first sliding block (5) and a first connecting rod (8)
Hinged, the other end of every first connecting rod (8) is connect by one group of first universal coupling (7) with pitching/yaw base (9),
First straight line driving mechanism (6) drives its first sliding block (5) to be axially moved along wind-tunnel, and three first connecting rods (8) pass through the 10000th
It is connect to hinge (7) with the first sliding block (5) and pitching/yaw base (9), the coordination by controlling three the first sliding blocks (5) is transported
It is dynamic, and then pitching/yaw base (9) is made to realize along three translation of axes campaigns；
The pitching/yawing rotation mechanism (2) include pitching/yaw base (9), three groups of second straight line driving mechanisms (14),
Three group of second sliding block (15), three groups of turning joints (16), three group of second universal coupling (17) and three groups of link mechanisms (18), rolling
The bottom plane circumference of head (19) is equipped with three group of second universal coupling (17) by equispaced, and pitching/yaw base (9) is along diameter
Three groups of second straight line driving mechanisms (14) are installed to equispaced, on every group of second straight line driving mechanism (14) there are one installations
Second sliding block (15), every group of second sliding block (15) are connected by one end of one group of turning joint (16) and one group of link mechanism (18)
It connects, the other end of link mechanism (18) is connect with second universal coupling (17)；Every group of link mechanism (18) includes second
Connecting rod (24), third connecting rod (25) and rolling bearing (26), second connecting rod (24) and pass through rolling bearing (26) and third connecting rod
(25) it connects；
The rolling movement mechanism (3) include rolling head (19), rolling head servo motor (27), a pair of of spur gear (28), in
Empty harmonic speed reducer (29), shaft coupling (30) and store Combinations foot piece (31), the end of store Combinations foot piece (31) are inserted into rolling head
(19) in, rolling head servo motor (27), spur gear (28), hollow harmonic speed reducer (29) and connection are installed in rolling head (19)
Axis device (30), hollow harmonic speed reducer (29) is connect by a pair of of spur gear (28) with rolling head servo motor (27), hollow humorous
Wave retarder (29) is connect by shaft coupling (30) with the inner shaft (32) of store Combinations foot piece (31), to realize store Combinations around its axis
Rolling movement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820415087.2U CN208005671U (en) | 2018-03-27 | 2018-03-27 | The mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381521A (en) * | 2018-03-27 | 2018-08-10 | 中国航空工业集团公司沈阳空气动力研究所 | The mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing |
| CN112629815A (en) * | 2020-12-10 | 2021-04-09 | 中国航天空气动力技术研究院 | Series-parallel multi-degree-of-freedom machine-projectile separation trajectory capture test system |
-
2018
- 2018-03-27 CN CN201820415087.2U patent/CN208005671U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381521A (en) * | 2018-03-27 | 2018-08-10 | 中国航空工业集团公司沈阳空气动力研究所 | The mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing |
| CN108381521B (en) * | 2018-03-27 | 2023-12-22 | 中国航空工业集团公司沈阳空气动力研究所 | Six-degree-of-freedom mechanism for high Mach number high dynamic pressure high lift model capture track test |
| CN112629815A (en) * | 2020-12-10 | 2021-04-09 | 中国航天空气动力技术研究院 | Series-parallel multi-degree-of-freedom machine-projectile separation trajectory capture test system |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181026 Effective date of abandoning: 20231222 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20181026 Effective date of abandoning: 20231222 |