CN214661759U - Load counterweight device of inertial navigation equipment - Google Patents
Load counterweight device of inertial navigation equipment Download PDFInfo
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- CN214661759U CN214661759U CN202023085019.0U CN202023085019U CN214661759U CN 214661759 U CN214661759 U CN 214661759U CN 202023085019 U CN202023085019 U CN 202023085019U CN 214661759 U CN214661759 U CN 214661759U
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Abstract
The utility model provides an inertial navigation equipment load counter weight device, it is used for simulating inertial navigation equipment to replace installing on the aircraft inertial navigation equipment assembly carries out ground calibration at the triaxial revolving stage, and this inertial navigation equipment load counter weight device includes: a counterweight bottom plate including a plate-shaped member having a rectangular shape in a plan view and a mounting member protruding outward in a horizontal direction from one side of the plate-shaped member; a plurality of counterweight grids which are erected on the counterweight bottom plate at equal intervals, and a counterweight mounting part is respectively arranged above each counterweight grid; and a counterweight adjustment portion that is disposed on the counterweight mounting portion on the counterweight grid in accordance with a target center of gravity of the inertial navigation apparatus as a simulation object. Therefore, the protection of finished products on the aircraft and the three-axis rotary table used as a calibration platform is facilitated, and the universal expansibility of the device is realized.
Description
Technical Field
The utility model discloses set up aircraft assembly manufacturing field, especially relate to the inertial navigation equipment load counter weight device of the inertial navigation equipment of analog mounting on the aircraft.
Background
In the field of civil aviation manufacturing, in order to enable an aircraft to have good guidance performance and effectively fly along a track of a set route, the aircraft is provided with a high-precision airborne inertial navigation system. Because the inertial navigation equipment in the inertial navigation system does not depend on external information, but takes a gyroscope and an accelerometer as sensitive devices, a navigation coordinate system is established according to the output of the gyroscope, and the speed and the position of a carrier in the navigation coordinate system are calculated according to the output of the accelerometer, the high reliability of the inertial navigation equipment is important for the flight safety of an aircraft. The ground calibration of the inertial navigation equipment in the final assembly manufacturing stage of the aircraft is a direct inspection method for ensuring whether the inertial navigation equipment meets the design requirements and completing the performance indexes of the inertial navigation system of the aircraft.
A conventional way of ground calibration of inertial navigation devices is to use a three-axis turntable. Generally, an inertial navigation device installed on an aircraft is detached from the aircraft, then the inertial navigation device is configured on a three-axis rotary table, and through three-axis rotation of the rotary table, zero errors and non-zero attitude deflection navigation errors of the inertial navigation device in a pitch axis, a roll axis and a yaw axis are respectively calibrated.
Although this method of calibrating installed equipment such as an inertial navigation device to be mounted on an aircraft can truly represent physical characteristics of the inertial navigation device, such as the size and weight of the equipment, each time the installed equipment is ground calibrated, the operation of mounting and dismounting the inertial navigation device on and from the aircraft is necessary, which causes a troublesome work for an operator, and may scratch or bump the surface of the equipment, and in a serious case, the equipment may be broken, which is not favorable for protecting finished products on the aircraft. On the other hand, repeatedly mounting and dismounting the inertial navigation device relative to the three-axis turntable also has the risk of causing damage to the three-axis turntable, thereby influencing the calibration precision of the three-axis turntable and further causing quality problems.
SUMMERY OF THE UTILITY MODEL
The present invention has been made in view of the above problems, and an object of the present invention is to provide an inertial navigation device load balancing device that simulates an inertial navigation device mounted on an aircraft and performs ground calibration on a three-axis turntable instead of the inertial navigation device.
According to an aspect of the utility model, a provide an inertial navigation equipment load counter weight device, it includes: a counterweight bottom plate including a plate-shaped member having a rectangular shape in a plan view and a mounting member protruding outward in a horizontal direction from one side of the plate-shaped member; a plurality of counterweight grids which are erected on the counterweight bottom plate at equal intervals, and a counterweight mounting part is respectively arranged above each counterweight grid; and a counterweight adjustment portion that is disposed on the counterweight mounting portion on the counterweight grid in accordance with a target center of gravity of the inertial navigation apparatus as a simulation object.
By constituting the inertial navigation device load counterweight device with the structure, when the inertial navigation device installed on the aircraft is required to be calibrated on the ground, the inertial navigation device does not need to be detached from the aircraft, and the inertial navigation device load counterweight device can be assembled on the three-axis rotary table to perform calibration operation instead of the inertial navigation device, so that the operation of operators can be simplified and the labor hour can be saved on the basis of ensuring the calibration accuracy, and the operation process of the inertial navigation device of the assembling and disassembling machine relative to the aircraft is omitted, so that the risk of damaging the inertial navigation device in the process in the past can be avoided, and the protection of finished products on the aircraft can be favorably realized.
Preferably, the main body frame combined by the counterweight bottom plate and the plurality of counterweight grids has the same three-dimensional size as the inertial navigation device. More preferably, the mounting member on the counterweight bottom plate has the same three-dimensional size as a mounting bracket provided at the bottom of a side panel of the inertial navigation apparatus.
Preferably, the number of the weight adjustment portions and the mounting positions are configured to be adjusted according to the target center of gravity.
Preferably, the weight mounting portion is a plurality of holes opened above each of the weight grids. More preferably, the weight adjustment unit is a weight screw detachably mounted in the hole, and the number and mounting position of the weight screws are adjusted according to the target center of gravity. The counterweight screw is a full-thread inner hexagonal socket head screw.
By configuring the inertial navigation device load weight device in such a configuration, it is possible to correspond to a plurality of inertial navigation devices having different sizes or weights due to different batches and different states by simply adjusting the number and positions of weight adjusting portions such as weight screws on the inertial navigation device load weight device, and thus it is possible to expand the range of the weight and the application scene of the inertial navigation device weight device with one inertial navigation device load weight device, to achieve the versatility of the device, and to reduce the manufacturing cost.
According to the utility model discloses an inertial navigation equipment load counter weight device can be favorable to realizing the protection to finished product on the aircraft and as calibration platform's triaxial rotating table to realize the general expansibility of device.
Drawings
For a better understanding of the above and other objects, features, advantages and functions of the present invention, reference should be made to the preferred embodiments illustrated in the accompanying drawings. Like reference numerals in the drawings refer to like parts. It will be appreciated by persons skilled in the art that the drawings are intended to illustrate preferred embodiments of the invention without any limiting effect on the scope of the invention, and that the various components in the drawings are not to scale.
Fig. 1 is a perspective view schematically showing the structure of an inertial navigation device as a simulation object.
Fig. 2 is a diagram schematically showing the center of gravity and the geometric center of an inertial navigation apparatus as a simulation object.
Fig. 3 is a perspective view schematically showing the structure of the inertial navigation device load weight device of the present invention.
Fig. 4 is a plan view schematically showing the structure of the inertial navigation device load weight device of the present invention.
Fig. 5 is a sectional view schematically showing a line a-a' in fig. 4.
Fig. 6 is a diagram schematically showing the correspondence relationship between the inertial navigation device load weight device of the present invention and the external dimensions of the inertial navigation device as a simulation target.
Fig. 7 is a diagram schematically showing a corresponding relationship between the inertial navigation device load weight device of the present invention and the center of gravity of the inertial navigation device as a simulation target.
Fig. 8 is a diagram schematically showing a positional relationship between the gravity centers of the respective portions of the inertial navigation device load weight device of the present invention and the gravity center of the inertial navigation device as a simulation target.
Wherein the reference numerals are as follows:
10 inertial navigation device, 110 body frame, 120 cable socket, 130 mounting tab, 30 inertial navigation device load weight, 310 weight base plate, 311 plate member, 312 mounting member, 3121, 3122 mounting hole, 320 weight grid, 321 weight mounting portion (hole portion), 330 weight adjustment portion (weight screw).
Detailed Description
The inventive concept will be described in detail below with reference to the accompanying drawings. What has been described herein is merely a preferred embodiment in accordance with the present invention, and those skilled in the art will appreciate that other ways of implementing the present invention on the basis of the preferred embodiment will also fall within the scope of the present invention.
In the present embodiment, an inertial navigation device load weight device simulating a conventional inertial navigation device is provided. When the inertial navigation equipment of the loading machine is to be ground calibrated by using the three-axis turntable, the inertial navigation equipment load counterweight device of the embodiment is assembled on the three-axis turntable instead of the inertial navigation equipment to perform calibration operation.
First, a conventional inertial navigation device as a simulation target will be described. As shown in fig. 1, the inertial navigation device 10 includes a main body frame 110 having a substantially rectangular parallelepiped shape, a cable receptacle 120 into which a cable connected to a device such as a gyroscope or a circuit mounted in the inertial navigation device 10 is inserted is formed on one side surface thereof, and a mounting tab 130 for fixing the inertial navigation device when the inertial navigation device 10 is mounted on an airplane or when the inertial navigation device is mounted on a three-axis turntable for calibration is formed on a bottom portion of the side surface on which the cable receptacle 120 is mounted.
As shown in FIG. 2, if the inertial navigation device 10 is a rectangular parallelepiped structure with uniform material and mass distribution, its center of gravity should be aligned with the geometric center G defined by the body frame 1101And (4) overlapping. In this case, the same center of gravity as that of the inertial navigation apparatus 10 can be obtained only by simulating the geometric dimensions of the inertial navigation apparatus 10.
However, since the cable socket 120 and the attachment tab 130 are formed in the inertial navigation device 10 and a device or a circuit such as a gyroscope, not shown, is installed therein, the mass distribution of the entire inertial navigation device 10 is not uniform, and the center of gravity G thereof0The main body frame 110, the cable socket 120, the mounting tab 130, and the internal mounting device are determined together, so that not only the geometric dimension of the inertial navigation device 10 but also the substantial mass center of gravity of the inertial navigation device 10 need to be considered in order to accurately simulate the inertial navigation device 10.
The inertial navigation device load balancing apparatus 30 simulating the above inertial navigation device 10 of the present invention is shown in fig. 3, and the inertial navigation device load balancing apparatus 30 mainly comprises a weight bottom plate 310, a weight grid 320 and a weight adjusting portion 330.
The weight base plate 310 is a plate made of nylon 66 material, and is composed of a plate-like member 311 having a rectangular shape in a plan view, and a mounting member 312 protruding outward in the horizontal direction from one side 3111 of the plate-like member 311. The mounting member 312 corresponds to the mounting tab 130 as the mounting bracket provided at the bottom of the one side panel of the inertial navigation device 10 described above, and therefore, as shown in fig. 3 and 4, the mounting member 312 is provided to protrude outward from the substantially central portion of the one side 3111 of the plate-like member 311 in correspondence with the configuration of the mounting tab 130, and mounting holes 3121, 3122 through which a fastening member such as a fastener is inserted and fixed are formed thereon.
The weight grill 320 is also a plate material made of nylon 66, a plurality of weight grilles 320 are erected on the weight base plate 310 at equal intervals along one side 3111 of the weight base plate 310, and the weight grilles 320 are fixed to the weight base plate 310 by screws 313 penetrating the weight base plate 310 and the weight grilles 320 from below the weight base plate 310 as shown in fig. 5, for example. These counterweight grids 320 constitute the body counterweight of the inertial navigation device load counterweight 30, carrying the body mass. A weight mounting portion 321 is provided above each weight grill 320, respectively. In the present embodiment, as shown in fig. 4 and 5, the weight mounting portion 321 is a plurality of holes 321 opened above each weight grill 320, and the weight adjusting portion 330 is mounted and fixed to the holes 321. The plurality of holes 321 are distributed at equal intervals on the upper surface of each weight grill 320, but not limited thereto, and may be distributed so as to satisfy the mass center of gravity construction of the weight grill 320 and the weight adjuster 330, which will be described later. The weight mounting portion 321 is not limited to the hole 321, and may be another mounting member to which the weight adjusting portion 330 can be fixedly mounted.
Further, the plurality of weight grids 320 may be disposed at equal intervals along the other side of the weight base plate 310 perpendicular to the one side 3111, instead of being disposed at equal intervals along the one side 3111 of the weight base plate 310.
The basic profile frame and body mass of the inertial navigation device load weight arrangement 30 is combined by the weight base plate 310 and the plurality of weight grids 320 described above. On this basis, the corresponding counterweight adjustment portions 330 are mounted on the counterweight grid 320 in accordance with the center of gravity of the inertial navigation device 10 as the simulation object.
In the present embodiment, the weight adjustment portion 330 is a weight screw 330 detachably mounted in the hole 321 formed in the weight grid 320, and the weight screws 330 are all steel M-series full-thread hexagon socket head cap screws having the same size, and fig. 3 and 4 show a case where the weight screw 330 is mounted at both ends of each weight grid 320, and two weight screws 330 are mounted on two weight grids 320 located at the center portion in a manner of being diagonally symmetrical with respect to the direction along the side 3111.
During the manufacturing process of the industrial production, the inertial navigation devices in different batches and different states have slightly different sizes and weights, so that the mass center of gravity of each inertial navigation device is different. In contrast, in the present embodiment, by changing or adjusting the installation position and the number of the counterweight screws 330 installed as the counterweight adjustment portions, it is possible to correspond to different batches of characteristic counterweights of the inertial navigation device with different center of gravity inertia offsets, thereby expanding the counterweight range and application scenarios of the inertial navigation device load counterweight device.
Next, a simulation of the inertial navigation device 10 using the inertial navigation device load weighting device 30 of the present embodiment will be described. As described above, the inertial navigation device 10 is simulated to satisfy the physical characteristics of both the geometric size and the mass center of gravity of the inertial navigation device 10.
As for the matching of the geometric dimensions, the geometric dimensions of the inertial navigation device load weighting apparatus 30 are designed according to the geometric dimensions of the inertial navigation device 10 as a simulation object. Specifically, as shown in fig. 6, to achieve full geometry matching of the inertial navigation device 10, the geometric feature size of the inertial navigation device load weighting means 30 is defined with the same size as the actual size of the inertial navigation device 10. The same-size geometric model of the inertial navigation device load weight 30 is designed by the following formula 1:
[ mathematical formula 1 ]
Here, A in FIG. 600、B00、H00Represents the three-dimensional dimensions, A, of the inertial navigation device 10 in the width, length and height directions10、B10、H10Three-dimensional dimensions, a, of inertial navigation device load weight means 30 in width, length and height directions01、B01、 H01Represents the three-dimensional dimensions, a, of the mounting tabs 130 of the inertial navigation device 10 in the width, length and height directions11、B11、H11Representing the three-dimensional dimensions of the mounting member 312 of the inertial navigation device load weight apparatus 30 in the width, length, and height directions, lA in equation 1**、lB**And lH**Respectively, the length dimensions of the corresponding locations.
In this manner, the inertial navigation device 10 is subjected to full-geometry replication such that the body frame composed of the counterweight bottom plate 310 and the counterweight grid 320 has the same three-dimensional size as the actual inertial navigation device 10, and the mounting member 312 on the counterweight bottom plate 310 has the same three-dimensional size as the mounting bracket provided on the inertial navigation device 10.
Regarding the construction of the position of the center of mass gravity, the center of mass gravity of the inertial navigation device 10 as a simulation object is set as the target center of gravity G0To construct the mass center of gravity of the inertial navigation device load weighting device 30. Specifically, as shown in fig. 7, in order to construct a target center of gravity G corresponding to the center of gravity of mass of the inertial navigation apparatus 100Adjustment of the center of gravity G of the counterweight screw 33021Gravity center G of the weighted grille 32022And center of gravity G of counterweight bottom plate 31023Matching the gravity center corresponding relation in the same space coordinate system to complete the construction of the gravity center position. The matching design of the centroid correspondence relationship can be expressed by the following equation 2:
[ mathematical formula 2 ]
Here, G0(x0,y0,z0) Representing the position of the target's center of gravity in a spatial coordinate system, G21(x21,y21,z21)、G22(x22,y22,z22)、G23(x23,y23,z23) The positions of the centers of gravity of the weight screw 330, the weight grid 320, and the weight base plate 310 in the spatial coordinate system are respectively indicated. [ D ]]Constructing coefficient matrix for expressing gravity center position, and expressing as [ D ]]＝[α1,α2,α3]，α1，α2，α3Is a constant coefficient variable.
Then, the center of gravity G of the balance weight screw 330 is adjusted21Gravity center G of the weighted grille 32022And the center of gravity G of the counterweight bottom plate 31023In a space coordinate system with a target center of gravity G0The relationship between the balance weight mechanisms is simplified, and the center of gravity G of each balance weight mechanism relative to the target is obtained0The amount of center of gravity shift. For example, as shown in FIG. 8, the center of gravity G of the bottom plate 310 is weighted23With respect to the target center of gravity G in the y direction among the horizontal directions0The offset amount of (c) is an example, and the offset amount can be expressed by the following equation 3:
[ mathematical formula 3 ]
Where ρ isNylon 66lA, which represents the material density of the nylon 66 material that makes up the weight baseplate 310**、 lB**And lH**Respectively, the length dimensions of the corresponding positions, MBase plateRepresents the mass, m, of the counterweight baseplate 310iAnd yiY represents the weight baseplate 310 in the horizontal directioniThe directional counterweight bottom plate 310 mass distribution.
The amount of center of gravity shift of the counterweight bottom plate 310 in the other directions (x and z directions) can be determined in the same manner. The amount of center of gravity shift in the three-dimensional directions (x, y, and z directions) of the weight grid 320 and the weight screws 330 can also be determined in the same manner.
Substituting the length of the counterweight mechanism in the three-dimensional direction (i.e., the center of gravity offset amount) determined in this way into equation 2 can obtain equation 4, which expresses the center of gravity position construction of the counterweight device, as follows:
[ mathematical formula 4 ]
In this case, the amount of the solvent to be used,
as an expression of the spatial coordinates of the center of gravity of the weight screw 330,
for the weighted grid 320 center of gravity space coordinate representation,
is a spatial coordinate expression of the center of gravity of the counterweight bottom plate 310.
Then, the three-dimensional dimensions of the inertial navigation device load weighting device 30 shown in fig. 6 are substituted into the barycentric space coordinate expressions of the respective weighting mechanisms, respectively.
Specifically, since the counterweight screws 330 are screws of the same material and the same size distributed in a matrix on the counterweight substrate, the weights of the counterweight screws 330 at different positions are the same, and when n counterweight screws 330 are distributed, the spatial coordinate expression of the center of gravity of the counterweight screws 330 can be expressed by the following mathematical formula 5:
[ math figure 5 ]
The weighted grid 320 is made of a homogeneous nylon 66 material, and the spatial expression of the center of gravity thereof can be expressed by the following mathematical formula 6:
[ mathematical formula 6 ]
Similarly, the weight bottom plate 310 is a plate made of a homogeneous nylon 66 material, and the spatial expression of the center of gravity thereof can be expressed by the following equation 7:
[ mathematical formula 7 ]
By substituting the above equations 5 to 7 into equation 1, the center of gravity position of the inertial navigation device load weight device 30 expressed by the following equation 8 after the analysis can be obtained:
[ mathematical formula 8 ]
In this way, the target barycenter of the inertial navigation device 10 as the simulation object can be constructed in this way, but the method of constructing the target barycenter is not limited to the above method, and other existing methods may be adopted.
According to the utility model discloses a navigation equipment load counter weight device, when wanting to carry out ground calibration to the inertial navigation equipment of installing on the aircraft, need not to demolish inertial navigation equipment from the aircraft, the inertial navigation equipment load counter weight device that can utilize the mode that constitutes with the physical characteristics of the two aspects of the geometric dimension and the quality focus that satisfy inertial navigation equipment replaces inertial navigation equipment assembly to carry out calibration operation on the triaxial rotary table, therefore, on the basis of guaranteeing calibration accuracy, can simplify operating personnel's operation and save man-hour, and owing to left out the operation process of installing and removing the inertial navigation equipment of installation for the aircraft, so can avoid in the past causing the risk of ruining to inertial navigation equipment in this in-process, be favorable to realizing the protection of finished product on the aircraft.
In addition, by only adjusting the number and the positions of the counterweight adjusting parts such as counterweight screws on the inertial navigation device load counterweight device, a plurality of inertial navigation devices with different sizes or weights due to different batches and different states can be corresponded, thereby expanding the counterweight range and the application scene of the inertial navigation device counterweight device by using one inertial navigation device load counterweight device, realizing the universality of the device and reducing the manufacturing cost.
In addition, only be used for carrying out under the condition of ground calibration to inertial navigation equipment at the triaxial revolving stage, can with the utility model discloses an inertial navigation equipment load counter weight device installs all the time on the triaxial revolving stage, need not to carry out the dismouting action for the triaxial revolving stage, and only realizes calibrating different batches, many inertial navigation equipment of different states through the quantity and the position of the counter weight regulating part of adjusting on the inertial navigation equipment load counter weight device to can avoid causing the risk that the damage leads to influencing the calibration accuracy of triaxial revolving stage to this triaxial revolving stage at the in-process of installing and removing repeatedly for the triaxial revolving stage.
The scope of protection of the present invention is limited only by the claims. Persons of ordinary skill in the art, having benefit of the teachings of the present invention, will readily appreciate that alternative structures to those disclosed as possible may be substituted for the alternative embodiments disclosed, and that the disclosed embodiments may be combined to create new embodiments, which likewise fall within the scope of the appended claims.
Claims (7)
1. An inertial navigation device load weight apparatus for simulating an inertial navigation device and performing ground calibration while being mounted on a three-axis turret in place of the inertial navigation device mounted on an aircraft, the inertial navigation device load weight apparatus comprising:
a counterweight bottom plate including a plate-shaped member having a rectangular shape in a plan view and a mounting member protruding outward in a horizontal direction from one side of the plate-shaped member;
a plurality of counterweight grids which are erected on the counterweight bottom plate at equal intervals, and a counterweight mounting part is respectively arranged above each counterweight grid; and
a counterweight adjustment portion that is disposed on the counterweight mounting portion on the counterweight grid in accordance with a target center of gravity of the inertial navigation device as a simulation object.
2. The inertial navigation device load weighting apparatus of claim 1,
the main body frame formed by combining the counterweight bottom plate and the counterweight grids has the same three-dimensional size as the inertial navigation equipment.
3. The inertial navigation device load weighting apparatus of claim 2,
the mounting member on the counterweight bottom plate has the same three-dimensional size as a mounting bracket provided at the bottom of a side panel of the inertial navigation apparatus.
4. An inertial navigation device load weighting arrangement according to any one of claims 1 to 3,
the number and mounting positions of the counterweight adjustment portions are configured to be adjusted in accordance with the target center of gravity.
5. An inertial navigation device load weighting arrangement according to any one of claims 1 to 3,
the counterweight mounting part is a plurality of hole parts arranged above each counterweight grid.
6. An inertial navigation device load weighting arrangement according to claim 5,
the counterweight adjusting part is a counterweight screw detachably mounted in the hole part,
the number and mounting positions of the weight screws are configured to be adjusted according to the target center of gravity.
7. An inertial navigation device load weighting arrangement according to claim 6,
the counterweight screw is a full-thread inner hexagonal socket head screw.
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| CN202023085019.0U CN214661759U (en) | 2020-12-18 | 2020-12-18 | Load counterweight device of inertial navigation equipment |
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| CN202023085019.0U CN214661759U (en) | 2020-12-18 | 2020-12-18 | Load counterweight device of inertial navigation equipment |
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