Multi-degree-of-freedom coupling execution mechanism for deflection of water tunnel test model

Abstract

The invention provides a multi-degree-of-freedom coupling execution mechanism for deflection of a water tunnel test model. The multi-degree-of-freedom coupling execution mechanism comprises a shell, an attack angle motion module, a yaw motion module and a rolling motion module, wherein the attack angle motion module, the yaw motion module and the rolling motion module are arranged in the shell; according to the mechanism, in the aspect of attack angle motion, a pitching motor drives a pitching lead screw through a mechanical transmission assembly, and control over the attack angle of a model balance component can be achieved by combining a translation sliding block and a pitching sliding block which slide in a matched mode in the height direction. The yaw movement module drives a yaw lead screw through a yaw motor, a pitching arc-shaped guide rail is stably pushed to move along the yaw arc-shaped guide rail through a yaw sliding block, and accurate adjustment of the yaw angle is achieved. The rolling motion module effectively realizes the rolling action of the model balance component through a rolling motor; the pitching, yawing and rolling motion modules can be independently controlled and can also be controlled in a coupling mode, the unique design greatly improves the flexibility and adaptability of mechanism motion control, and various complex working condition requirements can be accurately met.

Description

Technical Field

[0001] The invention relates to the technical field of multi-posture simulation of underwater vehicle model balance components, in particular to a multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model. Background Art

[0002] In the field of fluid mechanics research such as water tunnel experiments, precise control of the model's attitude is crucial. The water tunnel is an important scientific device for simulating the fluid parameters of underwater vehicles. The model attitude adjustment mechanism in traditional water tunnel tests often has a single function and is difficult to meet the complex multi-degree-of-freedom motion requirements at the same time, or there are obvious deficiencies in the control accuracy, stability and mutual coordination of each degree of freedom. For example, some early devices could only achieve simple pitch or yaw movements and could not take into account roll motion, resulting in the experimental model being unable to fully simulate the attitude changes under real working conditions, which seriously limited the accuracy and comprehensiveness of the experimental data.

[0003] With the development of science and technology, the requirements for model attitude control in water tunnel experiments are becoming more and more stringent. It is not only necessary to accurately simulate the attitude of underwater vehicles under various complex forces in a fluid environment, but also to switch between different attitudes efficiently and stably. Therefore, it is urgent to propose a transmission mechanism that can realize multi-angle coupled deflection of the vehicle to meet the multi-attitude simulation of the vehicle model underwater. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom coupling actuator for the deflection of a water tunnel test model, so as to realize the coupled simulation of the attack angle, sideslip angle and roll angle of the underwater vehicle model balance component, and improve the comprehensive effect of the test efficiency.

[0005] The present invention provides a multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model, comprising a housing and an angle-of-attack motion module, a yaw motion module and a roll motion module arranged in the housing; the angle-of-attack motion module comprises a pitch motor, a pitch lead screw, a pitch slider and a pitch arc guide rail, the pitch motor is used to drive the pitch lead screw to rotate, a translation slider is mounted on the pitch lead screw, the pitch slider is slidably mounted on the pitch arc guide rail, and the side surface of the pitch slider is slidably mounted on the translation slider along the vertical direction;

[0006] The yaw motion module comprises a yaw screw horizontally arranged and perpendicular to the pitch screw and a yaw motor for driving the yaw screw to rotate, the yaw motor is fixed on the outside of the housing, a yaw slider is mounted on the yaw screw, a yaw arc guide is fixedly mounted on the side of the housing away from the yaw screw, one end of the pitch arc guide is fixedly connected to the yaw slider, and the other end of the pitch arc guide is rollingly supported on the yaw arc guide;

[0007] The rolling motion module comprises a rolling motor, which is fixedly mounted on the top of the pitch slider, and a model balance component is fixedly mounted on the top of the rolling motor.

[0008] Furthermore, the pitch motor drives the pitch screw to rotate through a mechanical transmission assembly, a first gear is fixedly mounted on the output shaft of the pitch motor, the mechanical transmission assembly includes a second gear, a toothed synchronous belt and a third gear, the second gear is connected to the third gear through the toothed synchronous belt transmission, the first gear is meshed with the second gear; the end of the pitch screw is fixedly connected to the axis of the third gear.

[0009] Furthermore, a guide plate is installed inside the housing between the second gear and the model balance component.

[0010] Furthermore, a yaw link is rotatably installed on one side of the guide plate away from the second gear, a first slide groove is opened at the top of the yaw slider in the height direction, a first slide bar is provided on the side of the bottom end of the yaw link, and the first slide bar is slidably installed in the first slide groove.

[0011] Furthermore, a first angle of attack support and a second angle of attack support are fixedly installed at both ends of the pitch arc guide rail, respectively; the bottom end of the first angle of attack support is rotatably installed with a guide wheel abutting against the yaw arc guide rail, and the second angle of attack support is fixedly installed on the yaw slider; one end of the pitch screw is rotatably installed on the first angle of attack support, and the other end of the pitch screw passes through the second angle of attack support and is fixedly connected with the axis of the third gear.

[0012] Furthermore, two mounting blocks are fixedly installed on the inner wall of the shell, and the two ends of the yaw screw are rotatably installed on the two mounting blocks respectively. The output shaft of the yaw motor and the yaw screw are connected through a bevel gear meshing transmission. A yaw guide shaft that passes through the yaw slider is installed between the two mounting blocks, and the yaw guide shaft is parallel to the yaw screw.

[0013] Furthermore, a pitch guide shaft penetrating the translation slider is installed between the first attack angle support and the second attack angle support, and the pitch guide shaft is parallel to the pitch lead screw.

[0014] Furthermore, a second sliding groove is vertically provided at the top of the translation slider, and a second sliding rod cooperating with the second sliding groove is provided on the side of the pitch slider.

[0015] Furthermore, the yaw connecting rod, the pitch arc guide rail and the yaw arc guide rail are all provided with indicating scales.

[0016] Furthermore, the center of rotation of the model balance component when performing the attack angle movement and the center of rotation of the model balance component when performing the yaw angle movement are on the same horizontal line.

[0017] The beneficial effects of this technical solution are: in terms of the angle of attack movement of the mechanism, the pitch motor drives the pitch screw to rotate, and combined with the translation slider and the pitch slider that slide in cooperation with each other in the height direction, the angle of attack of the model balance component can be controlled. The yaw motion module drives the yaw screw with the yaw motor, and uses the yaw slider to steadily push the pitch arc guide rail along the yaw arc guide rail to achieve precise adjustment of the yaw angle. The roll motion module effectively realizes the roll action of the model balance component through the roll motor; the pitch, yaw and roll motion modules can be independently controlled and coupled controlled. This unique design greatly improves the flexibility and adaptability of the mechanism motion control, and can accurately meet the needs of various complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the housing and its internal components of the present invention.

[0020] Figure 2 It is another overall structural schematic diagram of the housing and its internal components of the present invention.

[0021] Figure 3 It is a cross-sectional view of the symmetric surface of the overall structure of the present invention.

[0022] Figure 4 It is an enlarged schematic diagram of the local structure of the present invention.

[0023] Explanation of the accompanying drawings: 1-housing, 2-yaw motor, 3-bevel gear, 4-yaw screw, 5-yaw guide shaft, 6-yaw slider, 7-toothed synchronous belt, 8-yaw connecting rod, 9-pitch motor, 10-first gear, 11-second gear, 12-guide plate, 13-model balance component, 14-roll motor, 15-pitch arc guide rail, 16-first angle of attack support, 17-pitch screw, 18-pitch guide shaft, 19-guide wheel, 20-yaw arc guide rail, 21-translation slider, 22-second angle of attack support, 23-third gear, 24-pitch slider. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0026] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Example 1

[0028] like Figure 1-Figure 4 As shown, the present invention provides a multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model, comprising a shell 1 and an angle of attack motion module, a yaw motion module and a roll motion module arranged in the shell 1; the three motion modules can be controlled independently of each other and can also be coupled with each other for control.

[0029] The angle of attack motion module includes a pitch motor 9, a mechanical transmission assembly, a pitch screw 17, a pitch slider 24 and a pitch arc guide rail 15. The pitch motor 9 drives the pitch screw 17 to rotate through the mechanical transmission assembly. In this embodiment, the mechanical transmission assembly includes a second gear 11, a toothed synchronous belt 7 and a third gear 23. The second gear 11 is connected to the third gear 23 through the toothed synchronous belt 7. A first gear 10 is fixedly mounted on the output shaft of the pitch motor 9, and the first gear 10 is meshed with the second gear 11. The end of the pitch screw 17 is fixedly connected to the axis of the third gear 23, and the pitch motor 9 is fixedly mounted on the outside of the housing 1. A translation slider 21 is installed on the pitch screw 17, and the pitch slider 24 is slidably installed on the pitch arc guide rail 15. A second sliding groove is vertically provided at the top of the translation slider 21, and a second sliding rod that cooperates with the second sliding groove is provided on the side of the pitch slider 24, so that the side of the pitch slider 24 is slidably installed on the translation slider 21 along the vertical direction through the cooperation of the second sliding groove and the second sliding rod.

[0030] The yaw motion module includes a yaw screw 4 which is horizontally arranged and perpendicular to the pitch screw 17 and a yaw motor 2 for driving the yaw screw 4 to rotate. The yaw motor 2 is fixed to the outside of the housing 1. Two mounting blocks are fixedly installed on the inner wall of the housing 1. The two ends of the yaw screw 4 are rotatably installed on the two mounting blocks respectively. The output shaft of the yaw motor 2 is connected to the yaw screw 4 through a bevel gear 3 meshing transmission connection. The yaw slider 6 is matched with the yaw screw 4. In order to prevent the yaw slider 6 from rotating along the yaw screw, a yaw guide shaft 5 that passes through the yaw slider 6 is installed between the two mounting blocks. The yaw guide shaft 5 is parallel to the yaw screw 4. A yaw arc guide rail 20 is fixedly installed on the side of the housing 1 away from the yaw screw 4.

[0031] One end of the pitch arc guide rail 15 is fixedly connected to the yaw slider 6, and the other end of the pitch arc guide rail 15 is rollingly supported on the yaw arc guide rail 20. The specific implementation structure is: the first angle of attack support 16 and the second angle of attack support 22 are respectively fixedly installed on the two ends of the pitch arc guide rail 15, and the bottom end of the first angle of attack support 16 is rotatably installed with a guide wheel 19 abutting against the yaw arc guide rail 20, so that one end of the pitch arc guide rail 15 is rollingly supported on the yaw arc guide rail 20, and the second angle of attack support 22 is fixedly installed on the yaw slider 6; one end of the pitch screw 17 is rotatably installed on the first angle of attack support 16, and the other end of the pitch screw 17 passes through the second angle of attack support 22 and is fixedly connected at the axis of the third gear 23. In order to prevent the translation slider 21 from rotating with the pitch screw 17 , a pitch guide shaft 18 penetrating the translation slider 21 is installed between the first angle of attack support 16 and the second angle of attack support 22 , and the pitch guide shaft 18 is parallel to the pitch screw 17 .

[0032] Rolling friction pairs are provided between the pitch arc guide rail 15 and the pitch slider 24, and between the guide wheel 19 and the yaw arc guide rail 20. At the same time, the guide wheel 19 and the yaw arc guide rail 20 can be symmetrically arranged on the other side to improve the support stiffness. Indicator scales are provided on the yaw link 8, the pitch arc guide rail 15 and the yaw arc guide rail 20.

[0033] The rolling motion module includes a rolling motor 14 . The rolling motor 14 is fixedly mounted on the top of the pitch slider 24 . The model balance component 13 is fixedly mounted on the top of the rolling motor 14 .

[0034] In the gear system composed of the first gear 10, the second gear 11, the toothed synchronous belt 7 and the third gear 23, the first gear 10 and the second gear 11 adopt a zero backlash cylindrical roller structure, and the second gear 11, the toothed synchronous belt 7 and the third gear 23 adopt a TCG roller gear ring structure to achieve zero backlash transmission. In order to maintain the tension of the toothed synchronous belt 7, a tensioning wheel can be set.

[0035] A guide plate 12 is installed inside the shell 1 between the second gear 11 and the model balance component 13, and the second gear 11 can be close to the guide plate 12 to prevent the movement of the gear system from interfering with the model flow field; a yaw link 8 is rotatably installed on the side of the guide plate 12 away from the second gear 11, a first slide groove is opened at the top of the yaw slider 6 along the height direction, and a first slide bar is provided on the side of the bottom end of the yaw link 8, and the first slide bar is slidably installed in the first slide groove.

[0036] In order to facilitate observation of the internal components, the guide plate 12 and the shell 1 can be made of optical organic glass.

[0037] The rotation center of the model balance component 13 doing the attack angle movement and the rotation center of the model balance component 13 doing the yaw angle movement are on the same horizontal line, so it is easy to realize the maximum attitude angle control of the model balance component 13.

[0038] All motors in this solution are controlled by low-voltage servo motors below 48V, and all structural components in the housing are made of waterproof aluminum alloy, 17-4PH and other materials. The yaw screw 4 and the pitch screw 17 use planetary roller screws to improve positioning accuracy and bearing capacity. In addition, all mechanisms in the water tunnel can be treated with flow diversion by chamfering and rounding to avoid flow separation. The attack angle, roll angle and sideslip angle are operated with limit devices to prevent excessive deflection.

[0039] How it works

[0040] The angle of attack movement of the model balance component 13 is mainly driven by the pitch motor 9 through a gear system consisting of a first gear 10, a second gear 11, a toothed synchronous belt 7 and a third gear 23 to drive the pitch screw 17 to rotate, so that the translation slider 21 moves along the pitch guide axis 18, and then the second slide bar on the side of the pitch slider 24 cooperates with the second slide groove at the top of the translation slider 21 to realize the rotation of the model balance component 13 along the center of rotation of the pitch arc guide rail 15, thereby realizing precise control of the angle of attack.

[0041] The yaw movement of the model balance component 13 is mainly driven by the yaw motor 2 fixed on the outside of the shell 1 through the bevel gear 3 group to drive the yaw screw 4, so that the yaw slider 6 moves along the yaw guide axis 5, and then drives the pitch arc guide rail 15 to move along the yaw arc guide rail 20, so as to realize precise control of the yaw angle.

[0042] The rolling motion of the model balance component 13 is mainly driven by the rolling motor 14 through a mechanical keyway connection to drive the model balance system to achieve the rolling angle. When the model is small, a hollow servo motor with a waterproof grade of IP68 and a harmonic reducer can be used to drive the rolling. The rolling motor 14 uses a drill chuck structure of a hand drill or a machine tool to clamp the model balance components 13 of different diameter series.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model, characterized in that: It comprises a housing and an angle of attack motion module, a yaw motion module and a roll motion module arranged in the housing; the angle of attack motion module comprises a pitch motor, a pitch lead screw, a pitch slider and a pitch arc guide rail, the pitch motor is used to drive the pitch lead screw to rotate, a translation slider is mounted on the pitch lead screw, the pitch slider is slidably mounted on the pitch arc guide rail, and the side surface of the pitch slider is slidably mounted on the translation slider along the vertical direction; The yaw motion module comprises a yaw screw horizontally arranged and perpendicular to the pitch screw and a yaw motor for driving the yaw screw to rotate, the yaw motor is fixed on the outside of the housing, a yaw slider is mounted on the yaw screw, a yaw arc guide is fixedly mounted on the side of the housing away from the yaw screw, one end of the pitch arc guide is fixedly connected to the yaw slider, and the other end of the pitch arc guide is rollingly supported on the yaw arc guide; The rolling motion module comprises a rolling motor, which is fixedly mounted on the top of the pitch slider, and a model balance component is fixedly mounted on the top of the rolling motor.

2. The multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model according to claim 1, characterized in that: The pitch motor drives the pitch screw to rotate through a mechanical transmission assembly. A first gear is fixedly mounted on the output shaft of the pitch motor. The mechanical transmission assembly includes a second gear, a toothed synchronous belt and a third gear. The second gear is connected to the third gear through the toothed synchronous belt transmission, and the first gear is meshed with the second gear. The end of the pitch screw is fixedly connected to the axis of the third gear.

3. The multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model according to claim 2, characterized in that: A guide plate is installed inside the housing between the second gear and the model balance component.

4. The multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model according to claim 3, characterized in that: A yaw link is rotatably mounted on one side of the guide plate away from the second gear, a first slide groove is provided at the top of the yaw slider in the height direction, a first slide bar is provided on the side of the bottom end of the yaw link, and the first slide bar is slidably mounted in the first slide groove.

5. The multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model according to claim 2, characterized in that: The first angle of attack support and the second angle of attack support are respectively fixedly installed at both ends of the pitch arc guide rail, the bottom end of the first angle of attack support is rotatably installed with a guide wheel abutting on the yaw arc guide rail, and the second angle of attack support is fixedly installed on the yaw slider; one end of the pitch screw is rotatably installed on the first angle of attack support, and the other end of the pitch screw passes through the second angle of attack support and is fixedly connected at the axis of the third gear.

6. The multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model according to claim 1, characterized in that: Two mounting blocks are fixedly installed on the inner wall of the shell, and the two ends of the yaw screw are rotatably installed on the two mounting blocks respectively. The output shaft of the yaw motor and the yaw screw are connected with each other through bevel gear meshing transmission. A yaw guide shaft passing through the yaw slider is installed between the two mounting blocks, and the yaw guide shaft is parallel to the yaw screw.

7. The multi-degree-of-freedom coupling actuator for deflection of a water tunnel test model according to claim 5, characterized in that: A pitch guide shaft penetrating the translation slider is installed between the first attack angle support and the second attack angle support, and the pitch guide shaft is parallel to the pitch lead screw.

8. The multi-degree-of-freedom coupling actuator for water tunnel test model deflection according to claim 1, characterized in that: A second sliding groove is vertically provided at the top of the translation sliding block, and a second sliding rod matched with the second sliding groove is provided on the side of the pitch sliding block.

9. The multi-degree-of-freedom coupling actuator for water tunnel test model deflection according to claim 4, characterized in that: The yaw connecting rod, the pitch arc guide rail and the yaw arc guide rail are all provided with indicating scales.

10. The multi-degree-of-freedom coupling actuator for water tunnel test model deflection according to claim 3, characterized in that: The rotation center of the model balance component when performing the attack angle motion and the rotation center of the model balance component when performing the yaw angle motion are on the same horizontal line.

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