A five-degree-of-freedom motion mechanism

Abstract

A five-degree-of-freedom motion mechanism comprises a U-shaped frame which is installed above a base through a horizontally arranged linear guide rail and is driven by an X-direction hydraulic drive device to move in an X-direction; a Y-direction moving frame which is driven by a Y-direction hydraulic drive device to move in a Y-direction is installed through four linear guide rails vertically arranged in the U-shaped frame; an α-box which moves in a circular motion in a β-direction is arranged on the Y-direction moving frame, the α-box is connected with the Y-direction moving frame through an arc-shaped guide rail and a rotating shaft, and is driven by a β-hinged drive device arranged at the rear end of the α-box to complete the β-direction motion along the arc-shaped guide rail; an α-direction moving block which moves in a circular motion in an α-direction is arranged inside the α-box, the α-direction moving block is combined with the α-direction box through an arc-shaped guide rail, and is driven by two groups of α-hinged drive devices arranged at the lower end of the α-direction moving block to complete the α-direction motion along the arc-shaped guide rail; a γ rolling mechanism which completes the γ-direction circular motion driven by a γ drive device is arranged at the upper end of the α-direction moving block through a curved knife support plate.

Description

Technical Field

[0001] The invention relates to a motion mechanism, in particular to a five-degree-of-freedom motion mechanism used for sending a model into / out of a flow field and changing the attitude angle of the model during a wind tunnel test. Background Art

[0002] As a wind tunnel supporting test equipment, the wind tunnel angle of attack motion mechanism system is mainly used to send the model into / out of the flow field and change the model attitude angle during the wind tunnel test. During the test, the model attitude, system displacement and other time-varying data can be displayed and recorded in real time.

[0003] Currently, the motion mechanism used to send the model into / out of the flow field and change the model's attitude angle during wind tunnel tests mostly adopts a closed box structure as the overall structure, and gear racks or hydraulic cylinders are mostly used in key degrees of freedom such as the α degree of freedom transmission. This structural method has poor maintainability and spatial openness, and the motion accuracy needs to be further improved. Summary of the invention

[0004] The purpose of the present invention is to realize a five-degree-of-freedom motion mechanism that uses a multi-degree-of-freedom high-precision motion mechanism as a support carrier to achieve multi-directional posture changes of a model in a wind tunnel test.

[0005] The purpose of the present invention can be achieved by adopting the following technical measures:

[0006] The five-degree-of-freedom motion mechanism of the present invention comprises a base, a U-shaped frame installed above the base through a group of horizontally arranged linear guide rails and driven by an X-direction hydraulic drive device to move in the X direction; a Y-direction moving frame is installed through four linear guide rails vertically arranged in the U-shaped frame and driven by a Y-direction hydraulic drive device to move in the Y direction; an α box body that moves in a circular motion along the β direction is arranged on the Y-direction moving frame, the α box body is connected with the Y-direction moving frame through an arc guide rail and a rotating shaft, and is driven by a β-hinged drive device arranged at the rear end of the α box body to complete the β-direction motion along the arc guide rail; an α-direction moving block that moves in a circular motion along the α direction is arranged inside the α box body, the α-direction moving block is combined with the α box body through the arc guide rail, and is driven by two groups of α-hinged drive devices arranged at the lower end of the α-direction moving block to complete the α-direction motion along the arc guide rail; a γ rolling mechanism is arranged at the upper end of the α-direction moving block through a scimitar support plate; the γ rolling mechanism completes the γ-direction circular motion through the drive of the γ drive device.

[0007] The base described in the present invention is a cast iron base, and an X-axis linear hydraulic locker is arranged between the cast iron base and the U-shaped frame. The linear hydraulic locker provides power through hydraulic pressure to separate the spring clamping device between the locker and the X-axis locking shaft. After moving into place, the hydraulic power is released to tighten the locker and the locking shaft and maintain stability.

[0008] The present invention provides a Y-axis linear hydraulic locker between the U-shaped frame and the Y-axis movable frame. The linear hydraulic locker provides power through hydraulic pressure to separate the spring clamping device between the locker and the Y-axis locking shaft. After the movement is in place, the hydraulic power is released to tighten the locker and the locking shaft and maintain stability.

[0009] The β-articulated driving device described in the present invention includes a β-ball screw connected to a motor and a reducer for driving a rotating nut to perform linear motion, wherein the rotating nut is combined with an α-box through a β-hinge mechanism; when the rotating nut moves, the β-hinge mechanism and the α-box are driven to perform circular motion under the constraint of an arc guide rail, wherein the two ends of the β-hinge mechanism are respectively combined with the rotating nut and the α-box by bearings to form two sets of rolling shaft systems; in order to increase the rigidity of the ball screw under load, a set of linear guide rails and sliders are placed under the rotating nut so that the load acts on the guide rail sliders, and in order to prevent the fixed end of the β-ball screw from being deformed due to excessive pressure load, thereby affecting the transmission accuracy, the fixed bearings at both ends of the β-ball screw are respectively tightened by two sets of angular contact bearings.

[0010] The α-articulated driving device adopts the same structure as the β-articulated driving device, including a β ball screw connected to a motor and a reducer for driving a rotating nut to perform linear motion. The rotating nut is combined with an α-direction moving block through a hinge mechanism; the α-direction moving block is driven to perform α-direction motion along an arc guide rail through a hinge mechanism using linear motion.

[0011] The γ rolling mechanism includes a γ driving device composed of a vacuum motor and a cycloidal reducer, and a reducer output shaft located at the front end of the γ driving device, wherein the reducer output shaft is connected to the γ rolling mechanism output shaft through a key, wherein the γ rolling mechanism output shaft is assembled in the γ rolling mechanism base through two groups of cylindrical needle bearings and two groups of end roller bearings.

[0012] The beneficial effects of the present invention are as follows:

[0013] a. The present invention is based on a U-shaped frame structure, realizes an open lifting movement mechanism, increases the open space of the equipment, and enhances the maintainability of the equipment.

[0014] b. The present invention uses a linear motion driven circular motion mechanism based on a servo motor and a lead screw guide rail, thereby achieving high-precision operation of a large-radius circular motion.

[0015] c. The present invention uses a driving mode combining hydraulic drive and motor drive to meet the motion characteristics of large load or high precision in each degree of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is the structural front view of the present invention.

[0017] Figure 2 for Figure 1 Left view of .

[0018] Figure 3 for Figure 1 Top view (remove the mechanism above the scimitar).

[0019] Figure 4 Schematic diagram of the β-articulated drive device.

[0020] Figure 5 yes Figure 4 Top view of the .

[0021] Figure 6 This is the connection diagram of the rotating nut combined with the α box through the β hinge mechanism ( Figure 4 side view of the ).

[0022] Figure 7 Schematic diagram of the γ roll mechanism.

[0023] Serial numbers in the figure: 1 cast iron base 2 U-shaped frame 3 X-axis hydraulic drive device 4 Y-axis moving frame 5 Y-axis hydraulic drive device 6α box 7β hinged drive device 8α-axis moving block 9α hinged drive device 10γ rolling mechanism 11 curved knife support plate 12γ drive device 13X-axis linear hydraulic locker 14X-axis locking shaft 15Y-axis linear hydraulic locker 16 Y-axis locking shaft 17 rotating shaft 18β ball screw 19 reducer 20 rotating nut 21β hinge mechanism 22 guide rail and slider group 23 angular contact bearing 24 reducer output shaft 25γ rolling mechanism output shaft 26 cylindrical needle roller bearing 27 end roller bearing 28γ rolling mechanism base 29 arc guide rail. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with embodiments (attached drawings):

[0025] The present invention is used for a five-degree-of-freedom motion mechanism for sending a model into / out of a flow field and changing the attitude angle of the model during a wind tunnel test, wherein the axial degree of freedom is referred to as the X direction, the longitudinal degree of freedom is referred to as the Y direction, the pitch degree of freedom is referred to as the α direction, the yaw degree of freedom is referred to as the β direction, and the roll degree of freedom is referred to as the γ direction.

[0026] like Figure 1 , Figure 2 , Figure 3As shown, the five-degree-of-freedom motion mechanism of the present invention comprises a base 1, a U-shaped frame 2 which is installed above the base 1 through a set of horizontally arranged linear guide rails and is driven by an X-direction hydraulic drive device 3 to move in the X direction; a Y-direction moving frame 4 which is driven by a Y-direction hydraulic drive device 5 to move in the Y direction is installed through four linear guide rails vertically arranged in the U-shaped frame 2; an α box 6 which moves in a circular motion along the β direction is arranged on the Y-direction moving frame, and the α box 6 is connected to the Y-direction moving frame 4 through an arc guide rail 29 and a rotating shaft 17, and is arranged The β-hinged driving device 7 at the rear end of the α box 6 drives the α-direction movement along the arc guide rail; an α-direction moving block 8 that performs circular motion along the α-direction is arranged inside the α box 6, and the α-direction moving block is combined with the α box 6 through the arc guide rail, and is driven by two groups of α-hinged driving devices 9 arranged at the lower end of the α-direction moving block 8 to complete the α-direction movement along the arc guide rail; a γ rolling mechanism 10 is arranged at the upper end of the α-direction moving block 8 through a scimitar support plate 11; the γ rolling mechanism 10 completes the γ-direction circular motion through the drive of the γ driving device 12.

[0027] The base 1 described in the present invention is a cast iron base, and an X-axis linear hydraulic locker 13 is arranged between the cast iron base and the U-shaped frame 2. The linear hydraulic locker 13 provides power through hydraulic pressure to separate the spring clamping device between the locker and the X-axis locking shaft 14. After moving into place, the hydraulic power is released, so that the locker and the locking shaft are tightened and kept stable.

[0028] The present invention is provided with a Y-direction linear hydraulic locker 15 between the U-shaped frame 2 and the Y-direction movable frame 4. The linear hydraulic locker 15 provides power through hydraulic pressure to separate the spring clamping device between the locker and the Y-direction locking shaft 16. After moving into place, the hydraulic power is released, so that the locker and the locking shaft are tightened and kept stable.

[0029] like Figure 4 , 5 6, the β-articulated driving device 7 described in the present invention includes a β ball screw 18 connected to a motor and a reducer 19 for driving a rotating nut 20 to perform linear motion, wherein the rotating nut 20 is combined with an α housing 6 via a β hinge mechanism 21; when the rotating nut 20 moves, the β hinge mechanism 21 and the α housing 6 are driven to perform circular motion under the constraint of an arc guide rail 29, wherein the two ends of the β hinge mechanism 21 are respectively combined with the rotating nut 20 and the α housing 6 by bearings to form two sets of rolling shaft systems; in order to increase the rigidity of the ball screw 18 under load, a set of linear guide rails and sliders 22 are placed below the rotating nut 20 so that the load acts on the guide rail sliders, and in order to prevent the β ball screw 18 from deforming at the fixed end due to excessive pressure load, thereby affecting the transmission accuracy, the fixed bearings at both ends of the β ball screw 18 are respectively compressed by two sets of angular contact bearings 23.

[0030] The α-articulated drive device 9 adopts the same structure as the β-articulated drive device 7, including a β ball screw 18 connected to a motor and a reducer 19 for driving a rotating nut 20 to perform linear motion. The rotating nut 20 is combined with the α-direction moving block 8 through a hinge mechanism; the α-direction moving block 8 is driven by the hinge mechanism to perform α-direction motion along the arc guide rail by linear motion.

[0031] like Figure 7 As shown, the γ rolling mechanism 10 includes a γ driving device 12 composed of a vacuum motor and a cycloidal reducer, and a reducer output shaft 24 located at the front end of the γ driving device 12, and the reducer output shaft 24 is connected to the γ rolling mechanism output shaft 25 through a key, wherein the γ rolling mechanism output shaft 25 is assembled in the γ rolling mechanism base 28 through two groups of cylindrical needle bearings 26 and two groups of end roller bearings 27 respectively.

Claims

1. A five-degree-of-freedom motion mechanism, characterized in that: The invention comprises a base (1), a U-shaped frame (2) installed above the base (1) via a set of horizontally arranged linear guide rails and driven by an X-direction hydraulic drive device (3) to move in the X direction; a Y-direction moving frame (4) is installed via four linear guide rails vertically arranged in the U-shaped frame (2) and is driven by a Y-direction hydraulic drive device (5) to move in the Y direction; an α box (6) is arranged on the Y-direction moving frame and is capable of circular motion in the β direction; the α box (6) is connected to the Y-direction moving frame (4) via an arc-shaped guide rail (29) and a rotating shaft (17), and is driven by a β hinge arranged at the rear end of the α box (6). The device (7) drives the α-direction movement along the arc-shaped guide rail; an α-direction moving block (8) that performs circular motion along the α-direction is arranged inside the α-box (6); the α-direction moving block (8) is connected to the α-box (6) through the arc-shaped guide rail, and is driven by two groups of α-hinged driving devices (9) arranged at the lower end of the α-direction moving block (8) to complete the α-direction movement along the arc-shaped guide rail; a γ rolling mechanism (10) is arranged at the upper end of the α-direction moving block (8) through a curved knife support plate (11); the γ rolling mechanism (10) completes the γ-direction circular motion through the drive of the γ driving device (12); the β-hinged driving device (7) includes a β ball screw (18) connected to a motor and a reducer (19) for driving a rotating nut (20) to perform linear motion, wherein the rotating nut (20) is connected to an α housing (6) via a β hinge mechanism (21); wherein the two ends of the β hinge mechanism (21) are respectively connected to the rotating nut (20) and the α housing (6) by bearings to form two sets of rolling shaft systems; in order to increase the rigidity of the ball screw (18) under load, a set of linear guide rails and sliders (22) are placed below the rotating nut (20) so that the load acts on the guide rail sliders, in order to avoid the β ball screw (18) Since an excessive pressure load causes deformation of the fixed end, thereby affecting the transmission accuracy, the fixed bearings at both ends of the β ball screw (18) are respectively compressed by two sets of angular contact bearings (23); the α articulated drive device (9) adopts the same structure as the β articulated drive device (7), including a β ball screw (18) connected to a motor and a reducer (19) for driving a rotating nut (20) to perform linear motion, and the rotating nut (20) is combined with an α-direction moving block (8) through a hinge mechanism; the α-direction moving block (8) is driven by the hinge mechanism to perform α-direction motion along the arc guide rail by using the linear motion.

2. The five-degree-of-freedom motion mechanism according to claim 1, characterized in that: The base (1) is a cast iron base, and an X-direction linear hydraulic locker (13) is arranged between the cast iron base and the U-shaped frame (2). The linear hydraulic locker (13) provides power through hydraulic pressure to separate the spring clamping device between the locker and the X-direction locking shaft (14). After the movement is in place, the hydraulic power is released, so that the locker and the locking shaft are tightened and kept stable.

3. The five-degree-of-freedom motion mechanism according to claim 1, characterized in that: A Y-direction linear hydraulic locker (15) is provided between the U-shaped frame (2) and the Y-direction movable frame (4). The linear hydraulic locker (15) provides power through hydraulic pressure to separate the spring clamping device between the locker and the Y-direction locking shaft (16). After the movement is in place, the hydraulic power is released, so that the locker and the locking shaft are tightened and kept stable.

4. The five-degree-of-freedom motion mechanism according to claim 1, characterized in that: The gamma rolling mechanism (10) comprises a gamma driving device (12) composed of a vacuum motor and a cycloidal reducer, and a reducer output shaft (24) located at the front end of the gamma driving device (12), wherein the reducer output shaft (24) is connected to a gamma rolling mechanism output shaft (25) via a key, wherein the gamma rolling mechanism output shaft (25) is assembled in a gamma rolling mechanism base (28) via two sets of cylindrical needle bearings (26) and two sets of end roller bearings (27).

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