A six-degree-of-freedom motion mechanism

Abstract

A six-degree-of-freedom motion mechanism comprises a frame base, an x-direction moving frame mounted on the frame base, the x-direction moving frame being combined with the frame base through two groups of linear guides and being driven by an x-direction driving device to move in the x-direction; a z-direction moving frame being mounted on the x-direction moving frame through two groups of linear guides and being driven by the z-direction driving device to move in the z-direction; a β-direction moving frame being arranged on the z-direction moving frame through two groups of arc-shaped guides for circular motion in the β-direction and being driven by a β-hinged driving device to complete the β-direction circular motion; a u-shaped frame being fixedly arranged in the β-direction moving frame, an alpha box being connected to move up and down in the y-direction through four linear guides and a y-direction linear driving device arranged in the u-shaped frame below the u-shaped frame, and the alpha box being driven by two groups of alpha-hinged driving devices arranged at the upper end of the alpha-direction moving block to complete the alpha-direction circular motion; a gamma rolling mechanism being arranged at the lower end of the alpha-direction moving block through a curved knife support plate.

Description

Technical Field

[0001] The invention relates to a motion mechanism, in particular to a six-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 mechanisms used to send the model into / out of the flow field and change the model's attitude angle during wind tunnel tests mostly use mechanisms with fewer degrees of freedom and are presented in a wall-mounted form. This type of motion mechanism has limited load-bearing capacity and cannot meet more test requirements due to the limited number of degrees of freedom. Summary of the invention

[0004] The purpose of the present invention is to realize the multi-directional posture change of the model in the wind tunnel test by using a multi-degree-of-freedom high-precision motion mechanism as a supporting carrier.

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

[0006] The six-degree-of-freedom motion mechanism of the present invention comprises a frame base, an X-direction moving frame installed on the frame base, the X-direction moving frame is combined with the frame base through two sets of linear guides, and is driven by an X-direction driving device to move along the X-direction; a Z-direction moving frame is installed on the X-direction moving frame through two sets of linear guides, and the Z-direction moving frame moves along the Z-direction under the drive of the Z-direction driving device; a β-direction moving frame that moves in a circumferential direction along the β-direction is arranged on the Z-direction moving frame through two sets of arc guides, and is driven by a β-hinged driving device arranged at the rear end of the β-direction moving frame to complete the β-direction circular motion; a U-shaped frame is fixedly arranged in the β-direction moving frame, and the U-shaped frame The lower end passes through the Z-axis moving frame, the X-axis moving frame, and the inner cavity of the frame base in sequence and extends to the bottom of the frame base; an α box body that moves up and down along the Y direction is connected to the bottom of the U-shaped frame through four linear guides and a Y-axis linear drive device arranged in the U-shaped frame, and an α-axis moving block that makes a circular motion along the α direction is arranged in the α box body. The α-axis moving block is connected and fixed to the α box body through an arc guide rail, and is driven by two groups of α-hinged drive devices arranged at the upper end of the α-axis moving block to complete the α-axis movement along the arc guide rail; a γ rolling mechanism is arranged at the lower end of the α-axis moving block through a scimitar support plate; the γ rolling mechanism completes the circular motion in the γ direction through the drive of the γ drive device.

[0007] The present invention provides a Y-direction linear hydraulic locker between the U-shaped frame and the α box body. The linear hydraulic locker provides power through hydraulic pressure to separate the spring clamping device between the locker and the Y-direction locking shaft (19). After the movement is in place, the hydraulic power is released, so that the locker and the locking shaft are tightened and kept stable.

[0008] 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, and the rotating nut is connected to a β-axis movable frame through a β-hinge mechanism; when the rotating nut moves, the β-hinge mechanism and the β-axis movable frame 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 β-axis movable frame by bearings to form two sets of rolling shaft systems, and in order to increase the rigidity of the ball screw under load, a set of linear guide rails and sliders are arranged below the rotating nut so that the load acts on the guide rail sliders; in order to prevent the fixed end of the β-ball screw from deforming 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.

[0009] The α-articulated driving device described in the present invention 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 linear motion is utilized to drive the α-direction moving block to perform α-direction circular motion along an arc guide rail through a hinge mechanism.

[0010] The gamma rolling mechanism described in the present invention includes a gamma driving device composed of a vacuum motor and a cycloidal reducer, and a reducer output shaft located at the front end of the gamma driving device, wherein the reducer output shaft is connected to the gamma rolling mechanism output shaft through a key, wherein the gamma rolling mechanism output shaft is assembled in the gamma rolling mechanism base through two groups of cylindrical needle bearings and two groups of end roller bearings.

[0011] The beneficial effects of the present invention are as follows:

[0012] a. The present invention adopts a tower-shaped distribution combination of multi-degree-of-freedom mechanisms to make the movement freedom structure combination more stable.

[0013] b. The present invention adopts a dual-drive mode in the Y-axis motion mechanism, making the motion structure more stable and having stronger driving capability.

[0014] c. The present invention applies terminal detection technology in the α degree of freedom to achieve real-time online monitoring of the system's motion status, and can more accurately control the movement of key degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the structural front view of the present invention.

[0016] Figure 2 for Figure 1 Left view of .

[0017] Figure 3 for Figure 1 Top view of the .

[0018] Figure 4 It is a cross-sectional view.

[0019] Figure 5 Schematic diagram of the β-articulated drive device.

[0020] Figure 6 yes Figure 5 Top view of the .

[0021] Figure 7 It is a schematic diagram of the connection between the rotating nut and the β-axis moving frame through the β-hinge mechanism.

[0022] Figure 8 Schematic diagram of the γ roll mechanism.

[0023] Serial numbers in the figure: 1 frame base 2 X-axis moving frame 3 Z-axis moving frame 4 β-axis moving frame 5 U-shaped frame 6α box 7β hinged driving device 8α-axis moving block 9α hinged driving device 10X-axis driving device 11 curved knife support plate 12γ rolling mechanism 13Z-axis driving device 14 linear guide 15 linear guide 16 arc guide 17Y-axis linear driving device 18Y-axis linear hydraulic locker 19 Y-axis locking shaft 20β ball screw 21 motor and reducer 22 rotating nut 23β hinge mechanism 24 guide rail and slider 25 angular contact bearing 26γ driving device 27 reducer output shaft 28γ rolling mechanism output shaft 29 cylindrical needle roller bearing 30 end roller bearing 31γ rolling mechanism base. 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 3 , Figure 4As shown, the six-degree-of-freedom motion mechanism of the present invention comprises a frame base 1, an X-direction moving frame 2 mounted on the frame base 1, the X-direction moving frame 2 is combined with the frame base 1 through two sets of linear guide rails 14, and is driven by an X-direction driving device 10 to move along the X direction. Figure 5 , 6 The β-articulated driving device shown has the same structure, and the rotating nut is connected to the X-direction moving frame 2 through a hinge mechanism; a Z-direction moving frame 3 is installed on the X-direction moving frame 2 through two sets of linear guides 15, and the Z-direction moving frame 3 moves along the Z direction under the drive of the Z-direction driving device 13; a β-direction moving frame 4 that moves in a circular motion along the β direction is arranged on the Z-direction moving frame 3 through two sets of arc guides 16, and the β-direction circular motion is completed by the β-articulated driving device 7 arranged at the rear end of the β-direction moving frame 4; a U-shaped frame 5 is fixedly arranged in the β-direction moving frame 4, and the lower end of the U-shaped frame 5 passes through the Z-direction moving frame 3, the X-direction moving frame 2, and the frame base in sequence. 1 extends to the bottom of the frame base 1; below the U-shaped frame 5, an α box 6 that moves up and down along the Y direction is connected through four linear guides and a Y-direction linear drive device 17 arranged in the U-shaped frame 5, and an α-direction moving block 8 that makes a circular motion along the α direction is arranged in the α box 6, and the α-direction moving block 8 is connected and fixed to the α box 6 through a group of arc-shaped guides, and is driven by two groups of α-hinged drive devices 9 arranged at the upper end of the α-direction moving block 8 to complete the α-direction movement along the arc-shaped guide; a γ rolling mechanism 12 is arranged at the lower end of the α-direction moving block 8 through a scimitar support plate 11; the γ rolling mechanism 12 completes the γ-direction circular motion through the drive of the γ drive device 26.

[0027] like Figure 2 As shown, the present invention is provided with a Y-direction linear hydraulic locker 18 between the U-shaped frame 5 and the α box 6. The linear hydraulic locker 18 provides power through hydraulic pressure to separate the spring clamping device between the locker and the Y-direction locking shaft 19. After the movement is in place, the hydraulic power is released, so that the locker and the locking shaft are tightened and kept stable.

[0028] like Figure 5 , 6As shown in Figures 7 and 8, the β-articulated driving device 7 in the present invention includes a β ball screw 20 connected to a motor and a reducer 21 for driving a rotating nut 22 to perform linear motion, wherein the rotating nut 22 is connected to a β-axis movable frame 4 via a β-hinge mechanism 23; when the rotating nut 22 moves, the β-hinge mechanism 23 and the β-axis movable frame 4 are driven to perform circular motion under the constraint of an arc guide rail 16, wherein the two ends of the β-hinge mechanism 23 are respectively combined with the rotating nut 22 and the β-axis movable frame 4 by bearings to form two sets of rolling shaft systems, and in order to increase the rigidity of the ball screw 20 under load, a set of linear guide rails and sliders 24 are arranged below the rotating nut 22, so that the load acts on the guide rail sliders; in order to prevent the fixed end of the β ball screw 20 from being deformed due to excessive pressure load, thereby affecting the transmission accuracy, the fixed bearings at both ends of the β ball screw 20 are respectively tightened by two sets of angular contact bearings 25.

[0029] The α articulated drive device 9 of the present invention adopts the same structure as the β articulated drive device 7 (eg Figure 4 , 5 As shown), it includes a β ball screw 20 connected to a motor and a reducer 21 for driving a rotating nut 22 to perform linear motion. The rotating nut 22 is combined with an α-direction moving block 8 through a hinge mechanism; the α-direction moving block 8 is driven to perform circular motion along the arc guide rail through the hinge mechanism using linear motion.

[0030] like Figure 8 As shown, the γ rolling mechanism 12 in the present invention includes a γ driving device 26 composed of a vacuum motor and a cycloidal reducer, and a reducer output shaft 27 located at the front end of the γ driving device, and the reducer output shaft 27 is connected to the γ rolling mechanism output shaft 28 through a key, wherein the γ rolling mechanism output shaft 28 is assembled in the γ rolling mechanism base 31 through two groups of cylindrical needle bearings 29 and two groups of end roller bearings 30 respectively.

Claims

1. A six-degree-of-freedom motion mechanism, characterized in that: The invention comprises a frame base (1), an X-direction movable frame (2) mounted on the frame base (1), the X-direction movable frame (2) being connected to the frame base (1) via two sets of linear guide rails (14) and being driven by an X-direction driving device (10) to move along the X-direction; a Z-direction movable frame (3) being mounted on the X-direction movable frame (2) via two sets of linear guide rails (15), the Z-direction movable frame (3) being driven by the Z-direction driving device (13) to move along the Z-direction; a β-direction movable frame (4) being arranged on the Z-direction movable frame (3) via two sets of arc-shaped guide rails (16) and being driven by a β-hinged driving device (7) arranged at the rear end of the β-direction movable frame (4) to complete the β-direction circular movement; A U-shaped frame (5) is fixedly arranged inside the β-direction moving frame (4), and the lower end of the U-shaped frame (5) sequentially passes through the inner cavity of the Z-direction moving frame (3), the X-direction moving frame (2), and the frame base (1) and extends to the bottom of the frame base (1); an α-box (6) that moves up and down along the Y direction is connected below the U-shaped frame (5) through four linear guide rails and a Y-direction linear drive device (17) arranged inside the U-shaped frame (5); an α-direction moving block (8) that moves in a circle along the α direction is arranged inside the α-direction moving block (6); the α-direction moving block (8) is fixedly connected to the α-box (6) through an arc-shaped guide rail, and is driven by two groups of α-hinged drive devices (9) arranged at the upper end of the α-direction moving block (8) to complete the α-direction movement along the arc-shaped guide rail; A γ rolling mechanism (12) is provided at the lower end of the α-direction moving block (8) via a curved knife support plate (11); the γ rolling mechanism (12) is driven by a γ driving device (26) to complete a γ-direction circular motion.

2. The six-degree-of-freedom motion mechanism according to claim 1, characterized in that: A Y-direction linear hydraulic locker (18) is provided between the U-shaped frame (5) and the α box (6). The linear hydraulic locker (18) provides power through hydraulic pressure to separate the spring clamping device between the locker and the Y-direction locking shaft (19). 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 six-degree-of-freedom motion mechanism according to claim 1, characterized in that: The β-hinged drive device (7) comprises a β ball screw (20) connected to a motor and a reducer (21) for driving a rotating nut (22) to perform linear motion, wherein the rotating nut (22) is connected to a β-axis movable frame (4) via a β-hinge mechanism (23); wherein the two ends of the β-hinge mechanism (23) are respectively combined with the rotating nut (22) and the β-axis movable frame (4) by bearings to form two sets of rolling shaft systems; in order to increase the rigidity of the ball screw (20) under load, a set of linear guide rails and sliders (24) are provided below the rotating nut (22) so that the load acts on the guide rail sliders; in order to prevent the fixed end of the β ball screw (20) from being deformed due to excessive pressure load, thereby affecting the transmission accuracy, the fixed bearings at the two ends of the β ball screw (20) are respectively pressed by two sets of angular contact bearings (25).

4. The six-degree-of-freedom motion mechanism according to claim 1, characterized in that: The α-articulated driving device (9) has the same structure as the β-articulated driving device (7), and comprises a β ball screw (20) connected to a motor and a reducer (21) for driving a rotating nut (22) to perform linear motion, wherein the rotating nut (22) is connected to an α-direction moving block (8) via a hinge mechanism; the α-direction moving block (8) is driven via the hinge mechanism to perform α-direction circular motion along an arc-shaped guide rail using the linear motion.

5. The six-degree-of-freedom motion mechanism according to claim 1, characterized in that: The gamma rolling mechanism (12) comprises a gamma driving device (26) composed of a vacuum motor and a cycloidal reducer, and a reducer output shaft (27) located at the front end of the gamma driving device, wherein the reducer output shaft (27) is connected to the gamma rolling mechanism output shaft (28) via a key, wherein the gamma rolling mechanism output shaft (28) is assembled in a gamma rolling mechanism base (31) via two sets of cylindrical needle bearings (29) and two sets of end roller bearings (30).

Images