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

Abstract

The application provides a multi-degree-of-freedom coupling actuator for water tunnel test model deflection, comprising a shell and an attack angle movement module, a yaw movement module and a roll movement module arranged in the shell; in terms of attack angle movement, a pitch motor drives a pitch lead screw through a mechanical transmission assembly, and in combination with a translation sliding block and a pitch sliding block which slide in the height direction and cooperate with each other, the control of the attack angle of the model balance component can be realized. The yaw movement module drives a yaw lead screw by means of a yaw motor, and the yaw sliding block stably drives the pitch arc guide rail to move along the yaw arc guide rail, so that the accurate adjustment of the yaw angle is achieved. The roll movement module effectively realizes the roll action of the model balance component by means of a roll motor; the pitch, yaw and roll movement modules can be independently controlled and coupled, and the unique design greatly improves the flexibility and adaptability of the movement control of the mechanism, and can accurately meet the needs of various complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of multi-attitude simulation technology for balance components of underwater vehicle models, and in particular to a multi-degree-of-freedom coupled actuator for deflection of a water tunnel test model. Background Technology

[0002] In fluid mechanics research fields such as water tunnel experiments, precise control of model attitude is crucial. Water tunnels are important scientific devices for simulating fluid parameters of underwater vehicles. Traditional water tunnel experiments often employ single-function model attitude adjustment mechanisms, making it difficult to simultaneously meet the complex requirements of multi-degree-of-freedom motion, or exhibiting significant deficiencies in the control accuracy, stability, and coordination of each degree of freedom. For example, some early devices could only achieve simple pitch or yaw movements, failing to accommodate roll motion. This resulted in the experimental model being unable to comprehensively simulate attitude changes under real-world conditions, severely limiting the accuracy and comprehensiveness of experimental data.

[0003] With the development of technology, the requirements for the attitude control of models in water tunnel experiments are becoming increasingly stringent. It is necessary not only to accurately simulate the attitude of underwater vehicles under various complex forces in the fluid environment, but also to efficiently and stably switch between different attitudes. 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 this invention is to provide a multi-degree-of-freedom coupled actuator for deflecting underwater vehicle test models, thereby achieving coupled simulation of multiple attitude angles such as angle of attack, sideslip angle, and roll angle of the balance component of the underwater vehicle model, and improving the overall efficiency of the test.

[0005] This invention provides a multi-degree-of-freedom coupled actuator for deflecting a water tunnel test model, comprising a housing and an angle-of-attack motion module, a yaw motion module, and a roll motion module disposed within the housing; the angle-of-attack motion module includes a pitch motor, a pitch screw, a pitch slider, and a pitch arc-shaped guide rail, the pitch motor being used to drive the pitch screw to rotate, a translation slider being fitted onto the pitch screw, the pitch slider being slidably mounted on the pitch arc-shaped guide rail, and the side of the pitch slider being slidably mounted vertically onto the translation slider;

[0006] The yaw motion module includes a yaw screw that is horizontally arranged and perpendicular to the pitch screw and a yaw motor for driving the yaw screw to rotate. The yaw motor is fixed to the outside of the housing. A yaw slider is installed on the yaw screw. A yaw arc-shaped guide rail is fixedly installed inside the housing on the side away from the yaw screw. One end of the pitch arc-shaped guide rail is fixedly connected to the yaw slider, and the other end of the pitch arc-shaped guide rail is rolled and supported on the yaw arc-shaped guide rail.

[0007] The rolling motion module includes a rolling motor, which is fixedly installed on the top of the pitch slider, and the 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 and the third gear are connected by the toothed synchronous belt. 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 vane is installed inside the housing between the second gear and the model balance component.

[0010] Furthermore, a yaw linkage is rotatably mounted on the side of the guide plate away from the second gear, a first groove is provided at the top of the yaw slider along the height direction, and a first slide rod is provided on the side of the bottom end of the yaw linkage, the first slide rod being slidably mounted in the first 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. A guide wheel that abuts against the yaw arc guide rail is rotatably installed at the bottom end of the first angle-of-attack support, 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 to the axis of the third gear.

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

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

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

[0015] Furthermore, the yaw linkage, pitch arc guide rail, and yaw arc guide rail are all equipped with indicator scales.

[0016] Furthermore, the rotation centers of the model balance component during angle-of-attack motion and yaw motion are on the same horizontal line.

[0017] The beneficial effects of this technical solution are as follows: In terms of angle-of-attack motion, the pitch motor drives the pitch screw to rotate, and combined with the translation and pitch sliders that slide in coordination along the height direction, the angle of attack of the model balance component can be controlled. The yaw motion module, driven by the yaw motor, uses the yaw slider to smoothly push the pitch arc guide rail along the yaw arc guide rail, achieving precise adjustment of the yaw angle. The roll motion module effectively realizes the roll motion of the model balance component through the roll motor. The pitch, yaw, and roll motion modules can be operated independently or coupled, and this unique design greatly enhances the flexibility and adaptability of the mechanism's motion control, accurately meeting the needs of various complex working conditions. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

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

[0021] Figure 3 This is a symmetrical cross-sectional view of the overall structure of the present invention.

[0022] Figure 4 This is an enlarged schematic diagram of a partial structure of the present invention.

[0023] Explanation of reference numerals in the attached 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 linkage, 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 Implementation

[0024] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] Example 1

[0028] like Figures 1-4 As shown, the present invention provides a multi-degree-of-freedom coupled actuator for deflection of a water tunnel test model, including a housing 1 and an angle-of-attack motion module, a yaw motion module and a roll motion module disposed within the housing 1; the three motion modules can be controlled independently or coupled together.

[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-shaped 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 and the third gear 23 are connected by transmission through the toothed synchronous belt 7. A first gear 10 is fixedly installed 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. The pitch motor 9 is fixedly installed on the outside of the housing 1. A translation slider 21 is installed on the pitch screw 17. The pitch slider 24 is slidably installed on the pitch arc guide rail 15. The top of the translation slider 21 has a second groove along the vertical direction. The side of the pitch slider 24 has a second slide rod that cooperates with the second groove, 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 groove and the second slide rod.

[0030] The yaw motion module includes a horizontally positioned yaw screw 4 perpendicular to the pitch screw 17 and a yaw motor 2 for driving the rotation of the yaw screw 4. 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 mounted on the two mounting blocks respectively. The output shaft of the yaw motor 2 is connected to the yaw screw 4 via a bevel gear 3. A yaw slider 6 is fitted onto the yaw screw 4. To prevent the yaw slider 6 from rotating along the yaw screw, a yaw guide shaft 5 is installed between the two mounting blocks, penetrating the yaw slider 6. The yaw guide shaft 5 is parallel to the yaw screw 4. A yaw arc-shaped guide rail 20 is fixedly installed inside the housing 1 on the side 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 rolled and supported on the yaw arc guide rail 20. The specific implementation structure is as follows: a first angle of attack support 16 and a second angle of attack support 22 are fixedly installed at both ends of the pitch arc guide rail 15, respectively. The bottom end of the first angle of attack support 16 is rotatably installed with a guide wheel 19 that abuts against the yaw arc guide rail 20, so that one end of the pitch arc guide rail 15 is rolled and supported on the yaw arc guide rail 20. 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 to the axis of the third gear 23. To prevent the translation slider 21 from rotating with the pitch screw 17, a pitch guide shaft 18 is installed between the first angle of attack support 16 and the second angle of attack support 22, passing through the translation slider 21. The pitch guide shaft 18 is parallel to the pitch screw 17.

[0032] Rolling friction pairs are configured 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. Simultaneously, the guide wheel 19 and the yaw arc guide rail 20 can be symmetrically arranged on the other side to improve support rigidity. Indicating scales are provided on the yaw linkage 8, the pitch arc guide rail 15, and the yaw arc guide rail 20.

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

[0034] In the gear system consisting 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] Inside the housing 1, a guide plate 12 is installed between the second gear 11 and the model balance component 13, and the second gear 11 can be closely attached to the guide plate 12 to prevent the movement of the gear system from interfering with the flow field of the model. A yaw linkage 8 is rotatably installed on the side of the guide plate 12 away from the second gear 11. The top of the yaw slider 6 is provided with a first groove along the height direction, and the side of the bottom end of the yaw linkage 8 is provided with a first slide rod, which is slidably installed in the first groove.

[0036] To facilitate observation of the internal components, both the baffle 12 and the housing 1 can be made of optical acrylic glass.

[0037] The rotation centers of the model balance component 13 for angle-of-attack motion and yaw motion are on the same horizontal line, which makes it easy to achieve maximum attitude angle control of the model balance component 13.

[0038] All motors in this design are low-voltage servo motors (below 48V). All internal structural components are made of waterproof aluminum alloy, 17-4PH, or similar materials. The yaw screw 4 and pitch screw 17 utilize planetary roller screws to improve positioning accuracy and load-bearing capacity. Furthermore, all internal mechanisms within the water tunnel are designed with chamfering and rounding to guide flow and prevent separation. Limit devices are included for angle of attack, roll, and sideslip to prevent excessive deflection.

[0039] Working principle

[0040] The angle of attack motion of the model balance component 13 is mainly achieved by the pitch motor 9 driving the pitch screw 17 to rotate through a gear system consisting of the first gear 10, the second gear 11, the toothed synchronous belt 7, and the third gear 23, which causes the translation slider 21 to move along the pitch guide shaft 18. Then, through the cooperation of the second slide rod on the side of the pitch slider 24 and the second slide groove at the top of the translation slider 21, the model balance component 13 rotates along the pitch arc guide rail 15, thereby achieving precise control of the angle of attack.

[0041] The yaw motion of the model balance component 13 is mainly driven by the yaw motor 2 fixed on the outside of the housing 1 through the reversing of the bevel gear 3 set to drive the yaw screw 4, so that the yaw slider 6 moves along the yaw guide shaft 5, and then drives the pitch arc guide rail 15 to move along the yaw arc guide rail 20, so as to achieve 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 the mechanical keyway to achieve the rolling angle of the model balance system. When the model is small, a hollow servo motor with a waterproof rating of IP68 and a harmonic reducer can be used to drive the rolling motion. The rolling motor 14 adopts the drill chuck structure of a hand drill or machine tool to clamp the model balance component 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 coupled actuator for deflecting a water tunnel test model, characterized in that, The device includes a housing and an angle-of-attack motion module, a yaw motion module, and a roll motion module disposed within the housing. The angle-of-attack motion module includes a pitch motor, a pitch screw, a pitch slider, and a pitch arc-shaped guide rail. The pitch motor drives the pitch screw to rotate. A translation slider is mounted on the pitch screw. The pitch slider is slidably mounted on the pitch arc-shaped guide rail. The side of the pitch slider is slidably mounted on the translation slider along the vertical direction. The yaw motion module includes a yaw screw that is horizontally arranged and perpendicular to the pitch screw and a yaw motor for driving the yaw screw to rotate. The yaw motor is fixed to the outside of the housing. A yaw slider is installed on the yaw screw. A yaw arc-shaped guide rail is fixedly installed inside the housing on the side away from the yaw screw. One end of the pitch arc-shaped guide rail is fixedly connected to the yaw slider, and the other end of the pitch arc-shaped guide rail is rolled and supported on the yaw arc-shaped guide rail. The rolling motion module includes a rolling motor, which is fixedly installed on the top of the pitch slider, and the model balance component is fixedly mounted on the top of the rolling motor.

2. The multi-degree-of-freedom coupled actuator for deflecting 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 and the third gear are connected by the toothed synchronous belt. 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 coupled actuator for deflecting a water tunnel test model according to claim 2, characterized in that, Inside the housing, a guide plate is installed between the second gear and the model balance component.

4. The multi-degree-of-freedom coupled actuator for deflecting a water tunnel test model according to claim 3, characterized in that, A yaw linkage is rotatably mounted on the side of the guide plate away from the second gear. A first groove is provided at the top of the yaw slider along the height direction. A first slide rod is provided on the side of the bottom end of the yaw linkage. The first slide rod is slidably installed in the first groove.

5. The multi-degree-of-freedom coupled actuator for deflecting a water tunnel test model according to claim 2, characterized in that, The pitch arc guide rail has a first angle-of-attack support and a second angle-of-attack support fixedly installed at both ends. The bottom end of the first angle-of-attack support is rotatably mounted with a guide wheel that abuts against the yaw arc guide rail. The second angle-of-attack support is fixedly installed on the yaw slider. One end of the pitch screw is rotatably mounted 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 to the shaft of the third gear.

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

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

8. The multi-degree-of-freedom coupled actuator for deflecting a water tunnel test model according to claim 1, characterized in that, The top of the translation slider has a second groove along the vertical direction, and the side of the pitch slider has a second slide rod that cooperates with the second groove.

9. The multi-degree-of-freedom coupled actuator for deflecting a water tunnel test model according to claim 4, characterized in that, The yaw linkage, pitch arc guide rail, and yaw arc guide rail are all equipped with indicator scales.

10. The multi-degree-of-freedom coupled actuator for deflecting a water tunnel test model according to claim 3, characterized in that, The rotation centers of the model balance components during angle-of-attack motion and yaw motion are on the same horizontal line.

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