A six-degree-of-freedom pose adjusting device suitable for wind tunnel test

Abstract

The application relates to the technical field of wind tunnel experiments, in particular to a six-degree-of-freedom pose adjusting device suitable for wind tunnel experiments, which comprises a front shaft roll movement mechanism, a rear shaft left-right displacement mechanism, an arc-shaped pitching movement mechanism, a yaw movement mechanism, a lifting movement mechanism and a horizontal front-back displacement mechanism; the rear shaft left-right displacement mechanism drives the front shaft roll movement mechanism to roll; the arc-shaped pitching movement mechanism drives the rear shaft left-right displacement mechanism to pitch; the yaw movement mechanism drives the arc-shaped pitching movement mechanism to yaw; the lifting movement mechanism drives the yaw movement mechanism to lift; and the horizontal front-back displacement mechanism drives the lifting movement mechanism to move horizontally. The six-degree-of-freedom pose adjusting device can more accurately simulate complex movements in the flight process through the front shaft roll movement mechanism, the rear shaft left-right displacement mechanism, the arc-shaped pitching movement mechanism, the yaw movement mechanism, the lifting movement mechanism and the horizontal front-back displacement mechanism.

Description

Technical Field

[0001] This invention belongs to the field of wind tunnel testing technology, and particularly relates to a six-degree-of-freedom pose adjustment device suitable for wind tunnel testing. Background Technology

[0002] Aerodynamics is a fundamental science for the development of aerospace and other industrial technologies, and wind tunnel testing is one of the basic methods in aerodynamic research. Wind tunnel testing involves placing a model of an aircraft or other object in a wind tunnel to study gas flow and its interaction with the model, in order to understand the aerodynamic characteristics of the actual aircraft or other object. Wind tunnel test facilities are mainly used to simulate the aerodynamic characteristics of aircraft under different flight conditions. They typically include a wind tunnel, a model support, and a measurement and control system. The model support is the core equipment in wind tunnel testing; its function is to support the aircraft model within the wind tunnel's flow field and adjust its position and attitude under various operating conditions to simulate the aircraft's actual flight state in the sky. Its performance directly affects the accuracy of the test data.

[0003] Existing aircraft wind tunnel test model support devices are mostly tandem support mechanisms, primarily in the form of tail supports, belly supports, and dorsal supports. While these mechanisms enable attitude adjustments to the aircraft model within a certain range, they suffer from several shortcomings during simulated flight:

[0004] 1. Limited degrees of freedom and low control precision make it difficult to achieve high-precision simulation of complex three-dimensional motion;

[0005] 2. It exhibits poor adaptability and stability in complex environments such as wind tunnels;

[0006] 3. Low integration, difficulty in coordinating the work of various parts, and complex installation and debugging. Summary of the Invention

[0007] In view of this, the present invention aims to provide a six-degree-of-freedom attitude adjustment device suitable for wind tunnel testing, which achieves high-precision six-degree-of-freedom motion control, can more accurately simulate complex motions during flight, has excellent adaptability to complex working conditions, and ensures stable operation in special environments such as high wind speed and vacuum in wind tunnel testing.

[0008] To achieve the above objectives, the technical solution created by this invention is implemented as follows:

[0009] A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing, used to achieve six-degree-of-freedom pose adjustment of a model support, comprising:

[0010] The front axle rolling motion mechanism has its output end connected to the model support and is used to drive the model support to perform rolling motion.

[0011] The rear axle left and right displacement mechanism has its output end connected to the front axle rolling motion mechanism and forms an acute angle with the front axle rolling motion mechanism. The rear axle left and right displacement mechanism is used to drive the front axle rolling motion mechanism to rotate, so that the front axle rolling motion mechanism forms a rotation trajectory inclined to the vertical direction.

[0012] An arc-shaped pitch motion mechanism is connected to the rear axle left and right displacement mechanism and is used to drive the rear axle left and right displacement mechanism to perform pitch motion.

[0013] The yaw mechanism is connected to the arc-shaped pitch mechanism and is used to drive the arc-shaped pitch mechanism to perform yaw motion.

[0014] The lifting mechanism is connected to the yaw mechanism and is used to drive the yaw mechanism to perform lifting movements.

[0015] A horizontal forward and backward displacement mechanism is connected to a lifting motion mechanism and is used to drive the lifting motion mechanism to perform horizontal linear motion.

[0016] The rear axle left and right displacement mechanism includes a left and right movement drive motor, a left and right movement rear axle, a left and right movement drive motor support frame, and a rear axle bearing. The left and right movement drive motor and the left and right movement rear axle are both installed in the left and right movement drive motor support frame. The output end of the left and right movement drive motor is connected to one end of the left and right movement rear axle, and the other end of the left and right movement rear axle is connected to the front axle rolling motion mechanism. The left and right movement drive motor drives the front axle rolling motion mechanism to rotate through the left and right movement rear axle. The two ends of the left and right movement rear axle are rotatably connected to the left and right movement drive motor support frame through the rear axle bearing.

[0017] Furthermore, a left and right movement rear axle limiting ring is provided on the left and right movement drive motor support frame near the front axle rolling motion mechanism. The left and right movement rear axle limiting ring has an arc-shaped inner ring on the side near the corresponding rear axle bearing. A first limiting rod is provided on the outer circumference of the left and right movement rear axle near the left and right movement rear axle limiting ring. The arc-shaped inner ring is used to limit the rotation range of the first limiting rod.

[0018] Furthermore, the front axle rolling motion mechanism includes a rolling drive motor, a rolling front axle, a rolling drive motor support frame, a front axle support frame, a front roller bearing, a rolling motion wake cone, a rolling limit arc-shaped inner ring, a rolling limit outer ring, and a bracket adapter ring. The output end of the rolling drive motor is connected to one end of the rolling front axle, and the other end of the rolling front axle is connected to the bracket adapter ring. The rolling front axle is rotatably connected to the rolling drive motor support frame through two front roller bearings. The rolling drive motor drives the bracket adapter ring to rotate through the rolling front axle, and the bracket adapter ring drives the model support to perform rolling motion. The rolling drive motor is installed inside the rolling drive motor support frame. The end of the rolling drive motor support frame closest to the model support is connected to the front axle support frame. The end of the rolling drive motor support frame furthest from the model support is equipped with a rolling motion wake cone. The rolling front axle passes through the rolling drive motor support frame and the front axle support frame.

[0019] The outer rolling limit ring is located on the support frame of the rolling drive motor near the end of the bracket adapter ring. The outer rolling limit ring has a rolling limit arc-shaped inner ring on the side near the front rolling axle. The outer circumference of the front rolling axle has a second limit rod near the outer rolling limit ring. The inner rolling limit arc-shaped inner ring is used to limit the rotation range of the second limit rod.

[0020] Furthermore, the front axle support frame includes a first connecting part and a second connecting part connected to each other. The first connecting part is connected to the end of the roll drive motor support frame near the model bracket, and the second connecting part is connected to the output end of the left and right moving rear axle. The left and right moving rear axle drives the first connecting part and the second connecting part to roll, and an acute angle is formed between the first connecting part and the second connecting part.

[0021] Furthermore, the arc-shaped pitch motion mechanism includes a pitch motion body, a pitch motion linkage, a pitch motion drive mechanism, a pitch motion frame, and a pitch motion guide rail. The two ends of the pitch motion body are respectively connected to the left and right movement drive motor support frame and one end of the pitch motion linkage. The other end of the pitch motion linkage is connected to the pitch motion drive mechanism. The pitch motion drive mechanism is installed inside the pitch motion frame. The pitch motion guide rail is an arc-shaped guide rail and is set on the side wall of the pitch motion frame. The pitch motion drive mechanism pushes the pitch motion body to move along the pitch motion guide rail through the pitch motion linkage.

[0022] Furthermore, the pitch motion drive mechanism includes a pitch motion drive motor, a pitch motion lead screw, a pitch motion motor coupling, a pitch motion lead screw nut, and a pitch motion lead screw bearing housing. The output end of the pitch motion drive motor is connected to one end of the pitch motion lead screw through the pitch motion motor coupling. Both ends of the pitch motion lead screw are rotatably connected to the pitch motion lead screw bearing housing. The pitch motion lead screw nut is threaded onto the pitch motion lead screw and rotatably connected to the pitch motion connecting rod. The pitch motion drive motor drives the pitch motion lead screw to rotate through the pitch motion motor coupling. The pitch motion lead screw nut pushes the pitch motion connecting rod to move. The pitch motion lead screw bearing housing is installed on the bottom wall of the pitch motion frame.

[0023] Furthermore, the yaw motion mechanism includes a yaw drive motor, a yaw motion screw, a yaw motion connecting rod, a yaw motion screw nut, a yaw motion shaft, a yaw motion guide rail, and a yaw motion slider. The yaw drive motor is located at the top of the lifting mechanism, and its output end is connected to the yaw motion screw. The yaw motion screw nut is threadedly connected to the yaw motion screw, and the yaw motion screw nut is rotatably connected to one end of the yaw motion connecting rod. The other end of the yaw motion connecting rod is rotatably connected to the pitch motion frame. The lifting mechanism and the pitch motion frame are rotatably connected via the yaw motion shaft. An arc-shaped yaw motion guide rail is provided on the top surface of the lifting mechanism, and a yaw motion slider that can move along the yaw motion guide rail is provided on the yaw motion guide rail. The yaw motion slider is located at the bottom end of the pitch motion frame. The yaw drive motor drives the yaw motion screw to rotate, and the yaw motion screw nut drives the pitch motion frame to rotate along the yaw motion shaft through the yaw motion connecting rod.

[0024] Furthermore, the lifting mechanism includes a lifting hydraulic drive cylinder, a lifting guide rail, and a lifting frame. The lifting hydraulic drive cylinder is installed in the middle of the top surface of the horizontal forward and backward displacement mechanism. The output end of the lifting hydraulic drive cylinder is connected to the lifting frame. The lifting guide rail is set on the horizontal forward and backward displacement mechanism. The lifting hydraulic drive cylinder drives the lifting frame to perform lifting and reciprocating motion along the lifting guide rail.

[0025] Furthermore, the horizontal forward and backward displacement mechanism includes a base, a horizontal forward and backward moving frame, a horizontal forward and backward moving hydraulic drive cylinder, a moving plate, and reinforcing ribs. The horizontal forward and backward moving hydraulic drive cylinder is installed on the top surface of the horizontal forward and backward moving frame. The output end of the horizontal forward and backward moving hydraulic drive cylinder is connected to the connecting block in the middle of the bottom surface of the base. The horizontal forward and backward moving hydraulic drive cylinder drives the base to move horizontally forward and backward. The output end of the horizontal forward and backward moving hydraulic drive cylinder is set parallel to the moving direction of the base. The lifting moving hydraulic drive cylinder is set on the top surface of the base. The output end of the lifting moving hydraulic drive cylinder is set perpendicular to the output end of the horizontal forward and backward moving hydraulic drive cylinder.

[0026] The base has a movable plate perpendicular to its top surface at one end, and at least one reinforcing rib is provided between the movable plate and the base. The lifting motion guide rail is provided on the movable plate.

[0027] Furthermore, the horizontal forward and backward moving frame is set on the bottom wall of the outer protective box, and at least one box wiring hole is opened on the side wall of the outer protective box; the pitching motion frame and the lifting motion frame are both set inside the outer protective box.

[0028] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0029] (1) When the left and right moving drive motor described in this invention is working, the front axle rolling motion mechanism is rotated as a whole by moving the rear axle left and right. Since the front axle rolling motion mechanism and the rear axle left and right displacement mechanism form an acute angle, the front axle rolling motion mechanism will rotate when the rear axle moves left and right, causing the front axle rolling motion mechanism to rotate and form a rotation trajectory inclined to the vertical direction. By adjusting the different positions of the model support on this rotation trajectory, the left and right displacement of the model support can be achieved.

[0030] (2) The present invention creates a six-degree-of-freedom spatial motion by driving the front axle of the rolling drive motor to roll along the Rx axis, driving the rear axle of the left and right movement drive motor to roll along the Ty axis, driving the pitch motion main body of the pitch motion drive motor to rotate the left and right displacement mechanism of the rear axle along the Ry axis, driving the yaw motion linkage of the yaw motion drive motor to rotate the arc-shaped pitch motion mechanism along the Rz axis, driving the yaw motion mechanism to reciprocate along the Tz axis by the lifting motion hydraulic drive cylinder, and driving the lifting motion mechanism to reciprocate along the Tx axis by the horizontal forward and backward movement hydraulic drive cylinder.

[0031] (3) The control precision created by this invention is better than 0.1°, which significantly improves the accuracy of motion simulation and solves the shortcomings of traditional technology in complex three-dimensional motion control.

[0032] (4) The outer protective box created by the present invention has a sealed design and high temperature protection measures, which enables the present application to have excellent adaptability to complex working conditions and ensure stable operation in special environments such as high wind speed and vacuum in wind tunnel tests. Attached Figure Description

[0033] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0034] Figure 1A schematic diagram of a six-degree-of-freedom pose adjustment device suitable for wind tunnel testing, as described in an embodiment of the present invention;

[0035] Figure 2 for Figure 1 Internal structure diagram;

[0036] Figure 3 for Figure 2 A schematic diagram of the connection structure between the front axle rolling motion mechanism and the rear axle left and right displacement mechanism;

[0037] Figure 4 for Figure 2 Enlarged structural diagram of section A in the middle;

[0038] Figure 5 for Figure 2 Enlarged structural diagram of section B;

[0039] Figure 6 for Figure 2 Schematic diagram of the mid-arc pitch motion mechanism;

[0040] Figure 7 for Figure 4 A schematic diagram of the yaw motion mechanism;

[0041] Figure 8 The diagram illustrates the measurement and control principle of a six-degree-of-freedom pose adjustment device suitable for wind tunnel testing, as described in an embodiment of the present invention.

[0042] Explanation of reference numerals in the attached figures:

[0043] 10. Front axle rolling motion mechanism; 11. Rolling drive motor; 12. Rolling front axle; 13. Rolling drive motor support frame; 14. Front axle support frame; 15. Front rolling bearing; 16. Rolling motion wake cone; 17. Rolling limit arc-shaped inner ring; 18. Rolling limit outer ring; 19. Bracket adapter ring;

[0044] 141. First connecting part; 142. Second connecting part;

[0045] 20. Rear axle left-right displacement mechanism; 21. Left-right movement drive motor; 22. Left-right movement rear axle; 23. Left-right movement drive motor support frame; 24. Rear axle bearing; 25. Left-right movement rear axle limit ring; 26. Arc-shaped inner ring;

[0046] 30. Arc-shaped pitch motion mechanism; 31. Pitch motion main body; 32. Pitch motion linkage; 33. Pitch motion drive mechanism; 34. Pitch motion frame; 35. Pitch motion guide rail;

[0047] 331. Pitch motion drive motor; 332. Pitch motion lead screw; 333. Pitch motion motor coupling; 334. Pitch motion lead screw nut; 335. Pitch motion lead screw bearing housing;

[0048] 40. Yaw mechanism; 41. Yaw drive motor; 42. Yaw screw; 43. Yaw linkage; 44. Yaw screw nut; 45. Yaw bearing housing; 46. Yaw shaft; 47. Yaw guide rail; 48. Yaw slider;

[0049] 50. Lifting mechanism; 51. Lifting hydraulic drive cylinder; 52. Lifting guide rail; 53. Lifting frame;

[0050] 60. Horizontal forward and backward displacement mechanism; 61. Base; 62. Horizontal forward and backward moving frame; 63. Horizontal forward and backward moving hydraulic drive cylinder; 64. Moving plate; 65. Reinforcing rib;

[0051] 70. External protective enclosure; 71. Wiring holes in the enclosure;

[0052] 80. PXIe testing equipment; 81. Secondary signal conditioning box; 82. Preamplifier; 83. Switch; 84. Ethernet; 85. Motion controller; 86. Operation management computer; 87. Control system; 88. Engineering main control system; 89. Servo driver;

[0053] 90. Measuring cabinet; 91. Drive cabinet. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0055] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0056] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are 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, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., 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, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0059] like Figures 1 to 5 As shown, a six-degree-of-freedom pose adjustment device suitable for wind tunnel testing is used to achieve six-degree-of-freedom pose adjustment of a model support, comprising:

[0060] The front axle rolling motion mechanism 10 has its output end connected to the model support and is used to drive the model support to perform rolling motion.

[0061] The rear axle left and right displacement mechanism 20 is connected to the front axle rolling motion mechanism 10 at its output end, and forms an acute angle with the front axle rolling motion mechanism 10. The rear axle left and right displacement mechanism 20 drives the front axle rolling motion mechanism 10 to rotate, so that the front axle rolling motion mechanism 10 forms a rotation trajectory inclined to the vertical direction.

[0062] The arc-shaped pitch motion mechanism 30 has its output end connected to the rear axle left and right displacement mechanism 20, and drives the rear axle left and right displacement mechanism 20 to perform pitch motion.

[0063] Yaw motion mechanism 40, the output end of yaw motion mechanism 40 is connected to arc-shaped pitch motion mechanism 30, and drives arc-shaped pitch motion mechanism 30 to perform yaw motion;

[0064] The lifting motion mechanism 50 has its output end connected to the yaw motion mechanism 40 and drives the yaw motion mechanism 40 to perform lifting motion.

[0065] The horizontal forward and backward displacement mechanism 60 has its output end connected to the lifting motion mechanism 50 and drives the lifting motion mechanism 50 to perform horizontal linear motion.

[0066] The rear axle left and right displacement mechanism 20 includes a left and right movement drive motor 21, a left and right movement rear axle 22, a left and right movement drive motor support frame 23, and a rear axle bearing 24. The left and right movement drive motor 21 and the left and right movement rear axle 22 are both installed in the left and right movement drive motor support frame 23. The output end of the left and right movement drive motor 21 is connected to one end of the left and right movement rear axle 22, and the other end of the left and right movement rear axle 22 is connected to the front axle rolling motion mechanism 10. The output end of the left and right movement drive motor 21 drives the front axle rolling motion mechanism 10 to rotate through the left and right movement rear axle 22. The left and right movement rear axle 22 passes through the left and right movement drive motor support frame 23, and the two ends of the left and right movement rear axle 22 are rotatably connected to the left and right movement drive motor support frame 23 through the rear axle bearing 24.

[0067] When the left and right movement drive motor 21 is working, it drives the front axle rolling motion mechanism 10 to rotate as a whole through the left and right movement rear axle 22. Since the front axle rolling motion mechanism 10 and the rear axle left and right displacement mechanism 20 form an acute angle, when the left and right movement rear axle 22 drives the front axle rolling motion mechanism 10 to rotate, the front axle rolling motion mechanism 10 will drive the model support to rotate and form a rotation trajectory inclined to the vertical direction. By adjusting the different positions of the model support on this rotation trajectory, the left and right displacement of the model support can be achieved.

[0068] The rear axle 22 for left and right movement is the Ty axis. The left and right movement drive motor 21 drives the front axle rolling motion mechanism 10 to rotate along the Ty axis through the rear axle 22 for left and right movement. The left and right movement drive motor 21 is a servo motor with a closed-loop feedback control system, which can accurately control the rotation angle.

[0069] A left-right movement rear axle limiting ring 25 is provided on the left-right movement drive motor support frame 23 near the front axle rolling motion mechanism 10. The left-right movement rear axle limiting ring 25 has an arc-shaped inner ring 26 on one side near the corresponding rear axle bearing 24. A first limiting rod is provided on the outer circumference of the left-right movement rear axle 22 near the left-right movement rear axle limiting ring 25. The arc-shaped inner ring 26 is used to limit the rotation range of the first limiting rod. During the adjustment of the model support, the left-right movement rear axle 22 drives the first limiting rod on it to rotate. When the first limiting rod rotates to abut against the two ends of the arc-shaped inner ring 26, it is the maximum rotation range of the left-right movement rear axle 22. When the model support is adjusted to the appropriate position and during the wind tunnel experiment, if a loss of control occurs, the rotation range of the left-right movement rear axle 22 is limited by the arc-shaped inner ring 26.

[0070] The front axle rolling motion mechanism 10 includes a rolling drive motor 11, a rolling front axle 12, a rolling drive motor support frame 13, a front axle support frame 14, a front rolling bearing 15, a rolling motion wake cone 16, a rolling limiting arc-shaped inner ring 17, a rolling limiting outer ring 18, and a bracket adapter ring 19. The output end of the rolling drive motor 11 is connected to one end of the rolling front axle 12, and the other end of the rolling front axle 12 is connected to the bracket adapter ring 19. The rolling front axle 12 is rotatably connected to the rolling drive motor support frame 13 through two front rolling bearings 15. Next, the roll drive motor 11 drives the bracket adapter ring 19 to rotate through the roll front axle 12, and the bracket adapter ring 19 drives the model bracket to roll. The roll drive motor 11 is installed in the roll drive motor support frame 13. The end of the roll drive motor support frame 13 near the model bracket is connected to the front axle support frame 14. The end of the roll drive motor support frame 13 away from the model bracket is equipped with a roll motion wake cone 16. The roll front axle 12 passes through the roll drive motor support frame 13 and the front axle support frame 14.

[0071] A roll-limiting outer ring 18 is disposed on the end of the roll drive motor support frame 13 near the bracket adapter ring 19. A roll-limiting arc-shaped inner ring 17 is disposed on the side of the roll-limiting outer ring 18 near the roll-limiting front axle 12. A second limiting rod is disposed on the outer circumference of the roll-limiting front axle 12 near the roll-limiting outer ring 18. The roll-limiting arc-shaped inner ring 17 is used to limit the rotation range of the second limiting rod. During the adjustment of the model bracket, the roll-limiting front axle 12 drives the second limiting rod on it to rotate. When the second limiting rod rotates to abut against the two ends of the roll-limiting arc-shaped inner ring 17, it is the maximum rotation range of the roll-limiting front axle 12. When the model bracket is adjusted to an appropriate position and during the wind tunnel experiment, if a loss of control occurs, the rotation range of the left and right moving rear axle 22 is limited by the roll-limiting arc-shaped inner ring 17.

[0072] The front axle 12 is located in the cavity formed by the front axle support frame 14 and the roll drive motor support frame 13, and its two ends are threadedly connected to the front axle support frame 14 and the roll drive motor support frame 13 through the front rolling bearing 15 respectively.

[0073] The front roll axis 12 is the Rx axis. The roll drive motor 11 drives the model support to rotate along the Rx axis through the front roll axis 12. The roll drive motor 11 is a servo motor with a closed-loop feedback control system, which can accurately control the rotation angle.

[0074] The front axle support frame 14 includes a first connecting part 141 and a second connecting part 142 connected to each other. The first connecting part 141 is connected to the end of the roll drive motor support frame 13 near the model bracket. The second connecting part 142 is connected to the output end of the left and right moving rear axle 22. The left and right moving rear axle 22 can drive the first connecting part 141 and the second connecting part 142 to roll. An acute angle is formed between the first connecting part 141 and the second connecting part 142. The left and right moving drive motor support frame 23 is set close to the roll drive motor support frame 13.

[0075] This application uses a first connecting part 141 and a second connecting part 142 to form an acute angle between the front rolling axle 12 and the left and right moving rear axle 22. When the left and right moving rear axle 22 rotates, the front axle rolling motion mechanism 10 is driven to complete the rotational motion through the connected first connecting part 141 and the second connecting part 142, while enabling the model support to move left and right.

[0076] Both the first connecting part 141 and the second connecting part 142 have cavities inside, and the two cavities are connected. The cavity inside the first connecting part 141 is connected to the inside of the rolling drive motor support frame 13, and the cavity inside the second connecting part 142 is connected to the left and right movement drive motor support frame 23. The second connecting part 142 is connected to the left and right movement rear shaft 22 by bolts. The cavity serves as a wiring channel. When the device of this application is used in a harsh working environment such as a high-speed wind tunnel, the wiring channel can prevent the wiring from being exposed to the outside.

[0077] like Figure 6As shown, the arc-shaped pitch motion mechanism 30 includes a pitch motion body 31, a pitch motion link 32, a pitch motion drive mechanism 33, a pitch motion frame 34, and a pitch motion guide rail 35. The two ends of the pitch motion body 31 are respectively connected to the left and right movement drive motor support frame 23 and one end of the pitch motion link 32. The other end of the pitch motion link 32 is connected to the pitch motion drive mechanism 33. The pitch motion drive mechanism 33 is installed inside the pitch motion frame 34. The pitch motion guide rail 35 is provided on the side wall of the pitch motion frame 34. The pitch motion guide rail 35 is an arc-shaped guide rail and is provided on the side wall of the pitch motion frame 34. The pitch motion drive mechanism 33 pushes the pitch motion body 31 to move along the pitch motion guide rail 35 through the pitch motion link 32.

[0078] The two ends of the pitch motion linkage 32 are connected to the pitch motion drive mechanism 33 and the pitch motion body 31 respectively through mutually cooperating shafts and bearings. One end of the pitch motion linkage 32 moves under the drive of the pitch motion drive mechanism 33, so that the other end of the pitch motion linkage 32 pushes the pitch motion body 31 to complete the pitch motion along the arc-shaped pitch motion guide rail 35. The pitch motion body 31 and the pitch motion drive mechanism 33 are both located inside the pitch motion frame 34, and the top of the pitch motion body 31 can extend out of the pitch motion frame 34.

[0079] The pitch motion drive mechanism 33 includes a pitch motion drive motor 331, a pitch motion lead screw 332, a pitch motion motor coupling 333, a pitch motion lead screw nut 334, and a pitch motion lead screw bearing housing 335. The output end of the pitch motion drive motor 331 is connected to one end of the pitch motion lead screw 332 through the pitch motion motor coupling 333. The two ends of the pitch motion lead screw 332 are respectively mounted on the corresponding pitch motion lead screw bearing housing 335 through pitch motion lead screw bearings. The pitch motion lead screw nut 334... The pitch motion screw 332 is threaded and rotatably connected to the pitch motion connecting rod 32. The pitch motion drive motor 331 drives the pitch motion screw 332 to rotate through the pitch motion motor coupling 333. The pitch motion screw nut 334 pushes the pitch motion connecting rod 32 to move. The end of the pitch motion connecting rod 32 away from the pitch motion body 31 is rotatably connected to the end of the pitch motion connecting rod 32 through a cooperating shaft and bearing. The pitch motion screw bearing seat 335 is installed on the bottom wall of the pitch motion frame 34.

[0080] When the pitch motion drive motor 331 is working, it drives the pitch motion screw 332 to rotate, and the pitch motion screw nut 334 on the pitch motion screw 332 moves along its axial direction. When the pitch motion screw nut 334 approaches the bottom end of the pitch motion body 31, it pushes the pitch motion body 31 to rotate upward along the pitch motion guide rail 35 through the pitch motion connecting rod 32. When the pitch motion screw nut 334 moves away from the bottom end of the pitch motion body 31, it drives the pitch motion body 31 to rotate downward along the pitch motion guide rail 35 through the pitch motion connecting rod 32.

[0081] The axis of the motion trajectory formed by the pitch motion main body 31 moving along the pitch motion guide rail 35 is the Ry axis. The pitch motion drive motor 331 drives the pitch motion screw nut 334 to move through the pitch motion screw 332, and then drives the pitch motion main body 31 to rotate along the Ry axis through the pitch motion connecting rod 32, so as to realize the pitch motion of the rear axle left and right displacement mechanism 20, that is, to realize the pitch posture adjustment of the test model. The pitch motion drive motor 331 is a servo motor with a closed-loop feedback control system, which can accurately realize the control of the rotation angle.

[0082] like Figure 7 As shown, the yaw motion mechanism 40 includes a yaw drive motor 41, a yaw motion lead screw 42, a yaw motion connecting rod 43, a yaw motion lead screw nut 44, a yaw motion shaft 46, a yaw motion guide rail 47, and a yaw motion slider 48. The yaw drive motor 41 is located at the top of the lifting motion mechanism 50. The output end of the yaw drive motor 41 is connected to the yaw motion lead screw 42. The yaw motion lead screw nut 44 is threadedly connected to the yaw motion lead screw 42. The yaw motion lead screw nut 44 is rotatably connected to one end of the yaw motion connecting rod 43, and the other end of the yaw motion connecting rod is rotatably connected to the pitch motion frame 34. The lifting motion mechanism 50 and the pitch motion frame 34 are rotatably connected through the yaw motion shaft 46. An arc-shaped yaw motion guide rail is provided on the top surface of the lifting motion mechanism 50. A yaw motion guide rail 47 is provided with a yaw motion slider 48 that can move along it. The yaw motion slider 48 is located at the bottom end of the pitch motion frame 34. The yaw drive motor 41 drives the yaw motion screw 42 to rotate. The yaw motion screw 42 drives the yaw motion screw nut 44 on it to move axially. The yaw motion screw nut 44 drives the pitch motion frame 34 to rotate along the yaw motion shaft 46 through the yaw motion connecting rod 43. The two ends of the yaw motion connecting rod 43 are respectively connected to the yaw motion screw nut 44 and the pitch motion frame 34 through another cooperating shaft and bearing. The two ends of the yaw motion screw 42 are respectively rotatably connected to the yaw motion bearing seat 45. The yaw motion bearing seat 45 and the yaw drive motor 41 are mounted on the lifting motion mechanism 50.

[0083] The pitch motion frame 34, driven by the yaw motion link 43, moves along the arc-shaped yaw motion guide rail 47 via the yaw motion slider 48 with the yaw motion shaft 46 as the axis. This movement is called yaw motion.

[0084] When the yaw drive motor 41 is working, it drives the yaw motion screw 42 to rotate, and the yaw motion screw nut 44 on the yaw motion screw 42 moves along its axial direction. When the yaw motion screw nut 44 moves away from the yaw drive motor 41, it drives the pitch motion frame 34 to move through the yaw motion connecting rod 43, and at the same time, the yaw motion slider 48 moves along the yaw motion guide rail 47. When the yaw motion screw nut 44 moves towards the yaw drive motor 41, it drives the pitch motion frame 34 to reset through the yaw motion connecting rod 43, and at the same time, the yaw motion slider 48 resets along the yaw motion guide rail 47.

[0085] The axis of the yaw motion shaft 46 is the Rz axis. The yaw drive motor 41 drives the yaw motion screw nut 44 to move through the yaw motion screw 42, thereby pushing the roll drive motor support frame 13 to rotate along the Rz axis. The yaw drive motor 41 is a servo motor with a closed-loop feedback control system, which can accurately control the rotation angle.

[0086] like Figures 1 to 2 As shown, the lifting mechanism 50 includes a lifting hydraulic drive cylinder 51, a lifting guide rail 52, and a lifting frame 53. The lifting hydraulic drive cylinder 51 is installed in the middle of the top surface of the horizontal forward and backward displacement mechanism 60. The output end of the lifting hydraulic drive cylinder 51 is connected to the lifting frame 53. The lifting guide rail 52 is set on the horizontal forward and backward displacement mechanism 60. The lifting hydraulic drive cylinder 51 drives the lifting frame 53 to perform lifting and reciprocating motion along the lifting guide rail 52.

[0087] The axis of the output end of the lifting motion hydraulic drive cylinder 51 is the Tz axis. When the lifting motion hydraulic drive cylinder 51 works, it drives the lifting motion frame 53 to complete the reciprocating lifting motion along the Tz axis.

[0088] When the test model makes absolute left and right horizontal displacement, the front axle rolling motion mechanism 10, the rear axle left and right displacement mechanism 20 and the lifting motion mechanism 50 need to work together to achieve this.

[0089] The horizontal forward and backward displacement mechanism 60 includes a base 61, a horizontal forward and backward moving frame 62, a horizontal forward and backward moving hydraulic drive cylinder 63, a moving plate 64, and a reinforcing rib 65. The horizontal forward and backward moving hydraulic drive cylinder 63 is mounted on the horizontal forward and backward moving frame 62. The output end of the horizontal forward and backward moving hydraulic drive cylinder 63 is connected to the connecting block in the middle of the bottom surface of the base 61. The horizontal forward and backward moving hydraulic drive cylinder 63 drives the base 61 to move horizontally forward and backward. The output end of the horizontal forward and backward moving hydraulic drive cylinder 63 is arranged parallel to the moving direction of the base 61. The lifting moving hydraulic drive cylinder 51 is arranged on the top surface of the base 61. The output end of the lifting moving hydraulic drive cylinder 51 is arranged perpendicular to the output end of the horizontal forward and backward moving hydraulic drive cylinder 63.

[0090] The base 61 and the horizontally movable frame 62 reciprocate through a matching slider and slide rail;

[0091] The top surface of the base 61 has a movable plate 64 at one end. The movable plate 64 is perpendicular to the base 61. At least one reinforcing rib 65 is provided between the movable plate 64 and the base 61. The lifting motion guide rail 52 is provided on the movable plate 64. There are two lifting motion guide rails 52, which are symmetrically arranged on the inner side of the movable plate 64.

[0092] The yaw motion guide rail 47 is set on the top surface of the horizontal forward and backward moving frame 62, the yaw motion shaft 46 is rotatably connected to the horizontal forward and backward moving frame 62, and the yaw motion connecting rod 43 is located between the horizontal forward and backward moving frame 62 and the pitch motion frame 34.

[0093] The pitch motion frame 34 and the lifting motion frame 53 are both located inside the moving plate 64.

[0094] The output axis of the horizontal forward and backward motion hydraulic drive cylinder 63 is the Tx axis. When the horizontal forward and backward motion hydraulic drive cylinder 63 is working, it drives the horizontal forward and backward moving frame 62 to complete reciprocating movement along the Tx axis.

[0095] The horizontal forward and backward moving frame 62 is set on the bottom wall of the outer protective box 70, and at least one box wiring hole 71 is opened on the side wall of the outer protective box 70; the pitching motion frame 34 and the lifting motion frame 53 are both set inside the outer protective box 70. The outer protective box 70 adopts a sealed structure and high temperature protection measures, which enables this application to have excellent adaptability to complex working conditions and ensure stable operation in special environments such as high wind speed and vacuum in wind tunnel tests.

[0096] This application utilizes a roll drive motor 11 to drive the front roll shaft 12, causing the model support to roll along the Rx axis. A left-right movement drive motor 21 drives the left-right movement rear shaft 22, causing the front shaft roll motion mechanism 10 to roll along the Ty axis. A pitch motion drive motor 331 drives the pitch motion main body 31, causing the rear shaft left-right displacement mechanism 20 to rotate along the Ry axis. A yaw drive motor 41 drives the yaw motion linkage 43, causing the arc-shaped pitch motion mechanism 30 to rotate along the Rz axis. A lifting motion hydraulic drive cylinder 51 drives the yaw motion mechanism 40 to reciprocate along the Tz axis. A horizontal forward-backward motion hydraulic drive cylinder 63 drives the lifting motion mechanism 50 to reciprocate along the Tx axis, thus achieving six-degree-of-freedom spatial pose adjustment of the test model mounted on the model support. The overall integration is high, enabling collaborative work among all parts, and installation and debugging are simple.

[0097] In order to ensure the accuracy and stability of the motion, as well as the coordinated operation between the components, this application adopts a PXIe bus data acquisition system.

[0098] like Figure 8 As shown, this application can also perform closed-loop feedback control through the measurement and control system during operation to achieve precise pose control. The measurement system adopts a PXIe bus-based data acquisition system. This system receives signals transmitted from the secondary signal conditioning box 81 through the PXIe test equipment 80. The PXIe test equipment has measurement and trajectory generation functions. The secondary signal conditioning box 81 receives the signal position acquisition information and transmits it to the secondary signal conditioning box 81 via the preamplifier 82. The data output by the PXIe test equipment 80 is transmitted to the switch 83 through the TCP / IP network. The switch 83 transmits the corresponding data to the motion controller 85 through the TCP / IP network, Ethernet 84, and TCP / IP network via the Ethernet 84, respectively, to the operation management computer 86 and the control system. The system 87 and the main control system 88, along with the motion controller 85, operate via the received data commands and the servo driver 89. Specifically, the servo driver drives the roll drive motor 11, left and right movement drive motor 21, pitch motion drive motor 331, yaw drive motor 41, lifting motion hydraulic drive cylinder 51, and horizontal forward and backward motion hydraulic drive cylinder 63 of the six-degree-of-freedom attitude adjustment device 100 suitable for wind tunnel testing, to move the test model on the model support to a preset position. Simultaneously, the servo driver can receive / output power information, brake control information, encoder feedback information, emergency stop signals, and limit signals from the left and right movement drive motor 21, roll drive motor 11, pitch motion drive motor 331, and yaw drive motor 41, enabling information exchange such as position, attitude, and flow field information. The switch, PXIe testing equipment, and secondary signal conditioning box are located in the measurement cabinet 90, while the motion controller and servo driver are located in the drive cabinet 91.

[0099] Measurement system accuracy analysis:

[0100] The accuracy of the measurement system is related to the accuracy of the sensor, signal conditioning, acquisition module and signal conversion adapter. The signal conversion adapter only serves as a simple signal conversion device, and all test signals of the system pass through the signal conversion adapter.

[0101] The input precision (full scale) of each module in the system are as follows:

[0102] Preamplifier NHPGA2508: 0.005%;

[0103] Secondary signal conditioning box DH3840: 0.03%;

[0104] PXIe testing equipment PXI-6289: GainError = 67 ppm;

[0105] OffsetError = 29 ppm;

[0106] NoiseUncertainty = 18 µV;

[0107] Position signal measurement: preamplifier → secondary signal conditioning box → PXIe test equipment;

[0108] In the formula, α represents the input accuracy of the NHPGA2508 preamplifier, α = 0.005%. The input accuracy of the DH3840 secondary signal conditioning box is β=0.03%;

[0109] Pressure signal measurement: Secondary signal conditioning box → PXIe testing equipment;

[0110] In the formula The input accuracy of the NHPGA2508 preamplifier is α = 0.005%. The input accuracy of the secondary signal conditioning box DH3840 is β=0.03%.

[0111] The device of this invention realizes motion along the Rx axis, Ty axis, Ry axis, Rz axis, Tz axis and Tx axis, that is, it realizes high-precision motion control with six degrees of freedom, and the control accuracy is better than 0.1°, which significantly improves the accuracy of motion simulation and solves the shortcomings of traditional technology in complex three-dimensional motion control.

[0112] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing, used to achieve six-degree-of-freedom pose adjustment of a model support, characterized in that, include: A front axle rolling motion mechanism is connected to the model support and is used to drive the model support to perform rolling motion. The rear axle left and right displacement mechanism is connected to the front axle rolling motion mechanism and forms an acute angle with the front axle rolling motion mechanism. The rear axle left and right displacement mechanism is used to drive the front axle rolling motion mechanism to rotate, so that the front axle rolling motion mechanism forms a rotation trajectory inclined to the vertical direction. An arc-shaped pitch motion mechanism is connected to the rear axle left and right displacement mechanism and is used to drive the rear axle left and right displacement mechanism to perform pitch motion. A yaw motion mechanism is connected to the arc-shaped pitch motion mechanism and is used to drive the arc-shaped pitch motion mechanism to perform yaw motion; A lifting motion mechanism, wherein the lifting motion mechanism end is connected to the yaw motion mechanism and is used to drive the yaw motion mechanism to perform lifting motion; A horizontal forward and backward displacement mechanism is provided, which is connected to the lifting motion mechanism and is used to drive the lifting motion mechanism to perform horizontal linear motion. The rear axle left-right displacement mechanism includes a left-right movement drive motor, a left-right movement rear axle, and a left-right movement drive motor support frame. The left-right movement drive motor and the left-right movement rear axle are both installed within the left-right movement drive motor support frame. The output end of the left-right movement drive motor is connected to one end of the left-right movement rear axle, and the other end of the left-right movement rear axle is connected to the front axle rolling motion mechanism. The left-right movement drive motor drives the front axle rolling motion mechanism to rotate through the left-right movement rear axle. The left-right movement rear axle passes through the left-right movement drive motor support frame, and both ends of the left-right movement rear axle are rotatably connected to the left-right movement drive motor support frame through rear axle bearings.

2. The six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 1, characterized in that: The left and right moving drive motor support frame is provided with a left and right moving rear axle limiting ring near the front axle rolling motion mechanism. The left and right moving rear axle limiting ring has an arc-shaped inner ring on the side near the corresponding rear axle bearing. The outer circumference of the left and right moving rear axle is provided with a first limiting rod near the left and right moving rear axle limiting ring. The arc-shaped inner ring is used to limit the rotation range of the first limiting rod.

3. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 2, characterized in that: The front axle rolling motion mechanism includes a rolling drive motor, a rolling front axle, a rolling drive motor support frame, a front axle support frame, a front roller bearing, a rolling motion wake cone, a rolling limit arc-shaped inner ring, a rolling limit outer ring, and a bracket adapter ring. The output end of the rolling drive motor is connected to one end of the rolling front axle, and the other end of the rolling front axle is connected to the bracket adapter ring. The rolling front axle is rotatably connected to the rolling drive motor support frame through two front roller bearings. The rolling drive motor drives the bracket adapter ring to rotate through the rolling front axle, and the bracket adapter ring drives the model support to perform rolling motion. The rolling drive motor is installed inside the rolling drive motor support frame. One end of the rolling drive motor support frame near the model support is connected to the front axle support frame, and the rolling motion wake cone is installed on the end of the rolling drive motor support frame away from the model support. The rolling front axle passes through the rolling drive motor support frame and the front axle support frame. The outer rolling limiting ring is disposed on the end of the rolling drive motor support frame near the bracket adapter ring. The outer rolling limiting ring is provided with a rolling limiting arc-shaped inner ring on the side near the front rolling axle. The outer circumference of the front rolling axle is provided with a second limiting rod near the outer rolling limiting ring. The inner rolling limiting arc-shaped inner ring is used to limit the rotation range of the second limiting rod.

4. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 3, characterized in that: The front axle support frame includes a first connecting part and a second connecting part connected to each other. The first connecting part is connected to the end of the rolling drive motor support frame near the model bracket, and the second connecting part is connected to the output end of the left and right moving rear axle. The left and right moving rear axle drives the first connecting part and the second connecting part to roll, and an acute angle is formed between the first connecting part and the second connecting part.

5. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 1, characterized in that: The arc-shaped pitch motion mechanism includes a pitch motion body, a pitch motion linkage, a pitch motion drive mechanism, a pitch motion frame, and a pitch motion guide rail. The two ends of the pitch motion body are respectively connected to the left and right movement drive motor support frame and one end of the pitch motion linkage. The other end of the pitch motion linkage is connected to the pitch motion drive mechanism. The pitch motion drive mechanism is installed inside the pitch motion frame. The pitch motion guide rail is an arc-shaped guide rail and is set on the side wall of the pitch motion frame. The pitch motion drive mechanism pushes the pitch motion body to move along the pitch motion guide rail through the pitch motion linkage.

6. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 5, characterized in that: The pitch motion drive mechanism includes a pitch motion drive motor, a pitch motion lead screw, a pitch motion motor coupling, a pitch motion lead screw nut, and a pitch motion lead screw bearing housing. The output end of the pitch motion drive motor is connected to one end of the pitch motion lead screw through the pitch motion motor coupling. Both ends of the pitch motion lead screw are rotatably connected to the pitch motion lead screw bearing housing. The pitch motion lead screw nut is threaded onto the pitch motion lead screw and rotatably connected to the pitch motion connecting rod. The pitch motion drive motor drives the pitch motion lead screw to rotate through the pitch motion motor coupling. The pitch motion lead screw nut pushes the pitch motion connecting rod to move. The pitch motion lead screw bearing housing is mounted on the bottom wall of the pitch motion frame.

7. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 5, characterized in that: The yaw motion mechanism includes a yaw drive motor, a yaw motion screw, a yaw motion connecting rod, a yaw motion screw nut, a yaw motion shaft, a yaw motion guide rail, and a yaw motion slider. The yaw drive motor is located at the top of the lifting mechanism. The output end of the yaw drive motor is connected to the yaw motion screw. The yaw motion screw nut is threadedly connected to the yaw motion screw. The yaw motion screw nut is rotatably connected to one end of the yaw motion connecting rod, and the other end of the yaw motion connecting rod is connected to the pitch motion frame. The lifting mechanism and the pitch frame are rotatably connected via the yaw motion shaft. An arc-shaped yaw motion guide rail is provided on the top surface of the lifting mechanism, and a yaw motion slider that can move along the yaw motion guide rail is provided on the yaw motion guide rail. The yaw motion slider is located at the bottom end of the pitch frame. The yaw drive motor drives the yaw motion screw to rotate, and the yaw motion screw nut drives the pitch frame to rotate along the yaw motion shaft through the yaw motion connecting rod.

8. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 5, characterized in that: The lifting mechanism includes a lifting hydraulic drive cylinder, a lifting guide rail, and a lifting frame. The lifting hydraulic drive cylinder is installed in the middle of the top surface of the horizontal forward and backward displacement mechanism. The output end of the lifting hydraulic drive cylinder is connected to the lifting frame. The lifting guide rail is set on the horizontal forward and backward displacement mechanism. The lifting hydraulic drive cylinder drives the lifting frame to perform lifting and reciprocating motion along the lifting guide rail.

9. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 8, characterized in that: The horizontal forward and backward displacement mechanism includes a base, a horizontal forward and backward moving frame, a horizontal forward and backward moving hydraulic drive cylinder, a moving plate, and reinforcing ribs. The horizontal forward and backward moving hydraulic drive cylinder is installed on the top surface of the horizontal forward and backward moving frame. The output end of the horizontal forward and backward moving hydraulic drive cylinder is connected to the middle of the bottom surface of the base. The horizontal forward and backward moving hydraulic drive cylinder drives the base to move horizontally forward and backward. The output end of the horizontal forward and backward moving hydraulic drive cylinder is arranged parallel to the moving direction of the base. The lifting moving hydraulic drive cylinder is disposed on the top surface of the base. The output end of the lifting moving hydraulic drive cylinder is arranged perpendicular to the output end of the horizontal forward and backward moving hydraulic drive cylinder. The base has a movable plate perpendicular to its top surface at one end, and at least one reinforcing rib is provided between the movable plate and the base. The lifting motion guide rail is provided on the movable plate.

10. A six-degree-of-freedom pose adjustment device suitable for wind tunnel testing according to claim 9, characterized in that: The horizontal forward and backward moving frame is set on the bottom wall of the outer protective box, and at least one box wiring hole is opened on the side wall of the outer protective box; the pitching motion frame and the lifting motion frame are both set inside the outer protective box.

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