CN111462573A - A tilting and rotating shaft type rocking platform - Google Patents

Abstract

The invention relates to a tilting and rotating shaft type rocking platform. The base of the platform is provided with a driving device and a vertical support sleeve, the vertical support sleeve is provided with a vertical shaft, and the driving device is connected with the lower end of the vertical shaft through a gear pair. The upper end of the vertical shaft is connected with the lower end of the inclined shaft, the inclined shaft is built in the inclined support sleeve, and the upper end of the inclined support sleeve is fixedly connected with the training platform. The invention is driven by a single motor, which can realize three-degree-of-freedom swing and vertical undulating action, simplifies the control program, and reduces the difficulty of simulating the swing curve.

Description

A tilting and rotating shaft type rocking platform

technical field

The invention belongs to the field of flight training, and relates to a swing platform for simulating the landing training of a shipborne helicopter, in particular to a tilting and rotating shaft type swing platform.

Background technique

Ship-based helicopters are based on ships and mainly operate at sea, and their use environment is quite different from that of land-based helicopters. The main feature of the landing and take-off of the carrier-based helicopter is that it maneuvers on a flight deck that is swaying with six degrees of freedom and is affected by complex airflow, which is prone to problems such as landing point deviation, excessive descending speed, and slippage. When an accident occurs, the consequences are usually extremely serious, so it is very necessary to build a carrier-based helicopter landing training simulation take-off and landing platform on land for training ship-based helicopter pilots.

The six-degree-of-freedom swaying motion of the simulated flight deck is a function pursued by various simulated take-off and landing platforms, but in many cases, the six-degree-of-freedom motion platform has a certain amount of waste and its control system is highly complex. Three degrees of freedom swing and heave working mode. The invention CN104121929A provides a three-axis swing table, which adopts an inner, middle and outer three-layer frame, and uses a servo motor to drive a ball screw to push to realize the swing motion of the three frames of the worktable, thereby providing a three-degree-of-freedom swing motion environment. The invention CN108227517A provides a three-degree-of-freedom rocking platform, which adopts several oil cylinders at both ends to support the rocking platform through hinge supports, and realizes three-degree-of-freedom rocking motion by servo-controlling the movements of the oil cylinders. The above-mentioned patents, such as the superimposed heave device, can realize part of the motion simulation of the flight deck.

However, at present, most of these devices use more motion drives, resulting in complex and heavy structures, high manufacturing costs, difficult maintenance, and complicated drives.

SUMMARY OF THE INVENTION

Purpose of the invention: The present invention provides a tilt-rotating-axis rocking table, the purpose of which is to provide a tilt-axis rotary rocking table that can realize three-degree-of-freedom rocking and vertical undulating motion driven by a single motor, which simplifies the control program. .

Technical solutions:

An inclined rotating shaft type rocking platform, the platform includes a base, a gear pair, a driving device, a vertical support sleeve, a vertical shaft, an inclined shaft, an inclined support sleeve, a slider, a guide column and a training platform;

A drive device and a vertical support sleeve are arranged on the base, a vertical shaft is arranged in the vertical support sleeve, the drive device is connected with the lower end of the vertical shaft through a gear pair, the upper end of the vertical shaft is connected with the lower end of the inclined shaft, and the inclined shaft is built-in Inside the inclined support sleeve, the upper end of the inclined support sleeve is fixedly connected with the training platform;

A cylindrical anti-rotation rod is fixedly connected to the outer surface of the inclined support sleeve.

The axis of the vertical shaft, the axis of the inclined shaft and the axis of the anti-rotation rod, the three axes intersect at point A, and the axis of the vertical shaft and the axis of the inclined shaft form an angle α, the axis of the anti-rotation rod and the axis of the inclined shaft perpendicular.

The axis of the vertical shaft and the axis of the inclined shaft form an included angle α in the range of 0° to 30°.

The upper end of the vertical shaft is provided with an eccentric disk, the lower end of the inclined shaft is provided with a connecting disk, and the eccentric disk is fixedly connected with the connecting disk.

The inclined shaft is installed in the inclined support sleeve through the bearing, and the vertical shaft is installed in the vertical support sleeve through the bearing.

The inside of the slider is a cylindrical hole, an anti-rotation rod is inserted into the cylindrical hole, and the outer periphery of the slider is clearance-fitted in the slideway.

The common intersection of the vertical shaft axis, the inclined shaft axis and the anti-rotation rod axis is at point A, which is located on the middle plane between the two sides of the slideway.

Advantages and Effects:

(1) Compared with the traditional rocking table solution, the present invention adopts a single motor drive, which can realize three-degree-of-freedom rocking and vertical undulating motion, simplifies the control program, and reduces the difficulty of rocking curve simulation.

(2) Compared with the traditional swing table solution, the method of rotating the inclined axis adopted by the present invention greatly reduces the overall size, and has a more reasonable layout and a more compact structure.

(3) Compared with the same type of swing table, the structure is simple, and the control and maintenance are convenient.

Description of drawings:

Figure 1 is a schematic diagram of the overall structure of the swing table;

Fig. 2 is a schematic diagram of the structure of the swing table rotating by 90°;

Figure 3 is a schematic diagram of the structure of the swing table rotating 180°;

Figure 4 is a three-dimensional schematic diagram of the connection relationship between the inclined support sleeve and the guide post;

In the figure, 1. base, 2. gear pair, 2-1. pinion gear, 2-2. large gear, 3. drive device, 4. vertical support sleeve, 5. vertical shaft, 5-1. eccentric disc , 6. Tilt shaft, 6-1. Connection plate, 6-2. Baffle plate, 7. Tilt support sleeve, 8. Anti-rotation rod, 9. Slider, 10. Training platform, 11. Slideway, 12. Guide Column, 15. Dotted circle.

Detailed ways:

As shown in Figure 1, the tilting and rotating shaft rocking table mainly includes:

A tilting and rotating shaft type rocking platform, which comprises a base 1, a gear pair 2, a driving device 3, a vertical support sleeve 4, a vertical shaft 5, an inclined shaft 6, an inclined support sleeve 7 and a training platform 10;

The base 1 is provided with a drive device 3 and a vertical support sleeve 4, a vertical shaft 5 is arranged in the vertical support sleeve 4, the drive device 3 is connected with the lower end of the vertical shaft 5 through a gear pair 2, and the upper end of the vertical shaft 5 Connected with the lower end of the inclined shaft 6 , the inclined shaft 6 is built in the inclined support sleeve 7 , and the upper end of the inclined support sleeve 7 is connected with the training platform 10 .

The driving device 3 is composed of an electric motor and a reducer. The electric motor and the reducer are both existing general-purpose products and can be purchased from any regular manufacturer. The specific model is selected according to the size of the structure.

The outer surface of the inclined support sleeve 7 is fixedly connected with a cylindrical anti-rotation rod 8 , the cantilever end of the anti-rotation rod 8 is inserted into the cylindrical hole of the slider 9 , and the cylindrical structure of the anti-rotation rod 8 is consistent with the cylindrical hole of the slider 9 . Therefore, the anti-rotation rod 8 and the slider 9 can rotate relative to each other; the slider 9 is in clearance fit with the slideway 11 provided on the upper end of the guide post 12, the slide block 9 can slide up and down along the slideway 11, and the guide post 12 is arranged on the base 1 on.

The axis of the vertical shaft 5, the axis of the inclined shaft 6 and the axis of the anti-rotation rod 8, the three axes intersect at point A, and the axis of the vertical shaft 5 and the axis of the inclined shaft 6 form an angle α, and the axis of the anti-rotation rod 8 The axis is perpendicular to the axis of the tilt shaft 6 . The vertical axis 5, the tilt axis 6 and the anti-rotation rod 8 move in coordination with each other, support each other, and restrain each other, so as to realize the three-degree-of-freedom swing and meet the requirements of the simulated flight deck for the six-degree-of-freedom swing motion.

Preferably, the included angle α formed by the axis of the vertical shaft 5 and the axis of the inclined shaft 6 ranges from 0° to 30°. That is, the angle formed by the inclined axis 6 and the vertical direction is 0° to 30°. When α is zero, that is, the axis of the vertical shaft 5 and the axis of the inclined shaft 6 are on the same straight line, at this time, the training platform 10 can rotate and shake along the plane.

In particular, from a geometrical point of view, with point A as the center of the circle, there is a dotted circle 15 on the outer peripheral surface of the inclined support sleeve 7, as shown by the dotted line in FIG. 2 . The dotted circle 15 swings and rotates around the axis 14 of the vertical shaft 5. No matter which direction the dotted circle 15 swings to, there is always a radial line passing through the symmetry plane of the slideway 11, and different radial lines are on the symmetry plane of the slideway 11. The elevation angles are different, because the tilt support sleeve 7 can be freely rotated around the tilt shaft 6, the axis of the anti-rotation rod 8 connected to it must turn to the symmetry plane of the slideway 11 relative to the axis of the tilt shaft 6, that is, the anti-rotation rod 8 The axis is always in the plane of symmetry of the slideway 11, and the elevation angle is always changing. Driven by the rotation of the tilt shaft 6 and restricted by the anti-rotation rod 8 , the tilt support sleeve 7 drives the training platform 10 to swing.

The upper end of the vertical shaft 5 is integrally provided with an eccentric disc 5-1, and the lower end of the inclined shaft 6 is integrally provided with a connecting disc 6-1. The eccentric disc 5-1 is the same size as the connecting disc 6-1, that is, the eccentric disc 5-1 The surface area in contact with the connecting plate 6-1 is consistent, the eccentric plate 5-1 of the vertical shaft 5 and the connecting plate 6-1 of the inclined shaft 6 are fixedly connected with bolts, and the eccentric plate 5-1 is connected with the connecting plate 6-1. On the flange surface, the axis of the vertical shaft 5 deviates from the axis of the inclined shaft 6 by a certain distance.

The inclined shaft 6 is installed in the inclined support sleeve 7 through the bearing, and the vertical shaft 5 is installed in the vertical support sleeve 4 through the bearing.

As shown in FIG. 4 , the inside of the slider 9 is a cylindrical hole, and the anti-rotation rod 8 is inserted into the cylindrical hole. The slider 9 can slide up and down in the slideway 11 , and can swing in a plane parallel to the two surfaces of the slideway 11 , so as to accommodate the up and down swing of the anti-rotation rod 8 .

The common intersection A of the axis of the vertical shaft 5, the axis of the inclined shaft 6 and the axis of the anti-rotation rod 8 is located on the middle plane between the two sides of the slideway 11, and the anti-rotation rod 8 swings in this plane.

The gear pair 2 is composed of a pinion 2-1 meshing with a large gear 2-2, the pinion 2-1 is connected with the driving device 3, and the large gear 2-2 of the gear pair 2 is connected with the vertical shaft 5. The small gear 2-1 drives the large gear 2-2 to rotate and save effort.

A baffle plate 6-2 is provided at the top of the inclined shaft 6, the inner ring of the bearing between the inclined shaft 6 and the inclined support sleeve 7 is fixed on the inclined shaft 6 by the baffle plate 6-2, and the outer ring of the bearing supports the inclined support sleeve 7, and the inclined shaft 6 and the inclined support sleeve 7 can be freely rotated, and the baffle 6-2 is used to axially fix the inclined support sleeve 7 on the inclined shaft 6 .

The specific working process is as follows: the driving device 3 drives the vertical shaft 5 to rotate through the gear pair 2, thereby driving the inclined shaft 6 to rotate around the vertical axis 14. The outer circle of the cross-section passing through point A remains unchanged, and the inclined support sleeve 7 is driven by the rotation of the inclined shaft 6 around the vertical axis 14, so that the outer circle swings around point A. At the same time, due to the fixed connection on the outer circle The anti-rotation rod 8 is the extension line of the radius of the circle, and the inclined support sleeve 7 is freely sleeved on the inclined shaft 6 through the bearing. Therefore, no matter which direction the inclined shaft 6 drives the inclined support sleeve 7 to rotate around the vertical axis 14, it is protected against Restricted by the rotating rod 8, the inclined support sleeve 7 must be rotated relative to the inclined shaft 6 to the position where the radius line where the anti-rotation rod 8 is located is collinear with the axis of the cylindrical hole of the slider 9, and the elevation angle of the anti-rotation rod 8 changes at the same time. , this change is realized through the sliding of the slider 9 in the slideway 11, and the anti-rotation rod 8 also rotates around its own axis. This rotation is through the clearance fit between the outer cylindrical surface of the anti-rotation rod 8 and the cylindrical hole in the slider 9 It is realized that there is also an axial displacement change between the anti-rotation rod 8 and the slider 9, and the clearance fit between the outer cylindrical surface of the anti-rotation rod 8 and the cylindrical hole in the slider 9 also allows displacement in this axial direction. Thereby, three-degree-of-freedom rocking and vertical undulating motions are realized.

Example 1

As shown in FIG. 1 , on the base 1 of the tilting and rotating shaft type rocking table, a vertical support sleeve 4 is installed with bolts, wherein a vertical shaft 5 is supported by a bearing. The lower end of the vertical shaft 5 penetrates into the base 1, and its shaft head is mounted with a large gear 2-2, which forms a gear pair 2 with another pinion 2-1, and this pinion 2-1 is installed in the drive. On the output shaft head of the device 3, therefore, the starting drive device 3 can drive the vertical shaft 5 to rotate through the gear pair 2. The upper end of the vertical shaft 5 is an eccentric disc 5-1 integral therewith, and the upper part of the eccentric disc 5-1 is fixedly connected with a connecting disc 6-1 by bolts. The connecting plate 6-1 is located at the lower end shaft head of the inclined shaft 6, and is an integral part with the inclined shaft 6, and the axis of the inclined shaft 6 is inclined at a certain angle with the mounting flange surface of the connecting plate 6-1. On the butting surface of the eccentric disk 5-1 and the connecting disk 6-1, the axis of the vertical shaft 5 is not opposite to the axis of the inclined shaft 6, but is offset by a certain distance. The axis of the inclined shaft 6 extends upward, intersecting at point A with the axis of the vertical shaft 5 in the upper part. The tilting shaft 6 supports a tilting support sleeve 7 through a bearing, and the tilting shaft 6 and the tilting support sleeve 7 can rotate relative to each other. The top of the tilting shaft 6 has a bolt and a baffle plate 6-2, which are used for the axial direction of the tilting support sleeve 7. Fixed on the tilt shaft 6, a training platform 10 is fixed with bolts on the top of the tilt support sleeve 7.

As shown in Figures 1, 2 and 3, the working principle of the tilting and rotating shaft type rocking table is as follows: for example, Figure 1 is the starting position of the present invention, then Figure 2 is the 90° rotated position of the present invention, and Figure 3 is the present invention. The invention rotates the 180° position, starts, starts the drive device 3, drives the vertical shaft 5 to rotate through the gear pair 2, then the tilt shaft 6 will rotate around the axis of the vertical shaft 5, and the tilt shaft 6 also drives the tilt support sleeve 7 to rotate around the vertical axis. The axis of the straight shaft 5 rotates together, but since there is an anti-rotation rod 8 on the inclined support sleeve 7, the anti-rotation rod 8 is located between the point A and the slideway 11, no matter the inclined shaft 6 drives the inclined support sleeve 7 to rotate to any position, Point A is a fixed point. Restricted by the anti-rotation rod 8 and the slideway 11, the inclined support sleeve 7 can only swing around the axis of the vertical shaft 5, but cannot rotate, as shown in Figures 2 and 3. Geometrically, the motion of the tilting support sleeve 7 is equivalent to the dashed circle 15 in FIG. 2 centered at point A, tilting around the axis of the vertical shaft 5 to sway and swing, and the motion extends to the upper surface of the training platform 10,

In particular, during the rocking process of the dashed circle 15 shown in FIG. 2, no matter the tilting support sleeve 7 is driven to a certain position by the tilting shaft 6, there is always a radial line on the dashed circle 15 pointing in the direction of the slideway 11. The support sleeve 7 can be rotated around the inclination shaft 6, and the axis of the anti-rotation rod 8 is always kept in the same position as this radial line, thereby restricting the inclined support sleeve 7 and the training platform 11 on it to revolve together with the inclined shaft 6. The vertical shaft 5 rotates, but at the same time because the inclined support sleeve 7 is swinging, the anti-rotation rod 8 itself is driven to rotate in the circumferential direction. Since the hole of the anti-rotation rod 8 is also cylindrical, the rotation of the anti-rotation rod 8 is allowed to It is realized in the cylindrical hole of the slider 9. At the same time, when the tilting support sleeve 7 rotates to different positions, the anti-rotation rod 8 also swings around point A. This swing is caused by the relative axial movement between the anti-rotation rod 8 and the cylindrical hole bracket of the slider 9 and the sliding movement of the slider 9 along the The up and down movement of the slideway 11 is realized.

Claims (7)

1. A tilting and rotating shaft type rocking platform, characterized in that: the platform comprises a base (1), a gear pair (2), a driving device (3), a vertical support sleeve (4), a vertical shaft (5), an inclined shaft (6), an inclined support sleeve (7), a sliding block (9), a guide post (12) and a training platform (10); A drive device (3) and a vertical support sleeve (4) are arranged on the base (1), a vertical shaft (5) is arranged in the vertical support sleeve (4), the drive device (3) and the vertical shaft (5) The lower end of the vertical shaft (5) is connected with the lower end of the inclined shaft (6) through the gear pair (2), the inclined shaft (6) is built into the inclined support sleeve (7), and the upper end of the inclined support sleeve (7) is connected with The training platform (10) is fixedly connected; A cylindrical anti-rotation rod (8) is fixedly connected to the outer surface of the inclined support sleeve (7). ) at the upper end of the slideway (11) for clearance fit, and the guide post (12) is arranged on the base (1). 2. The tilting and rotating shaft type rocking platform according to claim 1, characterized in that: the axis of the vertical shaft (5), the axis of the tilting shaft (6) and the axis of the anti-rotation rod (8), the three axes intersect at Point A, and the axis of the vertical shaft (5) and the axis of the inclined shaft (6) form an included angle α, the axis of the anti-rotation rod (8) is perpendicular to the axis of the inclined shaft (6). 3 . The tilting and rotating shaft type rocking platform according to claim 2 , wherein the axis of the vertical axis ( 5 ) and the axis of the tilting axis ( 6 ) form an included angle α ranging from 0° to 30°. 4 . 4. The tilting and rotating shaft type rocking platform according to claim 1, characterized in that: an eccentric disc (5-1) is provided at the upper end of the vertical shaft (5), and a connecting disc is provided at the lower end of the tilting shaft (6) (6-1), the eccentric disc (5-1) is fixedly connected with the connecting disc (6-1). 5. The tilting and rotating shaft type rocking platform according to claim 1, wherein the tilting shaft (6) is installed in the tilting support sleeve (7) through the bearing, and the vertical shaft (5) is installed in the vertical support through the bearing. inside the sleeve (4). 6. The tilting and rotating shaft type rocking platform according to claim 1, characterized in that: the inside of the slider (9) is a cylindrical hole, the anti-rotation rod (8) is inserted into the cylindrical hole, and the outer periphery of the slider (9) is gap-fitted in the cylindrical hole. Inside the chute (11). 7. The tilting and rotating shaft type rocking platform according to claim 1, characterized in that: the axis of the vertical shaft (5), the axis of the tilting shaft (6) and the axis of the anti-rotation rod (8) jointly intersect at point A, point A. A is located on the middle plane between the two sides of the slideway (11).

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