CN104724298A - Three-axle turntable capable of moving in all directions - Google Patents
Three-axle turntable capable of moving in all directions Download PDFInfo
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- CN104724298A CN104724298A CN201310719910.0A CN201310719910A CN104724298A CN 104724298 A CN104724298 A CN 104724298A CN 201310719910 A CN201310719910 A CN 201310719910A CN 104724298 A CN104724298 A CN 104724298A
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- middle ring
- outer shroud
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- rotating shaft
- turntable
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Abstract
The invention relates to a movable testing turntable, in particular to a three-axle turntable capable of moving in all directions. The three-axle turntable comprises a turntable body and a moving platform rotationally connected with the turntable body. The turntable body comprises a rotating rod, a middle ring and an outer ring. The moving platform comprises a base, a plurality of support rods and universal wheels. The outer ring is rotationally mounted on the base. The support rods are evenly distributed on the base circumferentially. The universal wheels are connected to the support rods respectively. Horizontal front-back and left-right translational degrees of freedom are achieved by the aid of the universal wheels. The middle ring is rotationally mounted in the outer ring. The rotating rod serving as a carrier of a to-be-tested object is rotationally mounted in the middle ring. Three rotational degrees of freedom are achieved by rotating the rotating rod relative to the middle ring, rotating the middle ring relative to the outer ring and rotating the outer ring relative to the base. The three-axle turntable has the advantages that driving elements are not needed, the three-axle turntable is simple, convenient and practical in structure, and five degrees of freedom are achieved and can be selected according to testing conditions; the universal wheels at the bottom can be replaced according to needs to facilitate use of the turntable.
Description
Technical field
The present invention relates to mobile test turntable, specifically a kind of can the three-axle table of all-around mobile.
Background technology
Along with the progress in epoch, the development of science and technology is the key of Navigation Guidance Equipment as the three-dimensional turntable of the crucial wayside equipment in Aeronautics and Astronautics research, so the technical study of turntable is subject to the great attention of developed country's aerospace field always.Three-axle table is for aircraft, guided missile, the key equipment of other aircraft such as airship and ground HWIL simulation, it simulation in real time can reappear the athletic posture of the skyborne dynamics of aircraft and aircraft rolling in space is carried out, pitching, driftage etc. in laboratory environment, and turntable technology is widely used in aviation, navigation, national defense construction field.
At present, the turntable that various countries' research makes is all the large-scale control turntable with driver train, and these test tables are that physical construction or Measurement and Control System are all extremely complicated, and the making use cost of turntable is expensive, complicated operation; And these platforms not can move freely mostly.This needs the compact simplified experimental flying vehicle that moves freely on ground and some other equipment needing low cost HWIL simulation for some, is obviously not suitable for.And move freely on ground for this, low cost, use, easy to operate aircraft devices experiment simulation test platform is comparatively rare at present.
Summary of the invention
For the technical matters of above-mentioned existence, the object of the present invention is to provide a kind of can the three-axle table of all-around mobile.This three-axle table has mobile and rotates five degree of freedom, is applicable to the test of some aircraft experimental simulations.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes the turntable and mobile platform that are rotationally connected each other, its intermediate station comprises bull stick, middle ring and outer shroud, described mobile platform comprises base, pole and cardan wheel, described outer shroud is rotatably installed on base, this base is circumferentially evenly equipped with multiple pole, each pole is all connected with cardan wheel, realizes two, horizontal direction all around translation freedoms by described cardan wheel; Described middle ring is rotatably installed in outer shroud, described bull stick is arranged in middle ring as the carrier rotation of measurand, is rotated, described middle ring rotates relative to outer shroud and the rotation of described outer shroud respect thereto realizes three rotary freedoms by described bull stick relative to middle ring.
Wherein: between described bull stick with middle ring and middle ring be connected respectively by axis of rotation with between outer shroud, described rotating shaft is provided with the axle jump ring preventing rotating shaft from coming off; Described bull stick two ends are rotationally connected respectively by rotating shaft and middle ring, and the both sides of described middle ring are rotationally connected respectively by rotating shaft and outer shroud; Line between two rotating shafts between described bull stick and middle ring and the line between two rotating shafts between middle ring and outer shroud vertical and coplanar; Being interference fit between described outer shroud and rotating shaft, is free-running fit between described middle ring and rotating shaft; Described outer shroud is connected with base rotation by lower shaft, and one end of described lower shaft is connected to the bottom of outer shroud, and the other end is connected with described base rotation by angular contact bearing; The bottom of described outer shroud has the through hole for the grafting of lower shaft one end, and has in the both sides of described through hole for realizing the tapped bore be connected with lower shaft, and one end of described lower shaft is affixed by the bottom of screw and outer shroud; Angular contact bearing between the other end of described lower shaft and base is two, adopts back-to-back mounting means, and the contact wire intersection point of two angular contact bearings outside bearing, and is fixed by jump ring; One end of described each pole is connected to the side surface of base respectively by pin, the other end of each pole is fixed on the contiguous block of cardan wheel respectively; Described cardan wheel can be taken turns by buphthalmos and be replaced.
Advantage of the present invention and good effect are:
1. features simple structure of the present invention, does not need driver train, and do not have complicated control system, use easy to operate, cost of manufacture is low.
2. applicability of the present invention is strong, is applicable to various small aircraft and measurand; Experimental subjects can be connected with bull stick, also directly can be connected with middle ring by rotating shaft.
3. the present invention can realize ground omnibearing movement, and Universal wheel at bottom can be locked, also can change various types of cardan wheel as required.
4. the present invention can realize three rotary freedoms and two one-movement-freedom-degrees adjustments.
5. the turntable in the present invention is connected with rotating shaft by jump ring, easy accessibility.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is that the present invention and quadrotor install view;
Fig. 3 A is the structural representation that pole of the present invention is connected with cardan wheel;
Fig. 3 B is that pole of the present invention takes turns with buphthalmos the structural representation be connected;
Fig. 4 A is the structural representation that pole of the present invention is connected with contiguous block;
Fig. 4 B is A-A cutaway view of Fig. 4 A;
Fig. 5 A is the partial enlarged drawing of rotating shaft place between outer shroud of the present invention and middle ring;
Fig. 5 B is the partial enlarged drawing of rotating shaft place between ring and bull stick in the present invention;
Fig. 6 A is the structure cutaway view of base position of the present invention;
Fig. 6 B is the partial enlarged drawing at I place in Fig. 6 A;
Fig. 7 is structure principle chart of the present invention;
Wherein: 1 is bull stick, 2 is middle ring, and 3 is outer shroud, and 4 is axle jump ring, 5 is rotating shaft, and 6 is axle jump ring, and 7 is pole, and 8 is contiguous block, 9 is cardan wheel fix screw, and 10 is cardan wheel, and 11 is pin, and 12 is base, 13 is angular contact bearing, and 14 is hole jump ring, and 15 is lower shaft, 16 is outer shroud fix screw, and 17 is quadrotor, and 18 is quadrotor fix screw, 19 is buphthalmos wheel, and 20 is attaching screw bottom pole, and 21 is axle jump ring.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, the present invention includes the turntable and mobile platform that are rotationally connected each other, its intermediate station comprises bull stick 1, middle ring 2 and outer shroud 3, and mobile platform comprises base 12, pole 7, contiguous block 8 and cardan wheel 10; Bull stick 1 is as the carrier of measurand, two ends are rotationally connected with in middle ring 2 respectively by rotating shaft 5, the both sides of middle ring 2 are rotationally connected with in outer shroud 3 respectively by rotating shaft 5, the line between two rotating shafts 5 between bull stick 1 and middle ring 2 and the line between two rotating shafts 5 between middle ring 2 and outer shroud 3 vertical and coplanar.Being interference fit (flush fit) between outer shroud 3 and rotating shaft 5, is free-running fit (easy fit) between middle ring 2 and rotating shaft 5, and middle ring 2 is identical with it with the cooperation of rotating shaft 5 between bull stick 1, this ensure that the flexible rotating of turntable portion.As shown in Fig. 5 A, Fig. 5 B, the rotating shaft 5 between bull stick 1 and king-rod 2 is provided with axle jump ring 6 and clamps fixing, prevents rotating shaft 5 from coming off, and ensures the stability of rotation of turntable; Rotating shaft 5 between middle ring 2 and outer shroud 3 is provided with axle jump ring 4,6 and clamps fixing, prevents rotating shaft 5 from coming off, and ensures the stability of rotation of turntable.
As shown in Fig. 6 A, Fig. 6 B, the bottom of outer shroud 3 has the through hole for lower shaft 15 one end grafting, and has in the both sides of through hole for realizing the tapped bore be connected with lower shaft 15, and one end of lower shaft 15 is affixed by the bottom of screw and outer shroud 3.The support and connection of two angular contact bearings 13 are installed between the other end of lower shaft 15 and base 12, ensure that turntable portion steadily rotates flexibly; Two angular contact bearings 13 adopt back-to-back mounting means, and the contact wire intersection point of two angular contact bearings 13 under this mounting means is outside bearing, and good stability, can bear capsizing moment.Two angular contact bearing 13 passing hole jump ring 14 and axle jump rings 21 are fixed, and two angular contact bearings 13 achieve the flexible rotating of lower shaft 15, and effectively prevent and rock.
As shown in Fig. 3 A, Fig. 4 A and Fig. 4 B, the side surface of base 12 is circumferentially evenly equipped with multiple pole 7, the base 12 of the present embodiment has four sides, and each side connects a pole 7; One end of each pole 7 is fixed in respectively by pin 11 on the side surface of base 12, and the other end of pole 7 is fixed on the contiguous block 8 of cardan wheel 10 by screw.Contiguous block 8 has four tapped bore, realize the connection with cardan wheel 10 by screw, the cardan wheel 10 with brake can fix turntable.Contiguous block 8 can connect various types of cardan wheel, and as shown in Figure 3 B, cardan wheel 10 can take turns 19 replacements by buphthalmos.
As shown in Figure 7, three-axle table of the present invention has two, horizontal direction all around translation freedoms, has three rotary freedoms by bull stick 1 relative to middle ring 2 around Y-axis rotation, middle ring 2 relative to outer shroud 3 around X-axis rotation and outer shroud 3 respect thereto 12 around Z axis rotation.
Principle of work of the present invention is:
As shown in Figure 2, bull stick 1 can be connected by fixing realization of quadrotor fix screw 18 with quadrotor 17, and quadrotor 17 can rotate freely in turntable.Consider the variety of subjects, bull stick 1 can be taken off, measurand also can directly be linked together by rotating shaft 5 and middle ring 2.
Claims (8)
1. one kind can the three-axle table of all-around mobile, it is characterized in that: comprise the turntable and mobile platform that are rotationally connected each other, its intermediate station comprises bull stick (1), middle ring (2) and outer shroud (3), described mobile platform comprises base (12), pole (7) and cardan wheel (10), described outer shroud (3) is rotatably installed on base (12), this base (12) is circumferentially evenly equipped with multiple pole (7), each pole (7) is all connected with cardan wheel (10), realizes two, horizontal direction all around translation freedoms by described cardan wheel (10); Described middle ring (2) is rotatably installed in outer shroud (3), described bull stick (1) is arranged in middle ring (2) as the carrier rotation of measurand, is rotated, described middle ring (2) rotates relative to outer shroud (3) and described outer shroud (3) respect thereto (12) rotation realizes three rotary freedoms by described bull stick (1) relative to middle ring (2).
2. by can the three-axle table of all-around mobile described in claim 1, it is characterized in that: be rotationally connected respectively by rotating shaft (5) between described bull stick (1) and middle ring (2) and between middle ring (2) and outer shroud (3), described rotating shaft (5) is provided with the axle jump ring preventing rotating shaft from coming off.
3. by can the three-axle table of all-around mobile described in claim 2, it is characterized in that: described bull stick (1) two ends are rotationally connected respectively by rotating shaft (5) and middle ring (2), the both sides of described middle ring (2) are rotationally connected respectively by rotating shaft (5) and outer shroud (3); Line between two rotating shafts (5) between described bull stick (1) and middle ring (2) and the line between two rotating shafts (5) between middle ring (2) and outer shroud (3) vertical and coplanar.
4., by can the three-axle table of all-around mobile described in Claims 2 or 3, it is characterized in that: being interference fit between described outer shroud (3) and rotating shaft (5), is free-running fit between described middle ring (2) and rotating shaft (5).
5. by can the three-axle table of all-around mobile described in claim 1, it is characterized in that: described outer shroud (3) is rotationally connected by lower shaft (15) and base (12), one end of described lower shaft (15) is connected to the bottom of outer shroud (3), and the other end is rotationally connected by angular contact bearing (13) and described base (12).
6. by can the three-axle table of all-around mobile described in claim 5, it is characterized in that: the bottom of described outer shroud (3) has the through hole for lower shaft (15) one end grafting, and have in the both sides of described through hole for realizing the tapped bore be connected with lower shaft (15), one end of described lower shaft (15) is affixed by the bottom of screw and outer shroud (3); Angular contact bearing (13) between the other end of described lower shaft (15) and base (12) is two, adopts back-to-back mounting means, and the contact wire intersection point of two angular contact bearings (13) outside bearing, and is fixed by jump ring.
7. by can the three-axle table of all-around mobile described in claim 1, it is characterized in that: one end of described each pole (7) is connected to the side surface of base (12) respectively by pin (11), the other end of each pole (7) is fixed on the contiguous block (8) of cardan wheel (10) respectively.
8., by can the three-axle table of all-around mobile described in claim 7, it is characterized in that: described cardan wheel (10) can be taken turns (19) and be replaced by buphthalmos.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310719910.0A CN104724298A (en) | 2013-12-20 | 2013-12-20 | Three-axle turntable capable of moving in all directions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310719910.0A CN104724298A (en) | 2013-12-20 | 2013-12-20 | Three-axle turntable capable of moving in all directions |
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| CN104724298A true CN104724298A (en) | 2015-06-24 |
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| CN201310719910.0A Pending CN104724298A (en) | 2013-12-20 | 2013-12-20 | Three-axle turntable capable of moving in all directions |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270650A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device for six-degree-of-freedom unmanned aerial vehicle |
| CN105620787A (en) * | 2015-12-23 | 2016-06-01 | 浙江大学 | Full-freedom testing platform for micro air vehicle |
| CN106859491A (en) * | 2017-01-18 | 2017-06-20 | 平湖市品耀机器自动化有限公司 | A kind of base of Intelligent robot for sweeping floor |
| CN106938707A (en) * | 2017-04-07 | 2017-07-11 | 南昌华梦达航空科技发展有限公司 | A kind of depopulated helicopter subtest and assisting in flying facility for study |
| CN107255221A (en) * | 2017-08-08 | 2017-10-17 | 吉林省众鑫汽车装备有限公司 | A kind of solid ammonia storage tank transhipment bogey and transfer trailer |
| CN107444672A (en) * | 2017-06-23 | 2017-12-08 | 昆明理工大学 | A kind of quadrotor attitude test fixed platform |
| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
| CN110823433A (en) * | 2019-10-18 | 2020-02-21 | 中国直升机设计研究所 | Five-freedom-degree device for rotor load measurement |
| CN110901952A (en) * | 2019-11-29 | 2020-03-24 | 北京电子工程总体研究所 | Three-degree-of-freedom unmanned aerial vehicle testing device and system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270650A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device for six-degree-of-freedom unmanned aerial vehicle |
| CN105620787A (en) * | 2015-12-23 | 2016-06-01 | 浙江大学 | Full-freedom testing platform for micro air vehicle |
| CN106859491A (en) * | 2017-01-18 | 2017-06-20 | 平湖市品耀机器自动化有限公司 | A kind of base of Intelligent robot for sweeping floor |
| CN106938707A (en) * | 2017-04-07 | 2017-07-11 | 南昌华梦达航空科技发展有限公司 | A kind of depopulated helicopter subtest and assisting in flying facility for study |
| CN106938707B (en) * | 2017-04-07 | 2019-05-21 | 南昌华梦达航空科技发展有限公司 | A kind of unmanned helicopter subtest and assisting in flying facility for study |
| CN107444672A (en) * | 2017-06-23 | 2017-12-08 | 昆明理工大学 | A kind of quadrotor attitude test fixed platform |
| CN107255221A (en) * | 2017-08-08 | 2017-10-17 | 吉林省众鑫汽车装备有限公司 | A kind of solid ammonia storage tank transhipment bogey and transfer trailer |
| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
| CN110823433A (en) * | 2019-10-18 | 2020-02-21 | 中国直升机设计研究所 | Five-freedom-degree device for rotor load measurement |
| CN110823433B (en) * | 2019-10-18 | 2021-10-15 | 中国直升机设计研究所 | Five-freedom-degree device for rotor load measurement |
| CN110901952A (en) * | 2019-11-29 | 2020-03-24 | 北京电子工程总体研究所 | Three-degree-of-freedom unmanned aerial vehicle testing device and system |
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Application publication date: 20150624 |