CN109094817B - Carrier-based helicopter self-adaptive landing gear landing simulation system - Google Patents
Carrier-based helicopter self-adaptive landing gear landing simulation system Download PDFInfo
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- CN109094817B CN109094817B CN201810992926.1A CN201810992926A CN109094817B CN 109094817 B CN109094817 B CN 109094817B CN 201810992926 A CN201810992926 A CN 201810992926A CN 109094817 B CN109094817 B CN 109094817B
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
Abstract
The invention discloses a carrier-based helicopter self-adaptive undercarriage landing simulation system, belongs to the technical field of carrier-based helicopter self-adaptive undercarriage simulation landing tests, and aims to solve the problem that the existing helicopter undercarriage cannot safely complete landing on a swinging ship surface or a complex terrain. The robot comprises a robot mounting base, a plurality of serial robots, a laser radar, an inertial element, a six-dimensional force sensor, a foot end laser ranging sensor and a cushion pad, wherein the plurality of serial robots are all hung upside down on the robot mounting base, the laser radar and the inertial element are both mounted on the robot mounting base, the tail end of each serial robot is sequentially provided with the six-dimensional force sensor and the foot end laser ranging sensor from top to bottom, and the cushion pad is arranged below each foot end laser; one end of the cable is wound on an output wheel of the motor, the other end of the cable is connected with the robot installation base through two pulleys, the ship surface simulation platform is arranged below the cushion pad, the motor and the two pulleys are fixedly arranged on the frame, and a parallel mechanism in the ship surface simulation platform is fixedly connected with the frame. The invention is used for simulating the helicopter to land on a swinging ship surface or a complex terrain.
Description
Technical Field
The invention belongs to the technical field of ship-based helicopter self-adaptive undercarriage simulated landing tests, and particularly relates to a test device for simulating landing of a helicopter self-adaptive undercarriage.
Background
Most helicopters today rely on very simple wheeled or skid supports for landing. This means that the traditional helicopter can not take off and land on the inclined or even uneven ground at all, so a new airborne robot type self-adaptive landing gear will be the development trend of the helicopter landing gear. In order to verify the performance of the self-adaptive landing gear, a prototype experiment needs to be carried out, and therefore the requirement for the landing gear simulation landing gear system of the type is provided. The invention provides a carrier-based helicopter self-adaptive undercarriage landing simulation system based on the reasons so as to meet the requirement of simulating landing of a helicopter self-adaptive undercarriage.
Disclosure of Invention
The invention aims to provide a carrier-based helicopter self-adaptive landing gear landing simulation system for solving the problem that the existing helicopter landing gear cannot safely complete landing on a swinging ship surface or a complex terrain.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention relates to a self-adaptive landing gear landing simulation system of a carrier-based helicopter, which comprises a landing gear, a ship surface simulation platform, a motor, a cable, an installation frame 1 and two pulleys;
the undercarriage comprises a robot mounting base, a laser radar, an inertial element, a plurality of series robots, a plurality of six-dimensional force sensors, a plurality of foot end laser ranging sensors and a plurality of cushion pads, wherein the plurality of series robots are all hung upside down on the robot mounting base, the laser radar and the inertial element are all mounted on the robot mounting base, the tail end of each series robot is sequentially provided with one six-dimensional force sensor and one foot end laser ranging sensor from top to bottom, and the cushion pad is mounted below each foot end laser ranging sensor;
one end of the cable is wound on an output wheel of the motor, the other end of the cable is connected with the robot installation base through two pulleys, the ship surface simulation platform is arranged below the cushion pad, the motor and the two pulleys are fixedly arranged on the frame, and a parallel mechanism in the ship surface simulation platform is fixedly connected with the frame.
Compared with the prior art, the invention has the following beneficial effects:
the invention designs an adaptive landing gear capable of landing on a swinging ship surface or a complex terrain, controls the landing by utilizing the forward and reverse rotation of a motor, and is combined with a ship surface simulation platform to form a helicopter landing simulation system. Because the series robot has a plurality of rotational degrees of freedom, the attitude can be adjusted in a wider range, and the adaptability to the terrain is better, so that the problem that the existing helicopter cannot stably take off and land on slopes, rugged ground and dynamic ship surfaces is solved, and the application range of the helicopter is expanded; the landing gear can be descended and ascended through the positive and negative rotation of the motor, and the application is wide.
The invention adopts electric drive, has low noise and no pollution.
And thirdly, the laser radar is arranged on the robot mounting base, and the six-dimensional force sensor and the foot end laser ranging sensor are arranged at the tail end of the serial robot, so that the ship surface condition can be accurately detected, and the terrain information is provided for landing of the undercarriage.
The invention utilizes the six-degree-of-freedom parallel mechanism to simulate the swinging state of the ship surface, the control system can provide any swinging motion and can also carry out longitudinal motion, the sea condition of any form can be completely simulated, the adaptability is strong, the manpower and material resources can be saved, and the experiment cost is greatly reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic diagram of the working process of the invention.
Detailed Description
The embodiment is described below with reference to fig. 1, and includes a landing gear, a ship surface simulation platform 11, a motor 1, a cable 2, a mounting frame 12, and two pulleys 3;
the undercarriage comprises a robot installation base 4, a laser radar 9, an inertial element 10, a plurality of series robots 5, a plurality of six-dimensional force sensors 6, a plurality of foot end laser ranging sensors 7 and a plurality of buffer cushions 8, wherein the plurality of series robots 5 are all hung upside down on the robot installation base 4, the laser radar 9 and the inertial element 10 are all installed on the robot installation base 4, the tail end of each series robot 5 is sequentially provided with one six-dimensional force sensor 6 and one foot end laser ranging sensor 7 from top to bottom, and one buffer cushion 8 is arranged below each foot end laser ranging sensor 7;
one end of a cable 2 is wound on an output wheel of the motor 1, the other end of the cable 2 is connected with the robot installation base 4 by passing through the two pulleys 3, the ship surface simulation platform 11 is arranged below the cushion pad 8, the motor 1 and the two pulleys 3 are fixedly arranged on the frame 12, and the parallel mechanism 11-2 in the ship surface simulation platform 11 is fixedly connected with the frame 12.
The ship surface simulation platform 11 is driven by a Steward six-degree-of-freedom parallel mechanism.
The number of the series robots 5, the six-dimensional force sensors 6, the foot end laser ranging sensors 7 and the buffer cushions 8 is the same, namely, each series robot 5 is provided with one six-dimensional force sensor 6, one foot end laser ranging sensor 7 and one buffer cushion 8 which are matched with the series robot.
The above embodiment further includes three reinforcing cables 13, the three reinforcing cables 13 are uniformly distributed on the robot mounting base 4, the upper ends of the reinforcing cables 13 are connected with the cables 2, and the lower ends of the reinforcing cables 13 are connected with the robot mounting base 4. The reinforcing cable 13 prevents the robot mounting base 4 from shaking substantially during the adjustment of the undercarriage.
The ship surface simulation platform 11 is in the prior art, and the ship surface simulation platform 11 adopts a Stewart platform parallel mechanism, namely
A parallel mechanism; the ship surface simulation platform 11 is composed of a circular flat plate 11-1 and a six-degree-of-freedom parallel mechanism 11-2, the outer surface of the circular flat plate 11-1 is coated with a ship landing mark, and the ship surface simulation platform 11 is used for replacing a ship surface for landing of a helicopter. The ship surface simulation platform 11 has six degrees of freedom including transverse, longitudinal, vertical, pitching, rolling and yawing, simulates the swinging state of the ship surface by controlling the motion of the parallel mechanism 11-2, and is driven by six electric cylinders on the parallel mechanism 11-2, and the driving of the electric cylinders is controlled by a control computer connected with the electric cylinders. The Stewart platform was proposed by Stewart and the last 70 th century. The basic structure of the device can be divided into a movable platform, a static platform and six space supporting legs, and each supporting leg is connected with the movable platform through a spherical hinge. In the middle of the supporting legs, a moving pair composed of hydraulic cylinders or a screw pair composed of ball screws is used as a driving mechanism of each supporting leg.
The lifting of the robot installation base 4 is controlled by the driving of the motor 1, and the whole process is used for simulating the lifting of a helicopter; the motor 1 is used for driving a cable to control the lifting of the undercarriage and the lifting speed;
the tandem robot 5 is used for replacing three landing legs of a shipboard helicopter undercarriage, each tandem robot 5 has multiple rotational degrees of freedom, and posture adjustment in a large range can be achieved so as to meet requirements of different terrains; the robot is provided with a six-dimensional force sensor 6 and a foot end laser ranging sensor 7 which are used for detecting the contact condition when the tail end of the landing leg is landed on a ship, and then the signal is fed back to a control system of the robot so as to better adjust the postures of the series robots 5; the buffer pad 8 plays a certain role in buffering when the tail end of the robot is contacted with the surface of a ship, and the element is prevented from being damaged by large impact caused by misoperation.
The robot mounting base 4 is used for replacing a chassis of a helicopter and is used for hanging the tandem robot upside down, and the laser radar 9 on the robot mounting base is used for detecting the surface of a ship, providing observation data to the processing unit and performing three-dimensional reconstruction of terrain; the inertial member 10 is used to detect the attitude of the body.
The working process of the invention is divided into an engine body landing stage, a carrier landing preparation stage, a self-adaptive attitude adjustment stage and landing ending. The specific process is as follows: firstly, starting equipment to enable the equipment to start working, and enabling the dynamic ship surface simulation platform 11 to perform swinging motion according to a preset action rule; initially the landing gear is in the higher position and the descent of the whole body starts at a greater speed V1, which corresponds to the descent of the whole body of the helicopter, but the landing gear has not yet started; according to the scanning result of the laser radar 9, when the aircraft selection enters a landing preparation stage, the tandem robot 5 is unfolded to a certain angle, and otherwise, the landing is continued; then, as the lower end face of the cushion pad 8 is closer to the circular flat plate 11-1, the cushion pad will continuously descend at a smaller speed V2, and according to the measurement result of the foot-end laser ranging sensor 7, when the cushion pad 8 is about to contact with the circular flat plate 11-1, the self-adaptive attitude adjustment stage is entered, the serial robot 5 performs attitude adjustment to adapt to the swinging condition of the ship surface, otherwise, the cushion pad continues to descend at a smaller speed V2; and when the posture of the serial robot 5 is dynamically adjusted to meet the requirements of indexes such as balance, foot end stress and the like, all joints of the serial robot 5 are locked to finish landing.
Finally, it is worth mentioning that the invention is not limited to the above description, but extends to other variants defined in the claims.
Claims (4)
1. The utility model provides a carrier-borne helicopter self-adaptation undercarriage landing simulation system which characterized in that: the system comprises a landing gear, a ship surface simulation platform (11), a motor (1), a cable (2), a frame (12) and two pulleys (3);
the undercarriage comprises a robot installation base (4), a laser radar (9), an inertial element (10), a plurality of series robots (5), a plurality of six-dimensional force sensors (6), a plurality of foot end laser ranging sensors (7) and a plurality of buffer cushions (8), wherein the plurality of series robots (5) are all hung upside down on the robot installation base (4), the laser radar (9) and the inertial element (10) are all installed on the robot installation base (4), the tail end of each series robot (5) is sequentially provided with one six-dimensional force sensor (6) and one foot end laser ranging sensor (7) from top to bottom, and one buffer cushion (8) is arranged below each foot end laser ranging sensor (7);
one end of a cable (2) is wound on an output wheel of the motor (1), the other end of the cable (2) is connected with the robot installation base (4) by winding the two pulleys (3), a ship surface simulation platform (11) is arranged below the cushion pad (8), the motor (1) and the two pulleys (3) are fixedly arranged on the frame (12), and a parallel mechanism (11-2) in the ship surface simulation platform (11) is fixedly connected with the frame (12).
2. The carrier-based helicopter adaptive landing gear landing simulation system according to claim 1, characterized in that: the ship surface simulation platform (11) is driven by a Steward six-degree-of-freedom parallel mechanism.
3. The carrier-based helicopter adaptive landing gear landing simulation system according to claim 1 or 2, characterized in that: the number of the series robots (5), the six-dimensional force sensors (6), the foot end laser ranging sensors (7) and the number of the cushion pads (8) are the same, namely, each series robot (5) is provided with one six-dimensional force sensor (6), one foot end laser ranging sensor (7) and one cushion pad (8) which are matched with the six-dimensional force sensor, the foot end laser ranging sensor and the cushion pad.
4. The carrier-based helicopter adaptive landing gear landing simulation system according to claim 3, wherein: the system further comprises three reinforcing cables (13), the three reinforcing cables (13) are uniformly distributed on the robot mounting base (4), the upper ends of the reinforcing cables (13) are connected with the cables (2), and the lower ends of the reinforcing cables (13) are connected with the robot mounting base (4).
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| CN201810992926.1A CN109094817B (en) | 2018-08-29 | 2018-08-29 | Carrier-based helicopter self-adaptive landing gear landing simulation system |
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| CN201810992926.1A CN109094817B (en) | 2018-08-29 | 2018-08-29 | Carrier-based helicopter self-adaptive landing gear landing simulation system |
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| CN109094817B true CN109094817B (en) | 2021-05-14 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108445764B (en) * | 2018-03-23 | 2021-01-12 | 吉林大学 | Active compliance control strategy of Stewart platform |
| CN110816866B (en) * | 2019-10-21 | 2022-06-28 | 燕山大学 | Variable-topology foldable and unfoldable shipborne helicopter take-off and landing stable platform |
| CN112340058B (en) * | 2020-11-05 | 2022-05-06 | 燕山大学 | Test platform for carrier-based helicopter landing auxiliary equipment and operation method thereof |
| CN113879515B (en) * | 2021-10-08 | 2023-06-30 | 哈尔滨工业大学 | Tripod type self-adaptive landing gear and control method thereof |
| CN115457833B (en) * | 2022-09-15 | 2024-04-19 | 吉林大学 | Traction robot track control experiment table of offshore operation helicopter |
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| CN106125765A (en) * | 2016-08-03 | 2016-11-16 | 中国人民解放军总参谋部第六十研究所 | A kind of boat-carrying depopulated helicopter vehicle-mounted landing analog systems |
| CN107037823A (en) * | 2017-06-08 | 2017-08-11 | 中国海洋大学 | A kind of experiment porch and its experimental method for being used to simulate ocean platform motion compensation |
| EP3208593A1 (en) * | 2016-02-18 | 2017-08-23 | The Boeing Company | Optical monitoring system and method for imaging a component under test |
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| CN102072804A (en) * | 2010-12-21 | 2011-05-25 | 南京航空航天大学 | High-accuracy airplane wheel pre-rotating mechanism for drop test of airplane landing gear |
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| CN103818548A (en) * | 2012-11-16 | 2014-05-28 | 哈尔滨飞机工业集团有限责任公司 | Landing gear device of self-adaptive all-terrain helicopter |
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