CN106710364A - Parallel type flight training simulator - Google Patents

Abstract

The invention discloses a parallel flight training simulator, and in particular relates to the technical field of flight simulators. The parallel flight training simulator includes six parallel drive branch chains with the same structure, a moving platform and a fixed platform bracket. , the first ball joint and the second ball joint, the first ball joint is installed on the bottom of the hydraulic cylinder and connected with the slider, the second ball joint is installed on the top of the hydraulic rod and connected with the moving platform, and each slider is set on a On the slide rail, the center of the second ball joint forms a regular hexagon on the moving platform, and each of the slide rails is located on one side of the fixed platform support, and the first ball joint and the second ball joint have three dimensions in space. rotational degrees of freedom.

Description

A Parallel Flight Training Simulator

technical field

The invention relates to the technical field of flight simulators, in particular to a parallel flight training simulator.

Background technique

With the continuous development of human technology, the field of human exploration is also expanding. Aerospace technology is in constant progress. In the exploration of the sky, it is inevitable that there will be various equipment and equipment working in extreme environments. The cost of these devices will be very expensive, so a large number of simulation experiments must be done before practical application to meet safety standards. With the continuous improvement of ground simulation technology, many sky experiments are carried out on land.

The flight training simulator can reproduce the air flight environment and is mainly used in the design, research, experiment, pilot training and teaching of aircraft. It provides strong technical support for the development of new aircraft and training pilots. It has the advantages of safety, economy, reusability and all-weather. It is one of the important supporting equipment for the development of the country's aviation industry. Flight simulator technology develops simultaneously with the development of simulation technology and aviation industry. At present, the production and design of the six-degree-of-freedom civil aviation flight simulation motion platform with the Stewart parallel mechanism as the mechanical body has tended to be standardized and serialized.

The well-known parallel mechanism has the characteristics of high rigidity, stable mechanism, strong bearing capacity, high precision, small motion inertia, and simple anti-solution control. At present, the parallel simulation motion platform is widely used in the motion simulation of aircraft, ships and automobiles. However, most emulators have problems such as large appearance, small working space, and small working angle range. Especially for large-scale simulators, the cost is high and maintenance is not easy, so large-angle full-attitude parallel flight simulation is a research hotspot. Improving the motion range of the motion simulator's motion posture is one of the key issues. The Chinese patent (Patent No.: Patent CN102626919A) of the invention titled a symmetrical two-turn-one-shift parallel mechanism with no axis intersection proposes a symmetrical two-turn-one-shift parallel mechanism with no axis intersection. Each branch of the invention has no axis Convergence greatly reduces the difficulty of manufacturing, but due to the scattered branches, the body is bulky and the working space is relatively small. The Chinese patent (Patent No.: CN102147046A) with the patent title of two-degree-of-freedom parallel mechanism proposes a two-degree-of-freedom parallel mechanism that can realize decoupled two-degree-of-freedom motion. It has excellent motion performance and is easy to control. Poor performance, large inertial force, low carrying capacity.

Contents of the invention

The object of the present invention is to address the above-mentioned deficiencies, and propose a parallel flight training simulator that is small in size, easy to control, strong in carrying capacity, and capable of realizing motion attitudes in a large spatial angle range.

The present invention specifically adopts the following technical solutions:

A parallel flight training simulator, including six parallel drive branch chains with the same structure, a moving platform and a fixed platform bracket, the moving platform is hexagonal, and each drive branch chain includes slide rails, sliders, hydraulic cylinders, hydraulic Rod, the first ball joint and the second ball joint, the first ball joint is installed on the bottom of the hydraulic cylinder and connected with the slider, the second ball joint is installed on the top of the hydraulic rod and connected with the moving platform, and the fixed platform bracket is equipped with There are six slide rails, each slide block is arranged on one slide rail, and the center of the second spherical joint forms a regular hexagon on the moving platform.

Preferably, each slide rail is located on one side of the fixed platform support.

Preferably, the first spherical joint and the second spherical joint each have three rotational degrees of freedom in space.

Preferably, when the parallel flight training simulator is in the working state, each hydraulic rod telescopically slides in the hydraulic cylinder, and the slider slides back and forth on the slide rail, thereby driving the dynamic platform to realize various attitude movements;

When in a stable flight simulation attitude, the moving platform moves horizontally in a state parallel to the horizontal plane;

When in the pitching acceleration lifting simulated flight attitude, the moving platform performs an upward acceleration lifting movement within the range of 0°-90° from the horizontal plane;

When in the dive flight simulation attitude, the moving platform performs a downward dive movement within the range of 0° to 90° from the horizontal plane;

When it is in a sharp turn flight simulation attitude, the moving platform performs a sharp turn laterally along the horizontal plane within the range of -30° to 30° from the horizontal plane;

When it is in a large-angle deflection flight simulation attitude, the moving platform rotates laterally along the transverse axis within the range of -90° to 90° from the horizontal plane.

The present invention has the following beneficial effects: simple structure, small occupied volume, large working space, flexible motion control, large range of motion attitude angles, and can realize flight attitude simulation training with complex limits such as large-angle pitch, roll, and deflection, There are redundant drives, which can overcome singular configurations; the drive branch chain is driven by hydraulic cylinders, which has stable performance in its working space, and still has high dynamic response when bearing loads, and is easy to install and maintain.

Description of drawings

Fig. 1 is a schematic diagram of the stable flight simulation attitude of the parallel flight training simulator;

Fig. 2 is a schematic diagram of the pitching acceleration of the parallel flight training simulator to enhance the flight simulation attitude;

Fig. 3 is a schematic diagram of a parallel flight training simulator dive flight simulation attitude;

Fig. 4 is a schematic diagram of the flight simulation attitude of the parallel flight training simulator;

Fig. 5 is a schematic diagram of a large-angle deflection flight simulation attitude of the parallel flight training simulator.

Wherein, 1 is a slide rail, 2 is a slider, 3 is a first ball joint, 4 is a hydraulic cylinder, 5 is a hydraulic rod, 6 is a second ball joint, and 7 is a moving platform.

detailed description

The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

As shown in Figure 1-5, a parallel flight training simulator includes six parallel drive branch chains with the same structure, a moving platform 7 and a fixed platform support, the moving platform 7 is hexagonal, and each drive branch chain includes Slide rail 1, slider 2, hydraulic cylinder 4, hydraulic rod 5, first ball joint 3 and second ball joint 6, the first ball joint 3 is installed on the bottom of hydraulic cylinder 4 and connected with slider 2, the second ball joint Hinge 6 is installed on the top of hydraulic rod 5 and links to each other with moving platform 7, and each slide block 2 is arranged on a slide rail 1, and the center of second spherical hinge 6 forms regular hexagonal setting on moving platform 7.

Each slide rail 1 is located on one side of the fixed platform support. Wherein two slide rails are positioned at the vertical limit of fixed platform support, and two slide rails are positioned at the bottom surface limit of fixed platform support, and two slide rails are positioned at the top surface limit of fixed platform support.

The first spherical joint 3 and the second spherical joint 6 each have three rotational degrees of freedom in space.

When the parallel flight training simulator is in working condition, each hydraulic rod telescopically slides in the hydraulic cylinder, and the slider slides back and forth on the slide rail, and then drives the dynamic platform to realize various posture movements;

As shown in Figure 1, when in a stable flight simulation attitude, the moving platform 7 moves horizontally in a state parallel to the horizontal plane;

As shown in Figure 2, when in the pitching acceleration lifting simulated flight attitude, the moving platform 7 performs an upward acceleration lifting movement within the range of 0° to 90° from the horizontal plane;

As shown in Figure 3, when in the dive flight simulation attitude, the moving platform 7 performs a downward dive movement within the range of 0° to 90° from the horizontal plane;

As shown in Figure 4, when it is in a sharp turn flight simulation attitude, the moving platform 7 performs a lateral sharp turn movement along the horizontal plane within the range of -30° to 30° from the horizontal plane;

As shown in FIG. 5 , when it is in a large-angle deflection flight simulation attitude, the moving platform 7 rotates laterally along the transverse axis within the range of -90° to 90° from the horizontal plane.

Of course, the above descriptions are not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or replacements made by those skilled in the art within the scope of the present invention shall also belong to the present invention. protection scope of the invention.

Claims (4)

1. a kind of parallel flight training simulator, it is characterised in that including six structure identicals driving side chains in parallel, dynamic Platform and fixed platform support, moving platform are hexagonal, and every driving side chain includes slide rail, sliding block, hydraulic cylinder, hydraulic stem, first Ball pivot and the second ball pivot, the first ball pivot are installed on the bottom of hydraulic cylinder and are connected with sliding block, and the second ball pivot is installed on hydraulic stem Top and it is connected with moving platform, each sliding block is arranged on a slide rail, and the center of the second ball pivot forms positive six on moving platform Side shape is set.

2. a kind of parallel flight training simulator as claimed in claim 1, it is characterised in that it is fixed that every slide rail is located at In a line of platform support.

3. a kind of parallel flight training simulator as claimed in claim 1, it is characterised in that first ball pivot and second Ball pivot is respectively provided with three rotational freedoms in space.

4. a kind of parallel flight training simulator as claimed in claim 1, it is characterised in that when parallel flight training mould When plan device is in running order, each hydraulic stem telescopic slide in hydraulic cylinder, sliding block slidably reciprocates on slide rail, and then drives dynamic Platform realizes various attitude motions；

When attitude is simulated in smooth flight, moving platform is in and horizontal movement in the state of plane-parallel；

When in pitching accelerate lifting simulation flight attitude when, moving platform carried out in the range of with the horizontal 0 °~90 ° to On acceleration lifter motion；

When attitude is simulated in diving flight, moving platform carries out downward underriding in the range of with the horizontal 0 °~90 ° Motion；

When attitude is simulated in kicking, moving platform enters in the range of with the horizontal -30 °~30 ° along horizontal plane Row transverse direction racing motion；

When in wide-angle deflection flight simulation attitude, moving platform is in the range of with the horizontal -90 °~90 ° along horizontal stroke Lateral rotation is carried out to axle.