CN101819727B - Vehicular earthquake simulator based on 4-RPS (Range Positioning System) space parallel mechanism - Google Patents
Vehicular earthquake simulator based on 4-RPS (Range Positioning System) space parallel mechanism Download PDFInfo
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- CN101819727B CN101819727B CN2010101637146A CN201010163714A CN101819727B CN 101819727 B CN101819727 B CN 101819727B CN 2010101637146 A CN2010101637146 A CN 2010101637146A CN 201010163714 A CN201010163714 A CN 201010163714A CN 101819727 B CN101819727 B CN 101819727B
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Abstract
The invention discloses a vehicular earthquake simulator based on a 4-RPS (Range Positioning System) space parallel mechanism. The vehicular earthquake simulator comprises a loading vehicle (1), a control console (2), a simulation room (3) and the 4-RPS space parallel mechanism (5), wherein the rear part of a driving cab of the loading vehicle (1) is provided with the control console (2); the simulation room (3) is installed on a rear vehicle body of the loading vehicle (1) through the 4-RPS space parallel mechanism (5); and the control console (2) is linked with the 4-RPS space parallel mechanism (5) to integrally form the vehicular earthquake simulator. The earthquake simulator is vehicular, simple in structure, flexible and accurate to control, and can be widely used for the floating science popularization of earthquakes in schools and communities.
Description
Technical field
The present invention relates to earthquake simulator, be specifically related to a kind of vehicular earthquake simulator based on the 4-RPS space parallel mechanism.
Background technology
Earthquake is a kind of inevitable disaster, and understanding earthquake, prevention earthquake, to save oneself in the earthquake centre be the common issue that the mankind face, especially to this earthquake of China country that takes place frequently.Earthquake simulator is the true system that takes place of imitation earthquake, it is the good carrier that carries out the earthquake Popular Science Education, the person of letting on understands from experience earthquake and how association averts a calamity, how to save oneself, and learns the scientific knowledge of various earthquakes, with the raising consciousness of preventing and reducing natural disasters.
A variety of earthquake simulators are arranged on the current market, but because the restriction of design feature own is only suitable in certain occasion.As because the maneuverability deficiency, mostly earthquake simulator is to be fixed on earthquake education venue, and audient's face is very little; General earthquake simulator adopts vertical and horizontal two cover motions more or adopts 6-dof motion platform, hydraulic-driven, and its complex structure, auxiliary equipment is huge, control accuracy is low.
Summary of the invention
The objective of the invention is to: a kind of vehicular earthquake simulator based on the 4-RPS space parallel mechanism is provided, and this earthquake simulator is vehicular, and is simple in structure, maneuverability, and precise control can be widely used in the mobile earthquake popular science propaganda of school, community.
Technical solution of the present invention is: this vehicular earthquake simulator comprises load wagon, control desk, simulation room and 4-RPS space parallel mechanism, control desk is installed at rear portion at the pilothouse of load wagon, on the vehicle body of the rear portion of load wagon, the simulation room is installed by the 4-RPS space parallel mechanism, control desk interlock 4-RPS space parallel mechanism, whole formation vehicular earthquake simulator.
Wherein, the rear cabin of load wagon is installed control desk, assistant driver seat Rotate 180 degree is backward faced control desk, control desk sets in advance the earthquake simulation motion model, the operator is imported parameter correction seismic motion models such as magnitude of earthquake, degree of splitting, seismic wave form, duration by control desk, 4-RPS space parallel mechanism motion simulation 3-8 level earthquake effect, the sound system of control desk control simultaneously forms three-dimensional earthquake simulation environment.
Wherein, four scalable columns are installed below the vehicle body of the rear portion of load wagon, column puts down during simulator work, and the upright supports vehicle body becomes fixed platform.
Wherein, the simulation room is mixed and made into by materials such as wood based panel and cystosepiments, has kitchen and toilet in it concurrently, comprises gas range, electric light, dining table, serviceable chest and other foreign material etc.
Wherein, outside the simulation room, autostairs is installed.
Wherein, the 4-RPS space parallel mechanism comprises four identical RPS kinematic chains and fixed platform and moving platform, the upright supports vehicle body becomes fixed platform, four RPS kinematic chains are installed on fixed platform, the distribution of on fixed platform, being rectangle of four RPS kinematic chains, the top of four RPS kinematic chains connects moving platform altogether, the distribution of below moving platform, being rectangle of four RPS kinematic chains, and the top of moving platform connects firmly the simulation room.
Wherein, the R of RPS kinematic chain represents revolute pair, and P represents moving sets, S represents spherical pair, and the RPS kinematic chain comprises spherical hinge, connecting rod, square nut, leading screw, support, servomotor and hinge seat, and support connects hinge seat by pin, hinge seat is fixed on the fixed platform, forms revolute pair; Servomotor is fixed on the support, servomotor connects leading screw by shaft coupling, square nut is by the leading screw that is threaded, square nut is stuck in the rectangular groove of support simultaneously, the rectangular groove sidewall of support is parallel with the leading screw center line, when servomotor rotated, square nut prolonged the square groove sidewall and does reciprocating linear motion in the rectangular groove of support, formed moving sets; Connect firmly connecting rod on the square nut, the spherical hinge on connecting rod top connects the spherical hinge seat, and the spherical hinge seat is installed on the moving platform, forms spherical pair.
Wherein, the center conllinear of internal thread axle center line, connecting rod axial line and the spherical pair of the center of revolute pair and electrical axis line, leading screw axial line, square nut, the rectangular groove sidewall of support is parallel with above center line.
When the vehicular earthquake simulator drives to a certain particular place, the vehicle that comes to a complete stop puts down column; During simulation, assistant driver seat Rotate 180 degree is backward faced control desk, use for the operator, by parameter correction seismic motion models such as control desk input magnitude of earthquake, degree of splitting, seismic wave form, duration, 4-RPS space parallel mechanism motion simulation 3-8 level earthquake effect, the sound system of control desk control simultaneously forms three-dimensional earthquake simulation environment.
The present invention has the following advantages: 1, the maximum displacement of general earthquake simulator relative equilibrium position is at ± 8cm, through motion analysis, the work space of 4-RPS space parallel mechanism is approximate mushroom, approximate mushroom work space is enough to cover maximum displacement, use more vertical and horizontal two cover motion or 6-dof motion platforms relatively, its structure is greatly simplified; 2, the kinematic chain structure is ingenious, when using support to support as servomotor, utilize the rotation of the rectangular groove restriction nut on the support, make the kinematic pair of feed screw nut become moving sets, the relative moving sets that forms by the stretching motion of oil cylinder, there are not huge auxiliary equipments such as Hydraulic Station, not only simple in structure, and precise control; 3, simple in structure, the precise control of the present invention, significant maneuverability can be widely used in the mobile earthquake popular science propaganda that crowds such as school, community concentrate the place.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is the RPS kinematic chain structural representation of Fig. 1
Among the figure: 1 load wagon, 2 control desks, 3 simulation rooms, 4 moving platforms, 5 4-RPS space parallel mechanisms, 6 fixed platforms, 7 autostairies, 8 columns, 9 spherical hinges, 10 connecting rods, 11 square nuts, 12 leading screws, 13 shaft couplings, 14 supports, 15 servomotors, 16 pins, 17 hinge seats.
Embodiment
As shown in Figure 1, 2, this vehicular earthquake simulator comprises load wagon 1, control desk 2, simulation room 3 and 4-RPS space parallel mechanism 5, control desk 2 is installed at rear portion at the pilothouse of load wagon 1, on the vehicle body of the rear portion of load wagon 1, simulation room 3 is installed by 4-RPS space parallel mechanism 5, control desk 2 interlock 4-RPS space parallel mechanisms 5, whole formation vehicular earthquake simulator.
Wherein, the rear cabin of load wagon 1 is installed control desk 2, assistant driver seat Rotate 180 degree is backward faced control desk, control desk sets in advance the earthquake simulation motion model, the operator is imported parameter correction seismic motion models such as magnitude of earthquake, degree of splitting, seismic wave form, duration by control desk, 4-RPS space parallel mechanism 5 motion simulation 3-8 level earthquake effects, the sound system of control desk control simultaneously forms three-dimensional earthquake simulation environment.
Wherein, four scalable columns 8 are installed below the vehicle body of the rear portion of load wagon 1, column puts down during simulator work, and column 8 supports vehicle body becomes fixed platform 6.
Wherein, simulation room 3 is mixed and made into by materials such as wood based panel and cystosepiments, has kitchen and toilet in it concurrently, comprises gas range, electric light, dining table, serviceable chest and other foreign material etc.
Wherein, outside simulation room 3, autostairs 7 is installed.
Wherein, 4-RPS space parallel mechanism 5 comprises four identical RPS kinematic chains and fixed platform 6 and moving platform 4, column 8 supports vehicle body becomes fixed platform 6, four RPS kinematic chains are installed on fixed platform 6, the distribution of on fixed platform, being rectangle of four RPS kinematic chains, the top of four RPS kinematic chains connects the distribution of being rectangle of 4, four RPS kinematic chains of moving platform altogether below moving platform, the top of moving platform 4 connects firmly simulation room 3.
Wherein, the R of RPS kinematic chain represents revolute pair, P represents moving sets, S represents spherical pair, the RPS kinematic chain comprises spherical hinge 9, connecting rod 10, square nut 11, leading screw 12, support 14, servomotor 15 and hinge seat 17, support 14 connects hinge seat 17 by pin 16, and hinge seat 17 is fixed on the fixed platform 6, forms revolute pair; Servomotor 15 is fixed on the support 14, servomotor 15 connects leading screw 12 by shaft coupling 13, square nut 11 is by the leading screw 12 that is threaded, square nut 11 is stuck in the rectangular groove of support 14 simultaneously, the rectangular groove sidewall of support 14 is parallel with leading screw 12 center lines, when servomotor 15 rotations, square nut 11 prolongs the square groove sidewall and does reciprocating linear motion in the rectangular groove of support 14, form moving sets; Connect firmly connecting rod 10 on the square nut 11, the spherical hinge 9 on connecting rod 10 tops connects the spherical hinge seat, and the spherical hinge seat is installed on the moving platform 4, forms spherical pair.
Wherein, the center conllinear of internal thread axle center line, connecting rod axial line and the spherical pair of the center of revolute pair and electrical axis line, leading screw axial line, square nut, the rectangular groove sidewall of support is parallel with above center line.
When the vehicular earthquake simulator drives to a certain particular place, the vehicle that comes to a complete stop puts down column 8; During simulation, assistant driver seat Rotate 180 degree is backward faced control desk 2, the operator is imported parameter correction seismic motion models such as magnitude of earthquake, degree of splitting, seismic wave form, duration by control desk, 4-RPS space parallel mechanism 5 motion simulation 3-8 level earthquake effects, the sound system of control desk control simultaneously forms three-dimensional earthquake simulation environment.
Claims (4)
1. based on the vehicular earthquake simulator of 4-RPS space parallel mechanism, it is characterized in that: this vehicular earthquake simulator comprises load wagon (1), control desk (2), simulation room (3) and 4-RPS space parallel mechanism (5), control desk (2) is installed at rear portion at the pilothouse of load wagon (1), on the rear portion vehicle body of load wagon (1), simulation room (3) is installed by 4-RPS space parallel mechanism (5), control desk (2) interlock 4-RPS space parallel mechanism (5), whole formation vehicular earthquake simulator; Wherein, 4-RPS space parallel mechanism (5) comprises four identical RPS kinematic chains, fixed platform (6) and moving platform (4), column (8) supports vehicle body becomes fixed platform (6), go up four RPS kinematic chains of installation at fixed platform (6), the distribution of on fixed platform, being rectangle of four RPS kinematic chains, the top of four RPS kinematic chains connects moving platform (4) altogether, the distribution of below moving platform, being rectangle of four RPS kinematic chains, and the top of moving platform (4) connects firmly simulation room (3); Wherein, the RPS kinematic chain comprises spherical hinge (9), connecting rod (10), square nut (11), leading screw (12), support (14) and servomotor (15), support (14) connects hinge seat (17) by pin (16), and hinge seat (17) is fixed on the fixed platform (6), forms revolute pair; Servomotor (15) is fixed on the support (14), servomotor (15) connects leading screw (12) by shaft coupling (13), square nut (11) is by the leading screw that is threaded (12), square nut (11) is stuck in the rectangular groove of support (14) simultaneously, the rectangular groove sidewall of support (14) is parallel with leading screw (12) center line, when servomotor (15) rotated, square nut (11) prolonged the square groove sidewall and does reciprocating linear motion in the rectangular groove of support (14), formed moving sets; Connect firmly connecting rod (10) on the square nut (11), the spherical hinge (9) on connecting rod (10) top connects the spherical hinge seat, and the spherical hinge seat is installed on the moving platform (4), forms spherical pair.
2. the vehicular earthquake simulator based on the 4-RPS space parallel mechanism according to claim 1, it is characterized in that: wherein, in the rear portion of load wagon (1) vehicle body below four telescopic described columns (8) are installed, column puts down during simulator work, and column (8) supports vehicle body becomes fixed platform (6).
3. the vehicular earthquake simulator based on the 4-RPS space parallel mechanism according to claim 1 is characterized in that: wherein, autostairs (7) is installed outside simulation room (3).
4. the vehicular earthquake simulator based on the 4-RPS space parallel mechanism according to claim 1, it is characterized in that: wherein, the center conllinear of internal thread axle center line, connecting rod axial line and the spherical pair of the center of revolute pair and servomotor axle center line, leading screw axial line, square nut, the rectangular groove sidewall of support and servomotor axle center line, leading screw axial line, the internal thread axle center line of square nut, connecting rod axis parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101637146A CN101819727B (en) | 2010-04-28 | 2010-04-28 | Vehicular earthquake simulator based on 4-RPS (Range Positioning System) space parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101637146A CN101819727B (en) | 2010-04-28 | 2010-04-28 | Vehicular earthquake simulator based on 4-RPS (Range Positioning System) space parallel mechanism |
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| Publication Number | Publication Date |
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| CN101819727A CN101819727A (en) | 2010-09-01 |
| CN101819727B true CN101819727B (en) | 2011-07-27 |
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| CN2010101637146A Expired - Fee Related CN101819727B (en) | 2010-04-28 | 2010-04-28 | Vehicular earthquake simulator based on 4-RPS (Range Positioning System) space parallel mechanism |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101958080B (en) * | 2010-09-10 | 2012-10-03 | 施成云 | Earthquake simulation platform |
| CN102581847A (en) * | 2012-03-21 | 2012-07-18 | 上海大学 | Three-degree-of-freedom bionic eye parallel mechanism |
| CN103862458A (en) * | 2012-12-11 | 2014-06-18 | 天津工业大学 | Six-degree-of-freedom parallel platform for airborne servo system |
| CN103680280B (en) * | 2013-12-18 | 2016-05-18 | 宁波市北仑科导电子有限公司 | A kind of six axle earthquake simulation experience platform |
| CN104401245A (en) * | 2014-11-27 | 2015-03-11 | 重庆欧派信息科技有限责任公司 | Quakeproof disaster-reduction propaganda car |
| CN108133656A (en) * | 2017-12-26 | 2018-06-08 | 安徽新视野科教文化股份有限公司 | A kind of lamp for simulating earthquake scene shakes apparatus for demonstrating |
| CN109102733A (en) * | 2018-11-13 | 2018-12-28 | 泰州睿诚自动化科技有限公司 | A kind of earthquake experience device being applicable in different crowd and method |
| CN109909982A (en) * | 2019-04-24 | 2019-06-21 | 河海大学常州校区 | A kind of climbing robot based on 4-RPS parallel institution |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4139168B2 (en) * | 2002-09-09 | 2008-08-27 | カヤバ システム マシナリー株式会社 | Seismic device |
| JP2009098405A (en) * | 2007-10-17 | 2009-05-07 | Kayaba System Machinery Kk | Earthquake generating car |
| CN201673627U (en) * | 2010-04-28 | 2010-12-15 | 淮阴工学院 | Vehicular earthquake simulator based on 4-RPS spatial parallel mechanism |
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Application publication date: 20100901 Assignee: Jiangsu Shengbo Metal Products Co., Ltd. Assignor: Huaijin Polytechnical College Contract record no.: 2014320000408 Denomination of invention: Vehicular earthquake simulator based on 4-RPS (Range Positioning System) space parallel mechanism Granted publication date: 20110727 License type: Exclusive License Record date: 20140520 |
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Granted publication date: 20110727 Termination date: 20180428 |