CN102637374A - Six-degree-of-freedom platform realized by virtue of link mechanisms - Google Patents
Six-degree-of-freedom platform realized by virtue of link mechanisms Download PDFInfo
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- CN102637374A CN102637374A CN2012101221708A CN201210122170A CN102637374A CN 102637374 A CN102637374 A CN 102637374A CN 2012101221708 A CN2012101221708 A CN 2012101221708A CN 201210122170 A CN201210122170 A CN 201210122170A CN 102637374 A CN102637374 A CN 102637374A
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Abstract
The invention discloses a six-degree-of-freedom platform realized by virtue of link mechanisms. The six-degree-of-freedom platform is connected with a reducer by adopting six link mechanisms, the reducer is connected with a stepping motor, a signal is processed by a singlechip and transmitted to a controller, and the controller controls the stepping motor and the reducer to manipulate a first connecting rod and drive a second connecting rod to go up and down, so as to realize the side-to-side movement, front-to-back movement, left-right pitching and tossing and front-back pitching and tossing of a movable platform and realize pitching or tossing of a simulated driving seat in various directions, thus movement of the movable platform has higher degree of freedom and the reality of situation simulation is improved. The link mechanisms are connected between the reducer and the movable platform in certain angle in an inclined manner, thus the link mechanisms can stably support the movable platform.
Description
Technical field
The present invention relates to a kind of six degree of freedom platform, the six degree of freedom platform that especially a kind of linkage assembly is realized.
Background technology
In existing simulated operating system, especially the engineering machinery simulated operating system, the user is sitting on the seat and carries out simulated operation through the control lever on the teaching appliance, pedal, action button etc.; And the picture of the display display simulation that is provided with on the teaching appliance feeds back user's operation; But this kind feedback only forms visual feedback to the user; And can't simulate the feedback of jolting or tilting of driver seat under concrete operating environment, the sight that simulates is restricted.
So, need a kind of new technical scheme to address the above problem.
Summary of the invention
The objective of the invention is the deficiency that exists to prior art, provide a kind of and can the drive simulating seat tilt or six degree of freedom platform that the linkage assembly that jolts is realized.
For realizing above-mentioned purpose, the six degree of freedom platform that linkage assembly of the present invention is realized can adopt following technical scheme:
The six degree of freedom platform that a kind of linkage assembly is realized comprises silent flatform, in order to support moving platform that simulated operating system uses, be fixed in six stepper motors, six speed reduction units that are connected with stepper motor respectively on the silent flatform, connect six linkage assemblys of each speed reduction unit and moving platform; Said linkage assembly comprises first connecting rod and second connecting rod; One end of said first connecting rod rigidly connects on the output shaft of speed reduction unit; One end of second connecting rod and first connecting rod is hinged and the other end is connected on the moving platform through connector, said linkage assembly are being connected between speed reduction unit and the moving platform of tilting; The six degree of freedom platform that this linkage assembly is realized also comprises the control gear of the controller of connection and control step motor, the single-chip microcomputer that connects controller, the computing machine that connects single-chip microcomputer, the display that connects computing machine and connection single-chip microcomputer.
Compare with background technology; First connecting rod is rotated and drives second connecting rod through controlling six stepper motors in the six degree of freedom platform that linkage assembly of the present invention is realized; And the adjustable height through controlling six second connecting rods is or/and the difference of speed changes the angle that moving platform tilts or the speed of angle of inclination conversion; Thereby the inclination that driver's seat is simulated under the specific environment is perhaps jolted, and has improved the validity of scenario simulation.Said linkage assembly is being connected between speed reduction unit and the moving platform of tilting at a certain angle, can make linkage assembly firm to the support of moving platform like this.
Description of drawings
Fig. 1 is the structural representation of the six degree of freedom platform of linkage assembly realization of the present invention.
Fig. 2 is the structural representation of operating system in the six degree of freedom platform of linkage assembly realization of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment; Further illustrate the present invention; Should understand these embodiments only be used to the present invention is described and be not used in the restriction scope of the present invention; After having read the present invention, those skilled in the art all fall within the application's accompanying claims institute restricted portion to the modification of the various equivalent form of values of the present invention.
See also Fig. 1 and shown in Figure 2; The present invention discloses the six degree of freedom platform 100 that a kind of linkage assembly is realized; Comprise mechanical system and control system, wherein mechanical system comprise silent flatform 20, in order to support moving platform 30 that simulated operating system uses, be fixed in six stepper motors 41, six speed reduction units 42 that are connected with stepper motor 41 respectively on the silent flatform 20, connect six linkage assemblys of each speed reduction unit 42 and moving platform 30.Said linkage assembly comprises first connecting rod 43 and second connecting rod 44; One end of said first connecting rod 43 rigidly connects on the output shaft 42 of speed reduction unit; One end of second connecting rod 44 and first connecting rod 43 are hinged and the other end is connected on the moving platform 30 through connector 45, and said connector 45 is ball pivot or oscillating bearing or universal joint.Said linkage assembly is being connected between speed reduction unit 42 and the moving platform 30 of tilting at a certain angle, and the tie point of six linkage assemblys and moving platform 30 all is positioned on the same circumference, thereby can make linkage assembly more firm to the support of moving platform 30.See also shown in Figure 2, control system comprise connect and the controller of control step motor, connect controller single-chip microcomputer, connect single-chip microcomputer computing machine, connect the display of computing machine and the control gear that connects single-chip microcomputer.Said control gear; Like operating rod etc.; Obtain user's control and to single-chip microcomputer output signal, the single-chip microcomputer processing signals is also sent indication to controller and is made controller control step rotating speed of motor, thus the control link motion of mechanism; While single-chip microcomputer and computing machine switching signal, computing machine demonstrates the image of corresponding user's operation simulation on display through the software that sets.When in some simulated scenario, needing the inclination of drive simulating seat or jolting; Controlling six stepper motors 41 makes first connecting rod 43 rotate and drive second connecting rod 44 up-downs; And the adjustable height through controlling six second connecting rods 44 is or/and the difference of speed changes the angle that moving platform 30 tilts or the speed of angle of inclination conversion; Thereby the inclination that driver's seat is simulated under the specific environment is perhaps jolted, and has improved the validity of scenario simulation.And six linkage assemblys can simulate more scene, like translation, inclination or the swing of driver's seat in all directions, thereby can simulate more scene, have improved the validity of scenario simulation.
Claims (3)
1. the six degree of freedom platform realized of a linkage assembly is characterized in that: comprise silent flatform, in order to support moving platform that simulated operating system uses, be fixed in six stepper motors, six speed reduction units that are connected with stepper motor respectively on the silent flatform, connect six linkage assemblys of each speed reduction unit and moving platform; Said linkage assembly comprises first connecting rod and second connecting rod, and an end of said first connecting rod rigidly connects on the output shaft of speed reduction unit, an end of second connecting rod and first connecting rod is hinged and the other end is connected on the moving platform through connector; Said linkage assembly is being connected between speed reduction unit and the moving platform of inclination; The six degree of freedom platform that this linkage assembly is realized also comprises the control gear of the controller of connection and control step motor, the single-chip microcomputer that connects controller, the computing machine that connects single-chip microcomputer, the display that connects computing machine and connection single-chip microcomputer.
2. the six degree of freedom platform that linkage assembly as claimed in claim 1 is realized, it is characterized in that: said connector is ball pivot or oscillating bearing or universal joint.
3. the six degree of freedom platform realized of according to claim 1 or claim 2 linkage assembly, it is characterized in that: the tie point of said six linkage assemblys and moving platform all is positioned on the same circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101221708A CN102637374A (en) | 2012-04-24 | 2012-04-24 | Six-degree-of-freedom platform realized by virtue of link mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101221708A CN102637374A (en) | 2012-04-24 | 2012-04-24 | Six-degree-of-freedom platform realized by virtue of link mechanisms |
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| CN102637374A true CN102637374A (en) | 2012-08-15 |
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| CN2012101221708A Pending CN102637374A (en) | 2012-04-24 | 2012-04-24 | Six-degree-of-freedom platform realized by virtue of link mechanisms |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104121929A (en) * | 2014-06-13 | 2014-10-29 | 北京航天控制仪器研究所 | Novel three-axle swinging platform |
| CN110587558A (en) * | 2019-09-11 | 2019-12-20 | 国网山东省电力公司烟台市福山区供电公司 | Portable all-round operation panel of electric power marketing |
| WO2022178804A1 (en) * | 2021-02-26 | 2022-09-01 | 慕朝芬 | Anti-myopia reading book stand based on magneto-rheological material |
| CN115043229A (en) * | 2022-05-19 | 2022-09-13 | 武汉蓝颖新能源有限公司 | Automatic unloading system for biomass bulk materials |
| CN116129732A (en) * | 2023-02-09 | 2023-05-16 | 哈尔滨工业大学 | Seven-degree-of-freedom motion simulation platform for simulating marine swing of ship |
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| JPH10110799A (en) * | 1996-10-02 | 1998-04-28 | Hitachi Ltd | Motion base |
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| US20050277092A1 (en) * | 2004-06-01 | 2005-12-15 | Thong-Shing Hwang | Motion platform device for spatial disorientation simulation |
| CN101387907A (en) * | 2008-10-30 | 2009-03-18 | 哈尔滨工业大学 | Six freedom degree two-in-parallel haptic interface device based on flexible drive |
| CN102240911A (en) * | 2011-06-15 | 2011-11-16 | 天津职业技术师范大学 | Incompletely-symmetrical four-freedom-degree space in-parallel mechanism with two-dimensional rotation and two-dimensional movement |
| CN202061363U (en) * | 2011-04-11 | 2011-12-07 | 东莞市新雷神仿真控制有限公司 | Three-degree-of-freedom motion platform |
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| JPH10110799A (en) * | 1996-10-02 | 1998-04-28 | Hitachi Ltd | Motion base |
| CN2332451Y (en) * | 1998-04-02 | 1999-08-11 | 刘敬平 | Six-freedom dynamic compound simulated sports appts. |
| US20050277092A1 (en) * | 2004-06-01 | 2005-12-15 | Thong-Shing Hwang | Motion platform device for spatial disorientation simulation |
| CN101387907A (en) * | 2008-10-30 | 2009-03-18 | 哈尔滨工业大学 | Six freedom degree two-in-parallel haptic interface device based on flexible drive |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104121929A (en) * | 2014-06-13 | 2014-10-29 | 北京航天控制仪器研究所 | Novel three-axle swinging platform |
| CN104121929B (en) * | 2014-06-13 | 2016-09-21 | 北京航天控制仪器研究所 | A kind of three-axis swinging platform |
| CN110587558A (en) * | 2019-09-11 | 2019-12-20 | 国网山东省电力公司烟台市福山区供电公司 | Portable all-round operation panel of electric power marketing |
| WO2022178804A1 (en) * | 2021-02-26 | 2022-09-01 | 慕朝芬 | Anti-myopia reading book stand based on magneto-rheological material |
| CN115043229A (en) * | 2022-05-19 | 2022-09-13 | 武汉蓝颖新能源有限公司 | Automatic unloading system for biomass bulk materials |
| CN116129732A (en) * | 2023-02-09 | 2023-05-16 | 哈尔滨工业大学 | Seven-degree-of-freedom motion simulation platform for simulating marine swing of ship |
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Application publication date: 20120815 |