CN102755755A - Full-circle slewing multi-degree of freedom dynamic device - Google Patents
Full-circle slewing multi-degree of freedom dynamic device Download PDFInfo
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- CN102755755A CN102755755A CN2012102383907A CN201210238390A CN102755755A CN 102755755 A CN102755755 A CN 102755755A CN 2012102383907 A CN2012102383907 A CN 2012102383907A CN 201210238390 A CN201210238390 A CN 201210238390A CN 102755755 A CN102755755 A CN 102755755A
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Abstract
A full-circle slewing multi-degree of freedom dynamic device comprises a dynamic trolley, a multi-degree of freedom driving device, a multi-degree of freedom motion platform and a special effect seat, wherein the dynamic trolley comprises a trolley frame and a track fixed with a building; and a dynamic trolley driver and a wheel set matched with the track are arranged on the trolley frame. The full-circle slewing multi-degree of freedom dynamic device is characterized in that a full-circle slewing motion platform is arranged on the trolley frame and comprises a slewing platform driver, a rotating spindle and a full-circle slewing platform body; the slewing platform driver is arranged on the trolley frame; the rotating spindle is arranged on the trolley frame in a penetrating manner and is connected with the full-circle slewing platform body; the multi-degree of freedom driving device comprises a plurality of telescopic rods and a plurality of hooke hinges, wherein one ends of the telescopic rods are connected with the full-circle slewing platform body through the hooke hinges respectively, and the other ends are connected with the multi-degree of freedom motion platform through the hooke hinges respectively; the full-circle slewing platform body, the telescopic rods and the multi-degree of freedom motion platform form a multi-degree of freedom platform; and the special effect seat is fixedly connected with the multi-degree of freedom motion platform.
Description
Technical field
The present invention relates to the public entertainment facility, refer to the dynamic device of a kind of full circle swinging multiple degrees of freedom particularly.
Background technology
At present; In all kinds of dynamic cinemas or public place of entertainment; For letting visitor or spectators experience the simulated effect of scene, often utilize a kind of multivariant motion platform, this platform or being installed on the corresponding mechanical device of landing or hang; Under the compound motion of multi-degree-of-freedom motion platform, reach certain simulated effect.Like the novel patent " suspension type body sense analog machine " (application number 96212040) of Taiwan, and the application for a patent for invention of China's Mainland " innervation is taken advantage of an evaluation equipment in the movie theatre " (application number 201010125771.5) etc.But the seat in the said equipment all can only be made six-freedom motion under movable plane effect, and can not do the full circle swinging campaign, and this can influence the experience true to nature like special screnes such as cyclone the condition of a disasters, also in 360 degree full views watchings, is limited to.
Summary of the invention
Technical problem to be solved by this invention just provides a kind of full circle swinging multiple degrees of freedom and carries platform, can make seat when realizing multifreedom motion, realizes that its full circle swinging rotatablely moves.
For solving the problems of the technologies described above, a kind of full circle swinging multiple degrees of freedom provided by the invention carries platform, comprises dynamic dolly, multiple degrees of freedom drive unit, multi-degree-of-freedom motion platform and special efficacy seat; Said dynamic dolly comprise trolley frame and with the building fixed track; Trolley frame be provided with dynamic dolly driver and with the set of wheels of said track phase configuration; Be used for track slip in the driving lower edge of dynamic dolly driver; Its special feature is: said trolley frame is provided with the full circle swinging motion platform, and the full circle swinging motion platform comprises revolving dial driver, rotary main shaft and full circle swinging platform, and the revolving dial driver is arranged on the trolley frame; Rotary main shaft is arranged on the trolley frame and with the full circle swinging platform and is connected, and being used under the driving of revolving dial driver, making the full circle swinging platform is the axle rotation with the rotary main shaft; Said multiple degrees of freedom drive unit comprises many expansion links and some Hookes strand; One end of many expansion links respectively through Hooke strand is connected with the full circle swinging platform, the other end twists through Hooke respectively and is connected with said multi-degree-of-freedom motion platform, full circle swinging platform, many expansion links and multi-degree-of-freedom motion platform formation multiple degrees of freedom platform; Said special efficacy seat is fixedly connected with multi-degree-of-freedom motion platform.
In the technique scheme, said revolving dial driver is arranged at trolley frame end face or bottom surface, and an end of rotary main shaft passes trolley frame with revolving dial output end of driver transmission cooperation, the other end and is connected with the full circle swinging platform.Perhaps, said revolving dial driver is arranged at the trolley frame side, and the edge of full circle swinging platform cooperates with the transmission of revolving dial output end of driver, and being used under the revolving dial driver drives, making the full circle swinging platform is the axle rotation with the rotary main shaft.
In the technique scheme, said rotary main shaft is made up of jackshaft and top rotary table, and rotary main shaft links to each other with trolley frame through rolling mechanism.
In the technique scheme, the said and set of wheels track phase configuration comprises running wheel group and the horizontal set of wheels that lays respectively at the track both sides.
Further, said track is parallel two, and said running wheel group is positioned at two track inboards, and horizontal set of wheels (1.3) is positioned at two track outsides.
In the technique scheme, said expansion link is electronic cylinder, hydraulic cylinder or the digital cylinder that is driven by servomotor.
In the technique scheme, said special efficacy seat is positioned at the multi-degree-of-freedom motion platform upper surface or is hung on below, multi-degree-of-freedom motion platform bottom surface.
In the technique scheme, said special efficacy seat comprises and the fixing seat steel construction of multi-degree-of-freedom motion platform that the top of seat steel construction is provided with the seat top cover, the middle part is provided with safety and presses thick stick and/or safety belt.
Further, said seat top cover is provided with the special efficacy device.
Compared with prior art; Beneficial effect of the present invention is: the setting of full circle swinging motion platform; Make traditional multidimensional seat in the full circle swinging campaign that has realized again on the basis of original maximum six-freedom motions under the different angular speed, can bring stronger and impression realistically to spectators; Simultaneously, the full circle swinging motion platform has been realized spectators' full views watching in 360 ° of scopes, is suitable for the viewing in the annular screen.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the vertical view of special efficacy seat arrangement among Fig. 1.
Fig. 3 is the structural representation of another embodiment of the present invention.
Among the figure: 1-dynamic dolly (wherein: 1.1-track, 1.2-running wheel group, 1.3-horizontal set of wheels, 1.4-dynamic dolly driver, 1.5-trolley frame); 2-full circle swinging motion platform (wherein: 2.1-revolving dial driver, 2.2-rotary main shaft, 2.21-jackshaft, 2.22-top rotary table, 2.3-full circle swinging platform, 2.4-rolling mechanism); 3-multiple degrees of freedom drive unit (wherein: 3.1-electronic cylinder, 3.2-servomotor, 3.3-Hooke strand); 4-multi-degree-of-freedom motion platform, 5-special efficacy seat (wherein: 5.1-seat top cover, 5.2-seat steel construction, 5.3-safety are pressed thick stick, 5.4-special efficacy device).
The specific embodiment
Below in conjunction with accompanying drawing specific embodiment of the present invention is done further to describe in detail.
Embodiment 1 (suspension type).
As depicted in figs. 1 and 2, the dynamic device of a kind of full circle swinging multiple degrees of freedom of the present invention comprises dynamic dolly 1, full circle swinging motion platform 2, multiple degrees of freedom drive unit 3, multi-degree-of-freedom motion platform 4 and special efficacy seat 5.
Wherein, Dynamic dolly 1 comprise trolley frame 1.5 and with building fixed track 1.1, trolley frame 1.5 be provided with dynamic dolly driver 1.4 and with the set of wheels of above-mentioned track 1.1 phase configuration, be used for that track 1.1 slides in the driving lower edge of dynamic dolly driver 1.4; In the present embodiment; Track 1.1 is parallel two, i.e. double track, and set of wheels comprises the running wheel group 1.2 and horizontal set of wheels 1.3 that lays respectively at track 1.1 both sides; Running wheel group 1.2 is positioned at two track 1.1 inboards, is used for the walking of dynamic dolly 1 along track 1.1; Horizontal set of wheels 1.3 is positioned at two track 1.1 outsides, relative with corresponding running wheel group 1.2, is used for the guiding of dynamic dolly 1, prevents that running wheel group 1.2 from de-orbiting 1.1.
Full circle swinging motion platform 2 comprises revolving dial driver 2.1, rotary main shaft 2.2 and full circle swinging platform 2.3.Fig. 1 has illustrated a kind of embodiment of full circle swinging motion platform 2.Its structure is: revolving dial driver 2.1 is arranged at trolley frame 1.5 sides; The edge of full circle swinging platform 2.3 cooperates (like gear drive etc.) with the output transmission of revolving dial driver 2.1, it serves as the axle rotation with rotary main shaft 2.2 that revolving dial driver 2.1 directly drives full circle swinging platform 2.3.Rotary main shaft 2.2 is made up of jackshaft 2.21 and top rotary table 2.22, for guaranteeing the location between rotary main shaft 2.2 and the trolley frame 1.5 and relatively rotating, between top rotary table 2.22 and trolley frame 1.5, is provided with rolling mechanism 2.4, like ball bearing etc.Full circle swinging motion platform 2 can also be another kind of mechanism (the not shown in the figures meaning out): revolving dial driver 2.1 is arranged at trolley frame 1.5 end faces; One end of rotary main shaft 2.2 and the output shaft of revolving dial driver 2.1 link to each other, the other end passes trolley frame 1.5 and be connected with full circle swinging platform 2.3; The power of revolving dial driver 2.1 passes to full circle swinging platform 2.3 here through rotary main shaft 2.2; Rotary main shaft 2.2 can be the mechanism of above-mentioned jackshaft 2.21 and top rotary table 2.22, and promptly the edge of top rotary table 2.22 cooperates with the output transmission of revolving dial driver 2.1; Also can only comprise a jackshaft 2.21, drive jackshaft 2.21 rotations by revolving dial driver 2.1.
Multiple degrees of freedom drive unit 3 comprises many expansion links and some Hookes strand 3.3; One end of many expansion links respectively through Hooke strand 3.3 is connected with full circle swinging platform 2.3 bottom surfaces, the other end passes through Hooke respectively and twists 3.3 and be connected with the end face of multi-degree-of-freedom motion platform 4; Full circle swinging platform 2.3, many expansion links and multi-degree-of-freedom motion platform 4 constitute the multiple degrees of freedom platforms, the multifreedom motion of flexible realization multi-degree-of-freedom motion platform 4 top to bottom, left and right, front and rear that at most can be through each expansion link.In the present embodiment, expansion link is the electronic cylinder 3.1 of the six roots of sensation that is driven by servomotor 3.2.
Embodiment 2 (console mode).
Other structure of present embodiment is identical with embodiment 1; Difference only is to be followed successively by from bottom to up dynamic dolly 1, full circle swinging motion platform 2, multiple degrees of freedom drive unit 3 and multi-degree-of-freedom motion platform 4, and special efficacy seat 5 is arranged at multi-degree-of-freedom motion platform 4 upper surfaces.
When this device was applied to the movie theatre of annular screen, its course of work was:
1, spectators are multiplied by special efficacy seat 5 under full-time waiter leads;
2, full-time waiter fastens seat belts, presses safety for every spectators and presses thick stick 5.3, locking electronic lock separately;
3, projection beginning; Start the software program of dynamic dolly 1 and multiple degrees of freedom drive unit 3; Special efficacy seat 5 rises under the control of multiple degrees of freedom drive unit 3 slowly, and the motion under dynamic dolly driver 1.4 effects of dynamic dolly 1 arrives assigned address, and dynamic dolly 1 stops;
4, under the Master Control Room monitoring, control multi-degree-of-freedom motion platform 4 drives special efficacy seat 5 in this position with the video display plot and makes multifreedom motion, and special efficacy device 5.4 is also according to plot dispensing special efficacy;
5, finish in the projection of above-mentioned position, shop, dynamic dolly 1 visual field demand continues to move ahead and circulation step 3 ~ 4, watches next scene, or gets back to initially.Last whole audience projection finishes, and drops to minimum point at multiple degrees of freedom drive unit 3 control multi-degree-of-freedom motion platforms 4 initially;
6, treat that special efficacy seat 5 is got back to initial position after, open safety belt for every spectators by full-time waiter and press thick stick 5.3 electronic locks with safety, spectators can leave special efficacy seat 5.
Core of the present invention is the setting of full circle swinging motion platform 2, makes seat when realizing multifreedom motion, realizes that its full circle swinging rotatablely moves.So its protection domain is not limited to the foregoing description.Obviously; Those skilled in the art can carry out various changes and distortion and do not depart from the scope of the present invention and spirit the present invention; For example: in the full circle swinging motion platform 2; It is said that the structure of revolving dial driver 2.1 and type of drive are not limited to embodiment, as long as can realize the rotation driving and the angular speed control of full circle swinging platform; Be not limited to the structure of above-mentioned running wheel group that is oppositely arranged 1.2 and horizontal set of wheels 1.3 with the set of wheels of track 1.1 phase configuration, adopt that paired existing structures such as running wheel also are feasible in the conventional apparatus; Track 1.1 also can adopt the structure of single track; Hydraulic cylinder or digital cylinder that expansion link adopts servomotor 3.2 to drive also can be realized present technique scheme etc.If these changes and distortion belong in the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and is out of shape interior.
Claims (10)
1. the dynamic device of full circle swinging multiple degrees of freedom comprises dynamic dolly (1), multiple degrees of freedom drive unit (3), multi-degree-of-freedom motion platform (4) and special efficacy seat (5); Said dynamic dolly (1) comprise trolley frame (1.5) and with building fixed track (1.1); Trolley frame (1.5) be provided with dynamic dolly driver (1.4) and with the set of wheels of said track (1.1) phase configuration; Be used for sliding at the driving lower edge of dynamic dolly driver (1.4) track (1.1); It is characterized in that: said trolley frame (1.5) is provided with full circle swinging motion platform (2); Full circle swinging motion platform (2) comprises revolving dial driver (2.1), rotary main shaft (2.2) and full circle swinging platform (2.3); Revolving dial driver (2.1) is arranged on the trolley frame (1.5); Rotary main shaft (2.2) is arranged in trolley frame (1.5) and upward and with full circle swinging platform (2.3) is connected, and being used under the driving of revolving dial driver (2.1), making full circle swinging platform (2.3) serves as the axle rotation with rotary main shaft (2.2); Said multiple degrees of freedom drive unit (3) comprises many expansion links and some Hookes strand (3.3); One end of many expansion links respectively through Hooke strand (3.3) is connected with full circle swinging platform (2.3), the other end twists (3.3) through Hooke respectively and is connected with said multi-degree-of-freedom motion platform (4), full circle swinging platform (2.3), many expansion links and multi-degree-of-freedom motion platform (4) formation multiple degrees of freedom platform; Said special efficacy seat (5) is fixedly connected with multi-degree-of-freedom motion platform (4).
2. the dynamic device of full circle swinging multiple degrees of freedom according to claim 1; It is characterized in that: said revolving dial driver (2.1) is arranged at trolley frame (1.5) end face or bottom surface, and an end of rotary main shaft (2.2) passes trolley frame (1.5) with output transmission cooperation, the other end of revolving dial driver (2.1) and is connected with full circle swinging platform (2.3).
3. the dynamic device of full circle swinging multiple degrees of freedom according to claim 1; It is characterized in that: said revolving dial driver (2.1) is arranged at trolley frame (1.5) side; The edge of full circle swinging platform (2.3) cooperates with the output transmission of revolving dial driver (2.1), and being used under revolving dial driver (2.1) drives, making full circle swinging platform (2.3) serves as the axle rotation with rotary main shaft (2.2).
4. according to the dynamic device of the described full circle swinging multiple degrees of freedom of arbitrary claim in the claim 1 to 3; It is characterized in that: said rotary main shaft (2.2) is made up of jackshaft (2.21) and top rotary table (2.22), and rotary main shaft (2.2) links to each other with trolley frame (1.5) through rolling mechanism (2.4).
5. according to the dynamic device of the described full circle swinging multiple degrees of freedom of arbitrary claim in the claim 1 to 3, it is characterized in that: said and set of wheels track (1.1) phase configuration comprises running wheel group (1.2) and the horizontal set of wheels (1.3) that lays respectively at track (1.1) both sides.
6. the dynamic device of full circle swinging multiple degrees of freedom according to claim 5; It is characterized in that: said track (1.1) is parallel two; Said running wheel group (1.2) is positioned at two tracks (1.1) inboard, and horizontal set of wheels (1.3) is positioned at two tracks (1.1) outside.
7. according to the dynamic device of the described full circle swinging multiple degrees of freedom of arbitrary claim in the claim 1 to 3, it is characterized in that: electronic cylinder (3.1), hydraulic cylinder or the digital cylinder of said expansion link for driving by servomotor (3.2).
8. according to the dynamic device of the described full circle swinging multiple degrees of freedom of arbitrary claim in the claim 1 to 3, it is characterized in that: said special efficacy seat (5) is positioned at multi-degree-of-freedom motion platform (4) upper surface or is hung on below, multi-degree-of-freedom motion platform (4) bottom surface.
9. according to the dynamic device of the described full circle swinging multiple degrees of freedom of arbitrary claim in the claim 1 to 3; It is characterized in that: said special efficacy seat (5) comprises and the fixing seat steel construction (5.2) of multi-degree-of-freedom motion platform (4) that the top of seat steel construction (5.2) is provided with seat top cover (5.1), the middle part is provided with safety and presses thick stick (5.3) and/or safety belt.
10. the dynamic device of full circle swinging multiple degrees of freedom according to claim 9, it is characterized in that: said seat top cover (5.1) is provided with special efficacy device (5.4).
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| CN2012102383907A CN102755755A (en) | 2012-07-11 | 2012-07-11 | Full-circle slewing multi-degree of freedom dynamic device |
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| CN2012102383907A CN102755755A (en) | 2012-07-11 | 2012-07-11 | Full-circle slewing multi-degree of freedom dynamic device |
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| CN103212205A (en) * | 2013-04-24 | 2013-07-24 | 王鹏勃 | Large engine-driven multi-degree of freedom (DOF) ride-on type entertainment experience device |
| CN103309328A (en) * | 2013-06-07 | 2013-09-18 | 上海德理孚自动化系统有限公司 | Distributed motion simulation system and control method thereof |
| CN103341271A (en) * | 2013-06-25 | 2013-10-09 | 上海德理孚自动化系统有限公司 | Dynamic audio and video system with multiple freedom degrees |
| CN103622348A (en) * | 2013-12-05 | 2014-03-12 | 大连博跃科技发展有限公司 | One-driving-two electric cylinder dynamic seat |
| CN103623585A (en) * | 2013-11-13 | 2014-03-12 | 芜湖华强文化科技产业有限公司 | Spraying device used for flight simulation |
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| CN105005321A (en) * | 2015-06-09 | 2015-10-28 | 万达文化旅游规划研究院有限公司 | Drop tower and dynamic riding motion system thereof |
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| CN108477902A (en) * | 2018-04-02 | 2018-09-04 | 歌尔股份有限公司 | Experience platform driving equipment and virtual reality experience chair |
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| CN112274951A (en) * | 2020-12-29 | 2021-01-29 | 首望体验科技文化有限公司 | Projection system of panoramic cinema and panoramic cinema |
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| CN103341271A (en) * | 2013-06-25 | 2013-10-09 | 上海德理孚自动化系统有限公司 | Dynamic audio and video system with multiple freedom degrees |
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| CN103622348A (en) * | 2013-12-05 | 2014-03-12 | 大连博跃科技发展有限公司 | One-driving-two electric cylinder dynamic seat |
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| CN103691134B (en) * | 2013-12-30 | 2015-09-09 | 深圳华侨城文化旅游科技股份有限公司 | A kind of Platform-type kinetic car |
| CN104043255B (en) * | 2014-07-07 | 2016-01-20 | 江西省机械科学研究所 | Three translations input the 4D specific seat that multiple 3-PRS mechanism exports |
| CN104043255A (en) * | 2014-07-07 | 2014-09-17 | 江西省机械科学研究所 | 4D special-effect seat capable of achieving three-horizontal-movement input and multiple-3-PRS-mechanism output |
| CN104623911A (en) * | 2014-12-08 | 2015-05-20 | 燕山大学 | Six-freedom-degree series-parallel domestic dynamic seat |
| CN105005321A (en) * | 2015-06-09 | 2015-10-28 | 万达文化旅游规划研究院有限公司 | Drop tower and dynamic riding motion system thereof |
| CN106466531A (en) * | 2016-02-05 | 2017-03-01 | 深圳滨海航空文化科技有限公司 | A kind of dynamic viewing system of crossings on different level |
| CN106466531B (en) * | 2016-02-05 | 2019-07-19 | 深圳滨海航空文化科技有限公司 | A kind of crossings on different level dynamic viewing system |
| WO2019127988A1 (en) * | 2017-12-29 | 2019-07-04 | 海口未来技术研究院 | Motion simulation device |
| CN108477902A (en) * | 2018-04-02 | 2018-09-04 | 歌尔股份有限公司 | Experience platform driving equipment and virtual reality experience chair |
| CN109876462A (en) * | 2018-12-17 | 2019-06-14 | 黎凯俊 | A kind of virtual reality high-altitude flight experience apparatus with governor weight system |
| CN109876462B (en) * | 2018-12-17 | 2020-07-10 | 黎凯俊 | Virtual reality high altitude flight experience device with centrifugal counter weight system |
| CN113613745A (en) * | 2019-04-01 | 2021-11-05 | 环球城市电影有限责任公司 | Rotary platform glider |
| CN112274951A (en) * | 2020-12-29 | 2021-01-29 | 首望体验科技文化有限公司 | Projection system of panoramic cinema and panoramic cinema |
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