CN103253385A - Space six-degree-of-freedom controlled and weightless simulation device - Google Patents
Space six-degree-of-freedom controlled and weightless simulation device Download PDFInfo
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- CN103253385A CN103253385A CN2013102065504A CN201310206550A CN103253385A CN 103253385 A CN103253385 A CN 103253385A CN 2013102065504 A CN2013102065504 A CN 2013102065504A CN 201310206550 A CN201310206550 A CN 201310206550A CN 103253385 A CN103253385 A CN 103253385A
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Abstract
The invention relates to a controlled and weightless simulation device, in particular to a space six-degree-of-freedom controlled and weightless simulation device. The space six-degree-of-freedom controlled and weightless simulation device solves the problems that a hydraulic system of an existing simulation device is large in size, high in maintenance cost and big in control difficulty, and elements are prone to leakage. Six supporting columns are evenly distributed between the upper surface of a base and the lower surface of a top ring. A vertical motion mechanism is arranged on the upper surface of the base. The upper end of the vertical motion mechanism is connected with the middle of the lower surface of a frame body. A planar parallel mechanism is arranged on the upper surface of the frame body. A pitching yaw motion mechanism is arranged at the upper end of the planar parallel mechanism. Three connecting rods are evenly distributed on the edge of the frame body. End portions of the connecting rods are respectively connected with the outer sidewalls of the corresponding supporting columns in a sliding mode. Ends of ropes of passive gravity balancing blocks respectively wind around pulleys on the corresponding supporting columns and are connected with the edges of the frame body. The space six-degree-of-freedom controlled and weightless simulation device is applied to space six-degree-of-freedom controlled and weightless simulation.
Description
Technical field
The present invention relates to a kind of controlled and weightless flight device, be specifically related to the controlled and weightless flight device of a kind of space six degree of freedom.
Background technology
At present, the controlled platform of space six degree of freedom and space six degree of freedom weightless flight platform have a lot of schemes.A kind of space controlled platform of six degree of freedom is by six pressurized struts, upper and lower each six universal coupling and upper and lower two platforms are formed, lower platform is fixed on the basis, fore and aft motion by six pressurized struts, finish upper mounting plate in the motion of space six-freedom degree, thereby can simulate various space motion attitudes.Can be widely applied to various training simulators, as fields such as the simulator that flies, ship simulator, naval's helicopter landing analog platform, tank simulator, automobile driving simulator, train driving simulator, earthquake simulator and simulation film, amusement equipment, even the butt joint that can use the space spacecraft, in the oiling butt joint of tanker aircraft.But the hydraulic efficiency pressure system volume is big, and element is easily revealed, its development of feature limits and application such as maintenance cost height; The principle of work that another kind is applied in the space six degree of freedom weightless flight platform of butt joint test cell is to adopt the relative motion of computer modeling aircraft when the zero gravity of space.By mechanics sensor the measured data of contact force and moment is imported the control computing machine in real time.By mathematical operation, determine under different initial condition (IC) and vehicle mass characteristic the relative motion of two aircraft.According to result of calculation, control servoactuator motoring ring test platform is simulated its relative motion with six degree of freedom, thereby is realized the analogue test to docking operation under the six degree of freedom weightlessness of space.But this scheme requires the system accuracy height, and the operational speed of a computer is fast, and the control difficulty is big.
Summary of the invention
The present invention is bulky for solving existing analog machine hydraulic efficiency pressure system, and element is easily revealed, the maintenance cost height, and the big problem of control difficulty, and then six degree of freedom controlled and weightless flight device in a kind of space is proposed.
The present invention addresses the above problem the technical scheme of taking to be: the present invention includes base, apical ring, support body, vertical motion mechanism, plane parallel mechanism, pitching yawing rotation mechanism, three passive gravitational equilibrium pieces and six pillar stiffeners, base, apical ring sets gradually from the bottom to top, be laid with six pillar stiffeners between the upper surface of base and the lower surface of apical ring, vertical motion mechanism is installed on the upper surface of base, the upper end of vertical motion mechanism is connected with the middle part of support body lower surface, plane parallel mechanism is installed on the upper surface of support body, pitching yawing rotation mechanism is installed in the upper end of plane parallel mechanism, the support body edge is laid with three pipe links, the end of each pipe link is each and the lateral wall sliding block joint of a corresponding pillar stiffener respectively, and the pulley that the termination of rope is walked around respectively on the corresponding pillar stiffener on each passive gravitational equilibrium piece is connected with the edge of support body.
The invention has the beneficial effects as follows: the present invention only needs the control clutch combination can change controlled and state of weightlessness with separating, and is easy to control; The present invention adopts passive gravitational equilibrium piece, and the simple realization gravitational equilibrium is enough to meet the demands under to the not high situation of dynamic response requirement; Spatial volume of the present invention is little, compact conformation, and low cost of manufacture, its plane parallel mechanism load-carrying can reach 3500kg～5500kg.
Description of drawings
Fig. 1 is integral structure scheme drawing of the present invention, and Fig. 2 is front view of the present invention, and Fig. 3 is that A-A is to cutaway view among Fig. 2, and Fig. 4 is the structural representation of pitching yawing rotation mechanism.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1 and Fig. 2, the described a kind of space of present embodiment six degree of freedom is controlled to comprise base 1 with the weightless flight device, apical ring 2, support body 3, vertical motion mechanism, plane parallel mechanism, pitching yawing rotation mechanism, three passive gravitational equilibrium pieces 4 and six pillar stiffeners 5, base 1, apical ring 2 sets gradually from the bottom to top, be laid with six pillar stiffeners 5 between the lower surface of the upper surface of base 1 and apical ring 2, vertical motion mechanism is installed on the upper surface of base 1, the upper end of vertical motion mechanism is connected with the middle part of support body 3 lower surfaces, plane parallel mechanism is installed on the upper surface of support body 3, pitching yawing rotation mechanism is installed in the upper end of plane parallel mechanism, support body 3 edges are laid with three pipe link 3-1, the end of each pipe link 3-1 is each and the lateral wall sliding block joint of a corresponding pillar stiffener 5 respectively, and the pulley 5-1 that the termination of rope 4-1 is walked around respectively on the corresponding pillar stiffener 5 on each passive gravitational equilibrium piece 4 is connected with the edge of support body 3.
The specific embodiment two: present embodiment is described in conjunction with Fig. 1 and Fig. 2, the described a kind of space of present embodiment six degree of freedom is controlled to comprise vertical servomotor 6 with the vertical motion mechanism weightless flight device, vertical retarder 7, vertical electric motor clutch 8, vertical drg 9 and vertical ball screw assembly, 10, vertical servomotor 6 is fixedly mounted on the middle part of base 1 upper surface, the output shaft of vertical servomotor 6 is connected with vertical power-transfer clutch 8 by vertical retarder 7, vertical power-transfer clutch 8 is connected by the lower end of vertical drg 9 with vertical ball screw assembly, 10, and the upper end of vertical ball screw assembly, 10 is connected with the middle part of support body 3 lower surfaces.
The technique effect of present embodiment is: six pillar stiffeners support, and total system rigidity is better, the sliding block joint of support body 3 and pillar stiffener, and having improved support body 3 rigidity provides stabilised platform for the mechanism of installing on it; Gravitational equilibrium piece 4 is used for equalizing gear gravity, and is simple in structure, is easy to regulate; Vertical motion mechanism can provide required vertical power by regulating counterweight quality and motor speed, and volume is little, and quality is light, is easy to control
Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: present embodiment is described in conjunction with Fig. 3, the described a kind of space of present embodiment six degree of freedom is controlled to comprise torus 11 with the plane parallel mechanism weightless flight device, disk body 12, three radial drive motors 13, three radial drive power-transfer clutchs 14 and three radial drive lead screw pair 15, torus 11 is sleeved on the disk body 12, three radial drive motor 13 parts are arranged on the lower surface of torus 11, the output shaft of each radial drive motor 13 respectively is connected with an end of a radial drive lead screw pair 15 by a radial drive power-transfer clutch 14 respectively, and the other end of each radial drive lead screw pair 15 all is connected with the lower surface of disk body 12.
The technique effect of present embodiment is: adopt plane parallel mechanism to realize the control of yaw direction, topology layout compactness.12 of torus 11 and disk bodies have ball to support in the plane parallel mechanism, and translation and rotation are flexible, and load-carrying ability is strong.
Other composition and annexation are identical with the specific embodiment one.
The specific embodiment four: present embodiment is described in conjunction with Fig. 4, the described a kind of space of present embodiment six degree of freedom is controlled to comprise weightless flight platform 16 with the pitching yawing rotation mechanism weightless flight device, joint pin 20, two pitching drive motor 17, two pitching drive power-transfer clutch 18 and two pitching driving lead screw pair 19, the lower surface of weightless flight platform 16 is connected with the upper surface of disk body 12 by joint pin 20, two pitching drive motor 17 are uniform to be arranged on the upper surface of disk body 12, the output shaft of each pitching drive motor 17 respectively drives power-transfer clutch 18 by a pitching respectively and is connected with the lower end that a pitching drives lead screw pair 19, and the upper end that each pitching drives lead screw pair 19 all is connected with the lower surface of weightless flight platform 16.
The technique effect of present embodiment is: two pitching driver trains, two other plays driven supporting role, drives the luffing in two vertical plane surfacies like this, has improved the rigidity of mechanism, is easy to realize control.
Other composition and annexation are identical with the specific embodiment one or three.
Principle of work
The present invention realizes the simulation of above-below direction one degree of freedom by vertical motion mechanism, when vertical electric motor clutch 8 is in engagement state, vertical servomotor 6 drives by vertical retarder 7 transferring power to vertical ball screw assembly, 10, vertical ball screw assembly, 10 promotes support body 3 and moves up, and then promotes weightless flight platform 16 upward movements; When vertical electric motor clutch 8 is in released state, because three passive gravitational equilibrium pieces 4 have been offset the gravity of support body 3 self, be equivalent to support body 3 in vertical direction weightlessness, namely weightless flight platform 16 is in vertical direction weightlessness.
The present invention realizes radially rotating and moving radially the simulation of common three degree of freedom by plane parallel mechanism, when three radial drive power-transfer clutchs 14 are in engagement state, three radial drive motors 13 drive by three radial drive lead screw pair 15 that disk bodies 12 rotate and are mobile, and then weightless flight platform 16 is radially rotated and move radially; When three radial drive power-transfer clutchs 14 were in released state, weightless flight platform 16 was in quick condition.
The present invention realizes the simulation of two degree of freedom of pitching of weightless flight platform 16 by luffing mechanism, by controlling joint that two pitching drive power-transfer clutchs 18 and separating, realizes the pitching yawing rotation of weightless flight platform 16.
Claims (4)
- A space six degree of freedom controlled with the weightless flight device, it is characterized in that: described a kind of space six degree of freedom is controlled to comprise base (1) with the weightless flight device, apical ring (2), support body (3), vertical motion mechanism, plane parallel mechanism, pitching yawing rotation mechanism, three passive gravitational equilibrium pieces (4) and six pillar stiffeners (5), base (1), apical ring (2) sets gradually from the bottom to top, be laid with six pillar stiffeners (5) between the lower surface of the upper surface of base (1) and apical ring (2), vertical motion mechanism is installed on the upper surface of base (1), the upper end of vertical motion mechanism is connected with the middle part of support body (3) lower surface, plane parallel mechanism is installed on the upper surface of support body (3), pitching yawing rotation mechanism is installed in the upper end of plane parallel mechanism, support body (3) edge is laid with three pipe links (3-1), the end of each pipe link (3-1) is each and the lateral wall sliding block joint of a corresponding pillar stiffener (5) respectively, and each passive gravitational equilibrium piece (4) is gone up the pulley of the termination of rope (4-1) walking around respectively on the corresponding pillar stiffener (5) (5-1) and is connected with the edge of support body (3).
- According to the described a kind of space of claim 1 six degree of freedom controlled with the weightless flight device, it is characterized in that: described vertical motion mechanism comprises vertical servomotor (6), vertical retarder (7), vertical electric motor clutch (8), vertical drg (9) and vertical ball screw assembly, (10), vertical servomotor (6) is fixedly mounted on the middle part of base (1) upper surface, the output shaft of vertical servomotor (6) is connected with vertical power-transfer clutch (8) by vertical retarder (7), vertical power-transfer clutch (8) is connected by the lower end of vertical drg (9) with vertical ball screw assembly, (10), and the upper end of vertical ball screw assembly, (10) is connected with the middle part of support body (3) lower surface.
- According to the described a kind of space of claim 1 six degree of freedom controlled with the weightless flight device, it is characterized in that: described plane parallel mechanism comprises torus (11), disk body (12), three radial drive motors (13), three radial drive power-transfer clutchs (14) and three radial drive lead screw pair (15), torus (11) is sleeved on the disk body (12), three radial drive motors (13) part is arranged on the lower surface of torus (11), the output shaft of each radial drive motor (13) respectively is connected with an end of a radial drive lead screw pair (15) by a radial drive power-transfer clutch (14) respectively, and the other end of each radial drive lead screw pair (15) all is connected with the lower surface of disk body (12).
- According to claim 1 or 3 described a kind of space six degree of freedoms controlled with the weightless flight device, it is characterized in that: described pitching yawing rotation mechanism comprises weightless flight platform (16), joint pin (20), two pitching drive motor (17), two pitching drive power-transfer clutch (18) and two pitching driving lead screw pair (19), the lower surface of weightless flight platform (16) is connected with the upper surface of disk body (12) by joint pin (20), two pitching drive motor (17) are uniform to be arranged on the upper surface of disk body (12), the output shaft of each pitching drive motor (17) respectively drives power-transfer clutch (18) by a pitching respectively and is connected with the lower end that a pitching drives lead screw pair (19), and the upper end that each pitching drives lead screw pair (19) all is connected with the lower surface of weightless flight platform (16).
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103680280A (en) * | 2013-12-18 | 2014-03-26 | 宁波市北仑科导电子有限公司 | Six-shaft earthquake simulation experience platform |
| CN103926936A (en) * | 2014-03-25 | 2014-07-16 | 哈尔滨工业大学 | Six-freedom-degree parallel connection assembling mechanism for longitudinal motion simulation |
| CN104290932A (en) * | 2014-10-21 | 2015-01-21 | 哈尔滨工业大学 | Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms |
| CN104477420A (en) * | 2014-10-27 | 2015-04-01 | 清华大学 | Nine-rope driving robot device for simulating zero gravity and low gravity |
| CN104787363A (en) * | 2015-05-06 | 2015-07-22 | 中国科学院沈阳自动化研究所 | Ground microgravity dynamic loading simulation mechanism for satellite |
| CN105905320A (en) * | 2016-06-13 | 2016-08-31 | 北京航空航天大学 | Active gravity compensation system with yaw follow-up function |
| CN107832528A (en) * | 2017-11-13 | 2018-03-23 | 中国运载火箭技术研究院 | A kind of re-entry space vehicle three dimensions is up to domain analysis method |
| CN109533403A (en) * | 2019-01-07 | 2019-03-29 | 哈尔滨工业大学 | A kind of load simulated equipment of Three Degree Of Freedom of list leg recycling rocket landing supporting mechanism |
| CN110001328A (en) * | 2019-03-05 | 2019-07-12 | 上海宇航系统工程研究所 | A kind of spacecraft simulator |
| CN110116824A (en) * | 2019-05-14 | 2019-08-13 | 中国空间技术研究院 | A kind of hard and soft constraints conversion device and microgravity tumbling state simulation system |
| CN112331020A (en) * | 2020-11-11 | 2021-02-05 | 南京全控航空科技有限公司 | Multi-degree-of-freedom motion simulation platform |
| CN113082730A (en) * | 2021-04-19 | 2021-07-09 | 赵宏伟 | Amusement vehicle for intermittently weightlessness experience of amusement facilities |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103926936A (en) * | 2014-03-25 | 2014-07-16 | 哈尔滨工业大学 | Six-freedom-degree parallel connection assembling mechanism for longitudinal motion simulation |
| CN103926936B (en) * | 2014-03-25 | 2016-04-20 | 哈尔滨工业大学 | A kind of six-freedom parallel assembling mechanism for lengthwise movement simulation |
| CN104290932A (en) * | 2014-10-21 | 2015-01-21 | 哈尔滨工业大学 | Longitudinal gravity compensation device with micro-gravity simulation implementation systems and six degrees of freedom for spatial mechanisms |
| CN104290932B (en) * | 2014-10-21 | 2016-03-30 | 哈尔滨工业大学 | The longitudinal gravity-compensated device of space mechanism's six degree of freedom microgravity simulated implementation system |
| CN104477420A (en) * | 2014-10-27 | 2015-04-01 | 清华大学 | Nine-rope driving robot device for simulating zero gravity and low gravity |
| CN104787363A (en) * | 2015-05-06 | 2015-07-22 | 中国科学院沈阳自动化研究所 | Ground microgravity dynamic loading simulation mechanism for satellite |
| CN105905320B (en) * | 2016-06-13 | 2017-11-10 | 北京航空航天大学 | A kind of active gravity compensation system for having driftage servo-actuated |
| CN105905320A (en) * | 2016-06-13 | 2016-08-31 | 北京航空航天大学 | Active gravity compensation system with yaw follow-up function |
| CN107832528A (en) * | 2017-11-13 | 2018-03-23 | 中国运载火箭技术研究院 | A kind of re-entry space vehicle three dimensions is up to domain analysis method |
| CN109533403A (en) * | 2019-01-07 | 2019-03-29 | 哈尔滨工业大学 | A kind of load simulated equipment of Three Degree Of Freedom of list leg recycling rocket landing supporting mechanism |
| CN110001328A (en) * | 2019-03-05 | 2019-07-12 | 上海宇航系统工程研究所 | A kind of spacecraft simulator |
| CN110116824A (en) * | 2019-05-14 | 2019-08-13 | 中国空间技术研究院 | A kind of hard and soft constraints conversion device and microgravity tumbling state simulation system |
| CN110116824B (en) * | 2019-05-14 | 2022-07-22 | 中国空间技术研究院 | Rigid-flexible constraint conversion device and microgravity rolling state simulation system |
| CN112331020A (en) * | 2020-11-11 | 2021-02-05 | 南京全控航空科技有限公司 | Multi-degree-of-freedom motion simulation platform |
| CN113082730A (en) * | 2021-04-19 | 2021-07-09 | 赵宏伟 | Amusement vehicle for intermittently weightlessness experience of amusement facilities |
| CN113082730B (en) * | 2021-04-19 | 2022-04-15 | 岳阳职业技术学院 | Amusement vehicle for intermittently weightlessness experience of amusement facilities |
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