CN103426356B - A kind of coupled mode four-degree-of-freedom motion simulation platform - Google Patents
A kind of coupled mode four-degree-of-freedom motion simulation platform Download PDFInfo
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- CN103426356B CN103426356B CN201310297819.4A CN201310297819A CN103426356B CN 103426356 B CN103426356 B CN 103426356B CN 201310297819 A CN201310297819 A CN 201310297819A CN 103426356 B CN103426356 B CN 103426356B
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Abstract
A kind of coupled mode four-degree-of-freedom motion simulation platform, its identical four the driving branches of structure and intermediate restraint branch of mainly comprising upper mounting plate, lower platform and connecting these two platforms, it drives the motor cabinet in branch and lower platform to be connected, motor and speed reduction unit and support are connected, crank disc is connected with speed reduction unit, crank disc is connected with eccentric shoe by adjusting device for travel, one end of connecting rod is connected with above-mentioned eccentric shoe by universal hinge, and the other end of this connecting rod is connected with upper mounting plate by ball pivot; One end of lower link in intermediate restraint branch is connected with lower platform, and its other end is connected with one end of upper connecting rod, and on this, the other end of connecting rod is connected with upper mounting plate, and the upper connecting rod sleeve on the moving sets of this intermediate restraint branch has spring.The motion that structure of the present invention is simple, be easy to process and assemble, can realize coupled mode, is suitable for the motion simulation of shipping vehicle etc.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of motion simulation platform.
Background technology
Multi-dimensional vibration is a kind of universal phenomenon.Boats and ships or vehicle in the process of motion, because the factor of external environment will produce multi-dimensional vibration.Main movement form is upward-downward translation vibration, and pitch rotation is vibrated, the translation vibration in roll rotational vibrations and working direction.Multi-dimensional vibration produces harmful effect to personnel and equipment, causes various different infringement.Such as, the multi-dimensional vibration of ambulance will add the misery of heavy patient, and the multi-dimensional vibration of boats and ships will affect the precision of its precision equipment, reduce the serviceable life of equipment.The multi-dimensional vibration of simulating vehicle has great importance to the vibration damping in research vehicle, and the motion of vehicle is all generally coupling that is mobile and that rotate.Therefore need mechanism can realize two-dimensional movement and two-dimensional rotary, larger coupling displacement can be realized while realization is rotated.General series connection platform is easy to realize large corner, underloading posture adjustment, and pose adjustment is carried out in the load be not suitable for there is rotation and one-movement-freedom-degree coupling.By contrast, parallel institution can realize compensating for coupling.Parallel connection platform has that multiple degrees of freedom, structure are simple, large bearing capacity and be easy to the advantages such as control, is widely used.Over nearly 20 years, most study be exactly Six Degree-of-Freedom Parallel Platform, but the work of reality scarcely needs six-freedom degree.Space lower-mobility planar parallel mechanism is compared with traditional Six Degree-of-Freedom Parallel Platform, driving element is few, work space is large, easily decoupling zero, there is structure simple, the cost manufactured and designed and control is all relatively low, high rigidity, high-precision feature, particularly having identical branched structure symmetry, to have isotropic symmetrical minority carrier generation lifetime more with potential applications.But the progress of minority carrier generation lifetime is very uneven, wherein two, the research of 3-freedom parallel mechanism is mature on the whole, and four, the research of five-freedom parallel structure is more complicated is still in the starting stage, limits such parallel manipulator man-based development and application to a certain extent.
Patent 02104919.X proposes the parallel institution of several 4DOF and 5DOF, and such mechanism's isotropic is good, good rigidity; But because it is comparatively strict to the position relationship between kinematic pair, higher requirement is proposed to process and assemble.Patent 02137859.2,02137858.4,02137856.8 all proposes the parallel institution that a kind of bidimensional translation two is rotated, and this mechanism structure is simple, work space is large; These mechanisms same are also comparatively strict to position concerns mandate, not easily process and assemble.Patent ZL200420102722.X proposes the parallel institution that a kind of two-dimensional shift and two-dimensional rotates, this mechanism structure is simple, good rigidly, be easy to control, dynamic property is good; But because a moving sets is arranged in lower platform by it, upper mounting plate stressed larger time mechanism kinematic easily realize creeping.Patent CN200620056937.1 proposes the parallel institution that a kind of two-dimensional shift and two-dimensional rotates, this mechanism is made up of four identical branches and a RPU bound branch, because the universal hinge of this mechanism's bound branch is on moving platform, make mechanism can not produce larger couple movement while rotation, can not the multi-dimensional vibration of simulating vehicle boats and ships etc. really.
Summary of the invention
The object of the present invention is to provide the coupled mode four-degree-of-freedom motion simulation platform that a kind of structure is simple, be easy to process and assemble, can obtain the motion simulation of different amplitude.
The present invention mainly comprises upper mounting plate, lower platform and connects identical four the driving branches of structure and an intermediate restraint branch of these two platforms.Wherein, the motor cabinet in branch and lower platform is driven to be connected, motor and speed reduction unit and support are connected, crank disc is connected with speed reduction unit, crank disc is connected with eccentric shoe by adjusting device for travel, one end of connecting rod is connected with above-mentioned eccentric shoe by universal hinge, and the other end of this connecting rod is connected with upper mounting plate by ball pivot.Adjusting device for travel is made up of the side's of being with tenon, leading screw, leading screw seat and eccentric shoe, leading screw seat is reeded microscler piece of band, be fixed on crank disc, pass the through hole on leading screw seat with square tenon and be fixed on crank disc, pass the through hole on leading screw seat with square tenon and be connected with crank disc by revolute pair, be connected with a joggle with the conical gear of the leading screw end be located in leading screw seat groove with the conical gear of square tenon by its end, eccentric shoe is arranged on leading screw, by adjusting the motion amplitude of the position adjustment motion simulation platform of eccentric shoe.One end of lower link in intermediate restraint branch is connected with lower platform by universal hinge, the other end of this lower link is connected by moving sets one end with upper connecting rod, on this, the other end of connecting rod is connected with upper mounting plate by revolute pair, an axis of axis being parallel universal hinge in intermediate restraint branch of this revolute pair.Upper connecting rod sleeve on the moving sets of intermediate restraint branch has spring.
The present invention's tool compared with existing correlation technique has the following advantages:
1, structure is simple, is easy to process and assemble.
2, the present invention can realize the coupled motions of both direction, is suitable for the motion simulation of shipping vehicle etc.
3, the present invention can, by the position of adjustment eccentric shoe, make motion simulation platform can obtain the motion simulation of different amplitude.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention;
Fig. 2 is the three-dimensional simplified schematic diagram of adjusting device for travel in the present invention.
Embodiment
In the coupled mode four-degree-of-freedom motion simulation platform schematic diagram shown in Fig. 1, the motor cabinet 2 in branch is driven to be connected with lower platform 1, motor 11 and speed reduction unit 10 are connected with support, crank disc 6 is connected with speed reduction unit, crank disc is connected with eccentric shoe 4 by adjusting device for travel 3, one end of connecting rod 7 is connected with above-mentioned eccentric shoe by universal hinge 5, and the other end of this connecting rod is connected with upper mounting plate 9 by ball pivot 8.As shown in Figure 2, leading screw seat 18 is reeded microscler piece of band, be fixed on crank disc, pass the through hole on leading screw seat with square tenon 19 and be connected with crank disc by revolute pair, be connected with a joggle with the conical gear of leading screw 17 end be located in leading screw seat groove with the conical gear of square tenon by its end, eccentric shoe is arranged on leading screw, by adjusting the motion amplitude of the position adjustment motion simulation platform of eccentric shoe; One end of lower link 13 in intermediate restraint branch is connected with lower platform by universal hinge 12, the other end of this lower link is connected by moving sets one end with upper connecting rod 14, on this, the other end of connecting rod is connected with upper mounting plate by revolute pair 16, an axis of axis being parallel universal hinge in intermediate restraint branch of this revolute pair.Upper connecting rod sleeve on the moving sets of intermediate restraint branch has spring 15.
Claims (1)
1. a coupled mode four-degree-of-freedom motion simulation platform, its identical four the driving branches of structure and intermediate restraint branch of mainly comprising upper mounting plate, lower platform and connecting these two platforms, it is characterized in that: it drives the motor cabinet in branch and lower platform to be connected, motor and speed reduction unit and support are connected, crank disc is connected with speed reduction unit, crank disc is connected with eccentric shoe by adjusting device for travel, one end of connecting rod is connected with above-mentioned eccentric shoe by universal hinge, and the other end of this connecting rod is connected with upper mounting plate by ball pivot; Above-mentioned adjusting device for travel comprises band side's tenon, leading screw, leading screw seat and eccentric shoe, its leading screw seat is reeded microscler piece of band, be fixed on crank disc, pass the through hole on leading screw seat with square tenon and be connected with crank disc by revolute pair, be connected with a joggle with the conical gear of the leading screw end be located in leading screw seat groove with the conical gear of square tenon by its end, eccentric shoe is arranged on leading screw; One end of lower link in intermediate restraint branch is connected with lower platform by universal hinge, the other end of this lower link is connected by moving sets one end with upper connecting rod, on this, the other end of connecting rod is connected with upper mounting plate by revolute pair, an axis of axis being parallel universal hinge in intermediate restraint branch of this revolute pair; Upper connecting rod sleeve on the moving sets of this intermediate restraint branch has spring.
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| CN201310297819.4A CN103426356B (en) | 2013-07-16 | 2013-07-16 | A kind of coupled mode four-degree-of-freedom motion simulation platform |
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| CN103426356B true CN103426356B (en) | 2015-09-16 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3074103B1 (en) * | 2013-11-27 | 2020-03-18 | Dynamic Motion Group GmbH | Motion simulation system controller and associated methods |
| CN103646602B (en) * | 2013-12-09 | 2015-07-01 | 河南师范大学 | Simulated ship-bone aircraft take-off and landing training platform |
| CN107974907B (en) * | 2017-12-31 | 2023-09-22 | 交通运输部公路科学研究所 | Calibrating device and calibrating method for road surface flatness detector |
| CN108806466A (en) * | 2018-08-02 | 2018-11-13 | 华南理工大学广州学院 | A kind of industrial robot experience system |
| KR102125444B1 (en) * | 2018-10-30 | 2020-06-22 | 한국로봇융합연구원 | Motion Platform using Load compensating Mechanism |
| CN115343010B (en) * | 2022-10-13 | 2023-04-18 | 南通金芸流体设备有限公司 | Ship accessory impact performance detection device |
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| CN2811951Y (en) * | 2005-06-23 | 2006-08-30 | 上海交通大学 | Test bench for measuring parameters of crank slider mechanism |
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| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| KR20120011914A (en) * | 2010-07-27 | 2012-02-09 | (주)트윈테크 | Simulator with 4 dof |
| CN102680344A (en) * | 2012-05-07 | 2012-09-19 | 北京航空航天大学 | Six-degree-of-freedom parallel and oscillating guide bar mechanism combined knee-replacing prosthesis abrasion tester |
| CN103035159A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Double parallel type heavy-duty static balance motion simulation platform |
| CN103050046A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Parallel motion simulation platform with load-bearing mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2811951Y (en) * | 2005-06-23 | 2006-08-30 | 上海交通大学 | Test bench for measuring parameters of crank slider mechanism |
| KR20120011914A (en) * | 2010-07-27 | 2012-02-09 | (주)트윈테크 | Simulator with 4 dof |
| CN102034375A (en) * | 2010-12-08 | 2011-04-27 | 大连理工大学 | Series-parallel seven-degree-of-freedom tank simulator |
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN102680344A (en) * | 2012-05-07 | 2012-09-19 | 北京航空航天大学 | Six-degree-of-freedom parallel and oscillating guide bar mechanism combined knee-replacing prosthesis abrasion tester |
| CN103035159A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Double parallel type heavy-duty static balance motion simulation platform |
| CN103050046A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Parallel motion simulation platform with load-bearing mechanism |
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