CN104133491A - Multi-degree-of-freedom flight seat of flight cinema, and control system and method of multi-degree-of-freedom flight seat of flight cinema - Google Patents
Multi-degree-of-freedom flight seat of flight cinema, and control system and method of multi-degree-of-freedom flight seat of flight cinema Download PDFInfo
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- CN104133491A CN104133491A CN201410366211.7A CN201410366211A CN104133491A CN 104133491 A CN104133491 A CN 104133491A CN 201410366211 A CN201410366211 A CN 201410366211A CN 104133491 A CN104133491 A CN 104133491A
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Abstract
The invention discloses a multi-degree-of-freedom flight seat of a flight cinema, and a control system and method of the multi-degree-of-freedom flight seat of the flight cinema. The flight seat comprises a fixed frame, two balancing frames, a movable frame, a plurality of drive mechanisms and a plurality of seat bodies; the fixed frame is connected with the movable frame through the balancing frames and the drive mechanisms; the seat bodies are arranged on the movable frame; the flight seat comprises at least three drive mechanisms including the first drive mechanism, the second drive mechanism and the third drive mechanism; the three drive mechanisms are arranged in an isosceles triangle mode. Spherical joint bearings are arranged at the two ends of each drive mechanism and are matched with corresponding bearing fixing bases. The balancing frames are in an A type. The two balancing frames are arranged at the two ends of the fixed frame; the positions where the balancing frames and the fixed frame are connected are provided with mounted bearings, the positions where the balancing frames and the movable frame are connected are provided with spherical joint bearings, and the spherical joint bearings are matched with bearing fixing bases. The dynamic degree of the multi-degree-of-freedom flight seat of the flight cinema can be increased.
Description
Technical field
The invention belongs to the movie theatre technical field of circling in the air, relate to the one seat that circles in the air, relate in particular to a kind of flight movie theatre multiple degrees of freedom seat that circles in the air; Meanwhile, the invention still further relates to a kind of movie theatre multiple degrees of freedom that flies circle in the air control system and the control method of seat.
Background technology
Along with the universal and raising that deepens continuously at home of 4D dynamic cinema, people have been not content with conventional ground type 4D simulation film.And along with the maturation of ball screen cinema technology.By synthetic to dynamic technology and ball curtain technology, a novel movie theatre-movie theatre circles in the air--be born thereupon.Experiencer is sitting on the multidimensional seat that is hung into Qiu Mu center, if place oneself in the midst of in immense space, along with film plot advances, suddenly cruises in the boundless firmament, suddenly passes through the battle field time immemorial, is suddenly and for example sitting on Flying Carpet, and the Xiang of strolling is at mountain scenery with hills and waters water all over the world.So this type of movie theatre is called as " movie theatre circles in the air ".
But the birth of a new technology, must accompany the requirement to its corresponding hardware new technology, because the movie theatre that circles in the air is the locus experience that occupant is written into Qiu Mu center.And every group of seat of General Requirements need reach 8-10 people, be subject to space and personnel many and cause balance to require high restriction, the corresponding seat occurring on existing market is mostly one or two degrees of freedom seat, and belongs to micro-slow forms of motion.Ground Three Degree Of Freedom seat is also only satisfied with 1 to 2 people at present for main product, and 3 people are above rarely found.Maximum 4 people.
In view of this, nowadays in the urgent need to designing a kind of new seat that circles in the air, to overcome the above-mentioned defect of existing seat.
Summary of the invention
Technical matters to be solved by this invention is: a kind of flight movie theatre multiple degrees of freedom seat that circles in the air is provided, can improves seat innervation degree.
The control system that the present invention also provides a kind of movie theatre multiple degrees of freedom that flies to circle in the air seat, can improve seat innervation degree.
In addition, the invention provides the circle in the air control method of seat of a kind of movie theatre multiple degrees of freedom that flies, can improve seat innervation degree.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of flight movie theatre multiple degrees of freedom seat that circles in the air, described in the seat that circles in the air comprise: fixed mount, balancing stand, tressel, some driving mechanisms, some seat supports;
The two ends of described fixed mount are provided with roller, and roller coordinates with setting track, and the seat that makes to circle in the air can travel on setting track;
Described balancing stand is A font, described in the seat that circles in the air comprise two balancing stands, be arranged at respectively the two ends of fixed mount;
Described fixed mount connects tressel by balancing stand and each driving mechanism, and each seat support is set on tressel; Two A font balancing stands between fixed mount and tressel are used for the transverse movement of restraint body, control longitudinal orbiting motion;
The junction of described balancing stand and fixed mount is provided with rolling bearing units, and the junction of balancing stand and tressel is provided with spherical joint bearing, and spherical joint bearing coordinates with bearing fixed seat; Spherical joint bearing is in controlling tressel lengthwise movement, and control is simultaneously positioned at the driving mechanism of both sides and does longitudinal rotation that intersection lifting produces;
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, and three driving mechanisms are isosceles triangle setting, and be isosceles triangle the end be greater than Senior Two doubly more than;
Described driving mechanism comprises electric cylinder and is arranged at least two power-assisted extension springs of electric cylinder both sides; On electric cylinder, be also provided with signal feedback shift fork; The two ends of described driving mechanism are respectively equipped with spherical joint bearing, and spherical joint bearing coordinates with corresponding bearing fixed seat;
Driving mechanism is under the preset signals control of central control module, and in the time that electric cylinder is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of A font balancing stand, on the contrary after move; In the time that front and back electric cylinder does to intersect lifting, the contained seat of mobile is done swing action; When left and right electric cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.
A kind of flight movie theatre multiple degrees of freedom seat that circles in the air, described in the seat that circles in the air comprise: fixed mount, balancing stand, tressel, some driving mechanisms, some seat supports;
Described fixed mount connects tressel by balancing stand and each driving mechanism, and each seat support is set on tressel;
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, three driving mechanism settings triangular in shape.
As a preferred embodiment of the present invention, described driving mechanism comprises electric cylinder and is arranged at least two power-assisted extension springs of electric cylinder both sides; On electric cylinder, be also provided with signal feedback shift fork.
As a preferred embodiment of the present invention, the two ends of described driving mechanism are respectively equipped with spherical joint bearing, and spherical joint bearing coordinates with corresponding bearing fixed seat.
As a preferred embodiment of the present invention, described balancing stand is A font, described in the seat that circles in the air comprise two balancing stands, be arranged at respectively the two ends of fixed mount; The junction of described balancing stand and fixed mount is provided with rolling bearing units, and the junction of balancing stand and tressel is provided with spherical joint bearing, and spherical joint bearing coordinates with bearing fixed seat.
A kind of flight movie theatre multiple degrees of freedom seat control system that circles in the air, comprises central control module, seat circles in the air;
The described seat that circles in the air comprises: fixed mount, balancing stand, tressel, some driving mechanisms, some seat supports;
The two ends of described fixed mount are provided with roller, and roller coordinates with setting track, and the seat that makes to circle in the air can travel on setting track;
Described balancing stand is A font, described in the seat that circles in the air comprise two balancing stands, be arranged at respectively the two ends of fixed mount;
Described fixed mount connects tressel by balancing stand and each driving mechanism, and each seat support is set on tressel; Two A font balancing stands between fixed mount and tressel are used for the transverse movement of restraint body, control longitudinal orbiting motion;
The junction of described balancing stand and fixed mount is provided with rolling bearing units, and the junction of balancing stand and tressel is provided with spherical joint bearing, and spherical joint bearing coordinates with bearing fixed seat; Spherical joint bearing is in controlling tressel lengthwise movement, and control is simultaneously positioned at the driving mechanism of both sides and does longitudinal rotation that intersection lifting produces;
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, and three driving mechanisms are isosceles triangle setting, and be isosceles triangle the end be greater than Senior Two doubly more than;
Described driving mechanism comprises electric cylinder and is arranged at least two power-assisted extension springs of electric cylinder both sides; On electric cylinder, be also provided with signal feedback shift fork; The two ends of described driving mechanism are respectively equipped with spherical joint bearing, and spherical joint bearing coordinates with corresponding bearing fixed seat;
Driving mechanism is under the preset signals control of central control module, and in the time that electric cylinder is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of A font balancing stand, on the contrary after move; In the time that front and back electric cylinder does to intersect lifting, the contained seat of mobile is done swing action; When left and right electric cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.
A kind of flight movie theatre multiple degrees of freedom seat control system that circles in the air, comprises central control module, seat circles in the air;
The described seat that circles in the air comprises: fixed mount, balancing stand, tressel, some driving mechanisms, some seat supports;
Described fixed mount connects tressel by balancing stand and each driving mechanism, and each seat support is set on tressel;
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, and three driving mechanisms are isosceles triangle setting;
Driving mechanism is under the preset signals control of central control module, and in the time that electric cylinder is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of balancing stand, on the contrary after move; In the time that front and back electric cylinder does to intersect lifting, the contained seat of mobile is done swing action; When left and right electric cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.
A control method for the above-mentioned seat control system that circles in the air, described control method comprises the steps:
The flat peaceful control step of falling; Three electric cylinder synchronous; The parallel rising of tressel, and under the synchronous on-off effect of A font balancing stand, balancing stand length is fixed, the string of a musical instrument is constant, hooks linear shrinkage, and strand elongates, and forms the reach of tressel; Balancing stand is in the time doing open and close movement, because two pin of A font balancing stand adopt the radial bearing of usheing to seat, balancing stand is limited in and is only had in lateral rotation one degree of freedom, thereby limit balancing stand summit and filled the transverse movement of spherical joint bearing, in addition the length of balancing stand is fixed, the bearing fixed seat connecting can only move as sinusoidal trajectory along A font balancing stand, thereby drives the tressel connecting to play the flat also effect of crossed belt reach that rises; Otherwise; Three electric cylinder synchronous extension; Tressel pancake attached tape backspacing;
Swing control step; Three electric cylinders are divided into two groups, front cylinder and rear cylinder, two, front cylinder, rear cylinder one cylinder; Under the instruction control of center-control signal, three cylinders are done asynchronous flexible; Front group of cylinder synchronously rises exhibition, and rear group of cylinder is motionless or shrink; Balancing stand principle of work with flat peaceful fall identical; Cause the contained seat of tressel and occupant to lean forward; Otherwise; Front cylinder shrinks, and the motionless stretching, extension of rear cylinder, will cause layback effect; In practice, by cylinder position, front and back and be equipped with rational speed, control while leaning forward, whether need to be equipped with move ahead or after move; Lean forward and join while moving ahead, front cylinder shrinks, rear cylinder with than front cylinder faster speed shrink, and on before position is remained on; The effect that all causes the companion that leans forward to move ahead; Otherwise front cylinder stretches, as long as move effect after rear cylinder position, on front cylinder, just causing the companion that leans forward; Front cylinder is flexible except determining the front end lifting of tressel, is controlling moving forward and backward of tressel simultaneously;
Swaying style control step; Swaying style is actually mobile and does to rotate in a small amount along longitudinal axis, without translation motion; When left-leaning, left cylinder extends to low level, and right cylinder is contracted to a high position; Rear cylinder need be with the sleeping situation of pitching during depending on "Left"-deviationist, need lean forward in a high position, and need be faced upward at low level; High and low position is depending on pitching requirement, during without pitching at meta; Be in operation, left cylinder extends to low level, and corresponding left balancing stand folding angle large formation A word top spherical joint bearing is also in low level; Right cylinder does not stretch or extends to a high position, and corresponding right balancing stand folding angle less formation A word top spherical joint bearing is also in a corresponding high position, thus the formation tressel effect that longitudinally axle turns left; Because two balancing stands are except lateral separation is fixing, lateral rotation is independence and freedom degree, can form two different angles, causes longitudinal rotation of tressel; Two balancing stands " A " word top design is installed ball joint bearing, the angle forming with it because of rotation to meet tressel; Spherical joint bearing on two balancing stands, one is fixedly connected with bearing fixed seat, in order to the horizontal looseness of restraint frame; One connects with bearing fixed seat axial float, the sinusoidal deviation forming in order to revise longitudinal rotation of tressel;
" A " font balancing stand is designed in " A " word two pin and connected with fixed mount rear portion, and top connects with tressel is anterior; Due to the low right height in a left side, cause balancing stand folding angle inconsistent; Eminence reach, moves after lower; Form along vertical pivot, left-leaning left-hand rotation.
The main main points of the present invention are; 1, upgrade to Three Degree Of Freedom integrated motion by the self-movement of lever pendulum-type.2, seat is the force of rectangular arrangement formation and arranges.3, there is imbalance not controlled due to what force was not that equilateral triangle forms.
For solving Three Degree Of Freedom, the present invention adopts the moving source of suspension type three cylinders to make integrated motion.And three cylinders that break traditions are equilateral triangle layout type, do the first two rear arrangement.Significantly pull open front two cylinder distance, receive short front cylinder and rear cylinder distance.Being isoceles triangle arranges.
Because force is isosceles triangle, and at the bottom of triangle, grow up in Senior Two doubly more than.Impossible, also dangerous by the directed movement of cylinder self poisoning.In the design, decontrol the horizontal degree of freedom of cylinder body completely, two, cylinder all adopts universal coupling method, only controls lifting stretching location.And drawn between mobile at fixed body and quilt, arrange two " A " font balancing stands, with the transverse movement of restraint body, control longitudinal orbiting motion." A " word balancing stand two pin connect with fixed mount with rolling bearing units, on tip, connect with tressel with spherical joint bearing.Rolling bearing units are in order to do the horizontal rotation of " A " word balancing stand, and restriction transversal translation, controls longitudinal orbiting motion.Spherical joint bearing, in controlling tressel lengthwise movement, is separately made left and right single cylinder and is done longitudinal rotation control that intersection lifting produces.
Three forces are under the preset signals control of central control system, and in the time that cylinder is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of " A " word balancing stand, on the contrary after move.In the time that front and back cylinder does to intersect lifting, the contained seat of mobile is done swing action.When left and right cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.Three makes a concerted effort for three degree of freedom, claim suspension type Three Degree Of Freedom seat, and because of under the effect of balancing stand, three cylinders that break traditions are equilateral triangle layout type, tressel can significantly lengthen to reach the object that increases seat, therefore full name " swing arm equalizing suspension system formula Three Degree Of Freedom lengthens extraordinary seat ".The flat four-degree-of-freedom that claims before and after invention is accompanied with, meets the required simulation of movie theatre of circling in the air completely and sends out the requirement of circling in the air that flies to be the theme.As a complete new experience hardware of the movie theatre that circles in the air.The present invention pushes this type of movie theatre to a new mileage.
Beneficial effect of the present invention is: flight movie theatre multiple degrees of freedom circle in the air seat, its control system and control method that the present invention proposes, the unidirectional positioning free degree of former cause one byte in force is decontroled completely; Change by universal joint or globe joint, then make guide-localization by balancing stand; Break through a byte and locate the limitation that three forces must be uniform.
Extend the high simulation seat of another two quilts except moving degree of freedom by the be used as power Three Degree Of Freedom in source of three cylinders; Both reach the high-performance of 6 cylinder 6DOF emulation, enjoyed again the low price of 3 cylinder 3DOFs.
Two cylinder distance is arbitrarily extended by actual demand, using two balancing stands as a kind of mode that limits and control tressel operation degree of freedom and running orbit.The reversal of the natural order of things design of Three Degree Of Freedom in practice, produced topples over acting force by solving from gravity of hanging upside down by just putting, and makes supplemental support without more physical construction.
Brief description of the drawings
Fig. 1 is the present invention's circle in the air structural representation of seat of movie theatre multiple degrees of freedom that flies.
Fig. 2 is the circle in the air connection diagram of seat fixed mount and tressel of the present invention.
Fig. 3 is the circle in the air structural representation of seat driving mechanism of the present invention.
Fig. 4 is the circle in the air structural representation of seat balancing stand of the present invention.
Fig. 5 is the present invention's flat peaceful schematic diagram falling of seat that circles in the air.
Fig. 6 is the present invention's flat peaceful side view falling of seat that circles in the air.
Fig. 7 is the circle in the air schematic diagram of seat swing of the present invention.
Fig. 8 is the circle in the air side view of seat swing of the present invention.
Fig. 9 is the circle in the air schematic diagram of seat swaying style of the present invention.
Figure 10 is the present invention's incidental eminence reach while circling in the air seat swaying style, moves vertical view after lower.
Embodiment
Describe the preferred embodiments of the present invention in detail below in conjunction with accompanying drawing.
Embodiment mono-
Refer to Fig. 1 to Fig. 4, the present invention has disclosed a kind of flight movie theatre multiple degrees of freedom seat that circles in the air, described in the seat that circles in the air comprise: fixed mount 2, balancing stand 4, tressel 16, some driving mechanisms (comprising electric cylinder 3, power-assisted extension spring 12), some seat supports 18.The below of tressel 16 can also arrange decorates ceiling 17; Be provided with the stop means 5,6 of equipment failure simultaneously.Such as equipment after cylinder fracture falls on this stop means 5,6 to be unlikely to cause personnel to injure.
The two ends of described fixed mount 2 are provided with roller 1, and roller 1 coordinates with setting track, and the seat that makes to circle in the air can travel on setting track.Described balancing stand 4 is A font, described in the seat that circles in the air comprise two balancing stand 4-1,4-2, be arranged at respectively the two ends of fixed mount 2.Described fixed mount 2 connects tressel 16 by balancing stand 4 and each driving mechanism, and each seat support 18 is set on tressel 16; Two A font balancing stands 4 between fixed mount 2 and tressel 16 are used for the transverse movement of restraint body (mobile), control longitudinal orbiting motion.
Described balancing stand 4 is provided with rolling bearing units 13 with the junction of fixed mount 2, and balancing stand 4 is provided with spherical joint bearing 14 with the junction of tressel 16, and spherical joint bearing 14 coordinates with bearing fixed seat 15; Spherical joint bearing 14 is in controlling tressel 16 lengthwise movements, and control is simultaneously positioned at the driving mechanism of both sides and does longitudinal rotation that intersection lifting produces.
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, and three driving mechanisms are isosceles triangle setting, and be isosceles triangle the end be greater than Senior Two doubly more than.
Described driving mechanism comprises electric cylinder 3 and is arranged at least two power-assisted extension springs 12 of electric cylinder 3 both sides; On electric cylinder 3, be also provided with signal feedback shift fork 9; The two ends of described driving mechanism are respectively equipped with spherical joint bearing 8,10, and spherical joint bearing 8,10 coordinates with corresponding bearing fixed seat 7,11.
Driving mechanism is under the preset signals control of central control module, and in the time that electric cylinder 3 is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of A font balancing stand, on the contrary after move; In the time that front and back electric cylinder does to intersect lifting, the contained seat of mobile is done swing action; When left and right electric cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.
The method of operation and principle:
The present invention is mainly used in the huge ball curtain movie theatre that circles in the air, and product circles in the air as main taking simulation.Main body sense shows as lifting, and obduction, overlooks, "Left"-deviationist while turning greatly, Right deviation; And with composite type as the motion such as vert of about subduction zone, the Three Degree Of Freedom method of operation is not fully exerted herein.
Three cylinders of virgin state are in entirely stretching position, and position chair is in nadir, seat surface is liftoff approximately 50 centimeters, being also rearmost point provides the state of most convenient up and down for experiencer.Experience and start; Tressel is together with seat and the parallel rise of occupant above, and with moving ahead, like aircraft lift-off, experiencer's both feet also depart from ground simultaneously.Now movie theatre hatch door is opened, and under the effect of power, (outer power is unrelated to the invention, does not explain) advances to precalculated position by two side wheels 1 on fixed mount 2 by whole equipment outside, enters life's work state.
Make technical Analysis with three main decomposition motions below;
Flat peaceful falling: refer to Fig. 5, Fig. 6, three electric cylinder 3-1,3-2,3-3 synchronous.The parallel rising of tressel 16, and under the synchronous on-off effect of " A " word balancing stand 4-1,4-2, balancing stand length is fixed, the string of a musical instrument is constant, hooks linear shrinkage, and strand elongates.Form the reach of tressel 16.Balancing stand 4-1,4-2, in the time doing open and close movement, because " A " font two pin have adopted the radial bearing 13 of usheing to seat, are limited in balancing stand to only have in lateral rotation one degree of freedom.Thereby limited balancing stand summit and fill the transverse movement of spherical joint bearing 14, the length of balancing stand is fixed in addition.The bearing fixed seat 15 connecting can only be done sinusoidal trajectory motion along " A " word balancing stand.Thereby drive the tressel connecting to play the flat also effect of crossed belt reach that rises.Otherwise; Three cylinder synchronous extension; Tressel pancake attached tape backspacing.
Swing: refer to Fig. 7, Fig. 8, electric cylinder is divided into two groups, front cylinder and rear cylinder, front cylinder group comprises two electric cylinder 3-1,3-2; Rear cylinder group comprises an electric cylinder 3-3.Under the instruction control of center-control signal, three cylinders are done asynchronous flexible.Front group of cylinder synchronously rises exhibition, and rear group of cylinder is motionless or shrink.Balancing stand principle of work with flat peaceful fall identical.Cause the contained seat of tressel and occupant to lean forward.Otherwise; Front cylinder shrinks, and the motionless stretching, extension of rear cylinder, will cause layback effect.In practice, by cylinder position, front and back and be equipped with rational speed, control while leaning forward, whether need to be equipped with move ahead or after move.Join to lean forward and move ahead as example; Front cylinder shrinks, rear cylinder with than front cylinder faster speed shrink, and on before position is remained on.The effect that all causes the companion that leans forward to move ahead.Otherwise front cylinder stretches, as long as move effect after rear cylinder position, on front cylinder, just causing the companion that leans forward.In a word, front cylinder is flexible except determining the front end lifting of tressel, is controlling moving forward and backward of tressel simultaneously.Layback in like manner.
Swaying style: refer to Fig. 9, swaying style is actually mobile and does to rotate in a small amount along longitudinal axis, without translation motion.Because movie theatre characteristic is limit, movie theatre left and right all arranges similar seat, places restrictions on left and right translation to avoid unnecessary potential safety hazard.
This explanation is taking "Left"-deviationist as example; Left electric cylinder (hereinafter to be referred as left cylinder) 3-1 extends to low level, and right electric cylinder (hereinafter to be referred as right cylinder) 3-2 is contracted to a high position.The potential difference of two cylinders is depending on toppling over requirement.Rear electric cylinder (hereinafter to be referred as rear cylinder) 3-3 need be with the sleeping situation of pitching during depending on "Left"-deviationist.Need lean forward in a high position, need face upward at low level.High and low position is depending on pitching requirement, during without pitching at meta.Be in operation; Left cylinder 3-1 extends to low level, and the large formation of corresponding left balancing stand 4-1 folding angle " A " word top spherical joint bearing 14 is also in low level.Right cylinder 3-2 does not stretch or extends to a high position, and the corresponding right balancing stand less formation of 4 folding angle " A " word top spherical joint bearing 14 is also in a corresponding high position; Thereby form the tressel effect that longitudinally axle turns left.Because two balancing stands are except lateral separation is fixing, lateral rotation is independence and freedom degree, can form two different angles, causes longitudinal rotation of tressel.Two balancing stands " A " word top design is installed ball joint bearing 14, the angle forming with it because of rotation to meet tressel 16.On two balancing stands, in spherical joint bearing 14, one is fixedly connected with bearing fixed seat 15, in order to the horizontal looseness of restraint frame; One connects with bearing fixed seat 15 axial floats, the sinusoidal deviation forming in order to revise longitudinal rotation of tressel.
Refer to Figure 10, " A " word balancing stand 4 is designed in " A " word two pin and connected with fixed mount rear portion.Top connects with tressel is anterior.Due to the low right height in a left side, cause balancing stand folding angle inconsistent.Eminence reach, moves after lower, forms along vertical pivot, left-leaning left-hand rotation; While conforming to aircraft and the turning of all traveler, the intilted physical feature of center of gravity, makes to simulate more authenticity.Otherwise Right deviation in like manner.
Every cylinder two sides are joined an extension spring 12, as power-assisted extension spring; Effectively alleviate the power consumption of cylinder, reduce the power configuration of seat, the operation power consumption of equipment self-weight is transferred to the lossless load of extension spring by the load of actuating unit, low energy environmental protection.
The present invention does synchronous and asynchronous motion with three cylinders.Form vertical translation, lateral rotation, longitudinally rotation waits three degree of freedom.Subsidiary formation vertical rotating under the effect of balancing stand, two passive movements such as longitudinal translation.Simulation is required to give full play to maximization.
Embodiment bis-
The present embodiment discloses a kind of flight movie theatre multiple degrees of freedom seat control system that circles in the air, and comprises central control module, seat circles in the air; Circling in the air the composition of seat can be with reference to the description of embodiment mono-.
Driving mechanism is under the preset signals control of central control module, and in the time that electric cylinder is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of A font balancing stand, on the contrary after move; In the time that front and back electric cylinder does to intersect lifting, the contained seat of mobile is done swing action; When left and right electric cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.
The present embodiment also discloses a kind of control method of the above-mentioned seat control system that circles in the air, and described control method comprises the steps:
The flat peaceful control step of falling; Three electric cylinder synchronous; The parallel rising of tressel, and under the synchronous on-off effect of A font balancing stand, balancing stand length is fixed, the string of a musical instrument is constant, hooks linear shrinkage, and strand elongates, and forms the reach of tressel; Balancing stand is in the time doing open and close movement, because two pin of A font balancing stand adopt the radial bearing of usheing to seat, balancing stand is limited in and is only had in lateral rotation one degree of freedom, thereby limit balancing stand summit and filled the transverse movement of spherical joint bearing, in addition the length of balancing stand is fixed, the bearing fixed seat connecting can only move as sinusoidal trajectory along A font balancing stand, thereby drives the tressel connecting to play the flat also effect of crossed belt reach that rises; Otherwise; Three electric cylinder synchronous extension; Tressel pancake attached tape backspacing;
Swing control step; Three electric cylinders are divided into two groups, front cylinder and rear cylinder, two, front cylinder, rear cylinder one cylinder; Under the instruction control of center-control signal, three cylinders are done asynchronous flexible; Front group of cylinder synchronously rises exhibition, and rear group of cylinder is motionless or shrink; Balancing stand principle of work with flat peaceful fall identical; Cause the contained seat of tressel and occupant to lean forward; Otherwise; Front cylinder shrinks, and the motionless stretching, extension of rear cylinder, will cause layback effect; In practice, by cylinder position, front and back and be equipped with rational speed, control while leaning forward, whether need to be equipped with move ahead or after move; Lean forward and join while moving ahead, front cylinder shrinks, rear cylinder with than front cylinder faster speed shrink, and on before position is remained on; The effect that all causes the companion that leans forward to move ahead; Otherwise front cylinder stretches, as long as move effect after rear cylinder position, on front cylinder, just causing the companion that leans forward; Front cylinder is flexible except determining the front end lifting of tressel, is controlling moving forward and backward of tressel simultaneously;
Swaying style control step; Swaying style is actually mobile and does to rotate in a small amount along longitudinal axis, without translation motion; When left-leaning, left cylinder extends to low level, and right cylinder is contracted to a high position; Rear cylinder need be with the sleeping situation of pitching during depending on "Left"-deviationist, need lean forward in a high position, and need be faced upward at low level; High and low position is depending on pitching requirement, during without pitching at meta; Be in operation, left cylinder extends to low level, and corresponding left balancing stand folding angle large formation A word top spherical joint bearing is also in low level; Right cylinder does not stretch or extends to a high position, and corresponding right balancing stand folding angle less formation A word top spherical joint bearing is also in a corresponding high position, thus the formation tressel effect that longitudinally axle turns left; Because two balancing stands are except lateral separation is fixing, lateral rotation is independence and freedom degree, can form two different angles, causes longitudinal rotation of tressel; Two balancing stands " A " word top design is installed ball joint bearing, the angle forming with it because of rotation to meet tressel; Spherical joint bearing on two balancing stands, one is fixedly connected with bearing fixed seat, in order to the horizontal looseness of restraint frame; One connects with bearing fixed seat axial float, the sinusoidal deviation forming in order to revise longitudinal rotation of tressel;
" A " font balancing stand is designed in " A " word two pin and connected with fixed mount rear portion, and top connects with tressel is anterior; Due to the low right height in a left side, cause balancing stand folding angle inconsistent; Eminence reach, moves after lower; Form along vertical pivot, left-leaning left-hand rotation.
Embodiment tri-
In the present embodiment, the seat that circles in the air can comprise four or more driving mechanism (electric cylinder and accessory thereof).In addition, driving mechanism can be other driving mechanisms outside electric cylinder.
In sum, flight movie theatre multiple degrees of freedom circle in the air seat, its control system and control method that the present invention proposes, decontrol the unidirectional positioning free degree of former cause one byte in force completely; Change by universal joint or globe joint, then make guide-localization by balancing stand; Break through a byte and locate the limitation that three forces must be uniform.
Extend another two by the high simulation seat except moving degree of freedom by the be used as power Three Degree Of Freedom in source of three cylinders.Both reach the high-performance of 6 cylinder 6DOF emulation, enjoyed again the low price of 3 cylinder 3DOFs.
Here description of the invention and application is illustrative, not wants scope of the present invention to limit in the above-described embodiments.Here the distortion of disclosed embodiment and change is possible, and for those those of ordinary skill in the art, the various parts of the replacement of embodiment and equivalence are known.Those skilled in the art are noted that in the situation that not departing from spirit of the present invention or essential characteristic, and the present invention can be with other form, structure, layout, ratio, and realize with other assembly, material and parts.In the situation that not departing from the scope of the invention and spirit, can carry out other distortion and change to disclosed embodiment here.
Claims (8)
1. the flight movie theatre multiple degrees of freedom seat that circles in the air, is characterized in that, described in the seat that circles in the air comprise: fixed mount, balancing stand, tressel, some driving mechanisms, some seat supports;
Described balancing stand is A font, described in the seat that circles in the air comprise two balancing stands, be arranged at respectively the two ends of fixed mount;
Described fixed mount connects tressel by balancing stand and each driving mechanism, and each seat support is set on tressel; Two A font balancing stands between fixed mount and tressel are used for the transverse movement of restraint body, control longitudinal orbiting motion;
The junction of described balancing stand and fixed mount is provided with rolling bearing units, and the junction of balancing stand and tressel is provided with spherical joint bearing, and spherical joint bearing coordinates with bearing fixed seat; Spherical joint bearing is in controlling tressel lengthwise movement, and control is simultaneously positioned at the driving mechanism of both sides and does longitudinal rotation that intersection lifting produces;
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, and three driving mechanisms are isosceles triangle setting, and be isosceles triangle the end be greater than Senior Two doubly more than;
Described driving mechanism comprises electric cylinder and is arranged at least two power-assisted extension springs of electric cylinder both sides; On electric cylinder, be also provided with signal feedback shift fork; The two ends of described driving mechanism are respectively equipped with spherical joint bearing, and spherical joint bearing coordinates with corresponding bearing fixed seat;
Driving mechanism is under the preset signals control of central control module, and in the time that electric cylinder is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of A font balancing stand, on the contrary after move; In the time that front and back electric cylinder does to intersect lifting, the contained seat of mobile is done swing action; When left and right electric cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.
2. the flight movie theatre multiple degrees of freedom seat that circles in the air, is characterized in that, described in the seat that circles in the air comprise: fixed mount, balancing stand, tressel, some driving mechanisms, some seat supports;
Described fixed mount connects tressel by balancing stand and each driving mechanism, and each seat support is set on tressel;
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, three driving mechanism settings triangular in shape.
3. the flight movie theatre multiple degrees of freedom according to claim 2 seat that circles in the air, is characterized in that:
Described driving mechanism comprises electric cylinder and is arranged at least two power-assisted extension springs of electric cylinder both sides; On electric cylinder, be also provided with signal feedback shift fork.
4. the flight movie theatre multiple degrees of freedom according to claim 2 seat that circles in the air, is characterized in that:
The two ends of described driving mechanism are respectively equipped with spherical joint bearing, and spherical joint bearing coordinates with corresponding bearing fixed seat.
5. the flight movie theatre multiple degrees of freedom according to claim 2 seat that circles in the air, is characterized in that:
Described balancing stand is A font, described in the seat that circles in the air comprise two balancing stands, be arranged at respectively the two ends of fixed mount; The junction of described balancing stand and fixed mount is provided with rolling bearing units, and the junction of balancing stand and tressel is provided with spherical joint bearing, and spherical joint bearing coordinates with bearing fixed seat.
6. the flight movie theatre multiple degrees of freedom seat control system that circles in the air, is characterized in that, comprises central control module, seat circles in the air;
The described seat that circles in the air comprises: fixed mount, balancing stand, tressel, some driving mechanisms, some seat supports;
The two ends of described fixed mount are provided with roller, and roller coordinates with setting track, and the seat that makes to circle in the air can travel on setting track;
Described balancing stand is A font, described in the seat that circles in the air comprise two balancing stands, be arranged at respectively the two ends of fixed mount;
Described fixed mount connects tressel by balancing stand and each driving mechanism, and each seat support is set on tressel; Two A font balancing stands between fixed mount and tressel are used for the transverse movement of restraint body, control longitudinal orbiting motion;
The junction of described balancing stand and fixed mount is provided with rolling bearing units, and the junction of balancing stand and tressel is provided with spherical joint bearing, and spherical joint bearing coordinates with bearing fixed seat; Spherical joint bearing is in controlling tressel lengthwise movement, and control is simultaneously positioned at the driving mechanism of both sides and does longitudinal rotation that intersection lifting produces;
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, and three driving mechanisms are isosceles triangle setting, and be isosceles triangle the end be greater than Senior Two doubly more than;
Described driving mechanism comprises electric cylinder and is arranged at least two power-assisted extension springs of electric cylinder both sides; On electric cylinder, be also provided with signal feedback shift fork; The two ends of described driving mechanism are respectively equipped with spherical joint bearing, and spherical joint bearing coordinates with corresponding bearing fixed seat;
Driving mechanism is under the preset signals control of central control module, and in the time that electric cylinder is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of A font balancing stand, on the contrary after move; In the time that front and back electric cylinder does to intersect lifting, the contained seat of mobile is done swing action; When left and right electric cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.
7. the flight movie theatre multiple degrees of freedom seat control system that circles in the air, is characterized in that, comprises central control module, seat circles in the air;
The described seat that circles in the air comprises: fixed mount, balancing stand, tressel, some driving mechanisms, some seat supports;
Described fixed mount connects tressel by balancing stand and each driving mechanism, and each seat support is set on tressel;
The described seat that circles in the air comprises at least three driving mechanisms, is respectively the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, and three driving mechanisms are isosceles triangle setting;
Driving mechanism is under the preset signals control of central control module, and in the time that electric cylinder is made synchronization lifting, the contained seat of mobile is done flatly up and down to rise translation operation, and the action that moves ahead in rising under the effect of balancing stand, on the contrary after move; In the time that front and back electric cylinder does to intersect lifting, the contained seat of mobile is done swing action; When left and right electric cylinder is done to intersect when lifting the action that swings of the contained seat of mobile.
8. circle in the air described in claim 6 control method of seat control system, is characterized in that, described control method comprises the steps:
The flat peaceful control step of falling; Three electric cylinder synchronous; The parallel rising of tressel, and under the synchronous on-off effect of A font balancing stand, balancing stand length is fixed, the string of a musical instrument is constant, hooks linear shrinkage, and strand elongates, and forms the reach of tressel; Balancing stand is in the time doing open and close movement, because two pin of A font balancing stand adopt the radial bearing of usheing to seat, balancing stand is limited in and is only had in lateral rotation one degree of freedom, thereby limit balancing stand summit and filled the transverse movement of spherical joint bearing, in addition the length of balancing stand is fixed, the bearing fixed seat connecting can only move as sinusoidal trajectory along A font balancing stand, thereby drives the tressel connecting to play the flat also effect of crossed belt reach that rises; Otherwise; Three electric cylinder synchronous extension; Tressel pancake attached tape backspacing;
Swing control step; Three electric cylinders are divided into two groups, front cylinder and rear cylinder, two, front cylinder, rear cylinder one cylinder; Under the instruction control of center-control signal, three cylinders are done asynchronous flexible; Front group of cylinder synchronously rises exhibition, and rear group of cylinder is motionless or shrink; Balancing stand principle of work with flat peaceful fall identical; Cause the contained seat of tressel and occupant to lean forward; Otherwise; Front cylinder shrinks, and the motionless stretching, extension of rear cylinder, will cause layback effect; In practice, by cylinder position, front and back and be equipped with rational speed, control while leaning forward, whether need to be equipped with move ahead or after move; Lean forward and join while moving ahead, front cylinder shrinks, rear cylinder than front cylinder faster speed shrink, and on before position is remained on; The effect that all causes the companion that leans forward to move ahead; Otherwise front cylinder stretches, as long as move effect after rear cylinder position, on front cylinder, just causing the companion that leans forward; Front cylinder is flexible except determining the front end lifting of tressel, is controlling moving forward and backward of tressel simultaneously;
Swaying style control step; Swaying style is actually mobile and does to rotate in a small amount along longitudinal axis, without translation motion; When left-leaning, left cylinder extends to low level, and right cylinder is contracted to a high position; Rear cylinder need be with the sleeping situation of pitching during depending on "Left"-deviationist, need lean forward in a high position, and need be faced upward at low level; High and low position is depending on pitching requirement, during without pitching at meta; Be in operation, left cylinder extends to low level, and corresponding left balancing stand folding angle large formation A word top spherical joint bearing is also in low level; Right cylinder does not stretch or extends to a high position, and corresponding right balancing stand folding angle less formation A word top spherical joint bearing is also in a corresponding high position, thus the formation tressel effect that longitudinally axle turns left; Because two balancing stands are except lateral separation is fixing, lateral rotation is independence and freedom degree, can form two different angles, causes longitudinal rotation of tressel; Two balancing stands " A " word top design is installed ball joint bearing, the angle forming with it because of rotation to meet tressel; Spherical joint bearing on two balancing stands, one is fixedly connected with bearing fixed seat, in order to the horizontal looseness of restraint frame; One connects with bearing fixed seat axial float, the sinusoidal deviation forming in order to revise longitudinal rotation of tressel;
" A " font balancing stand is designed in " A " word two pin and connected with fixed mount rear portion, and top connects with tressel is anterior; Due to the low right height in a left side, cause balancing stand folding angle inconsistent; Eminence reach, moves after lower; Form along vertical pivot, left-leaning left-hand rotation.
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| CN201410366211.7A CN104133491B (en) | 2014-07-29 | 2014-07-29 | Flight movie theatre multiple degrees of freedom circles in the air seat, its control system and control method |
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| CN201410366211.7A CN104133491B (en) | 2014-07-29 | 2014-07-29 | Flight movie theatre multiple degrees of freedom circles in the air seat, its control system and control method |
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| CN106215436A (en) * | 2016-08-31 | 2016-12-14 | 西安灵境科技有限公司 | A kind of viewing system of the movie theatre that circles in the air |
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