CN105013195B - Multi-degree-of-freedom platform capable of rotating at angle no less than 360 degrees and simulated experience cinema with same - Google Patents

Multi-degree-of-freedom platform capable of rotating at angle no less than 360 degrees and simulated experience cinema with same Download PDF

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Publication number
CN105013195B
CN105013195B CN201510433617.7A CN201510433617A CN105013195B CN 105013195 B CN105013195 B CN 105013195B CN 201510433617 A CN201510433617 A CN 201510433617A CN 105013195 B CN105013195 B CN 105013195B
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China
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platform
pontic
rotation
fixed
mounting plate
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CN201510433617.7A
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Chinese (zh)
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CN105013195A (en
Inventor
李刚
刘勇
李红红
柴挺川
潘小龙
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宁波新文三维股份有限公司
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Publication of CN105013195B publication Critical patent/CN105013195B/en

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Abstract

The invention relates to a multi-degree-of-freedom platform which comprises a base and an upper platform. The base and the upper platform are connected with each other through multiple servo electric cylinders; bodies of the servo electric cylinders are hinged to the base; and rods of the servo electric cylinders are hinged to the upper platform. The multi-degree-of-freedom platform is characterized in that a rotating platform is arranged on the upper platform, a cabin structure for passengers is mounted on the rotating platform which is driven to rotate relative to the upper platform by a servo motor, and a rotating plane of the rotating platform is parallel to the upper platform. As the upper platform has degrees of freedom in swinging from front to back, left to right and up to down like a conventional multi-degree-of-freedom platform and is added with a degree of freedom of rotating 360 degrees, and the rotating plane of the rotating platform is parallel to the upper platform, the platform structure is capable of simulating multiple adventurous cinema scenes having requirement for rotation, such as riding in torrent. The invention further relates to a simulated experience cinema with the multi-degree-of-freedom platform.

Description

A kind of >=360 ° of multi-DOF platform rotated and there is the simulation type of this platform experience movie theatre

Technical field

The present invention relates to a kind of recreation facility, particularly relate to a kind of multiple degrees of freedom emulation platform experiencing movie theatre for simulation type, And there is the simulation type experience movie theatre of this multiple degrees of freedom emulation platform.

Background technology

In movie theatre, ornamental film has preferable perception, sound equipment and visual effect, is deeply liked by everybody always, conventional movie theatre Play film and mainly have three major types type, respectively 2D, 3D and 4D film, along with skill built by film shooting technology and movie theatre The raising of art, the popularization degree of present 3D film is greatly increased, and watches 3D film and make the telepresenc of spectators big in movie theatre Big enhancing, but existing 3D film is still confined to vision and audition two aspect.Other sense organ can be passed through during for making viewing More preferably pseudo-experience film Scene, has the most just had 4D film, and existing 4D film is the simplest by the little scope of seat Swing and vibration, in conjunction with spraying water, spray, sweep the relatively simple scene of simulation such as lower limb, blowing, for viewer experience Or flight in pseudo-experience film scene, advancing through the rapids or scene that driving etc. more stimulates, current 4D film can not Simulating scene that is complex and that stimulate, telepresenc can be had a greatly reduced quality, and viewing experience effect need to promote.

Although, the most also have small-sized dynamic cinema, but the multi-DOF platform in its movie theatre be by multiple hydraulic pressure Cylinder supports, and hydraulic cylinder number forms the degree of freedom quantity of platform, and general employing six forms Six-degree-of-freedom Simulation platforms, as " one is used for the Chinese utility model patent of one Patent No. ZL201220351025.2 (notification number is CN202700104U) The six degree of freedom action emulation platform of dynamic cinema " just disclose such a platform structure, this platform structure can only be All around teeter in the range of certain amplitude driftage campaign, and it can only simulate relatively simple scene.For swashing Stream bravely enters such scene more stimulated and can not well simulate, because advancing through the rapids in recreation, no real Around only needing, up and down, wave, going off course carries out six-freedom motion, in addition it is also necessary to platform is at multifreedom motion While can carry out >=360 degree of high speed rotating, to simulate racy speed boat, high speed off-road vehicle, airship realistically Etc. operational effect.

Summary of the invention

The technical problem to be solved is to provide one to carry out multifreedom motion for above-mentioned prior art present situation While, moreover it is possible to the atwirl multi-DOF platform experiencing movie theatre for simulation type in >=360 ° of angular ranges, should Platform structure is suitable for the realistic simulation needs such as such as advance through the rapids and rotates the multiple fabulous scene of drift.Many certainly based on this By degree platform simulation type experience movie theatre be provided with environmental effects system, can according to film plot real-time Simulation air-out, water, mist, The specially good effects such as lightning and audio effect, to simulate real environment.And have interaction device concurrently and can carry out according to demand mutually Dynamic.

The present invention solves the technical scheme that above-mentioned technical problem used: a kind of >=360 ° of multi-DOF platform rotated, Including base and upper mounting plate, by multiple servo electric jars or hydraulic cylinder, cylinder connection between base and upper mounting plate, respectively watch The cylinder body taking electric cylinder or hydraulic cylinder, cylinder is hinged with base, each servo electric jar or hydraulic cylinder, cylinder the body of rod with upper Platform is hinged;It is characterized in that: described upper mounting plate is provided with the rotation in order to the mounted thereon section structure taken for people Platform, this rotation platform is rotated relative to upper mounting plate >=360 ° by servomotor or fluid motor-driven, the rotation of rotation platform Turn plane parallel with upper mounting plate.

Above-mentioned rotation platform uses following exercise data, rotary speed >=10 °/s, the anglec of rotation >=360 °;Wave, partially Boat angle >=8 °, wave, yawing velocity >=8 °/s;Vertical and transverse and longitudinal translational speed >=100mm/s.This exercise data energy Allowing platform more realistic simulation go out as advanced through the rapids etc. needs to rotate the multiple fabulous scenes such as drift.Servo electric jar with Use three or six to be preferred so that this platform become 3DOF or 6DOF additional >=360 ° rotate multiple degrees of freedoms Platform, while multifreedom motion, carries out >=360 ° of quick rotations.

Above-mentioned rotation platform includes pedestal ringwise, is fixed on upper mounting plate;In order to the mounted thereon cabin taken for people The rotary table top of body structure, is located at the top of pedestal, and the bottom center position of rotary table top has the rotating shaft downwardly extended Portion, described servomotor is fixed on bottom upper mounting plate, and the output shaft of servomotor is connected to be rotated with described shaft Table top rotates;Rotation dish ringwise, is fixed on the bottom surface of rotary table top, and rotation dish is existed by bearing arrangement rotating support In pedestal.Aforementioned rotation platform rotation dish passes through bearing arrangement rotating support in pedestal, it is ensured that the resistance that rotary table top rotates Power is little, rotates more smooth and easy, and additionally the power input of rotary table top is directly by the output shaft of servomotor, it can be ensured that turntable The rotating speed in face is very fast, and the rotary course during simulation is advanced through the rapids is more true to nature, and meanwhile, servomotor itself has overload Protection, overcurrent protection, overvoltage protection and short-circuit protection, if during the unexpected power-off of power failure, servomotor can automatic band-type brake, Make platform keep existing attitude static, prevent pernicious impact, use safer.

It is provided with annular caulking groove in the inner ring surface of said base, is provided with by multiple upper rollers being uniformly distributed along the circumference in annular caulking groove The upper roller assembly of composition, and the lower roller assembly being made up of multiple lower rollers being uniformly distributed along the circumference, the week of described rotation dish There is in the middle part of edge the annular brace portion of projection, this annular brace portion insert upper between roller assembly and lower roller assembly and each other Contact, has gap between bottom surface and the upper surface of pedestal of rotation platform simultaneously.This bearing arrangement is set to upper and lower roller Assembly contacts with the annular brace portion of rotation dish simultaneously so that minimum of being obstructed during turn disc, reduces energy consumption, additionally leads to Cross the support to annular brace portion, can allow and have gap between bottom surface and the upper surface of pedestal of rotary table top, reduce further The frictional resistance received during turn disc.

Said base fixing is formed by upper pedestal and lower base are involutory, and the lower surface of upper pedestal has L-shaped upper of cross section Cannelure portion, the upper surface of lower base has the lower cannelure portion that cross section is L-shaped, upper cannelure portion and lower cannelure portion It is combined to form described annular caulking groove.Pedestal is formed by involutory the fixing of upper pedestal and lower base, it is simple to assemble bearing arrangement.

Above-mentioned rotary table top is square, and the bottom surface of described section structure has the inner fovea part that profile matches, institute with rotary table top State rotary table top to embed in this inner fovea part.Because rotary table top is square, inner fovea part is also square, therefore the rotation of rotation platform Section structure can be more preferably driven to rotate.

The bottom surface of above-mentioned section structure is provided with the waterproof organ cover downwardly extended, and waterproof organ cover is by each servo electric jar and the end Seat cover sets in it, and the bottom of waterproof organ cover is fixed with ground.Waterproof organ cover prevents impurity or sewage from entering drive mechanism In, play the effect of protection drive mechanism.

Above-mentioned section structure includes skeleton part and the cabin part built by metal pipe material, the upper surface of skeleton part Forming the step surface that the inner bottom surface profile with cabin part matches, the bottom surface of cabin part has profile and matches with skeleton part Inner chamber.The skeleton part that metal pipe material builds has lightweight, the advantage that intensity is good.It is provided with seat in the part of cabin Chair, seat uses the anti-lost measure of safeguard protection, gives the safety that client is enough.

It is the most reasonable that second technical problem to be solved by this invention is to provide a kind of topology layout, and energy realistic simulation is such as The simulation type of scene of advancing through the rapids experiences movie theatre.This movie theatre is provided with environmental effects system, can be according to film plot real-time Simulation Specially good effect and the audio effects such as air-out, water, mist, lightning, to simulate real environment, make spectators the most on the spot in person.And And have interaction device concurrently spectators and film can be allowed according to demand to carry out interaction.This movie theatre is suitable for many people and participates in, and participates in number 4-32 people, compatible 3D, 4D, XD, roller-coaster movie theatre.

A kind of have as described in aforementioned any claim >=simulation type of 360 ° of multi-DOF platform rotated experiences movie theatre, It is characterized in that: include that movie theatre is built, being separated into two spaces by partition wall in movie theatre building, one is approach corridor, One is between viewing, and described >=360 ° of multi-DOF platform rotated are placed in viewing, are positioned at >=360 ° in viewing The front of the multi-DOF platform rotated is provided with screen, and certainly for obtaining different viewing effects, we can also be arranged to 120 °, 270 °, 360 ° of arc curtains or the curtain of different viewing angle such as folding curtain and ball curtain etc., be provided with projector, see between viewing Be additionally provided with the audio amplifier of number of different types in shadow, described partition wall have the import passing in and out between viewing for spectators, described in enter Mouthful and be fixed on >=360 ° rotate multi-DOF platform on section structure between be connected by Deng Cang mechanism, this steps on cabin machine Structure can combine with section structure or separate;The top of the left and right metope in viewing is respectively equipped with multiple blower fan and water smoke occurs Device, blower fan and water fog generator alignment are positioned at the spectators of section structure.Certainly we can set according to demand in environment Put the specially good effects such as lightning, snowflake, bubble to arrange, simulate real environment.This simulation type is experienced movie theatre and is separated into two Separate space, one is between special viewing, and spectators pass the import partition wall from approach corridor, then via Deng Cang mechanism Entering nacelle, during platform in operation, nacelle is left by Deng Cang mechanism so that the action of nacelle is not interfered, and blower fan and water smoke are sent out The setting of raw device, can more vividly simulate spot effect of advancing through the rapids.And Ben Deng cabin mechanism is combined in movie theatre building, phase For conventional mobile Deng Cang mechanism, more preferable with movie theatre Integration of building.

Above-mentioned Deng Cang mechanism can use following structure: includes pontic, and the bottom of pontic uses electric cylinder to drive, a left side for pontic Right both sides are provided with folding handrail, and when pontic puts down, both sides handrail stretches, and pontic is connected with nacelle, and visitor is from bridge When passing through on body, handrail plays a protective role;When pontic lifts, handrail is folded up with pontic is accepted together, gear On entrance, prevent other people from entering between viewing, from mechanism, play safety protection function.

Above-mentioned Deng Cang mechanism also can use following structure, including pontic, on the hinged partition wall in bottom of pontic and be positioned at import Lower section, bridge floor two movable pulleys arranged along time interval are each side installed, the partition wall being positioned at import top is left Right both sides are respectively provided with a fixed pulley, are positioned at the partition wall left and right sides in the middle part of import and are fixed with locating ring;Two lifting ropes, One end of every lifting rope is fixed on locating ring, and the other end of every lifting rope walks around movable pulley and the fixed pulley of respective side successively After be connected with hoist engine still further below;When pontic puts down, the free end of pontic is shelved in the import of section structure, When pontic is sling, the free end of pontic leaves the import of section structure.Ben Deng cabin mechanism uses suspension bridge design, Relatively simple for structure rationally, can light lift bridge by pulley structure.Certain Deng Cang mechanism may be used without similar airport and steps on The shelter bridge structure of note, it is also possible to be a kind of lifting or translation platform.Above-mentioned hoist engine is included motor and is bearing in by bearing Rotating shaft on support, rotating shaft is fixed with two winding drums, and one end of two lifting ropes is separately fixed at the winding drum of respective side On, the output shaft of described motor is provided with little gear, described rotating shaft be fixedly arranged in the middle of gear wheel, described little gear and Open-bull gear drive engages.

This simulation type experiences movie theatre can pass through the interaction modes such as shooting, button and film field with interaction device, spectators Scape carries out interaction, and on the spot in person and film carries out real-time interactive.

Compared with prior art, it is an advantage of the current invention that: supply people to take because upper mounting plate is provided with in order to mounted thereon The rotation platform of section structure, this rotation platform is rotated relative to upper mounting plate by driven by servomotor, the rotation of rotation platform Plane is parallel with upper mounting plate, and upper mounting plate not only has the freedom that traditional multi-DOF platform carries out swinging up and down all around Degree, also increases quickly >=360 degree of degree of freedom rotated, and the Plane of rotation of rotation platform is parallel with upper mounting plate, therefore should Platform structure is suitable for the realistic simulation needs such as such as advance through the rapids and rotates the multiple fabulous film scene of drift.Based on this The movie theatre of multi-DOF platform is provided with environmental effects system, can be according to film plot real-time Simulation air-out, water, mist, lightning Etc. specially good effect and audio effect, to simulate real environment, make spectators the most on the spot in person.And it is permissible to have interaction device concurrently Spectators and film is allowed to carry out interaction according to demand.This platform structure be suitable for existing various multi-functional movie theatre, real-time, interactive movie theatre, High-end 4D movie theatre, roller-coaster movie theatre, flight movie theatre.

Accompanying drawing explanation

Fig. 1 is the perspective view of the multi-DOF platform embodiment that the present invention >=360 ° rotate;

Fig. 2 is the stereochemical structure signal after the multi-DOF platform embodiment that the present invention >=360 ° rotate removes section structure Figure;

Fig. 3 is the sectional view of the multi-DOF platform embodiment that the present invention >=360 ° rotate;

Fig. 4 is enlarged drawing at the E of Fig. 3;

Fig. 5 is the three-dimensional exploded view after the multi-DOF platform embodiment that the present invention >=360 ° rotate removes section structure;

Fig. 6 is the multi-DOF platform embodiment of the present invention >=360 ° rotation perspective view under front sticking up state;

Fig. 7 is the multi-DOF platform embodiment of the present invention >=360 ° rotation perspective view under hind wing state;

Fig. 8 is the sectional view along its length that simulation type of the present invention experiences movie theatre embodiment;

Fig. 9 is the top view of Fig. 8;

Figure 10 is the C direction view of Fig. 8;

Figure 11 is the D direction view of Fig. 8.

Detailed description of the invention

Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.

As shown in Fig. 1~7, for a preferred embodiment of the present invention.

A kind of >=360 ° of multi-DOF platform rotated, including base 1 and upper mounting plate 2, base 1 and upper mounting plate 2 in flat Tabular, upper mounting plate 2 can circle can also be square, or other polygonal outer shape, pass through between base 1 and upper mounting plate 2 Multiple servo electric jars 3 connect, and servo electric jar 3 can use into hydraulic cylinder or cylinder is replaced, servo electricity in the present embodiment Dynamic cylinder 3 has six, and the cylinder body of each servo electric jar 3 is hinged with base 1 by hook hinge 4, each servo electric jar 3 The body of rod by hook hinge 4 hinged with upper mounting plate 2.

Upper mounting plate 2 is provided with the rotation platform 6 in order to the mounted thereon section structure 5 taken for people, this rotation platform 6 Being driven by servomotor 10 and rotate relative to upper mounting plate 2 >=360 °, servomotor 10 can use hydraulic motor to replace, rotation The Plane of rotation turning platform 6 is parallel with upper mounting plate 2.The bottom surface of section structure 5 is provided with the waterproof organ cover 9 downwardly extended, Each servo electric jar 3 and base 1 are covered and set in it by waterproof organ cover 9, and the bottom of waterproof organ cover 9 is fixed with ground.

Rotation platform uses following exercise data, rotary speed >=10 °/s, the anglec of rotation >=360 °;Wave, yaw angle Spend >=8 °, wave, yawing velocity >=8 °/s;Vertical and transverse and longitudinal translational speed >=100mm/s.Servo electric jar is to use Three or six are preferred so that this platform becomes 3DOF or the multi-DOF platform of the additional rotation of 6DOF, many While degree of freedom motion, carry out >=360 ° of quick rotations.

Rotation platform 6 includes

Pedestal 61 ringwise, is fixed on upper mounting plate 2.

In order to the rotary table top 62 of the mounted thereon section structure 5 taken for people, it is located at the top of pedestal 61, turntable The bottom center position in face 62 has the shaft 621 downwardly extended, and servomotor 10 is fixed on bottom upper mounting plate 2, The output shaft of servomotor 10 is connected with described shaft 621 table top 62 >=360 ° rotation is rotated.

Rotation dish 63 ringwise, is fixed on the bottom surface of rotary table top 62, and rotation dish 63 is by bearing arrangement rotating support In pedestal 61.Be provided with in the inner ring surface of pedestal 61 annular caulking groove 64, annular caulking groove 64 in be provided with by multiple circumferentially The upper roller assembly 65 of uniform upper roller 651 composition, and the lower rolling being made up of multiple lower rollers 661 being uniformly distributed along the circumference Column assembly 66, has the annular brace portion 631 of projection, in the insertion of this annular brace portion 631 in the middle part of the periphery of rotation dish 63 Between roller assembly 65 and lower roller assembly 66 and contact with each other, the bottom surface of rotary table top 62 and pedestal 61 is upper simultaneously Gap X is had between end face.

Pedestal 61 is formed by involutory the fixing of upper pedestal 611 and lower base 612, and the lower surface of upper pedestal 611 has cross section L-shaped upper cannelure portion 6111, the upper surface of lower base 612 has the lower cannelure portion 6121 that cross section is L-shaped, Upper cannelure portion 6111 and lower cannelure portion 6121 are combined to form described annular caulking groove 64.

Rotary table top 62 is square, and the bottom surface of section structure 5 has the inner fovea part 511 that profile matches with rotary table top 62, Rotary table top 62 embeds in this inner fovea part 511.

Section structure 5 includes skeleton part 51 and the cabin part 52 built by metal pipe material, skeleton part 51 Upper surface forms the step surface 512 that the inner bottom surface profile with cabin part 52 matches, and each step surface 512 is fixed with two The seat 12 of individual band seat belt, the bottom surface of cabin part 52 has the inner chamber 521 that profile matches with skeleton part 51.

Because upper mounting plate 2 is provided with the rotation platform 6 in order to the mounted thereon section structure taken for people, this rotation platform 6 Being driven by servomotor 10 and rotate relative to upper mounting plate 2, the Plane of rotation of rotation platform 6 is parallel with upper mounting plate 2, upper flat Platform 2 not only has the six-freedom degree that traditional multi-DOF platform carries out swinging up and down all around, also increase by one >= 360 ° of degree of freedom rotated, and the Plane of rotation of rotation platform 6 is parallel with upper mounting plate 2, therefore this platform structure is suitable for true to nature Simulate the multiple fabulous film scene of needs rotations such as such as advancing through the rapids.

The control system of originally >=360 ° of multi-DOF platform rotated is made up of following two parts: 1, motion controller, real The motion control information that existing motion platform system starts/stop, being received host computer by Ethernet sends is in bus communication mode Electric cylinder is carried out motor control, the monitoring duty of motor servo driver, the kinestate of monitoring system, completes Troubleshooting and security operations.2, signal condition unit, completes the various biographies relevant to plateform system kinestate Sensor signal, test signal and the conditioning of numeral I/O signal, and the driving etc. of servo-driver.

Control software: motion platform uses real time operating system, digital control pattern.Control software include motor control, Communication module, detection program, user interface (UDP).

Motor control: carry out motion calculation, control for platform.

Communication module: encapsulate the communication modes of upper main frame and motion platform control main frame, user passes through Ethernet, according to UDP communications protocol, can successfully establish a connection with motion platform.

Detection program: provide and operate easy detection of platform interface, can be used for not having user control program when The state of motion platform, performance etc. are detected, simultaneously as the instrument of motion debugging.

User interface (UDP): can be established a connection with motion platform by this Interface User, and control in real time, Monitoring platform state etc..

Demand for safety protection: 1, fault detect: when platform starts, critical piece is detected by system automatically, finds event By screen or audible alarm during barrier, can run after disposing.In platform runs, system detects, in real time when detecting Safeguard protection pattern is cut during fault.2, detection is run: platform runs smooth-going, continuously, without cusp, jump and improper The phenomenons such as shake, do not have pernicious impact.Platform, in running, can detect electric cylinder stroke, in real time for row Spacing and protection is carried out in way limit, speed limit, acceleration limiting and the bad impact being likely to occur.3, electrical safety Protection: there is overload protection, overcurrent protection, overvoltage protection and short-circuit protection, if during the unexpected power-off of power failure, servo Motor can automatic band-type brake, make platform keep existing attitude static, prevent pernicious impact.Restore electricity and ensure after restarting Can normally work.4, emergency stop function: platform arranges " emergent stopping " function, once implements emergent stopping, then moves Platform stop motion at once, keeps existing attitude static.5, seat security protection, prevents spectators from dropping off seat.

If Fig. 8~11 is that a kind of simulation type with aforementioned >=360 ° of multi-DOF platform rotated experiences the concrete real of movie theatre Execute example.This movie theatre is multi-functional movie theatre, and many people participate in: 4---32 people.It is provided with environmental effects system, can be according to film plot Specially good effect and the audio effects such as real-time Simulation air-out, water, mist, lightning, to simulate real environment, allow spectators' such as body face Its border.And have interaction device concurrently and spectators and film can be allowed according to demand to carry out interaction.Compatible 3D, 4D, XD, mistake Roller coaster movie theatre.

Building 7 including movie theatre, be separated into two spaces by partition wall 71 in movie theatre building 7, one is approach corridor A, One is B between viewing, and aforementioned multi-DOF platform is placed between viewing in B, be positioned in B between viewing >=360 ° of rotations The front of multi-DOF platform be provided with screen 72 (in order to obtain different viewing effects, it can be provided 120 °, 270 °, 360 ° of arc curtains or the curtain of different viewing angle such as folding curtain and ball curtain etc.), between viewing, B is provided with projector 76, between viewing in B It is additionally provided with the audio amplifier 73 of number of different types, partition wall 71 has the import 711 passing in and out B between viewing for spectators, import Being connected by Deng Cang mechanism 8 between 711 and the section structure 5 being fixed on multi-DOF platform, this Deng Cang mechanism 8 can be with Section structure 5 combines or separates;Between viewing, the top of the left and right metope in B is respectively equipped with multiple blower fan 74 and water smoke occurs Device 75 (the most differently configured environmental effects simulates real environment), blower fan 74 and water fog generator 75 are directed at It is positioned at the spectators of section structure 5.

Deng Cang mechanism 8 in the present embodiment includes pontic 81, on the hinged partition wall in bottom 71 of pontic 81 and be positioned at import 711 Lower section, bridge floor 81 be each side provided with two along time interval arrange movable pulleys 82, be positioned at import 711 The partition wall 71 on top is each side provided with a fixed pulley 83, is positioned at partition wall 71 left and right sides in the middle part of import 711 It is fixed with locating ring 84;Two lifting ropes 85, one end of every lifting rope 85 is fixed on locating ring 84, every lifting rope 85 The other end walk around the movable pulley 82 of respective side successively and be connected with hoist engine still further below after fixed pulley 83;Put at pontic 81 Under state under, the free end of pontic 81 is shelved in the import of section structure 5, when pontic 81 is sling, The free end of pontic 81 leaves the import of section structure 5.Hoist engine includes motor 86 and is bearing in support 87 by bearing On rotating shaft 88, rotating shaft 88 is fixed with two winding drums 89, one end of two lifting ropes 85 is separately fixed at respective side On winding drum 89, the output shaft of motor 86 is provided with little gear 861, rotating shaft 88 be fixedly arranged in the middle of gear wheel 881, Little gear 861 and gear wheel 881 transmission engagement.

Deng Cang mechanism also can use following structure: includes pontic, and the bottom of pontic uses electric cylinder to drive, the left and right of pontic Both sides are provided with folding handrail, and when pontic puts down, both sides handrail stretches, and pontic is connected with nacelle, and visitor is from pontic Time the most current, handrail plays a protective role;When pontic lifts, handrail is folded up with pontic is accepted together, keeps off On entrance, prevent other people from entering between viewing, from mechanism, play safety protection function.May be used without similar airport to step on The shelter bridge structure of note, it is also possible to be a kind of lifting, translation platform or the Deng Cang mechanism of other forms.

Before viewing starts, first being put down by the pontic of Deng Cang mechanism 8, the free end of pontic 81 is shelved on entering of section structure 5 On mouth, spectators through the import 711 partition wall 71, enter into section structure 5 in via pontic 81 from approach corridor, see Crowd is seated on seat 12 and carries upper safety device, and then actuating unit work, rises pontic 81, the freedom of pontic 81 End leaves the import of section structure 5, seals up viewing import 711, the most just can show a film, meanwhile, and multi-DOF platform Come into operation.

After viewing terminates, multi-DOF platform decommissions, and returns back in situ, and actuating unit works, and is put by pontic 81 Under, the free end of pontic 81 is shelved in the import of section structure 5, and spectators untie safety device, and leave at seat, Via entering approach corridor after the import 711 on pontic 81, partition wall 71, leave the theatre.

Although the preferred embodiments of the present invention described in detail above, it is to be clearly understood that for this area For technical staff, the present invention can have various modifications and variations.All made within the spirit and principles in the present invention appoint What amendment, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (9)

1. >=360 ° of multi-DOF platform rotated, including base (1) and upper mounting plate (2), base (1) and upper mounting plate (2) Between by multiple servo electric jars (3) connect, the cylinder body of each servo electric jar (3) is hinged with base (1), each servo electric jar (3) the body of rod is hinged with upper mounting plate (2);It is characterized in that: described upper mounting plate (2) is provided with to be taken for people in order to mounted thereon The rotation platform (6) of section structure (5), rotation platform (6) is driven by servomotor (10) and upper mounting plate (2) >=360 ° relatively Rotating, the Plane of rotation of rotation platform (6) is parallel with upper mounting plate (2);
Described rotation platform (6) includes
Pedestal (61) ringwise, is fixed on upper mounting plate (2);
In order to the rotary table top (62) of the mounted thereon section structure (5) taken for people, it is located at the top of pedestal (61), rotates The bottom center position of table top (62) has the shaft (621) downwardly extended, and described servomotor (10) is fixed on upper mounting plate (2) bottom, the output shaft of servomotor (10) is connected that table top (62) is rotated and rotates with described shaft (621);
Rotation dish (63) ringwise, is fixed on the bottom surface of rotary table top (62), and rotation dish (63) is rotated by bearing arrangement and props up Hold in pedestal (61).
Multi-DOF platform the most according to claim 1, it is characterised in that: below described rotation platform (6) uses Exercise data, rotary speed >=10 °/s, the anglec of rotation >=360 °;Wave, yaw angle >=8 °, wave, go off course Speed >=8 °/s;Vertical and transverse and longitudinal translational speed >=100mm/s.
The most according to claim 1 >=360 ° of multi-DOF platform rotated, it is characterised in that: described pedestal (61) Inner ring surface in be provided with annular caulking groove (64), be provided with by multiple upper rollers (651) being uniformly distributed along the circumference in annular caulking groove (64) The upper roller assembly (65) of composition, and have the lower roller assembly (66) that multiple lower roller (661) being uniformly distributed along the circumference forms, described There is in the middle part of the periphery of rotation dish (63) the annular brace portion (631) of projection, roller assembly in this annular brace portion (631) insertion (65) and between lower roller assembly (66) and contact with each other, simultaneously the upper surface of the bottom surface of rotary table top (62) and pedestal (61) it Between have gap (X).
The most according to claim 3 >=360 ° of multi-DOF platform rotated, it is characterised in that: described pedestal (61) Fixing being formed by upper pedestal (611) and lower base (612) are involutory, the lower surface of upper pedestal (611) has L-shaped upper of cross section Cannelure portion (6111), the upper surface of lower base (612) has the lower cannelure portion (6121) that cross section is L-shaped, upper cannelure Portion (6111) and lower cannelure portion (6121) are combined to form described annular caulking groove (64).
The most according to claim 1 >=360 ° of multi-DOF platform rotated, it is characterised in that: described turntable Face (62) is square, and the bottom surface of described section structure (5) has the inner fovea part (511) that profile matches with rotary table top (62), described Rotary table top (62) embeds in this inner fovea part (511).
The most according to claim 1 >=360 ° of multi-DOF platform rotated, it is characterised in that: described nacelle is tied The bottom surface of structure (5) is provided with the waterproof organ cover (9) downwardly extended, and waterproof organ cover (9) is by each servo electric jar (3) and base (1) Cover sets in it, and the bottom of waterproof organ cover (9) is fixed with ground;Described section structure (5) includes being built by metal pipe material Skeleton part (51) and cabin part (52), the upper surface of skeleton part (51) is formed outside the inner bottom surface with cabin part (52) The step surface (512) that shape matches, the bottom surface of cabin part (52) has the inner chamber (521) that profile matches with skeleton part (51).
7. one kind have as described in aforementioned any claim >=simulation type of 360 ° of multi-DOF platform rotated experiences shadow Institute, it is characterised in that: include that movie theatre builds (7), in movie theatre building (7), be separated into two spaces by partition wall (71), one For approach corridor (A), one is (B) between viewing, and described >=360 ° of multi-DOF platform rotated are placed between viewing in (B), Be positioned in (B) between viewing >=360 ° of fronts of multi-DOF platform rotated are provided with screen (72), between viewing, (B) is provided with projection Instrument (76), is additionally provided with the audio amplifier (73) of number of different types in (B) between viewing, described partition wall (71) has and passes in and out sight for spectators The import (711) of (B) between shadow, the section structure on described import (711) and being fixed on >=360 ° of multi-DOF platform rotated (5) being connected by Deng Cang mechanism (8) between, this Deng Cang mechanism (8) can combine with section structure (5) or separate;Between viewing in (B) The top of the left and right sides be respectively equipped with multiple blower fan (74) and water fog generator (75), blower fan (74) and water fog generator (75) Alignment is positioned at the spectators of section structure (5).
Simulation type the most according to claim 7 experiences movie theatre, it is characterised in that: described Deng Cang mechanism (8) includes bridge Body (81), the bottom of pontic (81) uses electric cylinder to drive, and pontic (81) both sides are provided with folding handrail, in pontic (81) When putting down, both sides handrail stretches, and pontic (81) is connected with section structure (5);When pontic (81) lifts, handrail folds With pontic (81) is accepted together, gear, on entrance, prevents other people from entering between viewing.
Simulation type the most according to claim 7 experiences movie theatre, it is characterised in that: described Deng Cang mechanism (8) includes bridge Body (81), the hinged partition wall in the bottom (71) of pontic (81) is upper and is positioned at the lower section of import (711), and bridge floor (81) is each side Being provided with two movable pulleys (82) arranged along time interval, the partition wall (71) being positioned at import (711) top is each side installed Having a fixed pulley (83), partition wall (71) left and right sides being positioned at import (711) middle part is fixed with locating ring (84);Two lifting ropes (85), one end of every lifting rope (85) is fixed on locating ring (84), and the other end of every lifting rope (85) walks around respective side successively Movable pulley (82) be connected with hoist engine still further below after fixed pulley (83);When pontic (81) puts down, pontic (81) Free end be shelved in the import of section structure (5), when pontic (81) is sling, the free end of pontic (81) leaves The import of section structure (5);Described hoist engine includes motor (86) and the rotating shaft (88) being bearing on support (87) by bearing, Being fixed with two winding drums (89) in rotating shaft (88), one end of two lifting ropes (85) is separately fixed at the winding drum (89) of respective side On, the output shaft of described motor (86) is provided with little gear (861), described rotating shaft (88) be fixedly arranged in the middle of gear wheel (881), described little gear (861) and gear wheel (881) transmission engagement.
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