CN105243912B - Gas-liquid for moving simulation drives six-freedom parallel motion platform system - Google Patents
Gas-liquid for moving simulation drives six-freedom parallel motion platform system Download PDFInfo
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- CN105243912B CN105243912B CN201510720539.9A CN201510720539A CN105243912B CN 105243912 B CN105243912 B CN 105243912B CN 201510720539 A CN201510720539 A CN 201510720539A CN 105243912 B CN105243912 B CN 105243912B
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Abstract
The present invention provides a kind of gas-liquid driving six-freedom parallel motion platform system for being used to move simulation, has upper mounting plate, universal joint, fluid cylinder, cylinder, base universal joint, base, pneumatic operated valve, hydraulic valve and displacement transducer.The design of the present invention considers that gas has larger compressibility, can improve the flexibility of system, and liquid portion and can provides appropriate damping, improves system stiffness, and the combination of the two causes the motion platform to have the superperformance of hard and soft merger.So a kind of gas-liquid driving six-freedom parallel motion platform system for being used to moving simulation that patent of the present invention provides has the advantages that relative to pneumatic, motorized motions platform high rigidity and strong relative to the compliant motion characteristic of hydraulic-driven platform, the key characteristic of motion simulator is improved.
Description
Technical field
Patent of the present invention belongs to motion simulation platform technical field, especially belongs to a kind of six degree of freedom of new structure simultaneously
Join plateform system.
Background technology
Motion simulation is on corresponding simulator, reproduces real motion using virtual innervation, virtual views, virtual acoustic
The process of sensation.Motion simulation is mainly used to the controling power or experience for replacing real equipment to train operator to real equipment
Certain forms of motion.The training cost of various motion works, current almost all of civilian, army can be greatly lowered in motion simulation
All completed with most of flight training of airborne vehicle driver on simulator.In addition, motion simulator is various
The application of the equipment such as amusement is also very extensive.The uses of many decades experience have shown that, motion simulation relevant Aeronautics and Astronautics, navigation,
Highly important effect is all played in the road motion simulation of vehicle and the development process of amusement equipment.
Earliest 6-DOF parallel institutions are the 6-SPS mechanisms that nineteen sixty-five D.Stewart is proposed and developed, i.e., famous
Stewart parallel robot mechanisms.The development of six degree of freedom platform is roughly divided into following several stages, starts the sixties to use
To develop aircraft and other motion simulators, the concept of parallel manipulator is proposed the seventies, the latter stage eighties starts to develop simultaneously
Online bed, the nineties develop crane using parallel institution, and the space articulation device of spaceship is developed with parallel institution.Currently
Some domestic and international recreation grounds have had six degree of freedom proprioceptive simulation device, big navigation experience shop, spaceship and simulation film
Deng entertainment simulation device.The national more of six-degree-of-freedom parallel connection mechanism is developed in the world, mainly there is Canada, the U.S., Britain, method
The states such as state, Germany, Japan and Russia.The development work of China's motion simulator is carried out than later, the analogue technique with foreign countries
Compared to larger gap also be present, Tsing-Hua University, Chinese Academy of Sciences's Shenyang Institute of Automation, Harbin Institute of Technology, Harbin Institute of Engineering are big
The units such as, University On The Mountain Of Swallows and University Of Tianjin have also made the much research on six-freedom motion analog platform.They are fortune
The development of dynamic simulation system has made huge contribution with progress, and some of achievements in research have applied for patent.
So far, the driving of 6-dof motion platform mainly has hydraulic pressure, electronic, pneumatic and electric hydaulic mixing four
Kind mode.There are the advantages of respective and weak point in its operation.The advantages of hydraulic driving mode be rigidity is big, power-
For weight than big, shortcoming is that design maintenance is complicated, cost is high.The characteristics of motorized motions mode is the speed and position essence of executing agency
Degree is higher, and system design and realization are simple, but are limited by power of motor, and its bearing capacity is limited.Electric hydaulic combination drive
Mode uses Serve Motor Control hydraulic actuator, without hydraulic valve and hydraulic power unit, greatly reduces cost and design is tieed up
Difficulty is protected, its weak point is that the frequency response of system is relatively low, and is restricted by power of motor, and bearing capacity and speed are not
Greatly.
The current document report about gas-liquid movement simulation system is few, according to the inventors knowledge, relevant six degree of freedom gas-liquid
The patent document of sport simulated system does not almost have.The design of the present invention considers that gas has larger compressibility, can be with
The flexibility of raising system, and liquid portion and can provides appropriate damping, liquid has the characteristic of higher stiffness, the combination of the two
So that the simulator have it is hard and soft both with superperformance.A kind of so gas-liquid for being used to move simulation that patent of the present invention provides
Driving six-freedom parallel motion platform system has relative to pneumatic, motorized motions platform high rigidity and driven relative to hydraulic pressure
The advantages that compliant motion characteristic of moving platform is strong.
The content of the invention
It is an object of the invention to provide a kind of gas-liquid driving six-freedom parallel motion platform system for being used to move simulation
System, it is contemplated that gas has larger compressibility, can improve the flexibility of system, and liquid portion and can provides appropriate resistance
Buddhist nun, system stiffness is improved, the overall performance of motion simulator system is improved from the improvement of system authority.
The present invention, which is achieved in that, constructs a kind of gas-liquid driving six-freedom parallel motion platform for being used to move simulation
System：It is characterized in that：With upper mounting plate, universal joint, fluid cylinder, cylinder, base universal joint, base, pneumatic operated valve, hydraulic valve and position
Displacement sensor；Base support whole system element；Hydraulic cylinder and pneumatic cylinder series combination into gas-liquid connect cylinder；Gas-liquid connect cylinder with
Fixed between base by base universal joint；Gas-liquid is connected is fixed between cylinder and upper mounting plate by universal joint；Gas-liquid series connection cylinder is single pole
Symmetrical structure, wherein, cylinder is controlled as displacement of the master control cylinder to airdraulic actuator, and displacement transducer is respectively arranged in each gas
On fluid cylinder, for measuring the stroke of gas-liquid cylinder piston rod.
Six-freedom parallel motion platform system is driven according to a kind of gas-liquid for being used to move simulation of the present invention：Its
It is characterised by：Pneumatic cylinder adoption rate valve, switch valve or flow valve, hydraulic cylinder adoption rate valve, switch valve or flow valve；Its
In, displacement transducer totally six.
Six-freedom parallel motion platform system is driven according to a kind of gas-liquid for being used to move simulation of the present invention：Its
It is characterised by：With following two operation forms：
Form one：
Hydraulic cylinder is controlled and adjusted by one-way throttle valve, and to reach certain system damping, pneumatic cylinder passes through pneumatic operated valve
Carry out closed-loop control.The pose of six degree of freedom platform is calculated by the signal of each displacement transducer, this motion mode can
Reach different kinetic characteristics to adjust the damping of hydraulic cylinder by open loop；
The course of work of the embodiment：
The athletic posture needed according to Six Degree-of-Freedom Parallel Platform, the position that each airdraulic actuator needs to reach is calculated, is led to
The closed loop location control for crossing cylinder reaches specified posture, and hydraulic cylinder one-way throttle valve is big by opened loop control adjustment system damping
It is small；
Form two：
Hydraulic cylinder reaches certain system damping by high-speed switch valve closed-loop control, meanwhile, pneumatic cylinder passes through pneumatic operated valve
Closed-loop control is carried out, the pose of six degree of freedom platform is calculated by the signal of each displacement transducer, this motion mode can
To reach different kinetic characteristics by the damping of closed loop on-line tuning hydraulic cylinder,
The course of work of the embodiment：
The athletic posture needed according to Six Degree-of-Freedom Parallel Platform, the position that each airdraulic actuator needs to reach is calculated, is led to
The closed loop location control for crossing cylinder reaches specified posture, and hydraulic cylinder is big by the adjustment system damping of closed-loop control high-speed switch valve
It is small.
The advantage of the invention is that：Patent of the present invention employs pneumatic cylinder and hydraulic cylinder tandem type composition gas-liquid series connection cylinder
6-dof motion platform is formed, because gas has compressible flexible characteristic in itself, liquid has the characteristic of higher stiffness,
The two with reference to cause the simulator have it is hard and soft both with superperformance.One kind that patent of the present invention provides, which is used to move, to be simulated
Gas-liquid driving 6-dof motion platform system have the compliant motion characteristic relative to hydraulic-driven platform strong and relative to
Pneumatically, the advantages that the high rigidity of motorized motions platform, the key characteristic of motion simulator is improved.
Brief description of the drawings
Accompanying drawing 1 is that gas-liquid drives six-freedom parallel motion platform prototype machine structure chart.
Accompanying drawing 2 is that gas-liquid drives six-freedom parallel motion platform prototype machine top view.
1. upper mounting plate in figure, 2. universal joints, 3. fluid cylinders, 4. cylinders, 5. base universal joints, 6. bases.
Embodiment
Below in conjunction with accompanying drawing 1-2, the present invention is described in detail, and the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
Every other embodiment, belongs to the scope of protection of the invention.
It is provided by the invention it is a kind of be used for move simulation gas-liquid driving six-freedom parallel motion platform system, as Fig. 1-
Shown in 2, it can be practiced in the following way；With upper mounting plate 1, universal joint 2, fluid cylinder 3, cylinder 4, base universal joint 5, bottom
Seat 6, pneumatic operated valve, hydraulic valve and displacement transducer (unmarked).Base support whole system element；Gas-liquid connects cylinder by hydraulic cylinder
3 and the series combination of pneumatic cylinder 4；Gas-liquid series connection cylinder is fixed with base 6 by base universal joint 5；Gas-liquid series connection cylinder is with upper mounting plate 1 by ten thousand
Fixed to section 2；Gas-liquid series connection cylinder is single pole symmetrical structure, wherein, cylinder is controlled as displacement of the master control cylinder to airdraulic actuator
System.Pneumatic cylinder can use various forms of air pressure valves (such as：Proportioning valve, switch valve, flow valve etc.), hydraulic cylinder can use various shapes
The hydraulic valve of formula is (such as：Proportioning valve, switch valve, flow valve etc.).Displacement transducer (being omitted in figure) totally six, it is respectively arranged in each
On airdraulic actuator, for measuring the stroke of gas-liquid cylinder piston rod.
The two kinds of operation forms and operation principle based on gas-liquid driving six-freedom parallel motion platform of the present invention.
Embodiment one
Hydraulic cylinder is controlled and adjusted by one-way throttle valve, to reach certain system damping.Pneumatic cylinder passes through pneumatic operated valve
Carry out closed-loop control.The pose of six degree of freedom platform is calculated by the signal of each displacement transducer.This motion mode can
Reach different kinetic characteristics to adjust the damping of hydraulic cylinder by open loop.
The course of work of the embodiment：
The athletic posture needed according to Six Degree-of-Freedom Parallel Platform, the position that each airdraulic actuator needs to reach is calculated, is led to
The closed loop location control for crossing cylinder reaches specified posture.Hydraulic cylinder one-way throttle valve is big by opened loop control adjustment system damping
It is small.
Embodiment two
Hydraulic cylinder reaches certain system damping by high-speed switch valve closed-loop control.Meanwhile pneumatic cylinder passes through pneumatic operated valve
Carry out closed-loop control.The pose of six degree of freedom platform is calculated by the signal of each displacement transducer.This motion mode can
To reach different kinetic characteristics by the damping of closed loop on-line tuning hydraulic cylinder.
The course of work of the embodiment：
The athletic posture needed according to Six Degree-of-Freedom Parallel Platform, the position that each airdraulic actuator needs to reach is calculated, is led to
The closed loop location control for crossing cylinder reaches specified posture.Hydraulic cylinder is big by the adjustment system damping of closed-loop control high-speed switch valve
It is small.
This gas-liquid driving six-freedom parallel motion platform system for being used to move simulation of the present invention has system
The advantages that low, system stiffness is adjustable, control is simple is caused, can be applied in various light-duty motion simulation fields, saves and develops
Funds, improve the kinetic characteristic of product.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (2)
- A kind of 1. gas-liquid driving six-freedom parallel motion platform system for being used to move simulation：It is characterized in that：With upper flat Platform（1）, universal joint（2）, fluid cylinder（3）, cylinder（4）, base universal joint（5）, base（6）, pneumatic operated valve, hydraulic valve and displacement sensing Device；Base support whole system element；Hydraulic cylinder（3）And pneumatic cylinder（4）Series combination into gas-liquid connect cylinder；Gas-liquid connect cylinder with Base（6）Between by base universal joint（5）It is fixed；Gas-liquid series connection cylinder and upper mounting plate（1）Between by universal joint（2）It is fixed；Gas-liquid Series connection cylinder is single pole symmetrical structure, wherein, cylinder is controlled as displacement of the master control cylinder to airdraulic actuator, displacement transducer point It is not installed on each airdraulic actuator, for measuring the stroke of gas-liquid cylinder piston rod；The plateform system has following two operation forms：Form one：Hydraulic cylinder is controlled and adjusted by one-way throttle valve, and to reach certain system damping, pneumatic cylinder passes through pneumatic Valve carries out closed-loop control；The pose of six degree of freedom platform is calculated by the signal of each displacement transducer, this motion mode can pass through open loop The damping of adjustment hydraulic cylinder reaches different kinetic characteristics；The course of work of the embodiment：The athletic posture needed according to Six Degree-of-Freedom Parallel Platform, the position that each airdraulic actuator needs to reach is calculated, passes through gas The closed loop location control of cylinder reaches specified posture, and hydraulic cylinder one-way throttle valve adjusts system damping size by opened loop control；Form two：Hydraulic cylinder reaches certain system damping by high-speed switch valve closed-loop control, meanwhile, pneumatic cylinder is carried out by pneumatic operated valve Closed-loop control, the pose of six degree of freedom platform is calculated by the signal of each displacement transducer, and this motion mode can lead to The damping for crossing closed loop on-line tuning hydraulic cylinder reaches different kinetic characteristics,The course of work of the embodiment：The athletic posture needed according to Six Degree-of-Freedom Parallel Platform, the position that each airdraulic actuator needs to reach is calculated, passes through gas The closed loop location control of cylinder reaches specified posture, and hydraulic cylinder adjusts system damping size by closed-loop control high-speed switch valve.
- 2. the gas-liquid for being used to move simulation according to claim 1 drives six-freedom parallel motion platform system：It is characterized in that： Pneumatic cylinder adoption rate valve, switch valve or flow valve, hydraulic cylinder adoption rate valve, switch valve or flow valve；Wherein, displacement sensing Device totally six.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510720539.9A CN105243912B (en) | 2015-10-30 | 2015-10-30 | Gas-liquid for moving simulation drives six-freedom parallel motion platform system |
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| CN201510720539.9A CN105243912B (en) | 2015-10-30 | 2015-10-30 | Gas-liquid for moving simulation drives six-freedom parallel motion platform system |
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| CN105243912A CN105243912A (en) | 2016-01-13 |
| CN105243912B true CN105243912B (en) | 2018-02-06 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426116A (en) * | 2016-11-29 | 2017-02-22 | 电子科技大学 | Assisting exoskeleton mechanism system for lower limbs |
| CN107121930B (en) * | 2017-05-26 | 2019-11-29 | 山东科技大学 | Six Degree-of-Freedom Parallel Platform motion control method based on dummy model |
| CN107269626B (en) * | 2017-08-09 | 2019-06-18 | 北京强度环境研究所 | A kind of oil gas support and control device and its control method |
| CN107775627A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six-degree-of-freedom parallel robot |
| CN111722652A (en) * | 2020-07-10 | 2020-09-29 | 西安倍力科智能科技有限公司 | Gas-electric hybrid control method for six-degree-of-freedom simulator |
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| CN202357558U (en) * | 2011-11-07 | 2012-08-01 | 河北羿珩太阳能科技股份有限公司 | Four-column pneumatic and hydraulic lifting fully automatic laminating machine |
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|---|---|---|---|---|
| JP2001109366A (en) * | 1999-10-05 | 2001-04-20 | Tsubakimoto Chain Co | Exercise simulator |
| CN101776197A (en) * | 2010-03-26 | 2010-07-14 | 燕山大学 | Six-cylinder driven tri-axial rotary platform |
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