CN105243919B - Simulated flight device with manipulator - Google Patents
Simulated flight device with manipulator Download PDFInfo
- Publication number
- CN105243919B CN105243919B CN201510742854.1A CN201510742854A CN105243919B CN 105243919 B CN105243919 B CN 105243919B CN 201510742854 A CN201510742854 A CN 201510742854A CN 105243919 B CN105243919 B CN 105243919B
- Authority
- CN
- China
- Prior art keywords
- support arm
- flight
- pull rod
- pedestal
- driving unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/10—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer with simulated flight- or engine-generated force being applied to aircraft occupant
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
Abstract
The present invention provides a kind of simulated flight devices with manipulator, including manipulator and flight nacelle, the manipulator includes pedestal, lower support arm, lower support arm driving unit, upper support arm, lower pull rod, lower pull rod driving unit, upper connecting rod, the lower support arm is to be flexibly connected with the pedestal, the lower support arm driving unit drives the lower support arm movement, the upper support arm is to be flexibly connected with the lower support arm, the lower pull rod is to be flexibly connected with the pedestal, the lower pull rod driving unit driving lower pull rod movement, described upper connecting rod one end is to be flexibly connected with the upper support arm, the upper connecting rod other end is to be flexibly connected with the lower pull rod；The flight nacelle includes flight capsule skeleton, and flight capsule skeleton is connected with upper support arm.The beneficial effects of the invention are as follows：The simulated flight device of the present invention is safe and reliable, simulates true aircraft, and action is abundant, performance is lively and interactivity is strong, the great interaction entertainment experience brought for tourist.
Description
Technical field
The present invention relates to amusement equipment fields, more particularly to the simulated flight device with manipulator.
Background technology
With the progress of science and technology, social development, 4D films have had been enter into people's lives, and the hardware of 4D films is set at present
The shortcomings that standby mostly Six-freedom dynamic platform, Six-freedom dynamic platform, is poor for flexibility ratio, and compartment generates vibration, and effect is poor,
It cannot be satisfied the demand of user.
Invention content
In order to solve the problems in the prior art, the present invention provides a kind of simulated flight devices with manipulator.
The present invention provides a kind of simulated flight device with manipulator, including manipulator and flight nacelle, the machineries
Hand includes pedestal, lower support arm, lower support arm driving unit, upper support arm, lower pull rod, lower pull rod driving unit, upper connecting rod, institute
It is to be flexibly connected that lower support arm, which is stated, with the pedestal, and the lower support arm driving unit drives the lower support arm movement, described
Upper support arm is to be flexibly connected with the lower support arm, and the lower pull rod is to be flexibly connected with the pedestal, and the lower pull rod drives
The moving cell driving lower pull rod movement, described upper connecting rod one end is to be flexibly connected with the upper support arm, and the upper connecting rod is another
One end is to be flexibly connected with the lower pull rod；The flight nacelle includes flight capsule skeleton, the flight capsule skeleton and the upper branch
Brace is connected.
As a further improvement on the present invention, the manipulator further includes chassis and the bottom on the chassis
Seat rotary drive mechanism, the floor installation pass through the pedestal rotary drive mechanism on the pedestal rotary drive mechanism
The pedestal is driven to be rotated.
As a further improvement on the present invention, the manipulator further includes balance base, balance plate and balancing pull rod, described flat
Weighing apparatus seat and the balance plate are respectively arranged in the upper support arm both ends, and the balancing pull rod is connected to the balance base and described
Between balance plate.
As a further improvement on the present invention, the flight nacelle further includes swing mechanism, and the swing mechanism is mounted on
In the upper support arm, the flight capsule skeleton is connected with the swing mechanism, and the flight capsule bone is driven by swing mechanism
Frame is swung left and right.
As a further improvement on the present invention, the flight nacelle further includes the rotation being mounted on the flight capsule skeleton
The wing.
As a further improvement on the present invention, the flight nacelle further includes rotary drive mechanism, the rotary driving machine
Structure is mounted on the flight capsule skeleton, and the rotor is connected with the rotary drive mechanism, and the rotary drive mechanism drives
The rotor is moved to tilt forward and back.
As a further improvement on the present invention, which further includes PLC control unit, the PLC control unit
The work of the lower support arm driving unit, lower pull rod driving unit, pedestal rotary drive mechanism and the rotor is controlled respectively
State.
The beneficial effects of the invention are as follows：The simulated flight device of the present invention is safe and reliable, simulates true aircraft, action
Abundant, performance is vividly and interactive strong, the great interaction entertainment experience brought for tourist.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the flight nacelle structural schematic diagram of the present invention.
Fig. 3 is the robot manipulator structure schematic diagram of the present invention.
Specific implementation mode
As shown in Figures 1 to 3, the invention discloses a kind of simulated flight devices with manipulator, including manipulator and flight
Nacelle, the manipulator include pedestal 2, lower support arm 3, lower support arm driving unit 12, upper support arm 4, lower pull rod 6, drop-down
Bar driving unit 13, upper connecting rod 7, the lower support arm 3 are to be flexibly connected with the pedestal 2, the lower support arm driving unit
The 12 driving lower support arms 3 move, and the upper support arm 4 is to be flexibly connected with the lower support arm 3, the lower pull rod 6 and
The pedestal 2 is flexible connection, and the lower pull rod driving unit 13 drives the lower pull rod 6 to move, 7 one end of the upper connecting rod with
The upper support arm 4 is flexible connection, and 7 other end of the upper connecting rod is to be flexibly connected with the lower pull rod 6；The flight nacelle packet
Flight capsule skeleton 15 is included, the flight capsule skeleton 15 is connected with the upper support arm 4.
The manipulator further includes chassis 1 and the pedestal rotary drive mechanism 11 on the chassis 1, described
Pedestal 2 be mounted on the pedestal rotary drive mechanism 11 on, by the pedestal rotary drive mechanism 11 drive the pedestal 2 into
Row rotation.
The manipulator further includes balance base 5, balance plate 9 and balancing pull rod 10, the balance base 5 and the balance plate 9
4 both ends of the upper support arm are respectively arranged in, the balancing pull rod 10 is connected between the balance base 5 and the balance plate 9.
By the cooperation of balance base 5, balance plate 9 and balancing pull rod 10, when can ensure manipulator arbitrary motion, balance base 5 is always
Keep original state.
The flight nacelle further includes swing mechanism 14, and the swing mechanism 14 is mounted in the upper support arm 4, described
Flight capsule skeleton 15 is connected with the swing mechanism 14, drives the flight capsule skeleton 15 to be swung left and right by swing mechanism 14.
The flight nacelle further includes the rotor 17 being mounted on the flight capsule skeleton 15.
The flight nacelle further includes rotary drive mechanism 16, and the rotary drive mechanism 16 is mounted on the flight capsule bone
On frame 15, the rotor 17 is connected with the rotary drive mechanism 16, and the rotary drive mechanism 16 drives the rotor 17
It tilts forward and back.
The flight nacelle of the present invention realizes aircraft flight action simulation by the manipulator being attached thereto, and realizes that tourist flies
Row venture experience.Long 4000mm, width 4000mm are taken up an area in the landing of simulated flight device, are highly 3000mm, moving radius 5500mm, weight
Amount is about 2.5t.
Seat, 17 variable rotation speed of rotor of the invention are installed in flight capsule skeleton 15.
The simulated flight device further includes PLC control unit, and the PLC control unit controls the lower support arm driving respectively
The working condition of unit 12, lower pull rod driving unit 13 and pedestal rotary drive mechanism 11 controls its average speed, accelerates
Degree, motion range, beginning and ending time etc..
PLC control unit also controls the working condition of rotor 17, that is, controls the average speed, acceleration, movement of rotor 17
Range, beginning and ending time etc..
Pedestal rotary drive mechanism 11 can self contained function, the flight nacelle that makes realizes 360 ° of rotations.Pass through manipulator
Connecting rod mechanism movement can make flight nacelle to make lower support arm driving unit 12 and lower 13 combinative movement of pull rod driving unit
Realize back-and-forth motion, oscilaltion；8 self contained function of pull rod contracting mechanism can make flight nacelle realize pitch；Swing mechanism
14 self contained functions can make the realization of flight nacelle be swung left and right.
The present invention flexible connection can be connected through the hinge either by axis connection, in the present invention, servo electricity
Machine by electric cylinder, each movable joint connecting rod mechanism movement of speed reducer push-pull maneuver aircraft, realize the oscilaltion of flight nacelle,
Anterior-posterior translation, be swung left and right, pitch, 360 ° of spinning movements.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (6)
1. a kind of simulated flight device with manipulator, it is characterised in that：Including manipulator and flight nacelle, the machinery handbag
Include pedestal（2）, lower support arm（3）, lower support arm driving unit（12）, upper support arm（4）, lower pull rod（6）, the driving of lower pull rod it is single
Member（13）, upper connecting rod（7）, the lower support arm（3）With the pedestal（2）For flexible connection, the lower support arm driving unit
（12）Drive the lower support arm（3）Movement, the upper support arm（4）With the lower support arm（3）To be flexibly connected, under described
Pull rod（6）With the pedestal（2）For flexible connection, the lower pull rod driving unit（13）Drive the lower pull rod（6）Movement, institute
State upper connecting rod（7）One end and the upper support arm（4）For flexible connection, the upper connecting rod（7）The other end and the lower pull rod（6）
For flexible connection；The flight nacelle includes flight capsule skeleton（15）, the flight capsule skeleton（15）With the upper support arm（4）Phase
Even；The manipulator further includes balance base（5）, balance plate（9）And balancing pull rod（10）, the balance base（5）With the balance
Plate（9）It is respectively arranged in the upper support arm（4）Both ends, the balancing pull rod（10）It is connected to the balance base（5）With it is described
Balance plate（9）Between.
2. simulated flight device according to claim 1, it is characterised in that：The manipulator further includes chassis（1）, Yi Jian
Mounted in the chassis（1）On pedestal rotary drive mechanism（11）, the pedestal（2）Mounted on the pedestal rotary drive mechanism
（11）On, pass through the pedestal rotary drive mechanism（11）Drive the pedestal（2）It is rotated.
3. simulated flight device according to claim 1, it is characterised in that：The flight nacelle further includes swing mechanism
（14）, the swing mechanism（14）Mounted on the upper support arm（4）On, the flight capsule skeleton（15）With the swing mechanism
（14）It is connected, passes through swing mechanism（14）Drive the flight capsule skeleton（15）It is swung left and right.
4. simulated flight device according to claim 2, it is characterised in that：The flight nacelle further includes being mounted on described fly
Row cabin skeleton（15）On rotor（17）.
5. simulated flight device according to claim 4, it is characterised in that：The flight nacelle further includes rotary drive mechanism
（16）, the rotary drive mechanism（16）Mounted on the flight capsule skeleton（15）On, the rotor（17）It is driven with the rotation
Motivation structure（16）It is connected, and the rotary drive mechanism（16）Drive the rotor（17）It tilts forward and back.
6. simulated flight device according to claim 4, it is characterised in that：The simulated flight device further includes PLC control unit,
The PLC control unit controls the lower support arm driving unit respectively（12）, lower pull rod driving unit（13）, pedestal rotation drive
Motivation structure（11）With the rotor（17）Working condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510742854.1A CN105243919B (en) | 2015-11-04 | 2015-11-04 | Simulated flight device with manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510742854.1A CN105243919B (en) | 2015-11-04 | 2015-11-04 | Simulated flight device with manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105243919A CN105243919A (en) | 2016-01-13 |
| CN105243919B true CN105243919B (en) | 2018-11-06 |
Family
ID=55041544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510742854.1A Active CN105243919B (en) | 2015-11-04 | 2015-11-04 | Simulated flight device with manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105243919B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107694090A (en) * | 2017-09-29 | 2018-02-16 | 广州云友网络科技有限公司 | A kind of simulated flight system of virtual scene combination manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009089561A2 (en) * | 2008-01-18 | 2009-07-23 | Wunderwerk Digitale Medien Produktion Gmbh | Method for simulating flight statuses of a vertical take-off and/or vertical landing-capable aircraft |
| EP2363849A2 (en) * | 2010-01-22 | 2011-09-07 | Wunderwerk Digitale Medien Produktion Gmbh | Training assembly for training flight conditions |
| DE102010049153A1 (en) * | 2010-10-22 | 2012-04-26 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Simulator comprises joint-arm robot and gondola which is mounted on joint-arm, where gondola has base part with seating unit and cover, and gondola is provided with mounting device |
| CN102971777A (en) * | 2010-05-21 | 2013-03-13 | 马克思-普朗克科学促进协会 | Motion simulator and corresponding method |
| EP2574384A1 (en) * | 2011-09-28 | 2013-04-03 | KUKA Laboratories GmbH | Fairground ride and method for operating same |
| CN103155017A (en) * | 2010-08-30 | 2013-06-12 | 格伦策巴赫机械制造有限公司 | Apparatus and method for operating a flight simulator with a special impression of reality |
| CN104708618A (en) * | 2015-03-16 | 2015-06-17 | 广东顺德三合工业自动化设备有限公司 | Robot |
| CN205177206U (en) * | 2015-11-04 | 2016-04-20 | 深圳市普乐方文化科技股份有限公司 | Simulated flight ware with manipulator |
-
2015
- 2015-11-04 CN CN201510742854.1A patent/CN105243919B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009089561A2 (en) * | 2008-01-18 | 2009-07-23 | Wunderwerk Digitale Medien Produktion Gmbh | Method for simulating flight statuses of a vertical take-off and/or vertical landing-capable aircraft |
| EP2363849A2 (en) * | 2010-01-22 | 2011-09-07 | Wunderwerk Digitale Medien Produktion Gmbh | Training assembly for training flight conditions |
| CN102971777A (en) * | 2010-05-21 | 2013-03-13 | 马克思-普朗克科学促进协会 | Motion simulator and corresponding method |
| CN103155017A (en) * | 2010-08-30 | 2013-06-12 | 格伦策巴赫机械制造有限公司 | Apparatus and method for operating a flight simulator with a special impression of reality |
| DE102010049153A1 (en) * | 2010-10-22 | 2012-04-26 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Simulator comprises joint-arm robot and gondola which is mounted on joint-arm, where gondola has base part with seating unit and cover, and gondola is provided with mounting device |
| EP2574384A1 (en) * | 2011-09-28 | 2013-04-03 | KUKA Laboratories GmbH | Fairground ride and method for operating same |
| CN104708618A (en) * | 2015-03-16 | 2015-06-17 | 广东顺德三合工业自动化设备有限公司 | Robot |
| CN205177206U (en) * | 2015-11-04 | 2016-04-20 | 深圳市普乐方文化科技股份有限公司 | Simulated flight ware with manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105243919A (en) | 2016-01-13 |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 Chegongmiao Tianan Innovation Technology Plaza A1403-28, Shatian Street, Futian District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN PLAYFUN CULTURE SCIENCE AND TECHNOLOGY Co.,Ltd. Address before: 518000 Room 501-525B39, Huarong Building, Futian Street Center, Futian District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN PLAYFUN CULTURE SCIENCE AND TECHNOLOGY Co.,Ltd. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Simulated aircraft with manipulator Effective date of registration: 20211221 Granted publication date: 20181106 Pledgee: Shenzhen Longgang sub branch of Agricultural Bank of China Ltd. Pledgor: SHENZHEN PLAYFUN CULTURE SCIENCE AND TECHNOLOGY Co.,Ltd. Registration number: Y2021980015801 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230317 Granted publication date: 20181106 Pledgee: Shenzhen Longgang sub branch of Agricultural Bank of China Ltd. Pledgor: SHENZHEN PLAYFUN CULTURE SCIENCE AND TECHNOLOGY Co.,Ltd. Registration number: Y2021980015801 |