CN105825754A - Six-degrees-of-freedom motion platform based on application of motion simulation system - Google Patents
Six-degrees-of-freedom motion platform based on application of motion simulation system Download PDFInfo
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- CN105825754A CN105825754A CN201510000860.XA CN201510000860A CN105825754A CN 105825754 A CN105825754 A CN 105825754A CN 201510000860 A CN201510000860 A CN 201510000860A CN 105825754 A CN105825754 A CN 105825754A
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Abstract
The invention discloses a six-degrees-of-freedom motion platform based on the application of a motion simulation system, comprising a motion simulation system and a six-degrees-of-freedom motion platform linked with the motion simulation system. The six-degrees-of-freedom motion platform comprises a static platform, a moving platform used for supporting the motion simulation system, six servo electric cylinders fixed on the static platform, six speed reducers connected with the servo electric cylinders respectively, and six link mechanisms connected with the speed reducers and the moving platform. A servo system and the servo electric cylinders based on full-digital control are used as an actuator of the moving part of the platform, so that the movement track and speed of the platform are smooth and continuous, and high-frequency-response fast movement and low-speed smooth movement are realized.
Description
Technical field
The present invention relates to dynamic emulation technology, particularly relate to a kind of Six-freedom dynamic platform based on the application of dynamic emulation system.
Background technology
In existing simulated operating system, especially engineering machinery simulated operating system, user is sat and is simulated operation by the action bars on teaching appliance, pedal, operation button etc. on the seat；And the operation of user is fed back by the picture of the display display simulation arranged on teaching appliance, but this kind of feedback only forms visual feedback to user, and the feedback jolted or tilt of driver seat under concrete operating environment cannot be simulated, the sight simulated is restricted.
Summary of the invention
It is an object of the invention to, for the deficiencies in the prior art, it is provided that a kind of Six-freedom dynamic platform based on the application of dynamic emulation system, effectively solve above-mentioned technical problem.
For effectively solving the problems referred to above, the technical scheme that the present invention takes is as follows:
A kind of Six-freedom dynamic platform based on the application of dynamic emulation system, including dynamic emulation system and the Six-freedom dynamic platform that links therewith, described Six-freedom dynamic platform includes silent flatform, the six groups of servo electric jars in order to the moving platform supporting dynamic emulation system, being fixed on silent flatform, six decelerators being connected with servo electric jar respectively, connect six linkages of each decelerator and moving platform.
Particularly, described servomotor also includes the servo controller of drive connection therewith, arranges servo-control system in described servo controller.
Particularly, described servo-control system includes function change-over module, data operation module, data coding module, signal processing module and arbitrarily organizes memory storage module more；Described electrical control actuator also includes multijoint control module and fault detection module；Syntax editor by input/output interface or the function change-over module set-up function director data by key control also transmit it to organize in any memory storage module more and preserve, call data in described memory storage module to transmit after data operation module and data coding module process to signal processing module and be converted into function signal, and this signal be can recognize that form processing and amplifying by subsystem.
Particularly, described moving platform frame for movement is by six servo electric jars, upper and lower each six universal couplings and upper and lower two platforms composition, on the basis of lower platform is fixed on, stretching motion by six electric cylinders, complete the upper mounting plate motion at space six-freedom degree, such that it is able to simulate various space motion attitude.
Particularly, described dynamic emulation system includes that a multi-function rotating changer controller, described multi-function rotating changer controller include display and operator, and is connected with each other by its built-in integral control circuit or change-over circuit；Touch keyboard operator is set and inputs data by it, described controller processes these input data and realizes multi-functional flow path switch, arranging and include that the display display of multi-functional menu viewing area exports its power and energy menu, it realizes combined multifunctional by control display integrated morphology and selects and conversion.
Particularly, completed normal data basic database by built-in programmable logical device at the programming interface of described operator set up and carry out its functional mode being stored in specific memory after multinomial, individual event sets respectively；On described operator, set combination type functional module input function command editting function parameter compares its data and show and complete individual event or multiple function integrated mode with instruction flow, called normal data compared with its fan-in evidence more afterwards to its calculation process by described controller, by parameter, lighting module and safety return circuit control module thereof are realized automatic alarm, automatic error-correcting and repeat.
Beneficial effects of the present invention: the Six-freedom dynamic platform based on the application of dynamic emulation system that the present invention provides, 6-dof motion platform can do the single dof mobility of arbitrary degree of freedom on the six-freedom degree of space, also can do the compound motion of any several degree of freedom.Owing to using the servosystem of all-digitized demodulator and servo electric jar as the actuator of platform motion parts, therefore, the movement locus of platform and rate smoothing are continuous, both can realize the rapid movement of high frequency sound, it is possible to realize the easy motion under low speed.In frame for movement, 6-dof motion platform is by six servo electric jars, upper and lower each six universal couplings and upper and lower two platforms composition, on the basis of lower platform is fixed on, stretching motion by six electric cylinders, complete the upper mounting plate motion at space six-freedom degree, such that it is able to simulate various space motion attitude.This 6-dof motion platform can be widely applied to various training simulator, such as aviation simulator, ship simulator, naval's helicopter landing analog platform, tank simulator, automobile driving simulator, train driving simulator, earthquake simulator etc., 6-dof motion platform applies also for the field such as simulation film, amusement equipment, can be made into six-axis linkage lathe, handyman etc. in industrial circle.
The present invention is described in detail below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of Six-freedom dynamic platform based on the application of dynamic emulation system disclosed by the invention；
Fig. 2 is servo-control system Organization Chart in Six-freedom dynamic platform based on the application of dynamic emulation system disclosed by the invention；
Fig. 3 is multi-function rotating changer controller composition structural representation in Six-freedom dynamic platform based on the application of dynamic emulation system disclosed by the invention.
Detailed description of the invention
Embodiment 1:
As shown in Figure 1, Figure 2 and Figure 3, the Six-freedom dynamic platform based on the application of dynamic emulation system that the present embodiment provides, including dynamic emulation system and the Six-freedom dynamic platform that links therewith, described Six-freedom dynamic platform includes silent flatform, the six groups of servo electric jars in order to the moving platform supporting dynamic emulation system, being fixed on silent flatform, six decelerators being connected with servo electric jar respectively, connect six linkages of each decelerator and moving platform.
Described servomotor also includes the servo controller of drive connection therewith, arranges servo-control system in described servo controller.Described servo-control system includes function change-over module, data operation module, data coding module, signal processing module and arbitrarily organizes memory storage module more；Described electrical control actuator also includes multijoint control module and fault detection module；Syntax editor by input/output interface or the function change-over module set-up function director data by key control also transmit it to organize in any memory storage module more and preserve, call data in described memory storage module to transmit after data operation module and data coding module process to signal processing module and be converted into function signal, and this signal be can recognize that form processing and amplifying by subsystem.Described moving platform frame for movement is by six servo electric jars, upper and lower each six universal couplings and upper and lower two platforms composition, on the basis of lower platform is fixed on, stretching motion by six electric cylinders, complete the upper mounting plate motion at space six-freedom degree, such that it is able to simulate various space motion attitude.
Described dynamic emulation system includes that a multi-function rotating changer controller, described multi-function rotating changer controller include display and operator, and is connected with each other by its built-in integral control circuit or change-over circuit；Touch keyboard operator is set and inputs data by it, described controller processes these input data and realizes multi-functional flow path switch, arranging and include that the display display of multi-functional menu viewing area exports its power and energy menu, it realizes combined multifunctional by control display integrated morphology and selects and conversion.Completed normal data basic database by built-in programmable logical device at the programming interface of described operator set up and carry out its functional mode being stored in specific memory after multinomial, individual event sets respectively；On described operator, set combination type functional module input function command editting function parameter compares its data and show and complete individual event or multiple function integrated mode with instruction flow, called normal data compared with its fan-in evidence more afterwards to its calculation process by described controller, by parameter, lighting module and safety return circuit control module thereof are realized automatic alarm, automatic error-correcting and repeat.
Applicant states, person of ordinary skill in the field is on the basis of above-described embodiment, by above-described embodiment step, combined with the technical scheme of Summary, thus the new method produced or structure, also being one of the record scope of the present invention, the application, for making description simple and clear, no longer enumerates other embodiment of these steps.
The major technique application of this embodiment:
The Six-freedom dynamic platform based on the application of dynamic emulation system that the present invention provides, 6-dof motion platform can do the single dof mobility of arbitrary degree of freedom on the six-freedom degree of space, also can do the compound motion of any several degree of freedom.Owing to using the servosystem of all-digitized demodulator and servo electric jar as the actuator of platform motion parts, therefore, the movement locus of platform and rate smoothing are continuous, both can realize the rapid movement of high frequency sound, it is possible to realize the easy motion under low speed.In frame for movement, 6-dof motion platform is by six servo electric jars, upper and lower each six universal couplings and upper and lower two platforms composition, on the basis of lower platform is fixed on, stretching motion by six electric cylinders, complete the upper mounting plate motion at space six-freedom degree, such that it is able to simulate various space motion attitude.This 6-dof motion platform can be widely applied to various training simulator, such as aviation simulator, ship simulator, naval's helicopter landing analog platform, tank simulator, automobile driving simulator, train driving simulator, earthquake simulator, hurricane simulation device etc., 6-dof motion platform applies also for the field such as simulation film, amusement equipment, can be made into six-axis linkage lathe, handyman etc. in industrial circle.
The present invention illustrates implementation method and the apparatus structure of the present invention by above-described embodiment, but the invention is not limited in above-mentioned embodiment, does not i.e. mean that the present invention has to rely on said method and structure could be implemented.Person of ordinary skill in the field it will be clearly understood that any improvement in the present invention, implementation method equivalence selected by the present invention is replaced and and the interpolation of step, concrete way choice etc., all fall within protection scope of the present invention and open within the scope of.
The present invention is not limited to above-mentioned embodiment, all employings and analog structure of the present invention and method realizes all modes of the object of the invention, all within protection scope of the present invention.
Claims (6)
1. Six-freedom dynamic platform based on the application of dynamic emulation system, it is characterized in that, including dynamic emulation system and the Six-freedom dynamic platform that links therewith, described Six-freedom dynamic platform includes silent flatform, the six groups of servo electric jars in order to the moving platform supporting dynamic emulation system, being fixed on silent flatform, six decelerators being connected with servo electric jar respectively, connect six linkages of each decelerator and moving platform.
Six-freedom dynamic platform based on the application of dynamic emulation system the most according to claim 1, it is characterised in that described servomotor also includes the servo controller of drive connection therewith, arranges servo-control system in described servo controller.
Six-freedom dynamic platform based on the application of dynamic emulation system the most according to claim 2, it is characterized in that, described servo-control system includes function change-over module, data operation module, data coding module, signal processing module and arbitrarily organizes memory storage module more；Described electrical control actuator also includes multijoint control module and fault detection module；Syntax editor by input/output interface or the function change-over module set-up function director data by key control also transmit it to organize in any memory storage module more and preserve, call data in described memory storage module to transmit after data operation module and data coding module process to signal processing module and be converted into function signal, and this signal be can recognize that form processing and amplifying by subsystem.
Six-freedom dynamic platform based on the application of dynamic emulation system the most according to claim 1, it is characterized in that, described moving platform frame for movement is by six servo electric jars, upper and lower each six universal couplings and upper and lower two platforms composition, on the basis of lower platform is fixed on, by the stretching motion of six electric cylinders, complete the upper mounting plate motion at space six-freedom degree, such that it is able to simulate various space motion attitude.
Six-freedom dynamic platform based on the application of dynamic emulation system the most according to claim 1, it is characterized in that, described dynamic emulation system includes a multi-function rotating changer controller, described multi-function rotating changer controller includes display and operator, and is connected with each other by its built-in integral control circuit or change-over circuit；Touch keyboard operator is set and inputs data by it, described controller processes these input data and realizes multi-functional flow path switch, arranging and include that the display display of multi-functional menu viewing area exports its power and energy menu, it realizes combined multifunctional by control display integrated morphology and selects and conversion.
Six-freedom dynamic platform based on the application of dynamic emulation system the most according to claim 5, it is characterized in that, completed normal data basic database by built-in programmable logical device at the programming interface of described operator and set up and carry out its functional mode being stored in specific memory after multinomial, individual event sets respectively；On described operator, set combination type functional module input function command editting function parameter compares its data and show and complete individual event or multiple function integrated mode with instruction flow, called normal data compared with its fan-in evidence more afterwards to its calculation process by described controller, by parameter, lighting module and safety return circuit control module thereof are realized automatic alarm, automatic error-correcting and repeat.
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| CN107967060A (en) * | 2017-12-14 | 2018-04-27 | 齐乐无穷（北京）文化传媒有限公司 | Multi-freedom parallel connection vivid platform data real-time collecting system and method |
| CN108310762A (en) * | 2018-03-09 | 2018-07-24 | 威海华软信息技术有限公司 | Multi-freedom intelligent somatosensory device platform courses case, control system and method |
| CN109521796A (en) * | 2018-12-26 | 2019-03-26 | 上海恒润文化集团有限公司 | A kind of six degree of freedom platform control system and recreational vehicle |
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Effective date of registration: 20161228 Address after: North new road 523000 in Guangdong province Guangzhou City Southern towns Panyu District City No. 283 pit head by 102 Applicant after: Guangzhou Digital Technology Co., Ltd. Address before: 523000 Guangdong Province, Dongguan city Changping town Mulun Industrial Village Cross Road No. 1 building Applicant before: DONGGUAN XINYI DIGITAL TECHNOLOGY CO., LTD. |
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