CN106110660B - Three axis 360 degrees omnidirection high speed sensation simulation emulators - Google Patents
Three axis 360 degrees omnidirection high speed sensation simulation emulators Download PDFInfo
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- CN106110660B CN106110660B CN201610669537.6A CN201610669537A CN106110660B CN 106110660 B CN106110660 B CN 106110660B CN 201610669537 A CN201610669537 A CN 201610669537A CN 106110660 B CN106110660 B CN 106110660B
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- axis
- yaw
- turntable
- cockpit
- motor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G23/00—Rotating or rocking pots, e.g. by moving the whole body
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Abstract
A kind of three axis 360 degrees omnidirection high speed sensation simulation emulators, 360 degrees omnidirection when can simulate the various vehicles and manned weapon are felt without the overload that dead angle continuously moves.Including：Turntable is yawed, is rotated by yaw motor driving；Stent, left and right each one, which is erect, to be arranged on yaw turntable；Pitch axis is set between stent, and pitch axes are driven by pitching motor；Transmission case is fixed with pitch axis；Roll axis through transmission case, is moved by roll motor driving roll shaft rotation；Cockpit, with roll axis connection；And transmission cabin, it is fixed with transmission case, yaw turntable is driven to rotate by yaw motor, stent, cockpit, transmission cabin is driven to be rotated together with yaw turntable, pitch axes are driven by pitching motor, cockpit and transmission cabin is driven roll shaft rotation to be driven to move by roll motor along pitch axes, cockpit is driven to be moved along roll shaft rotation.
Description
Technical field
The present invention relates to sensation simulation emulators, more particularly relate to a kind of three axis 360 degrees omnidirections dynamic mould at a high speed
Intend emulator.
Background technology
Sensation simulation emulator provides the feeling of movement for professional analogue simulation training and amusement emulation, according to operator
Control instruction, mechanical device platform makes corresponding response action, coordinates the Real time dynamic display of what comes into a driver's, to operator and multiplies
Seated user provides experience more life-like, as if on the spot in person and stimulus to the sense organ reaction.
Current existing general-purpose simulation emulator is to be supported by three or six roots of sensation hydraulic pressure or electronic push rod, passes through
Change the length variation of every push rod, to adjust the posture of cockpit, speed and acceleration.
But since the structure of equipment itself limits, the sustainable all-directional rotation fortune of 360 degree of 3 D stereo can not be completed
It is dynamic, it can only be swung in the range of the certain angle of very little, the overload sense of limited small-scale centrifugal force and angular acceleration is provided
Feel.So when simulate aircraft, spacecraft when rolls, pitching and yaw when effect it is undesirable, it is impossible to meet higher simulation
The professional training of emulation and the demand of amusement emulation.
Invention content
In view of the above-mentioned problems, the present invention propose one kind can three axis Three Degree Of Freedom 3 D stereo 360 degrees omnidirections without dead angle
The mechanical realization and transmission mechanism of high speed continuous rotation, so as to fulfill can continuously 3 D stereo 360 degrees omnidirection it is continuous without dead angle
Export the sensation simulation emulator of the overload feeling of big centrifugal force and angular acceleration.
The three axis 360 degrees omnidirection high speed sensation simulation emulators of the present invention, using three axis series systems, roll axis carries
For roll 360 degrees omnidirection without dead angle continuous rotation, pitch axis provides pitching 360 degrees omnidirection without dead angle continuous rotation, yaw
Turntable provides yaw 360 degrees omnidirection without dead angle continuous rotation.Three axis square crossings, both can independently rotate, can also
It is mutually connected simultaneously.
The three axis 360 degrees omnidirection high speed sensation simulation emulators of the present invention, which is characterized in that including：Yaw turntable,
It is rotated by yaw motor driving；Stent, left and right each one, which is erect, to be arranged on yaw turntable；Pitch axis, be set to stent it
Between, pitch axes are driven by pitching motor；Transmission case is fixed with pitch axis；Roll axis, through transmission case, by roll motor
Driving roll shaft rotation is moved；Cockpit, with roll axis connection；And transmission cabin, it fixes, is driven by yaw motor inclined with transmission case
The turntable that navigates rotates, and stent, cockpit, transmission cabin is driven to be rotated together with yaw turntable, pitching shaft rotation is driven by pitching motor
It is dynamic, cockpit and transmission cabin is driven roll shaft rotation to be driven to move by roll motor along pitch axes, drive cockpit along roll
Shaft rotation is moved.
In addition, three axis 360 degrees omnidirection high speed sensation simulation emulator according to the present invention, cockpit is apart from pitch axis
Center of rotation and the center of rotation that yaws turntable have certain distance, cockpit is along pitch axes and along inclined as a result,
Relative to center of rotation bias when the turntable that navigates rotates.
In addition, three axis 360 degrees omnidirection high speed sensation simulation emulator according to the present invention, pitching motor are fixed on one
On the stent of side.
In addition, three axis 360 degrees omnidirection high speed sensation simulation emulator according to the present invention, pitch axis is divided to or so two sections
Axis is fixed respectively with the both sides of transmission case.
In addition, three axis 360 degrees omnidirection high speed sensation simulation emulator according to the present invention, the lower edge for yawing turntable are consolidated
Surely there is turntable rack, the output shaft of yaw motor is connected to transmission gear, which engages with turntable rack, thus yaws
The output power of motor is transmitted to yaw turntable via transmission gear and turntable rack.
According to the present invention, it is possible to provide the 360 degrees omnidirection of 3 D stereo is without dead angle continuously big centrifugal force and angular acceleration
Overload is felt, so 3 D stereo 360 degrees omnidirection when can simulate the various vehicles and manned weapon is continuously transported without dead angle
Dynamic overload is felt, particularly when for aircraft and spacecraft when analog simulations, can provide the centrifugation of bigger as needed
It carries.
In addition, three axis center of rotation of cockpit distance has certain distance, can cause cockpit eccentric when rotating in this way, have compared with
The big radius of gyration can ensure that driver or occupant in cabin obtain very strong centrifugal force overload and feel in this way.
Description of the drawings
Fig. 1 is the three-dimensional view of the sensation simulation emulator of the present invention.
Drawing reference numeral explanation：
101：Cockpit；102：Pitching motor；103：Pitch axis；104：Roll axis；105：Transmission case；106：Roll electricity
Machine；107：It is driven cabin；108：Stent；109：Yaw turntable；110：Yaw motor；111：Transmission gear；112：Turntable rack；
113：Ground pallet.
Specific embodiment
Below with reference to the accompanying drawings illustrate the embodiment of the present invention.
With reference to Fig. 1, cockpit 101 can carry driver, cockpit controlled to carry out individual roll by manipulation device, bowed
The 360 degrees omnidirection rotary motion faced upward and yawed can also control this three-dimensional to carry out composition linkage, simulation true to nature simultaneously
It is various multiply drive equipment moving, continuous continual centrifugal force overload impression is provided.Transmission cabin is provided at the rear portion of cockpit 101
107。
Transmission cabin 107 is internally provided with transmission case 105, roll motor 106 and roll axis 104, transmission case 105 and transmission
Cabin 107 is fixed, and roll motor 106 is fixed with transmission case 105, and 104 front end of roll axis is connect with cockpit 101, through transmission case
It 105 and then is connect with roll motor 106.Cockpit 101 is connected to roll motor 106, roll motor 106 via roll axis 104
Output power be transmitted to roll axis 104 via the output shaft of motor, and then be transmitted to cockpit 101, thus drive cockpit
101 rotate along roll axis 104.Rotation in this way by controlling roll motor 106, it is possible to drive cockpit 101 along roll axis
104 carry out 360 degree of roll rotation.When roll rotates, transmission cabin 107 is without rotation, and cockpit 101 is for being driven cabin 107 relatively
Rotation.
Stent 108 or so each one, pitch axis 103 are divided to or so two sections of axis, the two sections of axis in left and right both sides with transmission case 105 respectively
It is fixed, and it is respectively connected to the stent 108 of left and right.Pitching motor 102 is fixed therein on the stent 108 of side, pitch axis 103
It is connect with pitching motor 102.The output power of pitching motor 102 is transmitted to pitch axis 103, Jin Erchuan via the output shaft of motor
Transmission case 105 is delivered to, cockpit 101 and transmission cabin 107 is thus driven to be rotated along pitch axis 103.In this way by controlling pitching electric
The rotation of machine 102, it is possible to drive cockpit 101 and be driven the pitch rotation that cabin 107 carries out 360 degree along pitch axis 103.It bows
When facing upward rotation, cockpit 101 and transmission cabin 107 rotate synchronously, between the two without relative motion.In addition, pitch axis and roll axis
The position relationship of perpendicular intersection.
The setting of stent 108 of both sides is fixed on yaw turntable 109, and ground pallet is provided below in yaw turntable 109
113, it is placed on the ground by ground pallet 113.The lower edge of yaw turntable 109 is fixed with turntable rack 112.Yaw motor
110 are arranged on the side of yaw turntable 109, and the downside of yaw motor 110 is fixed with transmission gear 111, and transmission gear 111 is with turning
Disk rack 112 engages.The output shaft of yaw motor 110 is connected to transmission gear 111, the output power of yaw motor 110 via
The output shaft of motor is transmitted to transmission gear 111, via turntable rack 112 and then yaw turntable 109 is transmitted to, so as to drive partially
Boat turntable 109 rotates, and cockpit 101 and the transmission cabin 107 on stent 108 is thus driven also to rotate together.Pass through control in this way
The rotation of yaw motor 110 processed, it is possible to drive cockpit 101, transmission cabin 107 and stent 108 along in yaw turntable 109
Heart point carries out 360 degree of yaw rotation.During yaw rotation, cockpit 101, transmission cabin 107 and stent 108 are without relative motion.
As shown in Figure 1, fulcrum of the cockpit 101 apart from pitch axis 103 and yaw turntable 109 has certain distance,
Cockpit 101 can be caused, relative to center of rotation bias, to have the larger radius of gyration in Three dimensional rotation, obtain occupant in this way
The centrifugation overload of very strong 3 D stereo is felt, and provides the overload impression of larger centrifugal force and angular speed.
The three axis 360 degrees omnidirection high speed sensation simulation emulators of the present invention can simulate various aircrafts, spacecraft, dive
Continuous motion overload of the 3 D stereo 360 degrees omnidirection of the equipment such as ship and above water craft, automobile, roller-coaster without dead angle is felt.
It can be applied to the industries such as the driving of immersive simulation simulation training, professional centrifugal force resistant training and amusement emulator.
Describe the preferred embodiment of the present invention above, but the spirit and scope of the present invention be not limited to it is disclosed herein
Particular content.Those skilled in the art can it is according to the present invention introduction and make more embodiments and application, these realities
It applies mode and application would be within the spirit and scope of the present invention.The spirit and scope of the present invention are not limited by specific embodiment,
And it is defined by the claims.
Claims (5)
1. a kind of three axis 360 degrees omnidirection high speed sensation simulation emulators, which is characterized in that including：
Turntable is yawed, is rotated by yaw motor driving；
Stent, left and right each one, which is erect, to be arranged on the yaw turntable；
Pitch axis is set between the stent, and the pitch axes are driven by pitching motor；
Transmission case is fixed with the pitch axis；
Roll axis through the transmission case, drives the roll shaft rotation to move by roll motor；
Cockpit, with the roll axis connection；And
Cabin is driven, is fixed with the transmission case,
By the yaw motor drive it is described yaw turntable rotate, drive the stent, the cockpit, it is described transmission cabin with
The yaw turntable rotates together,
The pitch axes are driven by the pitching motor, drive the cockpit and the transmission cabin along the pitch axis
Rotation,
The roll shaft rotation is driven to move by the roll motor, the cockpit is driven to be moved along the roll shaft rotation.
2. three axis 360 degrees omnidirection high speed sensation simulation emulator according to claim 1, which is characterized in that described
The center of rotation of center of rotation and the yaw turntable of the cockpit apart from the pitch axis has certain distance, described as a result,
Cockpit is yawed when turntable rotates along the pitch axes and along described relative to center of rotation bias.
3. three axis 360 degrees omnidirection high speed sensation simulation emulator according to claim 1 or 2, which is characterized in that institute
Pitching motor is stated to be fixed on the stent of side.
4. three axis 360 degrees omnidirection high speed sensation simulation emulator according to claim 1 or 2, which is characterized in that institute
It states pitch axis and is divided to or so two sections of axis, the both sides with the transmission case are fixed respectively.
5. three axis 360 degrees omnidirection high speed sensation simulation emulator according to claim 1 or 2, which is characterized in that institute
The lower edge for stating yaw turntable is fixed with turntable rack, and the output shaft of the yaw motor is connected to transmission gear, the transmission gear
It is engaged with the turntable rack, thus the output power of the yaw motor is transmitted to yaw via transmission gear and turntable rack
Turntable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610669537.6A CN106110660B (en) | 2016-08-15 | 2016-08-15 | Three axis 360 degrees omnidirection high speed sensation simulation emulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610669537.6A CN106110660B (en) | 2016-08-15 | 2016-08-15 | Three axis 360 degrees omnidirection high speed sensation simulation emulators |
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| Publication Number | Publication Date |
|---|---|
| CN106110660A CN106110660A (en) | 2016-11-16 |
| CN106110660B true CN106110660B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610669537.6A Active CN106110660B (en) | 2016-08-15 | 2016-08-15 | Three axis 360 degrees omnidirection high speed sensation simulation emulators |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108961916A (en) * | 2018-09-07 | 2018-12-07 | 中国工程物理研究院总体工程研究所 | four-degree-of-freedom helicopter dynamic flight simulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5725435A (en) * | 1993-08-13 | 1998-03-10 | De Castro Faria; Mario Sergio | Electro-mechanical amusement simulator with gravitational effects |
| CN104217622A (en) * | 2014-08-29 | 2014-12-17 | 喻明 | Simulation aircraft and system thereof |
| CN204087553U (en) * | 2014-04-09 | 2015-01-07 | 陈京波 | A kind of 360 degree of omnidirectional's overload flight emulation simulators |
| CN204667666U (en) * | 2015-05-06 | 2015-09-23 | 吴仑山 | Two mutual drive simulating machines simultaneously can doing 360 degree of rotating mechanisms combinations that intersect |
| CN105435456A (en) * | 2015-12-29 | 2016-03-30 | 西安翔辉仿真科技有限公司 | Double-shaft 360-degree all-dimensional high-speed movement feeling analog simulation device |
| CN205948363U (en) * | 2016-08-15 | 2017-02-15 | 西安翔辉仿真科技有限公司 | 360 degrees all -round high -speed dynamic simulation simulation equipment of triaxial |
-
2016
- 2016-08-15 CN CN201610669537.6A patent/CN106110660B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5725435A (en) * | 1993-08-13 | 1998-03-10 | De Castro Faria; Mario Sergio | Electro-mechanical amusement simulator with gravitational effects |
| CN204087553U (en) * | 2014-04-09 | 2015-01-07 | 陈京波 | A kind of 360 degree of omnidirectional's overload flight emulation simulators |
| CN104217622A (en) * | 2014-08-29 | 2014-12-17 | 喻明 | Simulation aircraft and system thereof |
| CN204667666U (en) * | 2015-05-06 | 2015-09-23 | 吴仑山 | Two mutual drive simulating machines simultaneously can doing 360 degree of rotating mechanisms combinations that intersect |
| CN105435456A (en) * | 2015-12-29 | 2016-03-30 | 西安翔辉仿真科技有限公司 | Double-shaft 360-degree all-dimensional high-speed movement feeling analog simulation device |
| CN205948363U (en) * | 2016-08-15 | 2017-02-15 | 西安翔辉仿真科技有限公司 | 360 degrees all -round high -speed dynamic simulation simulation equipment of triaxial |
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| CN106110660A (en) | 2016-11-16 |
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Effective date of registration: 20180906 Address after: 710089 new industrial park, Yanliang District, Xi'an, Shaanxi Patentee after: Xi'an Xiang Hui electrical and Mechanical Technology Co., Ltd. Address before: 710000 new industrial park, Yanliang District, Xi'an, Shaanxi Patentee before: XI'AN XIANGHUI SIMULATION TECHNOLOGY CO., LTD. |
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