CN106710364A - Parallel type flight training simulator - Google Patents

Parallel type flight training simulator Download PDF

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Publication number
CN106710364A
CN106710364A CN201710059483.6A CN201710059483A CN106710364A CN 106710364 A CN106710364 A CN 106710364A CN 201710059483 A CN201710059483 A CN 201710059483A CN 106710364 A CN106710364 A CN 106710364A
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CN
China
Prior art keywords
parallel
moving platform
flight
attitude
ball pivot
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Pending
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CN201710059483.6A
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Chinese (zh)
Inventor
陈天祥
姜帅
宋浩
高文花
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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Priority to CN201710059483.6A priority Critical patent/CN106710364A/en
Publication of CN106710364A publication Critical patent/CN106710364A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00Simulators for teaching or training purposes
    • G09B9/02Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12Motion systems for aircraft simulators

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The present invention discloses a parallel type flight training simulator, and concretely relates to the flight simulator technology field. The simulator comprises six parallel driving branched chains with the same structures, a mobile platform and a fixed platform support. The mobile platform is hexagon-shaped, each driving branched chain comprises a slide rail, a sliding block, a hydraulic cylinder, a hydraulic rod, a first spherical hinge and a second spherical hinge, the first spherical hinge is installed at the bottom of the hydraulic cylinder and is connected with the sliding block, the second spherical hinge is installed at the top of the hydraulic rod and is connected with the mobile platform, each sliding block is arranged on one slide rail, the center of the second spherical hinge form the regular hexagon arrangement on the mobile platform, each slide rail is located at one side of the fixed platform support, and the first spherical hinge and the second spherical hinge both have three rotational freedoms in the space.

Description

A kind of parallel flight training simulator
Technical field
The present invention relates to flight simulator technical field, and in particular to a kind of parallel flight training simulator.
Background technology
With continuing to develop for mankind's technology, the field that the mankind explore also constantly is extending.Space flight and aviation technology all exists Constantly among progress.In the exploration to sky, inevitably have various equipment equipments and work in extreme environments. And the cost of these equipment will be very expensive, so substantial amounts of simulation flowchart must be done before practical application, to reach Safety standard.With the constantly improve of ground simulation emulation technology, many sky experiments are all carried out on land.
Flight training simulator can reappear airflight environment, be mainly used in the design of aircraft, research, experiment, fly The aspects such as the training and teaching of office staff.It is that development of new aircraft and training pilot provide strong technical support, with peace Entirely, economic, reusable and round-the-clock the advantages of, be one of important support equipment of national development aviation industry.Flight mould Plan device technology synchronized development with the development of emulation technology and aviation industry.At present, it is mechanical sheet with Stewart parallel institutions The production and design of the six degree of freedom civil aviaton flight simulation motion platform of body have tended to standardization, seriation.
And well-known parallel institution has that rigidity is big, mechanism stable, bearing capacity are strong, high precision, motional inertia are small, The characteristics of anti-solution controls simple.At present, skimulated motion platform in parallel be widely used for aircraft, naval vessel and automobile etc. motion simulation it is imitative Very.But most emulator has the problems such as profile is big, working space is small, operating angle scope is small.Especially to large-scale imitative True device high cost and not easy care, so the full attitude parallel connection simulated flight of wide-angle is study hotspot.Improve motion simulator Athletic posture range of movement is one of key issue.A kind of symmetrical two turn one shifting parallel institution of the entitled axis without junction The Chinese patent (patent No.:Patent CN102626919A) propose a kind of symmetrical two turn one shifting parallel machine of axis without junction Structure, the shaftless congruence of each branch of the invention is handed over, and greatly reduces manufacture difficulty, but because branch is more dispersed, cause mechanism body Product is big, and working space is smaller.Patent name is the Chinese patent (patent No. of two-degree-of-freedom parallel mechanism:CN102147046A) The two-degree-of-freedom parallel mechanism of proposition can realize decoupling two-freedom motion, and exercise performance is excellent, it is easy to controls, but drives electricity The arrangement of machine causes the dynamic performance of system poor, and inertia force is big, and bearing capacity is not high.
The content of the invention
The purpose of the present invention is directed to above-mentioned deficiency, it is proposed that a kind of small volume, easy to control, bearing capacity are strong, achievable The parallel flight training simulator of space polarizers of big angle scope athletic posture.
The present invention is specifically adopted the following technical scheme that:
A kind of parallel flight training simulator, including six structure identicals driving side chain in parallel, moving platforms and fixed Platform support, moving platform is hexagonal, and every drives the side chain to include slide rail, sliding block, hydraulic cylinder, hydraulic stem, the first ball pivot and the Two ball pivots, the first ball pivot is installed on the bottom of hydraulic cylinder and is connected with sliding block, the second ball pivot be installed on the top of hydraulic stem and with Moving platform is connected, and fixed platform support is provided with six slide rails, and each sliding block is arranged on a slide rail, and the center of the second ball pivot exists Regular hexagon is formed on moving platform to set.
Preferably, every slide rail is located in a line of fixed platform support.
Preferably, first ball pivot and the second ball pivot are respectively provided with three rotational freedoms in space.
Preferably, when parallel flight training simulator is in running order, each hydraulic stem stretches in hydraulic cylinder and slides Dynamic, sliding block slidably reciprocates on slide rail, and then drives moving platform to realize various attitude motions;
When attitude is simulated in smooth flight, moving platform is in and horizontal movement in the state of plane-parallel;
When lifting simulation flight attitude is accelerated in pitching, moving platform enters in the range of with the horizontal 0 °~90 ° The upward acceleration lifter motion of row;
When attitude is simulated in diving flight, moving platform carries out downward in the range of with the horizontal 0 °~90 ° Dive and move;
When attitude is simulated in kicking, moving platform is in the range of with the horizontal -30 °~30 ° along level Face carries out horizontal racing motion;
When in wide-angle deflection flight simulation attitude, moving platform edge in the range of with the horizontal -90 °~90 ° Lateral shaft carries out lateral rotation.
The present invention has the advantages that:Simple structure, takes small volume, and working space is big, there is flexible motion control System, athletic posture angle scope is big, can realize the flight attitude simulation of the Complicated Limits such as pitching, rolling, the deflection of wide-angle , there is redundant drive in training, can overcome Singularity;Side chain is driven to use Driven by Hydraulic Cylinder, the performance in its working space Stabilization, still has dynamic response higher when load is born, it is easy to installs and safeguards.
Brief description of the drawings
Fig. 1 is that attitude schematic diagram is simulated in parallel flight training simulator smooth flight;
Fig. 2 is that parallel flight training simulator pitching accelerates lifting flight simulation attitude schematic diagram;
Fig. 3 is that attitude schematic diagram is simulated in parallel flight training simulator diving flight;
Fig. 4 simulates attitude schematic diagram for parallel flight training simulator kicks;
Fig. 5 is parallel flight training simulator wide-angle deflection flight simulation attitude schematic diagram.
Wherein, 1 is slide rail, and 2 is sliding block, and 3 is the first ball pivot, and 4 is hydraulic cylinder, and 5 is hydraulic stem, and 6 is the second ball pivot, and 7 are Moving platform.
Specific embodiment
Specific embodiment of the invention is described further with specific embodiment below in conjunction with the accompanying drawings:
As Figure 1-5, a kind of parallel flight training simulator, including six structure identicals driving branch in parallel Chain, moving platform 7 and fixed platform support, moving platform 7 are hexagonal, and every driving side chain includes slide rail 1, sliding block 2, hydraulic cylinder 4, liquid Depression bar 5, the first ball pivot 3 and the second ball pivot 6, the first ball pivot 3 are installed on the bottom of hydraulic cylinder 4 and are connected with sliding block 2, the second ball pivot 6 tops for being installed on hydraulic stem 5 and it is connected with moving platform 7, each sliding block 2 is arranged on a slide rail 1, in the second ball pivot 6 The heart forms regular hexagon setting on moving platform 7.
Every slide rail 1 is located in a line of fixed platform support.Two of which slide rail is located at the vertical edge of fixed platform support On, two slide rails are located on the bottom surface side of fixed platform support, and two slide rails are located on the top surface side of fixed platform support.
First ball pivot 3 and the second ball pivot 6 are respectively provided with three rotational freedoms in space.
When parallel flight training simulator is in running order, each hydraulic stem telescopic slide in hydraulic cylinder, sliding block Slidably reciprocated on slide rail, and then drive moving platform to realize various attitude motions;
As shown in figure 1, when attitude is simulated in smooth flight, moving platform 7 is in and water in the state of plane-parallel Flat motion;
As shown in Fig. 2 when lifting simulation flight attitude is accelerated in pitching, moving platform 7 is with the horizontal 0 °~90 ° In the range of carry out upward acceleration lifter motion;
As shown in figure 3, when attitude is simulated in diving flight, moving platform 7 is in the range of with the horizontal 0 °~90 ° Carry out downward underriding campaign;
As shown in figure 4, when attitude is simulated in kicking, moving platform 7 is in the scope with the horizontal -30 °~30 ° It is interior to carry out horizontal racing along horizontal plane and move;
As shown in figure 5, when in wide-angle deflection flight simulation attitude, moving platform 7 is with the horizontal -90 °~90 ° In the range of carry out lateral rotation along lateral shaft.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck Change, remodeling, addition or replacement that the technical staff in domain is made in essential scope of the invention, should also belong to of the invention Protection domain.

Claims (4)

1. a kind of parallel flight training simulator, it is characterised in that including six structure identicals driving side chains in parallel, dynamic Platform and fixed platform support, moving platform are hexagonal, and every driving side chain includes slide rail, sliding block, hydraulic cylinder, hydraulic stem, first Ball pivot and the second ball pivot, the first ball pivot are installed on the bottom of hydraulic cylinder and are connected with sliding block, and the second ball pivot is installed on hydraulic stem Top and it is connected with moving platform, each sliding block is arranged on a slide rail, and the center of the second ball pivot forms positive six on moving platform Side shape is set.
2. a kind of parallel flight training simulator as claimed in claim 1, it is characterised in that it is fixed that every slide rail is located at In a line of platform support.
3. a kind of parallel flight training simulator as claimed in claim 1, it is characterised in that first ball pivot and second Ball pivot is respectively provided with three rotational freedoms in space.
4. a kind of parallel flight training simulator as claimed in claim 1, it is characterised in that when parallel flight training mould When plan device is in running order, each hydraulic stem telescopic slide in hydraulic cylinder, sliding block slidably reciprocates on slide rail, and then drives dynamic Platform realizes various attitude motions;
When attitude is simulated in smooth flight, moving platform is in and horizontal movement in the state of plane-parallel;
When in pitching accelerate lifting simulation flight attitude when, moving platform carried out in the range of with the horizontal 0 °~90 ° to On acceleration lifter motion;
When attitude is simulated in diving flight, moving platform carries out downward underriding in the range of with the horizontal 0 °~90 ° Motion;
When attitude is simulated in kicking, moving platform enters in the range of with the horizontal -30 °~30 ° along horizontal plane Row transverse direction racing motion;
When in wide-angle deflection flight simulation attitude, moving platform is in the range of with the horizontal -90 °~90 ° along horizontal stroke Lateral rotation is carried out to axle.
CN201710059483.6A 2017-01-24 2017-01-24 Parallel type flight training simulator Pending CN106710364A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108053716A (en) * 2018-02-02 2018-05-18 安徽英釜航空科技有限公司 A kind of flight simulator 6-dof motion platform device
CN108453704A (en) * 2018-03-07 2018-08-28 上海交通大学 Parallel sea wave simulation device
CN108492667A (en) * 2018-05-24 2018-09-04 山东科技大学 A kind of multi-angle, multi-pose flight training simulator
CN110869995A (en) * 2017-06-01 2020-03-06 泰勒斯公司 Device for making electric movement of simulator moving platform safer

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CN105500365A (en) * 2016-01-26 2016-04-20 南京航空航天大学 Hybrid robot with six degrees of freedom
CN106023665A (en) * 2016-07-29 2016-10-12 安庆米锐智能科技有限公司 Intelligent display device based on parallel mechanism
CN206610485U (en) * 2017-01-24 2017-11-03 山东科技大学 A kind of parallel flight training simulator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2319877Y (en) * 1998-02-23 1999-05-19 北京凯明机电有限公司 Six degrees of freedom dynamic analogue sport system
WO2003046862A1 (en) * 2001-11-29 2003-06-05 Eui Sok Kim Motion simulator
US20050277092A1 (en) * 2004-06-01 2005-12-15 Thong-Shing Hwang Motion platform device for spatial disorientation simulation
CN1603064A (en) * 2004-10-29 2005-04-06 北京工业大学 Parallel mechanism with 3 degrees of freedom having normative positioned operating space
CN1785606A (en) * 2005-12-09 2006-06-14 河北理工大学 Two freedom globoid space motion parallel connection mechanism
CN101439514A (en) * 2008-12-25 2009-05-27 上海交通大学 Sliding block type structure decoupling six-dimension force feedback device
US20110045446A1 (en) * 2009-08-06 2011-02-24 Scott Glaser Upset Recovery Training Using A Sustained-G Multi-Axis Platform Or A Centrifuge
CN101733753A (en) * 2009-12-04 2010-06-16 山东理工大学 Redundant parallel mechanism containing compound spherical hinge
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CN206610485U (en) * 2017-01-24 2017-11-03 山东科技大学 A kind of parallel flight training simulator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110869995A (en) * 2017-06-01 2020-03-06 泰勒斯公司 Device for making electric movement of simulator moving platform safer
CN110869995B (en) * 2017-06-01 2022-04-29 泰勒斯公司 Device for making electric movement of simulator moving platform safer
CN108053716A (en) * 2018-02-02 2018-05-18 安徽英釜航空科技有限公司 A kind of flight simulator 6-dof motion platform device
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CN108453704A (en) * 2018-03-07 2018-08-28 上海交通大学 Parallel sea wave simulation device
CN108492667A (en) * 2018-05-24 2018-09-04 山东科技大学 A kind of multi-angle, multi-pose flight training simulator

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