CN107471196B - multi freedom motion platform and dynamic simulation device - Google Patents
multi freedom motion platform and dynamic simulation device Download PDFInfo
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- CN107471196B CN107471196B CN201710606984.1A CN201710606984A CN107471196B CN 107471196 B CN107471196 B CN 107471196B CN 201710606984 A CN201710606984 A CN 201710606984A CN 107471196 B CN107471196 B CN 107471196B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 122
- 238000005094 computer simulation Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 230000005540 biological transmission Effects 0.000 claims abstract description 37
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000008878 coupling Effects 0.000 description 20
- 238000010168 coupling process Methods 0.000 description 20
- 238000005859 coupling reaction Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 7
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 238000003466 welding Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a multi-degree-of-freedom motion platform and a dynamic simulation device. The multi-degree-of-freedom motion platform comprises a base, a low-order moving platform and at least three linear driving mechanisms; the linear driving mechanism comprises a linear driving unit, a transmission shaft and a sliding connecting piece; one end of the transmission shaft is connected with the drive output end of the linear drive unit, and the other end is rotatably connected with a sliding connection piece which is arranged to be used for connecting the transmission shaft and the low-order movable platform together in a sliding manner. One application of the multi-degree-of-freedom motion platform is in dynamic simulation devices.
Description
Technical Field
The invention relates to the field of motion platforms, in particular to a multi-degree-of-freedom motion platform and a dynamic simulation device.
Background
The multi-degree-of-freedom motion platform is widely applied to the fields of industrial production, dynamic simulation and the like. For example, the three-degree-of-freedom motion platform and the four-degree-of-freedom motion platform can realize motion output of a plurality of different degrees of freedom, and have wide application prospects.
The existing multi-degree-of-freedom motion platform has a plurality of complex structures. The complex structure ensures that the multi-degree-of-freedom motion platform has long response time and is easy to generate action delay. When such a multi-degree-of-freedom motion platform is applied to a dynamic simulation device such as a VR seat, the experience may be dazzled due to delay.
disclosure of Invention
The invention aims to provide a novel technical scheme of a multi-degree-of-freedom motion platform with simple structure and short response time.
according to a first aspect of the present invention, a multiple degree of freedom motion platform is provided.
The multi-degree-of-freedom motion platform comprises a base, a low-order moving platform and at least three linear driving mechanisms; wherein,
The linear driving mechanism comprises a linear driving unit, a transmission shaft and a sliding connecting piece;
one end of the transmission shaft is connected with the driving output end of the linear driving unit, the other end of the transmission shaft is rotatably connected with the sliding connection piece, and the sliding connection piece is arranged to be used for connecting the transmission shaft and the low-order movable platform in a sliding mode.
Optionally, the linear drive mechanism further comprises a connecting housing;
The linear driving unit comprises a linear driving unit stator and a linear driving unit rotor;
The connection housing is arranged for connecting the linear drive unit mover and the transmission shaft.
Optionally, the linear driving mechanism further comprises a sliding shaft kit, the sliding shaft kit comprises a positioning shaft and a sliding sleeve, and the positioning shaft and the sliding sleeve are in sliding fit;
The sliding sleeve is matched with the connecting shell, so that the linear driving unit rotor drives the sliding sleeve to move along the positioning shaft through the connecting shell.
Optionally, a linear driving unit hole and a sliding sleeve hole are arranged in the connecting shell;
The linear driving unit rotor is in interference fit with the linear driving unit hole;
The outer surface of the sliding sleeve is provided with a limiting protrusion, a limiting groove is arranged in the sliding sleeve hole, and the limiting protrusion is matched with the limiting groove, so that the sliding sleeve and the connecting shell move together along the positioning shaft.
Optionally, the linear drive mechanism further comprises a buffer;
The buffer member is configured to buffer an acting force transmitted from the low-order moving platform to the linear driving mechanism.
optionally, the linear drive mechanism further comprises a rotational connection;
the sliding connecting piece comprises an upper sliding connecting piece and a lower sliding connecting piece;
the rotary connecting piece is arranged for rotatably connecting the transmission shaft and the lower sliding connecting piece;
The upper sliding connecting piece is in sliding fit with the lower sliding connecting piece, and the upper sliding connecting piece is fixedly connected with the lower-order sliding platform.
optionally, the multiple degree of freedom motion platform further comprises a rotation driving mechanism and a high-order motion platform;
The rotary driving mechanism comprises a rotary driving unit which is arranged on the low-order movable platform;
The rotary driving unit is arranged for driving the high-order moving platform to make rotary motion relative to the low-order moving platform.
Optionally, the rotary drive mechanism further comprises a support;
The supporting piece is located between the low-order movable platform and the high-order movable platform so as to support the high-order movable platform on the low-order movable platform.
Optionally, the support is a ball;
The low-order movable platform is provided with a support piece positioning groove, the rolling balls are positioned in the support piece positioning groove, and the rolling balls are uniformly distributed on the low-order movable platform;
When the rotary driving unit drives the high-order movable platform to do rotary motion, the rolling ball is in sliding fit with the surface of the high-order movable platform.
according to a second aspect of the invention, a dynamic simulation apparatus is provided.
the dynamic simulation device comprises a seat and a multi-degree-of-freedom motion platform;
The seat is installed on the multi-degree-of-freedom motion platform.
The inventor of the invention finds that the prior art does have the problem that the structure of the multi-degree-of-freedom motion platform is complex. Therefore, the technical task to be achieved or the technical problems to be solved by the present invention are never thought or anticipated by those skilled in the art, and therefore the present invention is a new technical solution.
The linear driving unit of the linear driving mechanism of the multi-degree-of-freedom motion platform can drive the transmission shaft so as to drive the low-order motion platform. The multi-degree-of-freedom motion platform can realize the three-degree-of-freedom motion of the low-order motion platform through at least three linear driving mechanisms, and has the advantages of simple structure, small volume and short motion response time.
other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is an exploded view of an embodiment of the multiple degree of freedom motion platform of the present invention.
fig. 2 is a schematic structural diagram at a in fig. 1.
Fig. 3 is another exploded view of the multiple degree of freedom motion platform embodiment of the present invention.
fig. 4 is a partial structural schematic diagram of the linear driving mechanism of the multi-degree-of-freedom motion platform.
Fig. 5 is a partial exploded view of fig. 4.
Fig. 6 is another partial structural schematic diagram of the linear driving mechanism of the multi-degree-of-freedom motion platform of the invention.
fig. 7 is a schematic structural diagram of an embodiment of a linear driving unit of the linear driving mechanism of the multiple-degree-of-freedom motion platform of the invention.
Fig. 8 is a schematic structural diagram of an embodiment of a sliding shaft kit of a linear driving mechanism of a multi-degree-of-freedom motion platform according to the present invention.
FIG. 9 is a schematic structural diagram of an embodiment of a rotation driving mechanism, a high-order moving platform and a low-order moving platform of a multi-degree-of-freedom moving platform of the present invention.
Fig. 10 is a schematic structural diagram of an embodiment of the dynamic simulation apparatus of the present invention.
Fig. 11 is an exploded view of an embodiment of the motion simulator of the present invention.
fig. 12 is a schematic usage view of an embodiment of the dynamic simulation apparatus of the present invention.
The figures are labeled as follows:
the device comprises a base-1, a low-order movable platform-2, a linear driving mechanism-3, a linear driving unit-31, a linear driving unit stator-311, a linear driving unit mover-312, a transmission shaft-32, a sliding connector-33, an upper sliding connector-331, a lower sliding connector-332, a connecting shell-34, a linear driving unit hole-341, a sliding sleeve hole-342, a sliding shaft sleeve-35, a positioning shaft-351, a sliding sleeve-352, a limiting bulge-3520, a buffer-36, a rotating connector-37, a rotary driving mechanism-4, a rotary driving unit-41, a support-42, a high-order movable platform-5 and a seat-6.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
the following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
in all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
it should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
the invention provides a multi-degree-of-freedom motion platform, aiming at solving the problem that the structure of the existing multi-degree-of-freedom motion platform is complex. As shown in fig. 1 to 9, the multiple degree of freedom motion platform comprises a base 1, a low-order motion platform 2 and at least three linear driving mechanisms 3.
the base 1 is used for positioning other components of the multi-degree-of-freedom motion platform. The weight and the strength of the base 1 should meet the requirement of bearing the weight of the multi-degree-of-freedom motion platform. The surface of the base 1 facing the ground may be provided with resilient and/or height-adjustable feet, which may serve for shock absorption and/or height adjustment. The support legs may be made of rubber, for example.
The low-order movable platform 2 can be directly provided with components needing to be driven, such as seats and the like.
The number of the linear driving mechanisms 3 may be three, or three or more, as required.
The linear drive mechanism 3 includes a linear drive unit 31, a transmission shaft 32, and a slide link 33. The linear driving unit 31 can realize output linear motion. The linear driving unit 31 may be, for example, a linear motor or a hydraulic cylinder. The linear driving unit 31 optionally outputs a linear motion in the vertical direction. The above-mentioned vertical direction means a direction perpendicular to the surface of the base 1 or the placing floor.
One end of the transmission shaft 32 is connected to a driving output end of the linear driving unit 31, and the other end of the transmission shaft 32 is rotatably connected to the sliding connector 33. The connection between the transmission shaft 32 and the linear drive unit 31 may be achieved by welding or bolting or snapping or the like. The rotational connection between the drive shaft 32 and the sliding connection 33 can be realized by means of a rotational connection, for example a universal joint or a rod end joint bearing, or by means of a ball and socket connection.
The sliding connection 33 is provided for slidably connecting the propeller shaft 32 and the low-order moving platform 2 together. The sliding connection 33 may be a slider, for example. One end of the sliding block is rotatably connected with the transmission shaft 32, and the other end of the sliding block is matched with the sliding groove on the low-order movable platform 2 so as to realize the sliding connection between the transmission shaft 32 and the low-order movable platform 2. Alternatively, the sliding connection member 33 may be, for example, an assembly including two sliding members, the two sliding members are slidably engaged, and the two sliding members are respectively rotatably connected to the transmission shaft 32 and fixedly connected to the low-order movable platform 2.
The linear drive unit 31 outputs motion to the sliding connection 33 via the transmission shaft 32, the sliding connection 33 being rotatable relative to the transmission shaft 32. Through the motion of a plurality of linear driving mechanisms 3, the low-order movable platform 2 can move relative to the sliding connecting piece 33, and the three-degree-of-freedom motion of the low-order movable platform 2 is realized. The three-degree-of-freedom motion of the low-order movable platform 2 comprises up-down, left-right and front-back motion.
when the low-order moving platform 2 is provided with the seat, the multi-degree-of-freedom moving platform can realize the lifting, pitching and rolling motions of the seat.
The linear driving unit 31 of the linear driving mechanism 3 of the multi-degree-of-freedom motion platform can drive the transmission shaft 32, so as to drive the low-order motion platform 2. The three-degree-of-freedom motion of the low-order moving platform 2 can be realized through at least three linear driving mechanisms 31, and the multi-degree-of-freedom motion platform has the advantages of simple structure, small volume and short motion response time.
in addition, the multi-degree-of-freedom motion platform is stable and reliable in structure, and the control algorithm of the posture can be simplified, so that more accurate track planning can be achieved.
Optionally, the linear drive mechanism 3 further comprises a connection housing 34. The linear drive unit 31 includes a linear drive unit stator 311 and a linear drive unit mover 312. The linear driving unit stator 311 and the linear driving unit mover 312 may implement linear motion output through a lead screw and the like. Alternatively, the linear driving unit stator 311 and the linear driving unit mover 312 may realize the output of the linear motion by a magnetic field.
the coupling housing 34 is provided for coupling the linear drive unit mover 312 and the transmission shaft 32. The connection between the connection case 34 and the linear drive unit mover 312 may be achieved by welding, or by interference fit, or the like. The connection between the connection housing 34 and the transmission shaft 32 may be achieved by welding or bolting or connecting brackets, etc. The arrangement of the coupling housing 34 is advantageous for protecting the linear driving unit 31 and for more conveniently maintaining the multi-degree-of-freedom motion platform. The connecting shell 34 may be assembled from a plurality of shell components and is not limited to a unitary shell-like structure.
Further, the linear driving mechanism 3 further includes a sliding shaft kit 35. The sliding shaft assembly 35 includes a positioning shaft 351 and a sliding sleeve 352, the positioning shaft 351 and the sliding sleeve 352 being in sliding engagement. The positioning shaft 351 may be fixed to the base 1 or the bracket.
The sliding sleeve 352 is engaged with the coupling housing 34 such that the linear driving unit mover 312 drives the sliding sleeve 352 to move along the positioning shaft 351 through the coupling housing 34. The engagement between the sliding sleeve 352 and the coupling housing 34 can be achieved by the engagement of the limiting protrusions 3520 provided on the outer surface of the sliding sleeve 352 and the grooves on the coupling housing 34. Alternatively, the fit between the sliding sleeve 352 and the coupling housing 34 may be achieved by an interference fit between the sliding sleeve 352 and the mounting hole in the coupling housing 34.
The provision of the sliding sleeve member 35 facilitates more effective protection of the linear drive unit 31. In specific implementation, the sliding shaft sleeve 35 may be disposed on both sides of the linear driving unit 31 in the longitudinal direction. In addition, when the linear driving mechanism 3 includes the sliding shaft assembly 35, the linear driving unit 31 and the connecting shell 34 can be fixed together by interference fit, so as to improve the convenience of the disassembly and maintenance of the linear driving mechanism 3.
Further, a linear driving unit hole 341 and a sliding sleeve hole 342 are provided in the connection housing 34. The linear drive unit mover 312 and the linear drive unit hole 341 are interference-fitted so that the coupling housing 34 and the linear drive unit mover 312 move in synchronization.
The outer surface of the sliding sleeve 352 is provided with a limiting protrusion 3520, and a limiting groove (not shown) is provided in the sliding sleeve hole 342. The stopper protrusion 3520 and the stopper groove cooperate to allow the sliding sleeve 352 and the coupling housing 34 to move together along the positioning shaft 352. In this way, the linear driving unit mover 312 moves the coupling housing 34 along the positioning shaft 352, so that the transmission shaft 32 coupled to the coupling housing 34 moves along with the coupling housing 34.
The linear drive unit bore 341 and the sliding sleeve bore 342 may each be bores provided within the integral coupling housing 34. Alternatively, the connection housing 341 may be formed of two half-shells, and the linear driving unit hole 341 and the sliding sleeve hole 342 are formed by fitting half-holes provided in the two half-shells. When the connection shell 341 is formed of two half shells, the two half shells may be welded or bolted to form the connection shell 34.
Optionally, the linear drive mechanism 3 further comprises a buffer 36. The damper 36 is provided for damping the force transmitted from the low-order movable platform 2 to the linear drive mechanism 3. The bumper 36 may be generally disposed between the end of the drive shaft 32 and the base 1. The provision of the buffer 36 facilitates better protection of the linear drive 3. In addition, the buffer member 36 can also play a role in buffering the low-order moving platform 3, so as to bring better motion experience to the user.
in one embodiment, the dampener 36 is a compression spring. The two ends of the compression spring are positioned on the base 1 and the end of the drive shaft 32, respectively. The positioning of the compression spring on the base 1 can be achieved by cooperation between the compression spring and the stud of the base 1.
Optionally, the linear drive mechanism 3 further comprises a rotational connection 37. The slide connector 33 includes an upper slide connector 331 and a lower slide connector 332. The rotational connection 37 is provided for rotationally connecting the drive shaft 32 and the lower sliding connection 332. The upper sliding connector 331 is slidably engaged with the lower sliding connector 332, and the upper sliding connector 331 is fixedly connected with the lower sliding platform 2. The sliding engagement between the upper sliding link 331 and the lower sliding link 332 may be achieved by means of a sliding rail and a sliding groove. The fixed connection between the upper sliding connector 331 and the lower movable platform 2 can be realized by welding or bolt connection.
Further, a sliding buffer for buffering the sliding engagement between the upper sliding link 331 and the lower sliding link 332 may be further provided on the sliding link 33. For example, the sliding buffer members with block-shaped structures are disposed at two ends of the lower sliding connector 332 along the sliding direction, so that the buffering effect can be achieved when the upper sliding connector 331 slides to the sliding buffer members.
It should be noted that the terms "upper" and "lower" in the present invention only indicate the relative position relationship between the components of the multi-degree-of-freedom motion platform, and do not represent the position configuration in the final structure, so that the relative position relationship does not change when the multi-degree-of-freedom motion platform is displaced, turned or inverted.
The rotational connection 37 may be, for example, a rod end joint bearing or a universal joint, etc. When the rotary connecting member 37 is a rod end joint bearing, the rod end of the rod end joint bearing is connected to the transmission shaft 32, and the joint bearing end of the rod end joint bearing is rotatably connected to the lower sliding member 332.
optionally, the multiple degree of freedom motion platform comprises three linear drive mechanisms 3. The straight lines of the sliding directions of the sliding connectors 33 intersect at a point, and the included angle between the straight lines of the sliding directions of the adjacent sliding connectors 33 is 120 °. The sliding direction of the sliding coupling member 33 is a direction in which the sliding coupling member 33 slides with respect to the low-order movable platform 2. The multi-degree-of-freedom motion platform with the structure is stable and reliable in structure, and can simplify a control algorithm of the motion attitude of the low-order motion platform 2 to obtain more accurate track planning.
Optionally, the multiple degree of freedom motion platform further comprises a rotary driving mechanism 4 and a high-order motion platform 5. The high-order moving platform 5 can be provided with components needing to be driven, such as a seat and the like.
The rotation drive mechanism 4 includes a rotation drive unit 41. The rotary drive unit 41 is mounted on the low-order movable platform 2. The rotation driving unit 41 may be, for example, a direct drive rotation motor or a swing cylinder or the like. The installation of the rotary drive unit 41 on the low-order movable platform 2 can be realized by bolt fixing or bracket fixing.
The rotary drive unit 41 is arranged to drive the high order motion stage 5 in a rotary motion relative to the low order motion stage 2. The high-order motion stage 5 may be directly mounted on the rotary drive unit 41.
The rotary driving mechanism 4 can realize the rotary motion of the high-order movable platform 5, and finally can realize the four-degree-of-freedom motion of the high-order movable platform 5 by combining the three-degree-of-freedom motion of the low-order movable platform 2. The four-degree-of-freedom motion comprises up-and-down, left-and-right, front-and-back and rotation motion.
when the multi-degree-of-freedom motion platform is applied to a dynamic simulation device, the four-degree-of-freedom motion of the high-order motion platform 5 can be lifting, pitching, rolling and yawing motion.
Optionally, the rotary drive mechanism 4 further comprises a support 42. The supporting member 42 is located between the lower movable platform 2 and the higher movable platform 5 to support the higher movable platform 5 on the lower movable platform 2. The support 42 is arranged to improve the stability and reliability of the motion of the high-order moving platform 5.
The support 42 is slidably fitted with the high-order moving platform 5 to avoid an increase in frictional resistance between the support 42 and the high-order moving platform 5. The support 42 may be, for example, a projection or the like provided on the low-order movable platform 2.
Further, the support 42 is a ball. The low-order movable platform 2 is provided with a support piece positioning groove, and the rolling ball is positioned in the support piece positioning groove. The number of the rolling balls is usually more than two, and the rolling balls are uniformly distributed on the surface of the low-order movable platform 2. When the rotary driving unit 41 drives the high-order moving platform 5 to rotate, the rolling ball is in sliding fit with the surface of the high-order moving platform 5.
Optionally, the multiple degree of freedom motion platform may further comprise a power-off brake (not shown in the figures). The power-off brake can safely brake the linear driving unit 31 and/or the rotary driving unit 41 when the multi-degree-of-freedom motion platform is powered off, so that the safety of the multi-degree-of-freedom motion platform is improved.
Optionally, a cushion may be disposed between the linear drive mechanism 3 and the base 1. The cushion pad may function to protect the linear drive mechanism 3.
in the following, the embodiment shown in fig. 1 is taken as an example to illustrate the multiple degree of freedom motion platform of the present invention:
As shown in fig. 1, the multiple degree of freedom motion platform comprises a base 1, a low-order motion platform 2, three linear driving mechanisms 3, a rotary driving mechanism 4 and a high-order motion platform 5.
The linear drive mechanism 3 includes a linear drive unit 31, a transmission shaft 32, a slide link 33, a connecting housing 34, a slide bushing member 35, a damper 36, and a rotary link 37.
The linear drive unit 31 includes a linear drive unit stator 311 and a linear drive unit mover 312. The linear driving unit 31 outputs a linear motion in a vertical direction perpendicular to the surface of the base 1. The slide connector 33 includes an upper slide connector 331 and a lower slide connector 332. The upper sliding connector 331 is slidably engaged with the lower sliding connector 332, and the upper sliding connector 331 is fixedly connected with the lower sliding platform 2.
the coupling housing 34 is provided for coupling the linear drive unit mover 312 and the transmission shaft 32. The linear driving unit mover 312 is fitted with the linear moving unit hole 341 of the coupling case 34 by interference fit. The connecting shell 34 is provided with a bracket connected with the transmission shaft 32.
The sliding shaft set 35 includes a positioning shaft 351 and a sliding sleeve 352, the positioning shaft 351 is fixed on the base 1, and the positioning shaft 351 and the sliding sleeve 352 are in sliding fit. The outer surface of the sliding sleeve 352 is provided with a limiting protrusion 3520, and the limiting protrusion 3520 is matched with a limiting groove in the sliding sleeve hole 342 of the connecting shell 34.
the dampener 36 is a compression spring. The two ends of the compression spring are positioned on the base 1 and the end of the drive shaft 32, respectively.
The rotary connector 37 is a rod end joint bearing. The rod end of the rod end knuckle bearing is connected to the drive shaft 32, and the knuckle bearing end of the rod end knuckle bearing is rotatably connected to the lower slider 332.
The rotation drive mechanism 4 includes a rotation drive unit 41 and a support 42. The rotary drive unit 41 is mounted on the low-order movable platform 2.
The support 42 is a ball. The low-order movable platform 2 is provided with a support piece positioning groove, and the rolling ball is positioned in the support piece positioning groove. When the high-order moving platform 5 rotates, the rolling ball is in sliding fit with the surface of the high-order moving platform 5.
When the multi-degree-of-freedom motion platform is used, the linear driving unit 31 outputs motion to the sliding connection piece 33 through the transmission shaft 32, and the sliding connection piece 33 can rotate relative to the transmission shaft 32. Through the motion of a plurality of linear driving mechanisms 3, the low-order movable platform 2 can move relative to the sliding connecting piece 33, and the up-and-down, left-and-right and front-and-back three-degree-of-freedom motion of the low-order movable platform 2 is realized. The rotary driving mechanism 4 can realize the rotary motion of the high-order movable platform 5, and finally can realize the four-degree-of-freedom motion of the high-order movable platform 5 in the up-down, left-right, front-back and rotation by combining the three-degree-of-freedom motion of the low-order movable platform 2.
As shown in fig. 10 and 11, the present invention also provides a dynamic simulation apparatus.
The dynamic simulation device comprises a seat 6 and the multi-degree-of-freedom motion platform. The seat 6 is arranged on the multi-freedom-degree motion platform. When the multi-degree-of-freedom motion platform only comprises the low-order moving platform 2, the seat 6 can be installed on the low-order moving platform 2. When the multiple degree of freedom motion platform comprises the low-order moving platform 2 and the high-order moving platform 5, the seat 6 can be installed on the high-order moving platform 5. The seat 6 can be mounted by bolting or welding.
As shown in fig. 12, in this embodiment, each linear driving mechanism 3 of the motion simulator outputs different motions to the low-order motion platform 2 through the transmission shaft 32. The three-degree-of-freedom motion of the low-order moving platform 2 is combined with the rotary motion of the high-order moving platform 5 driven by the rotary driving mechanism 4, and finally the multi-posture motion of the seat 6 can be realized.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (9)
1. a multi-degree-of-freedom motion platform is characterized by comprising a base, a low-order motion platform and at least three linear driving mechanisms; wherein,
The linear driving mechanism comprises a linear driving unit, a transmission shaft and a sliding connecting piece;
One end of the transmission shaft is connected with the driving output end of the linear driving unit, the other end of the transmission shaft is rotatably connected with the sliding connection piece, and the sliding connection piece is arranged to be used for connecting the transmission shaft and the low-order movable platform in a sliding mode; the linear drive mechanism further comprises a connection housing, the linear drive unit comprising a linear drive unit stator and a linear drive unit mover, the connection housing being arranged for connecting the linear drive unit mover and the transmission shaft; a linear driving unit hole is formed in the connecting shell, and the linear driving unit rotor is in interference fit with the linear driving unit hole, so that the connecting shell and the linear driving unit rotor synchronously move; the connecting shell is composed of two half shells, and the linear driving unit hole is formed by matching half holes arranged in the two half shells.
2. The multiple degree of freedom motion platform of claim 1, wherein the linear drive mechanism further comprises a sliding shaft assembly, the sliding shaft assembly comprising a positioning shaft and a sliding sleeve, the positioning shaft and the sliding sleeve being in sliding engagement;
The sliding sleeve is matched with the connecting shell, so that the linear driving unit rotor drives the sliding sleeve to move along the positioning shaft through the connecting shell.
3. The multiple degree of freedom motion platform of claim 2, wherein a slip sleeve hole is provided in the connecting shell;
The outer surface of the sliding sleeve is provided with a limiting protrusion, a limiting groove is arranged in the sliding sleeve hole, and the limiting protrusion is matched with the limiting groove, so that the sliding sleeve and the connecting shell move together along the positioning shaft.
4. The multiple degree of freedom motion platform of claim 1, wherein the linear drive mechanism further comprises a buffer;
The buffer member is configured to buffer an acting force transmitted from the low-order moving platform to the linear driving mechanism.
5. The multiple degree of freedom motion platform of claim 1, wherein the linear drive mechanism further comprises a rotational link;
The sliding connecting piece comprises an upper sliding connecting piece and a lower sliding connecting piece;
The rotary connecting piece is arranged for rotatably connecting the transmission shaft and the lower sliding connecting piece;
the upper sliding connecting piece is in sliding fit with the lower sliding connecting piece, and the upper sliding connecting piece is fixedly connected with the lower-order sliding platform.
6. The multiple degree of freedom motion platform of any one of claims 1 to 5, further comprising a rotational drive mechanism and a high order motion platform;
The rotary driving mechanism comprises a rotary driving unit which is arranged on the low-order movable platform;
The rotary driving unit is arranged for driving the high-order moving platform to make rotary motion relative to the low-order moving platform.
7. The multiple degree of freedom motion platform of claim 6, wherein the rotary drive mechanism further comprises a support;
The supporting piece is located between the low-order movable platform and the high-order movable platform so as to support the high-order movable platform on the low-order movable platform.
8. The multiple degree of freedom motion platform of claim 7, wherein the support is a roller ball;
The low-order movable platform is provided with a support piece positioning groove, the rolling balls are positioned in the support piece positioning groove, and the rolling balls are uniformly distributed on the low-order movable platform;
When the rotary driving unit drives the high-order movable platform to do rotary motion, the rolling ball is in sliding fit with the surface of the high-order movable platform.
9. A dynamic simulation apparatus comprising a chair and a multiple degree of freedom motion platform as claimed in any one of claims 1 to 8;
The seat is installed on the multi-degree-of-freedom motion platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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