CN109147536A - A kind of virtual training platform of the engineering machinery of six degree of freedom - Google Patents
A kind of virtual training platform of the engineering machinery of six degree of freedom Download PDFInfo
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- CN109147536A CN109147536A CN201811088929.9A CN201811088929A CN109147536A CN 109147536 A CN109147536 A CN 109147536A CN 201811088929 A CN201811088929 A CN 201811088929A CN 109147536 A CN109147536 A CN 109147536A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 230000001133 acceleration Effects 0.000 claims abstract description 4
- 150000001875 compounds Chemical class 0.000 claims abstract description 4
- 239000002828 fuel tank Substances 0.000 claims description 13
- 239000003921 oil Substances 0.000 claims description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000035807 sensation Effects 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 241000239290 Araneae Species 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 238000012549 training Methods 0.000 description 7
- 230000000875 corresponding effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000007654 immersion Methods 0.000 description 2
- 238000011001 backwashing Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- Engineering & Computer Science (AREA)
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- Business, Economics & Management (AREA)
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- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of virtual training platforms of the engineering machinery of six degree of freedom, including mechanism kinematic platform, hydraulic power unit, controller and host computer, the hydraulic power unit includes hydraulic circuit and hydraulic cylinder, the mechanism kinematic platform includes upper mounting plate and lower platform, the upper mounting plate is motion platform, the lower platform is fixed platform, it is connected between the upper mounting plate and lower platform by hydraulic cylinder, the hydraulic circuit driving hydraulic cylinder, the host computer and controller interaction, the controller is connected with hydraulic power unit, the host computer controls hydraulic cylinder power output size and flexible displacement by controller, velocity and acceleration, and then it manipulates upper mounting plate and realizes front and back, left and right, up and down, pitching, rollover, reverse the single movement or compound motion of six direction.The configuration of the present invention is simple, it is ingenious in design；Body-sensing state in the case of energy model engineering machinery virtual driving (turn to, jolt), response is fast, at low cost.
Description
Technical field
The present invention relates to engineering machinery to drive virtual real training field, and in particular to a kind of engineering machinery of six degree of freedom is virtual
Training platform.
Background technique
In recent years, the fast development of virtual reality (VR) technology, promote Virtual Simulation, product key industry,
The infiltration applications in characteristic field.VR and engineering machinery are driven real training to organically combine, reformed engineering machinery real training mode, it can be with
Fill up the vacuum belt between theory teaching and practical training.The existing virtual experience system of engineering machinery is typically merely by software what comes into a driver's
Emulation, visually realizes 3-D effect, but body-sensing is not enriched, lacks various dimensions feeling of immersion.Driver seat is widely used to
Flight simulation, Entertainment, but industrial application feature is different, and the multidimensional feeling of immersion platform for engineering machinery is caused not obtain also
Actual development and application.Therefore, it need be directed to the driver seat of engineering machinery driving characteristics (low speed jolts, abrupt slope), met empty
The sense of reality of quasi- real training, reduces training cost, achievees the purpose that efficient and environment-friendly.
Summary of the invention
In view of this, realizing work the embodiment provides a kind of parallel connection platform based on Stewart six degree of freedom
The virtual training platform of engineering machinery of the six degree of freedom of the mechanical virtual real training of journey.
The embodiment of the present invention provides a kind of virtual training platform of engineering machinery of six degree of freedom, including mechanism kinematic is put down
Platform, hydraulic power unit, controller and host computer, the hydraulic power unit include hydraulic circuit and hydraulic cylinder, the mechanism kinematic platform
Including upper mounting plate and lower platform, the upper mounting plate is motion platform, and the lower platform is fixed platform, the upper mounting plate and lower flat
It is connected between platform by hydraulic cylinder, the hydraulic circuit driving hydraulic cylinder, the host computer and controller interaction, the controller
It is connected with hydraulic power unit, the host computer controls hydraulic cylinder power output size and flexible displacement, speed and acceleration by controller
Degree, and then manipulate upper mounting plate and realize front and rear, left and right, upper and lower, pitching, rollover, the single movement for reversing six direction or compound fortune
It is dynamic.
Further, the hydraulic cylinder of six roots of sensation energy independent telescope connects between the upper mounting plate and lower platform, every hydraulic cylinder
Upper end be connected in upper mounting plate by angular double rod bulb joint bearing, the lower end of every hydraulic cylinder passes through universal-joint-pin type universal
Shaft coupling is connected in lower platform, and six roots of sensation hydraulic cylinder and the tie point of upper mounting plate and lower platform can be separately connected into hexagon on one
Hexagon once, upper hexagon and lower hexagon include three long sides and three short sides, and the length of three long sides is identical,
The length of three short sides is identical, and long side and short side alternately connect, the short side of the corresponding lower hexagon of the long side of the upper hexagon, on
The long side of the corresponding lower hexagon of the short side of hexagon.
Further, the hydraulic power unit further includes fuel tank, gear pump, threephase asynchronous machine, electro-hydraulic proportional valve, overflow valve,
The fuel tank is equipped with oil absorption filter and air filter, and the fuel tank is provided with hydraulic oil as transfer medium, hydraulic oil
Enter fuel tank after air filter is handled, the hydraulic oil is handled before entering hydraulic circuit by oil absorption filter, institute
It states and is connected between gear pump and threephase asynchronous machine by shaft coupling, the gear pump drives liquid under threephase asynchronous machine effect
Pressure oil enters hydraulic circuit, and the hydraulic circuit is equipped with electro-hydraulic proportional valve and overflow valve, the electro-hydraulic proportional valve and overflow valve
For the control element of hydraulic circuit, the electro-hydraulic proportional valve converts electrical signals to displacement signal, and the overflow valve control is hydraulic
The flow of cylinder output and direction.
Further, the exit of the gear pump is equipped with check valve, is also connected with pressure gauge on the hydraulic circuit, and hydraulic time
Check valve is equipped between road and pressure gauge, the inlet of the hydraulic cylinder is equipped with stacking type hydraulic control check valve, goes back on the fuel tank
Equipped with liquidometer.
Further, the controller controls the inlet flow of every hydraulic cylinder by adjusting the input signal of electro-hydraulic proportional valve
Amount, driving hydraulic cylinder is stretched, to show different location posture.
Further, displacement sensor, the actual displacement that institute's displacement sensors will test are installed on the hydraulic cylinder
Controller is fed back to, realizes closed-loop control.
It further, further include system power supply, the system power supply is powered to host computer, controller and hydraulic power unit.
Compared with prior art, the configuration of the present invention is simple, it is ingenious in design；It can model engineering machinery virtual driving (steering, top
Winnow with a dustpan) in the case of body-sensing state, response is fast, at low cost.
Detailed description of the invention
Fig. 1 is an a kind of schematic diagram of the virtual training platform of the engineering machinery of six degree of freedom of the present invention.
Fig. 2 is the schematic diagram of mechanism kinematic platform and hydraulic cylinder in Fig. 1.
Fig. 3 is the schematic diagram of hydraulic power unit in Fig. 1.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Referring to FIG. 1, the embodiment provides a kind of virtual training platforms of the engineering machinery of six degree of freedom, including
Mechanism kinematic platform 1, hydraulic power unit 2, controller 3, host computer 4 and system power supply 5.
System power supply 5 is powered to host computer 4, controller 3 and hydraulic power unit 2.
Referring to FIG. 3, the hydraulic power unit 2 is different including hydraulic circuit 21, hydraulic cylinder 22, fuel tank 23, gear pump 24, three
Motor 25, electro-hydraulic proportional valve 26, overflow valve 27, shaft coupling 28 and pressure gauge 29 are walked, the fuel tank 23 is equipped with oil absorption filter
231, air filter 232 and liquidometer 233, the fuel tank 23 are provided with the hydraulic oil conduct for meeting cleannes, viscosity requirement
Transfer medium, hydraulic oil enter fuel tank 23 after the processing of air filter 232, and the hydraulic oil is before entering hydraulic circuit 21
It is handled by oil absorption filter 231,21 driving hydraulic cylinder 22 of hydraulic circuit, gear pump 24 and threephase asynchronous machine 25 provide power
It supports, is connected between the gear pump 24 and threephase asynchronous machine 25 by shaft coupling 28, the exit of gear pump 24 is equipped with single
To valve 241, prevents dirt from entering hydraulic cylinder 22 by oil absorption filter 231 and check valve 241 and prevent system pressure from backwashing
Effect, the gear pump 24 driving hydraulic oil under the effect of threephase asynchronous machine 25 enter hydraulic circuit 21, the hydraulic circuit
21 are equipped with electro-hydraulic proportional valve 26 and overflow valve 27, and the electro-hydraulic proportional valve 26 and overflow valve 27 are the control member of hydraulic circuit 21
Part, the electro-hydraulic proportional valve 26 converts electrical signals to displacement signal, and generates corresponding actions according to the electric signal of input, makes work
Make spool and generate displacement, port size changes, and completes the pressure proportional to input voltage, flow output, the overflow
Valve 27 controls the flow that hydraulic cylinder 22 exports and direction, overflow valve 27 protect hydraulic circuit 21, prevents oil pressure excessive, institute
Connection pressure gauge 29 on hydraulic circuit 21 is stated, check valve 291, the hydraulic cylinder 22 are equipped between hydraulic circuit 21 and pressure gauge 29
Inlet be equipped with stacking type hydraulic control check valve 221, six roots of sensation hydraulic cylinder 22 is the execution component and parallel institution of entire platform
The drive rod and support rod of platform, output hydraulic pressure oil enter hydraulic cylinder 22 at six tunnels after electro-hydraulic proportional valve 26 respectively, come real
The six-freedom motion of existing mechanism kinematic platform 1.
Referring to FIG. 2, mechanism kinematic platform 1 includes upper mounting plate 11 and lower platform 12, the upper mounting plate 11 is motion platform,
The lower platform 12 is fixed platform, is connected between the upper mounting plate 11 and lower platform 12 by hydraulic cylinder 22,11 He of upper mounting plate
Preferably there is the hydraulic cylinder 22 of six roots of sensation energy independent telescope to connect between lower platform 12, the upper end of every hydraulic cylinder 22 passes through angular double rod
Bulb joint bearing 13 is connected in upper mounting plate 11, and hydraulic cylinder 22 and upper mounting plate 11 can be guaranteed around angular double rod bulb joint
13 center of bearing is rotated, while limiting their relative movements on the direction XYZ, has three degree of freedom, every hydraulic
The lower end of cylinder 22 is connected in lower platform 12 by universal coupling with spider 14, and universal coupling with spider 14 is using small
Square and cross pin axis connection, may be implemented rotation of the hydraulic cylinder 22 in space, six roots of sensation hydraulic cylinder 22 and upper mounting plate 11 and under
The tie point of platform 12 can be separately connected on one hexagon and once hexagon, and upper hexagon and lower hexagon include three
Long side and three short sides, and the length of three long sides is identical, the length of three short sides is identical, and long side and short side alternately connect, institute
The short side of the corresponding lower hexagon of long side of hexagon is stated, the long side of the corresponding lower hexagon of the short side of upper hexagon passes through the six roots of sensation
The long variation of 22 bar of hydraulic cylinder, upper mounting plate 11 may be implemented six degree of freedom (front and rear, left and right, up and down, pitching, rollover, torsion) with
And the movement of any degrees of freedom combination, thus the steering occurred in driving procedure of model engineering machinery, the operating conditions such as jolt.
Host computer 4 and the interaction of controller 3, the controller 3 and hydraulic power unit 2 connect, and are equipped with displacement on hydraulic cylinder 22
Sensor (not shown), the actual displacement that institute's displacement sensors will test feeds back to controller 3, and then realizes closed loop
Control, the host computer 4 control hydraulic cylinder power output size and flexible displacement, velocity and acceleration, Jin Ercao by controller 3
Vertical upper mounting plate realizes front and rear, left and right, upper and lower, pitching, rollover, the single movement or compound motion for reversing six direction, it is preferable that
Controller 3 controls the input flow rate of every hydraulic cylinder 22, driving hydraulic cylinder by adjusting the input signal of electro-hydraulic proportional valve 26
22 it is flexible, to show different location posture.
Host computer 4 obtains user input instruction (3 translational movements: x, y, z；3 amount of spin: it pitch angle α, angle of heel β, turns round
Corner γ), while 1 state of monitor control mechanism motion platform；Host computer 4 is programmed using MATLAB, realizes human-computer interaction and kinematics
Anti- solution, is passed data in the next machine controller 3 by Ethernet, obtains oil cylinder displacement signal and reality by Kinematics analysis
Displacement signal is converted to electro-hydraulic proportional valve input signal through PID arithmetic more afterwards, and output flow and pressure generate upper mounting plate 11
Corresponding sports；In 11 motion process of upper mounting plate, the bar long message that the displacement sensor in 22 outside of hydraulic cylinder measures, which is fed back to, is patrolled
Controller is collected, is received by the A/D module of extension, is compared with the displacement signal of the hydraulic cylinder 22 of input, then adjusts
The output flow of electro-hydraulic proportional valve 26 makes upper mounting plate 11 reach designated position.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of virtual training platform of the engineering machinery of six degree of freedom, which is characterized in that including mechanism kinematic platform, hydraulic pump
Stand, controller and host computer, the hydraulic power unit include hydraulic circuit and hydraulic cylinder, the mechanism kinematic platform includes upper mounting plate
And lower platform, the upper mounting plate are motion platform, the lower platform is fixed platform, is passed through between the upper mounting plate and lower platform
Hydraulic cylinder connection, the hydraulic circuit driving hydraulic cylinder, the host computer and controller interaction, the controller and hydraulic power unit
Connection, the host computer controls hydraulic cylinder power output size and flexible displacement, velocity and acceleration by controller, and then manipulates
Upper mounting plate realizes front and rear, left and right, upper and lower, pitching, rollover, the single movement or compound motion for reversing six direction.
2. the virtual training platform of the engineering machinery of six degree of freedom according to claim 1, which is characterized in that the upper mounting plate
There is the hydraulic cylinder of six roots of sensation energy independent telescope to connect between lower platform, the upper end of every hydraulic cylinder passes through angular double rod bulb joint
Bearing is connected in upper mounting plate, and the lower end of every hydraulic cylinder is connected in lower platform by universal coupling with spider, the six roots of sensation
The tie point of hydraulic cylinder and upper mounting plate and lower platform can be separately connected on one hexagon and once hexagon, and upper hexagon is under
Hexagon includes three long sides and three short sides, and the length of three long sides is identical, and the length of three short sides is identical, long side and
Short side alternately connects, the short side of the corresponding lower hexagon of the long side of the upper hexagon, the corresponding lower hexagon of the short side of upper hexagon
Long side.
3. the virtual training platform of the engineering machinery of six degree of freedom according to claim 1, which is characterized in that the hydraulic pump
Station further includes fuel tank, gear pump, threephase asynchronous machine, electro-hydraulic proportional valve, overflow valve, the fuel tank be equipped with oil absorption filter and
Air filter, the fuel tank are provided with hydraulic oil as transfer medium, and hydraulic oil enters oil after air filter is handled
Case, the hydraulic oil is handled before entering hydraulic circuit by oil absorption filter, between the gear pump and threephase asynchronous machine
It is connected by shaft coupling, gear pump driving hydraulic oil under threephase asynchronous machine effect enters hydraulic circuit, described hydraulic
Circuit is equipped with electro-hydraulic proportional valve and overflow valve, and the electro-hydraulic proportional valve and overflow valve are the control element of hydraulic circuit, described
Electro-hydraulic proportional valve converts electrical signals to displacement signal, the flow of the overflow valve control hydraulic cylinder output and direction.
4. the virtual training platform of the engineering machinery of six degree of freedom according to claim 3, which is characterized in that the gear pump
Exit be equipped with check valve, be also connected with pressure gauge on the hydraulic circuit, check valve be equipped between hydraulic circuit and pressure gauge,
The inlet of the hydraulic cylinder is equipped with stacking type hydraulic control check valve, is additionally provided with liquidometer on the fuel tank.
5. the virtual training platform of the engineering machinery of six degree of freedom according to claim 3, which is characterized in that the controller
The input flow rate of every hydraulic cylinder is controlled by adjusting the input signal of electro-hydraulic proportional valve, driving hydraulic cylinder is stretched, thus
Show different location posture.
6. the virtual training platform of the engineering machinery of six degree of freedom according to claim 5, which is characterized in that the hydraulic cylinder
On displacement sensor is installed, the actual displacement that institute's displacement sensors will test feeds back to controller, realizes closed-loop control.
7. the virtual training platform of the engineering machinery of six degree of freedom according to claim 1, which is characterized in that further include system
Power supply, the system power supply are powered to host computer, controller and hydraulic power unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088929.9A CN109147536A (en) | 2018-09-18 | 2018-09-18 | A kind of virtual training platform of the engineering machinery of six degree of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088929.9A CN109147536A (en) | 2018-09-18 | 2018-09-18 | A kind of virtual training platform of the engineering machinery of six degree of freedom |
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| CN109147536A true CN109147536A (en) | 2019-01-04 |
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| CN201811088929.9A Pending CN109147536A (en) | 2018-09-18 | 2018-09-18 | A kind of virtual training platform of the engineering machinery of six degree of freedom |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111420394A (en) * | 2020-02-18 | 2020-07-17 | 重庆特斯联智慧科技股份有限公司 | VR display system and method for matching dynamic scene |
| CN111694368A (en) * | 2020-06-04 | 2020-09-22 | 哈尔滨工业大学 | Six-degree-of-freedom platform control method |
| CN112650389A (en) * | 2020-12-22 | 2021-04-13 | 广东全影汇信息科技有限公司 | Mining and editing system for mining and editing six-axis platform driving parameters |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111420394A (en) * | 2020-02-18 | 2020-07-17 | 重庆特斯联智慧科技股份有限公司 | VR display system and method for matching dynamic scene |
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| CN111694368A (en) * | 2020-06-04 | 2020-09-22 | 哈尔滨工业大学 | Six-degree-of-freedom platform control method |
| CN112650389A (en) * | 2020-12-22 | 2021-04-13 | 广东全影汇信息科技有限公司 | Mining and editing system for mining and editing six-axis platform driving parameters |
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