CN111672081A - Five-degree-of-freedom continuous load simulation platform - Google Patents
Five-degree-of-freedom continuous load simulation platform Download PDFInfo
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- CN111672081A CN111672081A CN202010718433.6A CN202010718433A CN111672081A CN 111672081 A CN111672081 A CN 111672081A CN 202010718433 A CN202010718433 A CN 202010718433A CN 111672081 A CN111672081 A CN 111672081A
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Abstract
The invention discloses a five-freedom continuous load simulation platform, which comprises a main driving system, a main rotating arm system, a vertical motion system and a multi-freedom motion platform, wherein the main driving system supports and drives the main rotating arm system to rotate so as to provide an overload environment required by flight training, the vertical motion system is arranged on the main rotating arm system, the multi-freedom motion platform is arranged on the vertical motion system, the vertical motion system drives the multi-freedom motion platform to vertically move on the main rotating arm system in a straight line manner, the vertical motion system drives the multi-freedom motion platform to vertically move on the main rotating arm system so as to provide vertical motion required by flight training, the multi-freedom motion platform has three degrees of freedom, the multi-freedom motion platform, the vertical motion system and the main rotating arm system are combined to realize five-freedom motion, so that the motion simulation function of the multi-freedom motion platform is stronger, the simulation of the directional obstacle environment can be realized, so that the directional obstacle and illusion training capabilities are achieved.
Description
Technical Field
The invention relates to the field of flight simulation, in particular to a five-degree-of-freedom continuous load simulation platform.
Background
The pilot training is a complex system, and different environment simulation platforms are developed aiming at different training targets in order to meet the requirements of training efficiency, safety, economy and the like. Such as a ground multi-degree-of-freedom simulation platform aiming at operation training and a high overload simulation platform aiming at endurance bearing training; and a low-overload multi-degree-of-freedom simulation platform for directional obstacle training.
The five-degree-of-freedom continuous load simulation platform can generate continuous overload, can provide a real load simulation environment approaching to an airplane, and realizes overload training and space directional obstacle training of pilots. Compared with a four-degree-of-freedom manned centrifugal machine, the four-degree-of-freedom manned centrifugal machine has one more degree of freedom, so that the simulated environment is closer to the real flying environment, meanwhile, the high overload simulated environment can be provided, personnel selection, endurance training and the like can be carried out, any attitude change in the continuous load environment can be realized, and the four-degree-of-freedom manned centrifugal machine is particularly suitable for space directional obstacle training.
The spatially-oriented obstacle is defined as: the pilot cannot correctly perceive information such as position, motion and attitude of the pilot relative to the earth reference frame or the plane in the frame formed by the vertical lines of gravity. Often causing a false sense to the pilot. The space orientation obstacle is a major aeronautical and medical problem seriously threatening flight safety at present, and has the characteristics of universality, high risk and the like.
The method comprises the following steps of carrying out space directional obstacle training, namely, generating an environment which is easy to generate space directional obstacle through a simulator, and carrying out order training such as principle phenomenon display, space directional obstacle scene and consciousness, overcoming coping method after space obstacle generation, autonomous control training of people in a loop and the like on a trained pilot.
The existing simulation platform is basically designed for a certain application requirement although the existing simulation platform is more in form, because higher load can not be provided, the simulation platform can not be applied to flight simulation training, and meanwhile, most of the existing simulation platforms are four-degree-of-freedom simulation platforms which have the defect of insufficient degree of freedom and can not provide a real load simulation environment which is closer to an airplane, the simulation range of the orientation obstacle environment is smaller, the application range is small, the simulation requirement of a complex environment cannot be met, the existing simulation platform also has a load platform with six degrees of freedom, but the six-degree-of-freedom load platform is too large in size, so that a driving system cannot provide large power, the six-degree-of-freedom load platform cannot provide high load, the real training environment cannot be achieved, therefore, it is necessary to design a simulation platform with multiple degrees of freedom and capable of providing high load.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a five-degree-of-freedom continuous load simulation platform, realizes the motion simulation with adjustable multiple postures, and simultaneously provides the continuously controllable high-overload and rapid overload change environment simulation by the simulation platform.
The purpose of the invention is realized by the following technical scheme: a five-degree-of-freedom continuous load simulation platform comprises a multi-degree-of-freedom motion platform, a vertical motion system, a main rotating arm system and a main driving system, wherein the main driving system supports the main rotating arm system and drives the main rotating arm system to rotate;
the multi-degree-of-freedom motion platform comprises a rolling frame system, a yawing frame system and a cabin, wherein the cabin is arranged in the yawing frame system and rotates around a connecting point with the yawing frame system, the yawing frame system is arranged in the rolling frame system and rotates around a connecting point with the rolling frame system, the rotating center of the cabin is perpendicular to the rotating center of the yawing frame system, the rolling frame system is arranged on the vertical motion system and rotates around a connecting point with the vertical motion system, and the rotating center of the rolling frame system is perpendicular to the rotating center of the yawing frame system.
Further, the main driving system comprises a base, a main motor and a main transmission shaft support, the main motor is arranged in the base, the main transmission shaft support is arranged at the top of the base, a main shaft is connected in the main transmission shaft support through a bearing, a main shaft mounting hole is formed in the base, one end of the main shaft is arranged in the main shaft mounting hole and connected with an output shaft of the main motor, the other end of the main shaft is rotatably connected with the main rotating arm system, a bearing system is arranged in the main shaft mounting hole, and the main shaft is rotatably connected with the base through the bearing system.
Further, main swinging boom system includes centrifugal platform and counter weight, the rotatable cover of bearing is passed through to the one end of centrifugal platform and is established on the main shaft, the simulation chamber has been seted up at centrifugal platform's top, be provided with in the simulation chamber the vertical motion system, centrifugal platform is close to the one end of main shaft is provided with the counter weight.
Further, equal vertical motion groove of having seted up on the both sides wall in simulation chamber, two vertical motion groove symmetry sets up, two the vertical motion inslot all is provided with the vertical motion system, the vertical motion system includes base, guide bar and linear drive system, base slidable sets up in the vertical motion inslot, the base is close to one side in vertical motion groove is fixed with the guide holder, the guide bar is equipped with two, two the equal slidable of guide bar is worn to establish in the guide holder and both ends respectively with the top and the bottom in vertical motion groove are fixed, the bottom in simulation chamber is provided with linear drive system, linear drive system with the bottom of base is connected.
Further, the frame system that rolls includes the frame body, the motor that rolls over, the drive shaft and the frame driven shaft that rolls over, the frame body that rolls over is annular symmetrical structure, the both ends in the frame body outside that rolls over are fixed with respectively the drive shaft with roll over the frame driven shaft, the drive shaft all sets up with the frame driven shaft that rolls over on the symmetrical center line of the frame body that rolls over, the drive shaft is kept away from with the frame driven shaft that rolls over the one end of the frame body that rolls over is rotatable respectively to be worn to establish in two bases, be equipped with the base internal fixation of drive shaft is equipped with the motor that rolls over, the output shaft of the motor that rolls over with the drive shaft is connected.
Further, the frame system of drifteing includes driftage framework, yaw motor, driftage pivot and driftage driven shaft, the driftage framework is annular symmetrical structure, the both ends in the driftage framework outside are fixed with respectively driftage pivot and driftage driven shaft, driftage pivot and driftage driven shaft all set up on the centre of symmetry line of driftage framework, driftage pivot and driftage driven shaft are kept away from the one end of driftage framework all with the rotation of roll-over framework is connected, the driftage pivot passes the roll-over framework and with the output shaft of yaw motor, the yaw motor is fixed on the roll-over framework.
Further, the cabin includes cabin body, pitch motor, every single move pivot and every single move driven shaft, the cabin body is the cube structure, the both ends of the cabin body are fixed with respectively every single move pivot and every single move driven shaft, every single move pivot and every single move driven shaft all set up on the symmetrical center line of the cabin body, every single move pivot and every single move driven shaft are kept away from the one end of the cabin body all with the driftage framework rotates to be connected, the every single move pivot passes the driftage framework and with pitch motor's output shaft, pitch motor fixes in the driftage framework.
Further, the bearing system include first thrust bearing, ball bearing, third angle contact bearing and bearing sleeve, bearing sleeve installs in the main shaft mounting hole of base, first thrust bearing, ball bearing, third angle contact bearing all set up in bearing sleeve.
The invention has the beneficial effects that:
1. the main driving system drives the main rotating arm system to generate continuous centrifugal overload acceleration; the main rotating arm system drives the rolling frame system to generate rolling angle motion relative to the trained pilot; the vertical motion system drives the rolling frame system to generate linear motion vertical to the main rotating arm system; the roll frame system drives the yaw frame system to generate yaw angle movement relative to the trained pilot; the yawing frame system drives the cabin to generate pitch angle motion relative to the trained pilot, the trained pilot sits in the cabin and bears centrifugal overload acceleration and spatial four-attitude angular motion, multiple-attitude adjustable motion simulation is realized, meanwhile, continuous controllable high-overload and rapid overload change environment simulation is provided, the simulation capability of the simulation platform is widened, and the simulation environment is closer to the real flying environment.
2. The cabin, the rolling frame system and the yawing frame system are all designed into an axisymmetric structure, and meanwhile, the balance weight of the main rotating arm system is balanced, so that the force balance and the couple balance are realized, the overturning moment and the rotating arm bending moment borne by the main rotating arm system and the multi-degree-of-freedom motion platform system can be reduced, the vertical deformation of the centrifugal platform is reduced, and the vibration of the system is reduced.
3. A five-freedom continuous load simulation platform enables a multi-freedom motion platform and a continuous load centrifugal platform to be perfectly combined, and provides continuous controllable high overload and rapid overload change environment simulation for the motion simulation platform with multiple adjustable postures.
Drawings
FIG. 1 is a schematic view of an overall structure of a five-degree-of-freedom continuous load simulation platform according to the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is a schematic structural diagram of a centrifugal platform in a five-DOF (degree of freedom) continuous load simulation platform according to the present invention;
FIG. 4 is a schematic structural diagram of a multi-degree-of-freedom motion platform in a five-degree-of-freedom continuous load simulation platform according to the present invention;
FIG. 5 is a schematic structural diagram of a rolling frame system in a five-DOF continuous load simulation platform according to the present invention;
FIG. 6 is a schematic diagram of a yaw frame system and a cabin mechanism in a five-DOF continuous load simulation platform according to the present invention;
FIG. 7 is an enlarged view at C of FIG. 6;
FIG. 8 is an enlarged view of FIG. 6 at B;
in the figure, 1-main driving system, 2-main rotating arm system, 3-vertical movement system, 4-multi-freedom movement platform, 11-base, 12-main motor, 13-main transmission shaft support, 14-main shaft, 21-centrifugal platform, 22-counterweight, 23-simulation cavity, 31-base, 32-guide rod, 33-vertical movement groove, 34-guide seat, 41-rolling frame system, 42-yaw frame system, 43-cabin, 411-rolling frame, 412-rolling motor, 413-driving shaft, 414-rolling frame driven shaft, 421-yaw frame, 422-yaw motor, 423-yaw shaft, 424-yaw driven shaft, 431-cabin, 432-pitch motor, 433-pitch shaft, 434-pitching driven shaft.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1 to 8, a five-degree-of-freedom continuous load simulation platform comprises a multi-degree-of-freedom motion platform 4, a vertical motion system 3, a main rotating arm system 2 and a main driving system 1, wherein the main driving system 1 supports and drives the main rotating arm system 2 to rotate, the main driving system 1 drives the main rotating arm system 2 to controllably rotate on a horizontal plane at a certain angular velocity and angular acceleration to provide an overload environment required by flight training, the vertical motion system 3 is arranged on the main rotating arm system 2, the vertical motion system 3 is provided with the multi-degree-of-freedom motion platform 4, the vertical motion system 3 drives the multi-degree-of-freedom motion platform 4 to vertically move on the main rotating arm system 2, the vertical motion system 3 drives the multi-degree-of freedom motion platform 4 to vertically move on the main rotating arm system 2 to provide vertical motion required by flight training, and the multi-degree-of freedom motion platform 4 has, the multi-degree-of-freedom motion platform 4, the vertical motion system 3 and the main rotating arm system 2 are combined to realize five-degree-of-freedom motion, so that the motion simulation function of the multi-degree-of-freedom motion platform is stronger, the simulation of the orientation obstacle environment can be realized, and the multi-degree-of-freedom motion platform has the capabilities of orientation obstacle and illusion training.
As shown in fig. 4, the multiple degree of freedom motion platform 4 includes a roll frame system 41, a yaw frame system 42, and a cab 43, the cab 44 is disposed in the yaw frame system 42 and rotates around a connection point with the yaw frame system 42 to provide a pitch motion required for flight training, the yaw frame system 42 is disposed in the roll frame system 41 and rotates around a connection point with the roll frame system 42, a rotation center of the cab 44 is perpendicular to a rotation center of the yaw frame system 42 to provide a yaw motion required for flight training, the roll frame system 41 is disposed on the vertical motion system 3 and rotates around a connection point with the vertical motion system 3, and a rotation center of the roll frame system 41 is perpendicular to a rotation center of the yaw frame system 42 to provide a roll motion required for flight training.
In the scheme, a main driving system 1 supports a main rotating arm system 2 and provides power for the main rotating arm system 2 to rotate on a horizontal plane, so as to drive a multi-freedom-degree motion platform 4 to do rotary motion, and further drive a cabin 43 on the multi-freedom-degree motion platform 4 to do rotary motion, wherein the first freedom-degree is used as a first freedom-degree of the cabin 43, a vertical motion system 3 provides the multi-freedom-degree motion platform 4 to do linear motion vertical to the main rotating arm system 2, so as to drive the cabin 43 to do linear motion, the second freedom-degree is used as a second freedom-degree of the cabin 43, when the main rotating arm system 2 provides overload rotation of the multi-freedom-degree motion platform 4, the vertical motion system 3 can simultaneously provide the multi-freedom-degree motion platform 4 to do linear motion up and down, when a rolling frame system 41 rotates, a rotating central line of the rolling frame system 41 is in a horizontal direction, the rolling frame system 41 drives, the yaw frame system 42 rotates in the roll frame system 41 to provide yaw motion as the third degree of freedom of the cabin 43, the rotation center of the yaw frame system 42 is perpendicular to the rotation center of the roll frame system 41, the yaw frame system 42 drives the cabin 43 to do yaw motion together in the vertical direction, the cabin 43 rotates in the yaw frame system 42 to provide pitch motion as the fourth degree of freedom of the cabin 43, the rotation center of the cabin 44 is perpendicular to the rotation center of the yaw frame system 42, the horizontal direction is used as the fifth degree of freedom of the cabin 43. The trainee in the cabin 43 has five motion states of overload rotation, linear motion in the vertical direction, rolling motion, yawing motion and pitching motion, wherein the cabin 43 can be made to have a simulation environment of one of the motion states, or a simulation environment combining any two motion states, or a combined simulation environment combining more than two motion states, thereby providing various training simulation environments.
The main driving system 1 comprises a base 11, a main motor 12 and a main transmission shaft support 13, wherein the main motor 12 is arranged in the base 11, the main transmission shaft support 13 is arranged at the top of the base 11, a main shaft 14 is connected in the main transmission shaft support 13 through a bearing, a main shaft 14 mounting hole is formed in the base 11, one end of the main shaft 14 is arranged in the main shaft 14 mounting hole and connected with an output shaft of the main motor 12, the other end of the main shaft 14 is rotatably connected with a main rotating arm system 2, a bearing system is arranged in the main shaft 14 mounting hole, and the main shaft 14 is rotatably connected with the base 11 through the bearing system. The main motor 12 drives the main shaft 14 to rotate, so that the main shaft 14 drives the main rotating arm system 2 to rotate, the main motor 12 drives the main rotating arm system 2 to controllably rotate on a horizontal plane at a certain angular velocity and angular acceleration, the multi-degree-of-freedom motion platform 4 on the main rotating arm system 2 has a certain overload environment, the motion stability of the main shaft 14 is ensured through a bearing system, the traditional single turntable composite bearing is changed into a bearing group bearing formed by conventional bearings, the bearing cost can be reduced, and the scale of subsequent products can be conveniently improved.
Further, the bearing system comprises a first thrust bearing, a ball bearing, a third angle contact bearing and a bearing sleeve, the bearing sleeve is installed in the installation hole of the main shaft 14 of the base 11, and the first thrust bearing, the ball bearing and the third angle contact bearing are all arranged in the bearing sleeve. In this scheme, bearing sleeve crosses the tang location, fix with screw in the main shaft 14 mounting hole of base 11, main shaft 14 passes first thrust bearing, a ball bearing, the third angle contacts the bearing and is connected with bearing sleeve rotation, the third angle contacts the bearing outer lane freedom, the inner circle is fixed a position with the shaft shoulder and axle sleeve respectively, guarantee that the third angle contacts the bearing and does not bear the axial force, only bear the axial force by first thrust bearing, the bearing system can bear the axial force, radial force and moment of flexure, can reduce the bearing installation degree of difficulty through bearing sleeve.
As shown in fig. 1 and 3, the main rotating arm system 2 includes a centrifugal platform 21 and a counterweight 22, one end of the centrifugal platform 21 is rotatably sleeved on the main shaft 14 through a bearing, a simulation cavity 23 is formed at the top of the centrifugal platform 21, the vertical movement system 3 is arranged in the simulation cavity 23, and the counterweight 22 is arranged at one end of the centrifugal platform 21 close to the main shaft 14. Centrifugal platform 21 is the axisymmetric structure, the one end at centrifugal platform 21 is installed to counter weight 22, adjust centrifugal platform's focus, guarantee that main shaft 14 connects the focus position at centrifugal platform 21, counter weight 22 rotates along with centrifugal platform 21, realize the static balance of system, reduce the systematic vibration that unbalanced causes, and simultaneously, simulation chamber 23 also sets up about centrifugal platform 21's axis symmetry, guarantee the stationarity of many free motion platforms 4 at simulation intracavity 23 internal motion, reduce the vibration to centrifugal platform 21, make the operation of simulation platform more stable, the damage that the vibration brought has been reduced.
As shown in fig. 2, vertical motion grooves 33 have all been vertically seted up on the both sides wall of simulation chamber 23, two vertical motion grooves 33 symmetry sets up, all be provided with vertical motion system 3 in two vertical motion grooves 33, vertical motion system 3 includes base 31, guide bar 32 and linear drive system, base 31 slidable sets up in vertical motion groove 33, one side that base 31 is close to vertical motion groove 33 is fixed with guide holder 34, guide bar 32 is equipped with two, two equal slidable of guide bar 32 wear to establish in guide holder 34 and both ends are fixed with the top and the bottom in vertical motion groove 33 respectively, the bottom of simulation chamber 23 is provided with linear drive system, linear drive system is connected with the bottom of base 31. Linear drive system drive base 31 reciprocates along guide bar 32 in this scheme, and the direction of movement is vertical direction (perpendicular and centrifugal platform 21 motion promptly) to provide the linear motion of simulated environment, through the guide effect of guide bar 32, make the more steady of linear motion of simulated environment.
As shown in fig. 5 to 8, the rolling frame system 41 includes a rolling frame 411, a rolling motor 412, a driving shaft 413 and a rolling frame driven shaft 414, the rolling frame 411 is a ring-shaped symmetrical structure, the driving shaft 413 and the rolling frame driven shaft 414 are respectively fixed at two ends of the outer side of the rolling frame 411, the driving shaft 413 and the rolling frame driven shaft 414 are both disposed on the symmetrical center line of the rolling frame 411, one ends of the driving shaft 413 and the rolling frame driven shaft 414 far away from the rolling frame 411 are respectively rotatably disposed in the two bases 31, the rolling motor 412 is fixed in the base 31 having the driving shaft 413, and the output shaft of the rolling motor 412 is connected with the driving shaft 413. In the present embodiment, the rolling motor 412 drives the driving shaft 413 to rotate, so as to drive the rolling frame 411 to rotate around the connection point with the base 31, thereby providing the rolling motion for flight training. The rolling frame 411 is of a ring-shaped symmetrical structure, and the driving rotating shaft 413 and the rolling frame driven shaft 414 are both arranged on the symmetrical center line of the rolling frame 411, so that the rolling motion of the rolling frame system 41 on the base 31 is more stable, and the vibration of the system is reduced.
The yaw frame system 42 includes a yaw frame 421, a yaw motor 422, a yaw rotating shaft 423 and a yaw driven shaft 424, the yaw frame 421 is a ring-shaped symmetric structure, the yaw rotating shaft 423 and the yaw driven shaft 424 are respectively fixed at two ends of the outer side of the yaw frame 421, the yaw rotating shaft 423 and the yaw driven shaft 424 are both arranged on a symmetric center line of the yaw frame 421, one ends of the yaw rotating shaft 423 and the yaw driven shaft 424, which are far away from the yaw frame 421, are both rotatably connected with the roll frame 411, the yaw rotating shaft 423 penetrates through the roll frame 411 and is connected with an output shaft of the yaw motor 422, and the yaw motor 422 is fixed on the roll frame 411. In the scheme, the yaw motor 422 drives the yaw frame 421 to rotate in the roll frame 411 to provide yaw motion required by flight training, the yaw frame 421 is of an annular symmetrical structure, and the yaw rotating shaft 423 and the yaw driven shaft 424 are both arranged on a symmetrical center line of the yaw frame 421, so that the yaw frame system 42 rotates in the roll frame 411 more stably, and meanwhile, the vibration of the system is reduced. When the roll frame system 41 is in roll motion, the yaw frame system 42 and the cabin 43 are driven to be in roll motion together, and when the yaw frame system 42 is in yaw motion, the cabin 43 is driven to be in yaw motion together, therefore, the cabin 43 can be in yaw motion while rolling to move besides being in single roll motion and yaw motion, the types of simulation environments are increased, the simulation environments are closer to real environments, and the strength of flight training is higher and the training effect is better.
The cabin 43 includes a cabin body 431, a pitch motor 432, a pitch rotating shaft 433 and a pitch driven shaft 434, the cabin body 431 is of a cubic structure, two ends of the cabin body 431 are respectively fixed with the pitch rotating shaft 433 and the pitch driven shaft 434, the pitch rotating shaft 433 and the pitch driven shaft 434 are both arranged on the symmetrical center line of the cabin body, one ends of the pitch rotating shaft 433 and the pitch driven shaft 434, which are far away from the cabin body 431, are both rotatably connected with the yaw frame 421, the pitch rotating shaft 433 penetrates through the yaw frame 421 and is connected with an output shaft of the pitch motor 432, and the pitch motor 432 is fixed on the yaw. In the scheme, the pitch motor 432 drives the cabin 431 to rotate to provide pitch motion required by flight training, the cabin body 431 is of a cubic structure, the pitch rotating shaft 433 and the pitch driven shaft 434 are both arranged at the centers of two ends of the cabin body 431, and meanwhile, the pitch rotating shaft 433 and the pitch driven shaft 434 are both arranged on the symmetrical center line of the cabin body, so that the stability of the motion of the cabin body 431 is ensured, and the vibration of a system is reduced. Because the simulation platform is a large-scale device, and the simulation platform applied to flight training needs a larger load, so that the simulation platform can generate larger vibration in the operation process, the rotating axis of the rolling frame system 41, the rotating axis of the deflection frame system 42 and the rotating axis of the cabin 43 in the multi-degree-of-freedom motion platform 4 in the invention are intersected at one point and are respectively positioned on an X axis Y, an axis Z and a Z axis to be vertical to each other, the vibration generated by the operation of the multi-degree-of-freedom motion platform 4 is greatly reduced, and meanwhile, the balance weight 22 adjusts the gravity center of the centrifugal platform 21, thereby reducing the vibration of the whole system.
In summary, the invention provides a five-degree-of-freedom load simulation platform, which greatly improves the simulation capability of the platform and can simulate various and more complex actual flight environments compared with a four-degree-of-freedom platform, and for a six-degree-of-freedom platform, because the six-degree-of-freedom platform is too large in size, an overload environment required by flight cannot be provided, so that the five-degree-of-freedom load simulation platform is more suitable for strengthened flight simulation training.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A five-degree-of-freedom continuous load simulation platform is characterized by comprising a multi-degree-of-freedom motion platform (4), a vertical motion system (3), a main rotating arm system (2) and a main driving system (1), wherein the main driving system (1) supports the main rotating arm system (2) and drives the main rotating arm system to rotate, the vertical motion system (3) is arranged on the main rotating arm system (2), the multi-degree-of-freedom motion platform (4) is arranged on the vertical motion system (3), and the vertical motion system (3) drives the multi-degree-of-freedom motion platform (4) to vertically move in a straight line with the main rotating arm system (2);
the multiple-degree-of-freedom motion platform (4) comprises a rolling frame system (41), a yaw frame system (42) and a cabin (43), wherein the cabin (43) is arranged in the yaw frame system (42) and rotates around a connecting point with the yaw frame system (42), the yaw frame system (42) is arranged in the rolling frame system (41) and rotates around a connecting point with the rolling frame system (42), the rotating center of the cabin (43) is perpendicular to the rotating center of the yaw frame system (42), the rolling frame system (41) is arranged on the vertical motion system (3) and rotates around a connecting point with the vertical motion system (3), and the rotating center of the rolling frame system (41) is perpendicular to the rotating center of the yaw frame system (42).
2. The five-degree-of-freedom continuous load simulation platform according to claim 1, the main driving system (1) comprises a base (11), a main motor (12) and a main transmission shaft support (13), the main motor (12) is arranged in the base (11), the top of the base (11) is provided with the main transmission shaft support (13), a main shaft (14) is connected in the main transmission shaft support (13) through a bearing, a main shaft (14) mounting hole is arranged on the base (11), one end of the main shaft (14) is arranged in the mounting hole of the main shaft (14) and is connected with the output shaft of the main motor (12), the other end of the main shaft (14) is rotationally connected with the main rotating arm system (2), a bearing system is arranged in the mounting hole of the main shaft (14), and the main shaft (14) is rotatably connected with the base (11) through the bearing system.
3. The five-degree-of-freedom continuous load simulation platform according to claim 2, wherein the main rotating arm system (2) comprises a centrifugal platform (21) and a counterweight (22), one end of the centrifugal platform (21) is rotatably sleeved on the main shaft (14) through a bearing, a simulation cavity (23) is formed in the top of the centrifugal platform (21), the vertical motion system (3) is arranged in the simulation cavity (23), and the counterweight (22) is arranged at one end of the centrifugal platform (21) close to the main shaft (14).
4. The five-degree-of-freedom continuous load simulation platform according to claim 3, wherein two vertical movement grooves (33) are vertically formed in two side walls of the simulation cavity (23), the two vertical movement grooves (33) are symmetrically arranged, the vertical movement system (3) is arranged in each of the two vertical movement grooves (33), the vertical movement system (3) comprises a base (31), two guide rods (32) and a linear driving system, the base (31) is slidably arranged in the vertical movement groove (33), one side of the base (31) close to the vertical movement groove (33) is fixedly provided with a guide seat (34), the two guide rods (32) are slidably arranged in the guide seat (34) in a penetrating manner, and two ends of each guide rod are respectively fixed with the top and the bottom of the vertical movement groove (33), the bottom of the simulation cavity (23) is provided with the linear driving system, and the linear driving system is connected with the bottom of the base (31).
5. The five-degree-of-freedom continuous load simulation platform according to claim 4, wherein the rolling frame system (41) comprises a rolling frame body (411), a rolling motor (412), a driving rotating shaft (413) and a rolling frame driven shaft (414), the rolling frame body (411) is of an annular symmetrical structure, the driving rotating shaft (413) and the rolling frame driven shaft (414) are respectively fixed at two ends of the outer side of the rolling frame body (411), the driving rotating shaft (413) and the rolling frame driven shaft (414) are both arranged on a symmetrical center line of the rolling frame body (411), one ends of the driving rotating shaft (413) and the rolling frame driven shaft (414), which are far away from the rolling frame body (411), are respectively rotatably arranged in the two bases (31), the base (31) provided with the driving rotating shaft (413) is internally fixed with the rolling motor (412), the output shaft of the rolling motor (412) is connected with the driving rotating shaft (413).
6. The five-degree-of-freedom continuous load simulation platform according to claim 5, wherein the yaw frame system (42) comprises a yaw frame body (421), a yaw motor (422), a yaw rotating shaft (423) and a yaw driven shaft (424), the yaw frame body (421) is of a ring-shaped symmetrical structure, the yaw rotating shaft (423) and the yaw driven shaft (424) are respectively fixed at two ends of the outer side of the yaw frame body (421), the yaw rotating shaft (423) and the yaw driven shaft (424) are both arranged on a symmetrical center line of the yaw frame body (421), one ends of the yaw rotating shaft (423) and the yaw driven shaft (424) far away from the yaw frame body (421) are both rotatably connected with the roll frame body (411), and the yaw rotating shaft (423) penetrates through the roll frame body (411) and is connected with an output shaft of the yaw motor (422), the yaw motor (422) is fixed on the rolling frame body (411).
7. The five-degree-of-freedom continuous loading simulation platform according to claim 6, the cabin (43) comprises a cabin body (431), a pitching motor (432), a pitching rotating shaft (433) and a pitching driven shaft (434), the cabin body (431) is of a cubic structure, the pitching rotating shaft (433) and the pitching driven shaft (434) are respectively fixed at two ends of the cabin body (431), the pitching rotating shaft (433) and the pitching driven shaft (434) are both arranged on the symmetrical center line of the cabin body, one end of the pitching rotating shaft (433) and one end of the pitching driven shaft (434) far away from the cabin body (431) are both connected with the yawing frame body (421) in a rotating way, the pitching rotating shaft (433) penetrates through the yawing frame (421) and is connected with an output shaft of the pitching motor (432), and the pitching motor (432) is fixed on the yawing frame (421).
8. The five-degree-of-freedom continuous load simulation platform according to claim 2, wherein the bearing system comprises a first thrust bearing, a ball bearing, a third angular contact bearing and a bearing sleeve, the bearing sleeve is installed in a main shaft (14) installation hole of the base (11), and the first thrust bearing, the ball bearing and the third angular contact bearing are all arranged in the bearing sleeve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010718433.6A CN111672081A (en) | 2020-07-23 | 2020-07-23 | Five-degree-of-freedom continuous load simulation platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010718433.6A CN111672081A (en) | 2020-07-23 | 2020-07-23 | Five-degree-of-freedom continuous load simulation platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112331020A (en) * | 2020-11-11 | 2021-02-05 | 南京全控航空科技有限公司 | Multi-degree-of-freedom motion simulation platform |
| CN112879947A (en) * | 2021-01-21 | 2021-06-01 | 天津大学 | Closed type gas flame observation equipment with five-degree-of-freedom object interference |
| CN114241853A (en) * | 2021-11-08 | 2022-03-25 | 中国人民解放军海军航空大学 | Teaching training method for reconstructing real flight states of multiple machine types |
| CN114360324A (en) * | 2022-01-20 | 2022-04-15 | 南京航空航天大学 | Space orientation ability training system |
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2020
- 2020-07-23 CN CN202010718433.6A patent/CN111672081A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112331020A (en) * | 2020-11-11 | 2021-02-05 | 南京全控航空科技有限公司 | Multi-degree-of-freedom motion simulation platform |
| CN112879947A (en) * | 2021-01-21 | 2021-06-01 | 天津大学 | Closed type gas flame observation equipment with five-degree-of-freedom object interference |
| CN112879947B (en) * | 2021-01-21 | 2022-05-13 | 天津大学 | Closed type gas flame observation equipment with five-degree-of-freedom object interference |
| CN114241853A (en) * | 2021-11-08 | 2022-03-25 | 中国人民解放军海军航空大学 | Teaching training method for reconstructing real flight states of multiple machine types |
| CN114360324A (en) * | 2022-01-20 | 2022-04-15 | 南京航空航天大学 | Space orientation ability training system |
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