CN111899599A - Flight simulator 3DOF cockpit - Google Patents

Flight simulator 3DOF cockpit Download PDF

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Publication number
CN111899599A
CN111899599A CN201910779346.9A CN201910779346A CN111899599A CN 111899599 A CN111899599 A CN 111899599A CN 201910779346 A CN201910779346 A CN 201910779346A CN 111899599 A CN111899599 A CN 111899599A
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cockpit
cabin
universal
3dof
gears
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CN201910779346.9A
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CN111899599B (en
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王晨曦
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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
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators

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  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

The invention discloses a 3DOF cockpit of a flight simulator, which comprises an inner cockpit and an outer cockpit, wherein the outer cockpit is fixed, and the inner cockpit is provided with a control device; the 3DOF cockpit also comprises a first driving motor, a second driving motor and a third driving motor; the outer surface of the inner cabin and the inner surface of the outer cabin are in concentric spherical shapes; three groups of universal gears are arranged in the inner cabin; the connecting lines of the centers of the three groups of universal gears and the spherical center of the outer surface of the inner cabin are three mutually orthogonal axes; the inner surface of the outer cabin is rough, the driven wheels of the three groups of universal gears are coupled with the inner surface of the outer cabin, and the inner cabin is supported in the outer cabin; the three groups of universal gears are respectively driven by the driving motor independently. The inner nacelle is supported within the outer nacelle by three sets of universal gears coupled to the rough inner surface of the outer nacelle. Under the action of the driving motor, the universal gear rotates on the inner surface of the outer cabin and drives the inner cabin to rotate. During rotation, the three axial rotations are completely independent, and the flight of the aircraft in space in multiple angles and multiple postures can be simulated.

Description

Flight simulator 3DOF cockpit
Technical Field
The invention relates to the technical field of flight simulators, in particular to a 3DOF cockpit structure of a flight simulator.
Background
The structure of the existing flight simulator is disclosed in known CN 201210297245.6: the multi-axis flight simulator comprises an outer ring, a center ring and an inner ring which are connected in a nested manner, wherein the outer ring is fixedly arranged on a base, the outer ring, the center ring and the inner ring are respectively driven by independent servo motors, and the center ring is inwards connected with a simulator cockpit. Three-dimensional rotation is realized by adopting a connection mode of orthogonal nesting of three groups of rotating shafts, the structure is similar to a gyroscope structure, and a structural schematic diagram is shown in figure 1.
The existing flight simulator has the following problems: for the controlled object in the innermost cockpit, the rotation axis is an absolute static coordinate system, not the coordinate system of the controlled object, and the built-in coordinate system cannot be used due to the structural complexity and principle of the controlled object. This results in the three axial rotations not being completely independent, and when the rotation sequence is different, different rotation effects are obtained, and the result is often not in accordance with the actual requirement.
Taking fig. 1 as an example, when the ring 2 rotates around the shaft 2, the aircraft completes pitching action, at this time, the ring 1 rotates around the shaft 1, the aircraft completes left and right (with the fuselage as the shaft) steering operation, and the motion situation accords with the actual motion state; if the sequence is reversed, namely after the ring 1 rotates around the shaft 1 for a certain angle, the control ring 2 rotates around the shaft 2, the aircraft cannot realize pitching operation (the rotating track of the fuselage is a cone at this time). In an extreme case, when the ring 1 is rotated 90 degrees so that the axes 1 and 2 are parallel, the rotating axis 2 will control the aircraft to perform a roll operation instead of pitch. The rotary control logic of the aircraft and the original design have great access, so the structure has great limitation in use. After the inner cabin rotates for a certain angle, deviation exists between coordinate systems, and the control effect cannot be achieved without resetting. After the rotation of each dimension is completed, resetting is needed to realize the rotation of the other dimension, otherwise, the obtained result is wrong. This is a drawback that results from the structural design of the existing flight simulator itself.
Therefore, the prior art can not well solve the problem of rotation control of three degrees of freedom, and has a certain distance from the completely simulated flight attitude of the aircraft.
Disclosure of Invention
In order to solve the above problems, the present invention provides a 3DOF cockpit of a flight simulator, comprising an inner cockpit and an outer cockpit, wherein the outer cockpit is fixed, and a control device is arranged inside the inner cockpit; the 3DOF cockpit further comprises a first driving motor, a second driving motor and a third driving motor;
the outer surface of the inner cabin and the inner surface of the outer cabin are in concentric spherical shapes;
the three groups of universal gears are arranged in the inner cabin and comprise a first group of universal gears, a second group of universal gears and a third group of universal gears; the three groups of universal gears are arranged in an orthogonal manner in pairs, and the connecting lines of the centers of the three groups of universal gears and the spherical center of the outer surface of the inner cabin are three mutually orthogonal axes;
the inner surface of the outer cabin is rough, and the driven wheels of the three groups of universal gears are coupled with the inner surface of the outer cabin and support the inner cabin in the outer cabin;
the first group of universal gears is driven to rotate by a first driving motor, the second group of universal gears is driven to rotate by a second driving motor, and the third group of universal gears is driven to rotate by a third driving motor.
Further, the control device controls the first driving motor, the second driving motor and the third driving motor and drives at least one driving motor to work.
Furthermore, the number of the first group of universal gears, the second group of universal gears and the third group of universal gears is two respectively.
Further, the same set of universal gears are the same in size.
Furthermore, the number of the first group of universal gears, the second group of universal gears and the third group of universal gears is one.
Further, the universal gear comprises a hub, a plurality of hub teeth are arranged on the outer side of the hub, and the driven wheel is rotatably fixed between two adjacent hub teeth; the hubs are driven to rotate by corresponding drive motors.
Furthermore, a rotating shaft penetrates through the two adjacent wheel hub teeth, and the rotating shaft is fixed on the wheel hub teeth through a bearing; the driven wheel is rotatably fixed on the rotating shaft.
Further, the driven wheel is a rubber wheel.
Further, at least one person holding device is arranged inside the inner cabin.
Further, the 3DOF cockpit further includes a base, the outer pod being secured to the base.
Compared with the prior art, the invention has the following beneficial effects:
the 3DOF cockpit of the flight simulator of this application, interior cabin and outer cabin are concentric sphere, and the interior cabin is supported in the outer cabin through the coarse internal surface coupling of three universal gear of group and outer cabin. Under the action of the driving motor, the universal gear rotates on the inner surface of the outer cabin and drives the inner cabin to rotate in the outer cabin. The user can control the whole system in the inner cabin to realize the rotation in three axial directions, so that the 3DOF free rotation of the inner cabin is realized, and the free rotation in three axes of XYZ is realized. And the rotation of the inner cabin can be based on an inner cabin coordinate system instead of an absolute static coordinate system, when the inner cabin rotates, the three axial rotations are completely independent, the multi-angle and multi-attitude flight of the aircraft in space can be completely simulated, and the hardware cost is greatly reduced.
Drawings
FIG. 1 is a schematic diagram of a flight simulator according to the prior art;
FIG. 2 is a schematic structural diagram of a 3DOF cockpit of a flight simulator according to a first embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a universal gear according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of a partially exploded structure of a universal gear according to a first embodiment of the present invention.
Reference numerals:
11-a first group of universal gears, 12-a second group of universal gears, 13-a third group of universal gears, 30-an inner cabin, 20-an outer cabin, 40-a driving shaft, 50-a base, 101-a driving wheel, 102-a driven wheel, 1012-hub teeth, 103-a rotating shaft and 104-a bearing.
Detailed Description
The structure and operation of the present invention will be further explained with reference to the accompanying drawings and examples:
the first embodiment is as follows:
as shown in fig. 2, the present embodiment provides a flight simulator 3DOF cockpit comprising an inner chamber 30 and an outer chamber 20.
Wherein the outer nacelle 20 is fixed, e.g. the 3DOF cockpit further comprises a base 50, the outer nacelle 20 being fixed on the base 50. The inner compartment 30 is a controlled member that can rotate. The 3DOF cockpit also includes a first drive motor, a second drive motor, and a third drive motor. The three groups of motors are completely independent from each other and do not interfere with each other.
The inner chamber 30 is provided with a console inside, which includes a control device. The control device is connected with the driving motors respectively and sends control instructions to the corresponding driving motors so as to control the first driving motor, the second driving motor and the third driving motor to operate. In specific operation, the control device of the inner chamber 30 is controlled, so that the driving motor operates to control the rotation of the inner chamber 30.
The inner surface of the outer compartment 20 is of a spherical configuration, the outer surface of the inner compartment 30 is of a concentric spherical shape with the inner surface of the outer compartment 20, and a gap is provided between the outer surface of the inner compartment 30 and the inner surface of the outer compartment 20.
Three sets of universal gears are mounted in the inner compartment 30, including a first set of universal gears 11, a second set of universal gears 12, and a third set of universal gears 13. The center of the universal gear is connected with a driving shaft 40, and the driving motor is connected with the driving shaft 40 to drive the universal gear to rotate.
Let the axes of the drive shafts 40 of the first set of universal gears 11 be parallel to the X-axis of the coordinate system of the inner compartment 30, the axes of the drive shafts 40 of the second set of universal gears 12 be parallel to the Y-axis of the coordinate system of the inner compartment 30, and the axes of the drive shafts 40 of the third set of universal gears 13 be parallel to the Z-axis of the coordinate system of the inner compartment 30.
The position of the universal gear is set as follows: the connecting lines of the centers of the three groups of universal gears and the spherical center of the outer surface of the inner cabin 30 are three mutually orthogonal axes. The three groups of universal gears are orthogonally arranged in pairs: the first set of universal gears 11, the second set of universal gears 12 and the third set of universal gears 13 are placed orthogonally to each other. Each group of universal gears controls one direction, and the three groups of universal gears are orthogonally arranged to ensure that the universal gears do not mutually interfere with each other in movement.
One portion of the universal gear is located in the inner chamber 30 and is connected to the drive shaft 40, and the other portion of the universal gear is located in the gap between the outer surface of the inner chamber 30 and the inner surface of the outer chamber 20. It will be appreciated that the interior compartment 30 is provided with escape apertures.
The inner surface of the outer chamber 20 is rough, and the driven wheels 102 of the three sets of universal gears are coupled with the inner surface of the outer chamber 20 and support the inner chamber 30 in the outer chamber 20; as can be appreciated by those skilled in the art, the inner surface of the outer casing 20 can be made with a corresponding roughness according to actual requirements to satisfy the self-locking condition of the universal gear material. For example, the inner surface of the outer casing 20 may be frosted to increase the coefficient of friction, or a coating of a high damping material may be added. And can also be made in other ways, which are not described herein. The inner cabin 30 of the 3DOF cockpit of the present application, coupled with the rough inner surface of the outer cabin 20 through the driven wheel 102, transmits rotational power through friction without requiring a specific guide rail.
Three groups of universal gears are respectively driven by corresponding driving motors independently: the first group of universal gears 11 is driven to rotate by a first driving motor, the second group of universal gears 12 is driven to rotate by a second driving motor, and the third group of universal gears 13 is driven to rotate by a third driving motor. The inner compartment 30 is driven solely in three axes by three sets of universal gears.
The flight simulator 3DOF cockpit of the present application, inner 30 and outer 20 compartments are concentric spheres, and inner 30 is supported within outer 20 compartment 20 by three sets of universal gears coupled to the rough inner surface of outer 20 compartment. The control device controls the first driving motor, the second driving motor and the third driving motor, and under the action of the driving motors, the universal gear rotates on the inner surface of the outer cabin 20 and drives the inner cabin 30 to rotate in the outer cabin 20. The user controls the entire system in the inner chamber 30 to realize three-axis rotation, thereby realizing 3DOF free rotation of the inner chamber 30 and free rotation of three axes XYZ. And the rotation of the inner cabin 30 is based on the coordinate system of the inner cabin 30, not based on the absolute stationary coordinate system, and the coordinate system of the inner cabin 30 moves along with the inner cabin 30 during rotation, so that the rotation of each dimension is relative to the inner cabin 30, the three axial rotations are completely independent, and the multi-angle and multi-attitude flight of the aircraft in space can be completely simulated. Compared with the connection mode of the three groups of rotation shafts which are orthogonally nested in the prior art, the hardware cost is greatly reduced. Moreover, the technical problems mentioned in the background do not arise: in the background art, the three axial rotations are not completely independent, the prior art cannot well solve the problem of rotation control of three degrees of freedom, and a distance is still reserved between the three axial rotations and the completely simulated flight attitude of the aircraft.
Also provided inside the inner cabin 30 of the cockpit is a retaining device which can accommodate at least one person, for example a seat. The user can transmit a corresponding rotation command to the seat of the inner compartment 30 through an external control device such as a joystick, and control the operation of the driving motor.
The inner compartment 30 may be assembled from multiple parts, for example, by dividing the inner compartment 30 into two hemispheres to facilitate assembly of the inner compartment 30 and its internal structure.
The first set of universal gears 11, the second set of universal gears 12, and the third set of universal gears 13 are the same size.
In this embodiment, there are 6 omni-gear structures: the number of the first set of universal gears 11, the second set of universal gears 12, and the third set of universal gears 13 is two, respectively. The two universal gears of each set are symmetrically arranged with the center of the sphere of the inner chamber 30 as the center. The two universal gears in the same group have the same size. The same gear group has the same gear placing mode (direction and angle), and each gear group is controlled by an independent motor to realize the rotation of one axial direction. The flight simulator 3DOF cockpit of the present embodiment can realize 360-degree rotation of 3DOF in each axial direction.
The following description of the universal gear:
a universal gear, also known as an omni gear, includes a centrally located drive wheel 101 (i.e., a hub) and a plurality of driven wheels 102 mounted on the drive wheel 101. The driving wheel 101 is made of high-strength metal material, and has a hole at the center for matching with the driving shaft 40 and connecting with the driving shaft 40.
The driving pulley 101 is provided on the outer side thereof with a plurality of hub teeth 1012, and the driven pulley 102 is rotatably fixed between two hub teeth 1012 adjacent to each other. The center of the driving wheel 101 is connected with a driving shaft 40, the driving motor is connected with the driving shaft 40, and the driving wheel 101 is driven to rotate by the corresponding driving motor. A rotating shaft 103 penetrates through two adjacent hub teeth 1012, and the rotating shaft 103 is fixed on the hub teeth 1012 through a bearing 104; the driven wheel 102 is rotatably fixed to the rotating shaft. The driven wheel 102 is a high damping wheel, and preferably, the driven wheel 102 is made of a high friction damping rubber or the like, and is coupled to the inner surface of the outer casing 20 by friction.
In the following, the situations of one, two and three groups of driving motors are listed respectively when working:
when the device works, the control device can control any one of the three driving motors, for example, the first driving motor is controlled to work, and the first group of universal gears 11 are driven to rotate and drive the inner cabin 30 to rotate; the driven wheels 102 of the second and third sets of universal gears 12, 13 are pulled into a driven rotational state.
When only the first driving motor works, the first group of universal gears 11 are driven by the corresponding first driving motor to rotate around the X axis, and the rotation in the direction is actively controlled; the second driving motor and the third driving motor do not work, the driving wheel 101 of the second group of universal gears 12 and the third group of universal gears 13 does not move, only the corresponding driven wheel 102 slides around the corresponding rotating shaft, and the driven wheel 102 of the second group of universal gears 12 and the third group of universal gears 13 is in a driven rotating state.
Alternatively, the control device may control any two of the three driving motors, for example, control the first driving motor and the second driving motor to work simultaneously, and drive the first set of universal gears 11 and the second set of universal gears 12 to rotate respectively during driving, and the rotating motion of the inner cabin 30 is controlled and synthesized by the first driving motor and the second driving motor. The driven wheel 102 of the third group of universal gears 13 is pulled to a driven rotation state.
Or, when the device is operated, the control device controls the three driving motors to operate simultaneously, and the rotating motion of the inner chamber 30 is controlled and synthesized by the first driving motor, the second driving motor and the third driving motor.
Example two:
unlike the first embodiment, in the present embodiment, the number of gears can be reduced according to the rotation angle requirement, for example, when the axis of the drive shaft 40 of the first set of universal gears 11 is the X-axis, if the number of the first set of universal gears 11 is set to one, the rotation of the 3DOF cab along the X-axis is at most 180 degrees. Thus, the number of any one set of universal gears may be one or two.
Preferably, in a specific embodiment, the number of the first set of universal gears 11, the second set of universal gears 12 and the third set of universal gears 13 is one, and the three universal gears are orthogonally arranged in pairs.
Compared with the prior art, the invention has the following beneficial effects:
the 3DOF cockpit of the flight simulator of this application, interior cabin and outer cabin are concentric sphere, and the interior cabin is supported in the outer cabin through the coarse internal surface coupling of three universal gear of group and outer cabin. The control device controls the first driving motor, the second driving motor and the third driving motor, and under the action of the driving motors, the universal gear rotates on the inner surface of the outer cabin and drives the inner cabin to rotate in the outer cabin. The user can control the whole system in the inner cabin to realize the rotation in three axial directions, so that the 3DOF free rotation of the inner cabin is realized, and the free rotation in three axes of XYZ is realized. And the rotation of the inner cabin can be based on an inner cabin coordinate system instead of an absolute static coordinate system, when the inner cabin rotates, the three axial rotations are completely independent, the multi-angle and multi-attitude flight of the aircraft in space can be completely simulated, and the hardware cost is greatly reduced.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting the same, and although the embodiments of the present invention are described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention, and these modifications or equivalent substitutions cannot make the modified technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A flight simulator 3DOF cockpit comprises an inner cockpit and an outer cockpit, wherein the outer cockpit is fixed, and a control device is arranged inside the inner cockpit; the 3DOF cockpit further comprises a first driving motor, a second driving motor and a third driving motor; it is characterized in that the preparation method is characterized in that,
the outer surface of the inner cabin and the inner surface of the outer cabin are in concentric spherical shapes;
the three groups of universal gears are arranged in the inner cabin and comprise a first group of universal gears, a second group of universal gears and a third group of universal gears; the three groups of universal gears are arranged in an orthogonal manner in pairs, and the connecting lines of the centers of the three groups of universal gears and the spherical center of the outer surface of the inner cabin are three mutually orthogonal axes;
the inner surface of the outer cabin is rough, and the driven wheels of the three groups of universal gears are coupled with the inner surface of the outer cabin and support the inner cabin in the outer cabin;
the first group of universal gears is driven to rotate by a first driving motor, the second group of universal gears is driven to rotate by a second driving motor, and the third group of universal gears is driven to rotate by a third driving motor.
2. A flight simulator 3DOF cockpit according to claim 1 wherein the control means controls the first drive motor, the second drive motor, the third drive motor and drives at least one of the drive motors in operation.
3. The flight simulator 3DOF cockpit according to claim 1 wherein the first, second and third sets of universal gears are each two in number.
4. A flight simulator 3DOF cockpit according to claim 3 wherein the two universal gears of the same set are of the same size.
5. The flight simulator 3DOF cockpit according to claim 1 wherein the first, second and third sets of universal gears are each one in number.
6. A flight simulator 3DOF cockpit according to claim 1 wherein the universal gear comprises a hub provided on its outside with a plurality of hub teeth, the driven wheel being rotatably fixed between two hub teeth adjacent to each other; the hubs are driven to rotate by corresponding drive motors.
7. The flight simulator 3DOF cockpit according to claim 6, wherein two hub teeth adjacent to each other are pierced with a rotating shaft, said rotating shaft being fixed to the hub teeth by bearings; the driven wheel is rotatably fixed on the rotating shaft.
8. A flight simulator 3DOF cockpit according to claim 7 wherein said driven wheel is a rubber wheel.
9. A flight simulator 3DOF cockpit according to claim 1 wherein at least one human holding device is provided inside the inner chamber.
10. A flight simulator 3DOF cockpit according to claim 1 wherein said 3DOF cockpit further comprises a base, said outer pod being secured to the base.
CN201910779346.9A 2019-08-22 2019-08-22 Flight simulator 3DOF cockpit Active CN111899599B (en)

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