CN111915958A - Symmetrical arrangement full decoupling two-shaft swing mechanism - Google Patents
Symmetrical arrangement full decoupling two-shaft swing mechanism Download PDFInfo
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- CN111915958A CN111915958A CN202010789864.1A CN202010789864A CN111915958A CN 111915958 A CN111915958 A CN 111915958A CN 202010789864 A CN202010789864 A CN 202010789864A CN 111915958 A CN111915958 A CN 111915958A
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- shaft
- linear driving
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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
- G09B9/16—Ambient or aircraft conditions simulated or indicated by instrument or alarm
- G09B9/20—Simulation or indication of aircraft attitude
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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
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
Abstract
The invention relates to a symmetrically-arranged full-decoupling two-shaft swinging mechanism which comprises a base, a three-way cross shaft mechanism, a swinging platform and a linear driving device, wherein the three-way cross shaft mechanism is arranged on the base; the two-axis swinging action of the mechanism is controlled by respectively controlling the extension and retraction of the two groups of linear driving devices, and the angular speed and the angular displacement of the mechanism are controlled by controlling the speed and the displacement of a driving rod of the linear driving devices; the mechanism realizes the full decoupling of the two-axis swinging motion through the self structure, can finish the front-back pitching and left-right rolling motions, is not interfered with each other, can be widely applied to motion simulation in aircrafts and ship simulators, and has the characteristics of compact spatial arrangement, light weight, quick dynamic response, simple motion control and the like.
Description
Technical Field
The invention relates to the technical field of multi-degree-of-freedom rotating mechanisms, in particular to a symmetrically-arranged fully-decoupled two-shaft swinging mechanism.
Background
At present, aircraft and naval vessel simulation technology is rapidly developed, and two-axis swing mechanism is widely applied to aircraft and naval vessel simulators to realize pitching and tilting of the simulators, and has wide application prospect.
The existing two-shaft swing mechanism mostly adopts a multi-cylinder parallel motion mechanism form or a redundant parallel mechanism form. The multi-cylinder parallel motion mechanism has the disadvantages of large volume, mutual coupling of two shaft motions, complex control and limited motion space, thereby restricting the attitude control performance of the motion simulator. The redundant parallel mechanism branched chains drive redundancy, the mechanism driving number is larger than the mechanism freedom degree number, the phenomenon of strong motion coupling exists among the branched chains when the mechanism moves, great trouble is brought to the motion control of the mechanism, once the movement is not coordinated, the mechanism movement fault is caused, and then when the mechanism is subjected to kinematics and dynamics solution, the equation has multiple solutions or no solutions, so that the dynamics control of the mechanism becomes very difficult.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a symmetrical arrangement fully decoupled two-axis swing mechanism with compact spatial arrangement, symmetrical structure, light weight, fast dynamic response, simple motion control, etc.
The technical scheme adopted by the invention is as follows:
the invention provides a symmetrically-arranged fully-decoupled two-shaft swinging mechanism which comprises a base, a three-way cross shaft mechanism, a swinging platform and a linear driving device, wherein the base is provided with a plurality of guide rails; the base and the swing platform are arranged in a cross structure, the bottom of the three-way cross shaft mechanism penetrates through the swing platform and is fixedly connected with the middle of the base, and the middle of the three-way cross shaft mechanism is hinged with the middle of the swing platform; the linear driving device comprises a pitching linear driving device and a rolling linear driving device, the pitching linear driving devices are symmetrically arranged between the top of the three-way cross shaft mechanism and the front side and the rear side of the swing platform, one end of the pitching linear driving device is hinged with the swing platform, and the other end of the pitching linear driving device is hinged with the top of the three-way cross shaft mechanism; the transverse rolling linear driving device is symmetrically arranged between the top of the three-way cross shaft mechanism and the left side and the right side of the base, one end of the transverse rolling linear driving device is hinged with the base, and the other end of the transverse rolling linear driving device is hinged with the top of the three-way cross shaft mechanism.
Further, the three-way cross shaft mechanism comprises a base, a three-way cross shaft, a pitch bearing seat, a roll bearing seat, a pitch bearing and a roll bearing; the three-way cross shaft comprises a center block, a transverse shaft, a longitudinal shaft and a cross shaft force rod which are mutually spatially orthogonal and connected into a whole, wherein the transverse shaft and the longitudinal shaft penetrate through the center block in a cross manner, and the cross shaft force rod is vertically arranged at the top end of the center block in a welding manner; the base penetrates through the swing platform and is fixedly connected with the base, the rolling bearing seat and the base are welded into a whole, and the longitudinal shaft is connected with the rolling bearing seat through a rolling bearing to form a rotating pair; the transverse shaft is connected with the pitching bearing seat and the middle part of the swing platform through the pitching bearing to form a revolute pair.
Furthermore, the transverse shaft adopts a stepped shaft structure, and the longitudinal shaft adopts two half shaft structures; the transverse shaft penetrates through the central block and is connected by a key to complete radial positioning; the right side of the transverse shaft realizes the axial positioning of the transverse shaft and the central block through a shaft shoulder of the stepped shaft, and the left side of the transverse shaft finishes the axial positioning of the transverse shaft and the central block through a pair of semi-ring mechanisms;
furthermore, a key groove is reserved at the tail end of the longitudinal shaft, and two half shafts are fixed at the front side and the rear side of the central block through a flat key and a shaft shoulder; the center block is fixed on the base through a rolling bearing and a rolling bearing seat on the longitudinal shaft.
Furthermore, the pitching linear driving device and the rolling linear driving device are both single-rod double-acting hydraulic cylinders or electric cylinders.
Furthermore, the single-rod double-acting hydraulic cylinder is provided with a rodless cavity oil port and a rod cavity oil port.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has compact spatial arrangement, symmetrical structure, light weight and rapid dynamic response;
2. the invention controls the two-axis swing action of the mechanism by respectively controlling the extension and retraction of two groups of linear driving devices, and controls the angular speed and the angular displacement of the mechanism by controlling the speed and the displacement of a driving rod of the linear driving devices; the pitching motion and the rolling motion are independent, the angular displacement and the angular speed of the pitching motion and the rolling motion can be controlled respectively without interference, and the full decoupling of the two-axis swinging motion is realized through the self structure;
3. the linear driving device is simple and reliable to mount, simple in motion control and various in form.
Drawings
FIG. 1 is a schematic overall structure diagram of an embodiment of a symmetrical arrangement fully decoupled two-axis swing mechanism provided by the invention;
FIG. 2 is a schematic top view of the structure of FIG. 1;
FIG. 3 is a schematic view of the construction of the base of the present invention;
FIG. 4 is a schematic structural front view of the three-way cross mechanism of the present invention;
FIG. 5 is a schematic side view of the three-way cross mechanism of the present invention;
FIG. 6 is a schematic structural view of a swing platform according to the present invention;
fig. 7 is a schematic diagram of the structure of the application of the present invention.
Wherein, the reference numbers: the simulation test platform comprises a base 1, a 2-three-way cross shaft mechanism, a 3-swing platform, a 4-pitching linear driving device, a 5-rolling linear driving device, a 6-base, a 7-horizontal shaft, an 8-vertical shaft, a 9-center block, a 10-cross shaft force rod, an 11-pitching bearing seat, a 12-pitching bearing, a 13-rolling bearing seat, a 14-rolling bearing, a 15-first hinged support, a 16-fixing plate, a 17-connecting plate, a 18-second hinged support and a 19-simulation cabin.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
It should be noted that in the description of the present invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not mean that a device or an element must have a specific orientation, be configured and operated in a specific orientation.
Referring to fig. 1 to 6, a specific structure of an embodiment of a symmetrically-arranged fully-decoupled two-axis oscillating mechanism provided by the invention is shown. The mechanism comprises a base 1, a three-way cross shaft mechanism 2, a swing platform 3 and a linear driving device, wherein the linear driving device comprises a pitching linear driving device 4 and a rolling linear driving device 5.
The base 1 and the swing platform 3 are arranged in a cross structure, the bottom of the three-way cross shaft mechanism 2 penetrates through the swing platform 3 and is fixedly connected with the middle of the base 1, and the middle of the three-way cross shaft mechanism 2 is hinged with the middle of the swing platform 3; in the embodiment, the base 1 is integrally in an i-shaped structure, and the middle parts of the left side and the right side of the base 1 are provided with first hinge bases 15 which are symmetrical to each other; swing platform 3 adopts the trapezium structure for increase overall stability and the load that bears, swing platform 3 upper portion both sides are equipped with a pair of second free bearing 18 that is used for fixed linear drive device around, the left and right sides of bottom is equipped with a pair of fixed plate 16 that is used for the fixed bearing frame in the swing platform 3, link plate 17 is all installed to four stabilizer blade departments in swing platform 3 bottom.
The three-way cross shaft mechanism 2 comprises a base 6, a three-way cross shaft, a pitch bearing seat 11, a roll bearing seat 13, a pitch bearing 12 and a roll bearing 14; the three-way cross shaft comprises a center block 9, a transverse shaft 7, a longitudinal shaft 8 and a cross shaft force rod 10 which are mutually spatially orthogonal and integrally connected, wherein the transverse shaft adopts a stepped shaft structure, and the longitudinal shaft adopts two half shaft structures; the transverse shaft 7 adopts a stepped shaft structure, and the transverse shaft 7 is arranged on the central block 9 in a penetrating manner and is connected through a key to complete radial positioning; the right side of the transverse shaft 7 realizes the axial positioning of the transverse shaft 7 and the central block 9 through a shaft shoulder of a stepped shaft, and the left side of the transverse shaft 7 completes the axial positioning of the transverse shaft 7 and the central block 9 through a pair of semi-ring mechanisms; the longitudinal shaft 8 adopts two half shaft structures, key grooves are reserved at the tail ends of the two half shaft structures, and the two half shafts are fixed at the front side and the rear side of the central block through flat keys and shaft shoulders; the central block 9 is fixed on the base 6 through a rolling bearing 14 and a rolling bearing seat 13 on the longitudinal shaft 8; the cross shaft force rod 10 is vertically arranged at the top end of the central block 9 in a welding mode; the base 6 penetrates through the middle part of the swing platform 3 and is fixedly connected with the middle part of the lower base 1.
The roll bearing blocks 13 are symmetrically welded on the front side and the rear side of the upper surface of the base 6 respectively, and two ends of the longitudinal shaft 8 are connected with the roll bearing blocks 13 through roll bearings 14 respectively to form a rotating pair; two ends of the transverse shaft 7 are respectively connected with the fixed plates 16 on the left and right sides of the bottom of the swing platform 3 through the pitch bearing 12 and the pitch bearing seat 11 to form a revolute pair.
The linear driving device comprises a pitching linear driving device 4 and a rolling linear driving device 5, in this embodiment, two pairs of pitching linear driving devices 4 and two pairs of rolling linear driving devices 5 are respectively arranged, wherein the pitching linear driving devices 4 are respectively and symmetrically connected between the top of the cross shaft force rod 10 and the second hinged supports 18 on the front side and the rear side of the upper part of the swing platform 3, one end of each pitching linear driving device 4 is hinged to the second hinged support 18, and the other end of each pitching linear driving device 4 is hinged to the top of the cross shaft force rod 10; the rolling linear driving devices 5 are respectively and symmetrically arranged between the top of the cross axle force rod 10 and the first hinged supports 15 on the left side and the right side of the base 1, one end of each rolling linear driving device 5 is hinged to the first hinged support 15, and the other end of each rolling linear driving device 5 is hinged to the top of the cross axle force rod 10.
In the embodiment, the pitching linear driving device 4 and the rolling linear driving device 5 both adopt a single-rod double-acting hydraulic cylinder or an electric cylinder, the pitching linear driving device 4 and the rolling linear driving device 5 both adopt single-rod double-acting hydraulic cylinders, each single-rod double-acting hydraulic cylinder is provided with a rodless cavity oil port and a rod cavity oil port, when the mechanism performs pitching motion, the rodless cavity oil port of the pitching hydraulic cylinder on one side absorbs oil, the rod cavity oil port discharges oil, the rodless cavity oil port of the pitching hydraulic cylinder on the other side discharges oil, and the rod cavity oil port sucks oil, so that the swing platform 3 is driven to complete front and back pitching motion; when the mechanism performs roll motion, the rodless cavity oil port of the roll hydraulic cylinder on one side absorbs oil, the rod cavity oil port discharges oil, the rodless cavity oil port of the roll hydraulic cylinder on the other side discharges oil, the rod cavity oil port absorbs oil, the base 1 drives the center block 9 to swing left and right to drive the swing platform 3 to complete the roll motion, and the pitching and roll angular speed and angular displacement of the mechanism are controlled by controlling the speed and displacement of the piston rod of the hydraulic cylinder.
Referring to fig. 7, the symmetrically arranged fully decoupled two-axis swing mechanism provided by the invention can be connected with a simulated cabin 19 through a connecting plate 17 installed at a bottom support leg of the swing platform 3, so as to drive the simulated cabin 20 to realize pitching, rolling and other actions.
The working principle of the invention is as follows: when the mechanism performs a dive action, the driving rod of the pitching linear driving device 4 at the front end of the swing platform 3 extends forwards, and the driving rod of the pitching linear driving device 4 at the rear end of the swing platform 3 contracts backwards, so that the pitching bearing 12 rotates clockwise around the transverse shaft 7 and drives the swing platform 3 to incline forwards through the pitching bearing seat 11, and the two linear driving devices simultaneously act to jointly complete the dive action of the mechanism; in a similar way, when the mechanism executes the upward pitching motion, the driving rod of the pitching linear driving device 4 at the rear end of the swing platform 3 extends forwards, and the driving rod of the pitching linear driving device 4 at the front end of the swing platform 3 contracts backwards, so that the pitching bearing 12 rotates anticlockwise around the transverse shaft 7 and then drives the swing platform 3 to incline backwards through the pitching bearing seat 11, and the two linear driving devices simultaneously move to jointly complete the upward pitching motion of the mechanism.
When the mechanism needs to execute right rolling, the driving rod of the transverse rolling linear driving device 5 on the left side of the base 1 extends forwards, the driving rod of the transverse rolling linear driving device 5 on the right side of the base 1 contracts backwards, the driving rod of the transverse rolling linear driving device 5 pushes the cross shaft force rod 10 to incline rightwards, so that the longitudinal shaft 8 rotates clockwise in the transverse rolling bearing seat 13, and the transverse shaft 7 and the pitching bearing seat 11 drive the swing platform 3 to incline rightwards, so that the right rolling action of the mechanism is completed; similarly, when the mechanism needs to perform leftward rolling motion, the driving rod of the rolling linear driving device 5 on the right side of the base 1 extends forwards, the driving rod of the rolling linear driving device 5 on the left side of the base contracts backwards, the driving rod of the rolling linear driving device 5 pushes the cross shaft force rod 10 to incline leftward, so that the longitudinal shaft 8 rotates counterclockwise in the rolling bearing seat 13, and the transverse shaft 7 and the pitching bearing seat 11 drive the swing platform 3 to incline leftward, so that the leftward rolling motion of the mechanism is completed.
The symmetrically-arranged fully-decoupled two-axis swing mechanism controls the executing action of the mechanism by respectively controlling the extension and retraction of the two groups of linear driving device driving rods, controls the angular speed and the angular displacement of the mechanism by controlling the extension and retraction speed and the displacement of the linear driving device driving rods, is independent from the pitching motion and the rolling motion, and can control the angular displacement and the angular speed of the pitching motion and the rolling motion respectively without mutual interference.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (6)
1. A symmetrically-arranged full-decoupling two-shaft swinging mechanism is characterized by comprising a base, a three-way cross shaft mechanism, a swinging platform and a linear driving device;
the base and the swing platform are arranged in a cross structure, the bottom of the three-way cross shaft mechanism penetrates through the swing platform and is fixedly connected with the middle of the base, and the middle of the three-way cross shaft mechanism is hinged with the middle of the swing platform;
the linear driving device comprises a pitching linear driving device and a rolling linear driving device, the pitching linear driving devices are symmetrically arranged between the top of the three-way cross shaft mechanism and the front side and the rear side of the swing platform, one end of the pitching linear driving device is hinged with the swing platform, and the other end of the pitching linear driving device is hinged with the top of the three-way cross shaft mechanism; the transverse rolling linear driving device is symmetrically arranged between the top of the three-way cross shaft mechanism and the left side and the right side of the base, one end of the transverse rolling linear driving device is hinged with the base, and the other end of the transverse rolling linear driving device is hinged with the top of the three-way cross shaft mechanism.
2. The symmetrical arrangement fully decoupled two-axis oscillating mechanism of claim 1, wherein: the three-way cross shaft mechanism comprises a base, a three-way cross shaft, a pitching bearing seat, a rolling bearing seat, a pitching bearing and a rolling bearing; the three-way cross shaft comprises a center block, a transverse shaft, a longitudinal shaft and a cross shaft force rod which are mutually spatially orthogonal and connected into a whole, wherein the transverse shaft and the longitudinal shaft penetrate through the center block in a cross manner, and the cross shaft force rod is vertically arranged at the top end of the center block in a welding manner; the base penetrates through the swing platform and is fixedly connected with the base, the rolling bearing seat and the base are welded into a whole, and the longitudinal shaft is connected with the rolling bearing seat through a rolling bearing to form a rotating pair; the transverse shaft is connected with the pitching bearing seat and the middle part of the swing platform through the pitching bearing to form a revolute pair.
3. The symmetrical arrangement fully decoupled two-axis oscillating mechanism of claim 2, wherein: the transverse shaft adopts a stepped shaft structure, and the longitudinal shaft adopts two half shaft structures; the transverse shaft penetrates through the central block and is connected by a key to complete radial positioning; the right side of the transverse shaft realizes the axial positioning of the transverse shaft and the central block through a shaft shoulder of the stepped shaft, and the left side of the transverse shaft finishes the axial positioning of the transverse shaft and the central block through a pair of semi-ring mechanisms;
4. the symmetrical arrangement fully decoupled two-axis oscillating mechanism of claim 2, wherein: a key groove is reserved at the tail end of the longitudinal shaft, and two half shafts are fixed at the front side and the rear side of the central block through a flat key and a shaft shoulder; the center block is fixed on the base through a rolling bearing and a rolling bearing seat on the longitudinal shaft.
5. The symmetrical arrangement fully decoupled two-axis oscillating mechanism of claim 1, wherein: the pitching linear driving device and the rolling linear driving device are both single-rod double-acting hydraulic cylinders or electric cylinders.
6. The symmetrical arrangement fully decoupled two-axis oscillating mechanism of claim 5, wherein: the single-rod double-acting hydraulic cylinder is provided with a rodless cavity oil port and a rod cavity oil port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010789864.1A CN111915958B (en) | 2020-08-07 | 2020-08-07 | Symmetrical arrangement full decoupling two-shaft swing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010789864.1A CN111915958B (en) | 2020-08-07 | 2020-08-07 | Symmetrical arrangement full decoupling two-shaft swing mechanism |
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| CN111915958A true CN111915958A (en) | 2020-11-10 |
| CN111915958B CN111915958B (en) | 2021-12-07 |
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