CN112331020A - Multi-degree-of-freedom motion simulation platform - Google Patents
Multi-degree-of-freedom motion simulation platform Download PDFInfo
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- CN112331020A CN112331020A CN202011250566.1A CN202011250566A CN112331020A CN 112331020 A CN112331020 A CN 112331020A CN 202011250566 A CN202011250566 A CN 202011250566A CN 112331020 A CN112331020 A CN 112331020A
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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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- 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
Abstract
The invention discloses a multi-degree-of-freedom motion simulation platform, which comprises a first three-degree-of-freedom simulation platform and a second three-degree-of-freedom simulation platform; the first three-degree-of-freedom simulation platform comprises eight ropes, one ends of the eight ropes are connected to the second three-degree-of-freedom simulation platform, and the other ends of the ropes are connected to a winch system fixed on a load surface; the rope is connected to the Z-axis overturning frame, and the winch system controls the Z-axis overturning frame to translate in space by retracting/releasing the rope; the motion simulation platform can realize that the simulation platform can realize translation and multi-axial continuous overturning in a relatively large-scale space so as to simulate various complex actions of the seat in the process of flying the airplane, such as cobra maneuver, bell maneuver, roller maneuver and the like, and obtain real simulation experience.
Description
Technical Field
The invention relates to the technical field of motion simulation platforms, in particular to a multi-degree-of-freedom motion simulation platform.
Background
The flight simulator is a machine for simulating the flight of an aircraft and consists of five parts, namely a simulation cockpit, a motion system, a vision system, a computer system, an instructor console and the like. The motion system is used for simulating the change of the attitude and the speed of the airplane, so that the body of a pilot feels the motion of the airplane. The motion system of the advanced flight simulator has six degrees of freedom, namely rotation around three axes and linear displacement along the three axes in three-dimensional coordinates, and the cooperative motion of the movable cylinders can drive the platform and enable the cockpit to simulate the motion change condition of the airplane.
In order to simulate various flight attitudes, the motion platform needs to have six degrees of freedom, and the motion platform can complete the actions of lifting, pitching, steering, yawing and the like by the composite motion of any several degrees of freedom. Since the simulation cabin comprises various operating devices, instruments and signal display equipment, the simulation cabin has a complex structure and large overall mass, and the motion platform is required to have excellent stability and provide a large effective load.
The multi-degree-of-freedom motion simulation platform in the prior art generally realizes multi-degree-of-freedom motion simulation by means of a plurality of groups of electric cylinders, but the motion is simulated by the aid of the telescopic cylinders with different angles and the platform in a hinged mode, continuous overturning of a simulator on a multi-angle axis cannot be realized, and because the posture adjustment is realized by the aid of the telescopic cylinders, the moving space of the simulator is limited by the length of the cylinders, and overturning actions in a pitching process of a pilot which really drives an airplane are difficult to simulate.
Prior art documents:
patent document 1: CN108053716A six-degree-of-freedom motion platform device of flight simulator
Patent document 2: CN104269097B redundant drive six-degree-of-freedom motion simulation platform
Patent document 3: CN106002957B full-motion type motion simulator mechanism with six degrees of freedom
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom motion simulation platform, which can complete continuous overturning on multiple axes and can generate large-space displacement at the same time, and can truly simulate the complex and difficult flight action of a fighter.
In order to achieve the above object, the present invention provides a multi-degree-of-freedom motion simulation platform, which includes a first three-degree-of-freedom simulation platform and a second three-degree-of-freedom simulation platform;
the first three-degree-of-freedom simulation platform comprises a plurality of ropes and winch systems which are arranged in one-to-one correspondence with the ropes, one end of each rope is connected to the second three-degree-of-freedom simulation platform, and the other end of each rope is connected to the corresponding winch system fixed on a load surface; the winch system comprises a winch and a motor for driving the winch; the installation positions of the winches corresponding to the ropes are distributed in a regular octahedron shape;
the second three-degree-of-freedom simulation platform comprises an X-axis overturning frame, a Y-axis overturning frame and a Z-axis overturning frame:
-said X-axis flipping frame being provided with an X-axis drive assembly for driving the seat pivotally connected thereto to flip in the X-axis direction;
-the Y-axis flipping frame for supporting the X-axis flipping frame in a horizontal direction and for driving the X-axis flipping frame to flip along the Y-axis by a Y-axis drive assembly;
-the Z-axis flipping frame for supporting the Y-axis flipping frame in a vertical direction and for driving the Y-axis flipping frame to rotate along a Z-axis by a Z-axis drive assembly;
wherein each rope is connected to the Z-axis rollover frame, and a motor of the winch system is configured to drive a winch to rotate so as to control the Z-axis rollover frame to translate back and forth, left and right, and up and down in the space by retracting/releasing the rope.
In a further preferred embodiment, a first electric brush is arranged on one side, away from the Z-axis driving assembly, of a pivot joint part between the Z-axis overturning frame and the Y-axis overturning frame, and a second electric brush is arranged on one side, away from the Y-axis driving assembly, of a pivot joint part between the Y-axis overturning frame and the X-axis overturning frame;
x axle drive assembly, Y axle drive assembly and Z axle drive assembly are set up the AC power supply through unified access, and wherein the AC power passes through connecting wire and inserts behind the Z axle drive assembly, conducts to Y axle drive assembly and second brush via first brush, conducts to X axle drive assembly via the second brush, realizes the power supply to triaxial drive assembly.
Preferably, the Z-axis flipping frame is provided with a wire slot for accommodating a wire connecting the Z-axis driving assembly to the first brush;
a wire groove for accommodating a wire for connecting the Y-axis driving assembly to the second electric brush is arranged on the Y-axis overturning frame;
and a wire groove for accommodating a wire for connecting the second electric brush to the X-axis driving assembly is arranged on the X-axis overturning frame.
Preferably, the first brush and the second brush adopt the same structure and both comprise a brush input end and a brush input end, namely the brush input ends are arranged on the Z-axis turnover frame/the Y-axis turnover frame; the electric brush output end is arranged on the Y-axis overturning frame/the X-axis overturning frame;
the electric brush input end and the electric brush output end are connected in a relative rotating mode, and the electric brush input end and the electric brush output end are electrically connected through the conductive sliding block.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is an isometric view of a multiple degree of freedom motion simulation platform according to an embodiment of the present invention;
FIG. 2 is a front view of the example multiple degree of freedom motion simulation platform of FIG. 1;
FIG. 3 is an isometric view of a second three-degree-of-freedom simulation platform in an embodiment of the present invention;
FIG. 4 is a front view of the second three-degree-of-freedom simulation platform of the example of FIG. 3;
FIG. 5 is an isometric view of a Y-flip frame in an embodiment of the invention;
FIG. 6 is a front view of the example Y-flip frame of FIG. 5;
FIG. 7 is an isometric view of an X-turn frame in an embodiment of the invention;
FIG. 8 is a top view of the example X-flipper frame of FIG. 7;
FIG. 9 is a cross-sectional view of a first brush of a multiple degree of freedom motion simulation platform in accordance with an embodiment of the present invention;
fig. 10 is a schematic diagram of power supply in the embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways with any of a variety of degrees of freedom motion simulation platforms, as the disclosed concepts and embodiments are not limited to any implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
The invention aims to provide a multi-degree-of-freedom motion simulation platform, which aims to realize that the simulation platform can realize translation in a relatively large range of space including front-back, left-right and up-down pitching on one hand, and realize continuous overturning in a multi-axis direction on the other hand so as to simulate various complex actions of a seat in the process of flying a plane, such as cobra maneuver, bell maneuver, roller maneuver and the like, and obtain real simulation experience.
In the embodiment of the present invention, a turning axis between the seat 1 and the X-axis turning frame 2 in fig. 1 is defined as an X-axis, a turning axis between the X-axis turning frame 2 and the Y-axis turning frame 7 is defined as a Y-axis, and a turning axis between the Z-axis turning frame 13 and the Y-axis turning frame 7 is defined as a Z-axis, and an exemplary description is given based on this.
The multi-degree-of-freedom motion simulation platform shown in fig. 1-2 comprises: the second three-degree-of-freedom simulation platform can complete three axial overturning actions to realize continuous overturning of the seat 1 in multiple axial directions (including pitching motion, rolling motion and yawing motion of the seat 1), and the first three-degree-of-freedom simulation platform can enable the second three-degree-of-freedom simulation platform to realize displacement in three axial directions to enable the seat 1 to simulate overweight and weightlessness acceleration states on the basis of overturning motion.
Further, the first three-degree-of-freedom simulation platform includes a plurality of ropes 19, for example, eight steel cables and high-strength flexible ropes, wherein one end of each of the four ropes 19 is connected to the upper portion of the Z-axis flipping frame 13, and the other four ropes 19 are connected to the lower portion of the Z-axis flipping frame 13, and particularly, in the case that the span of the Z-axis flipping frame 13 in the height direction is large, the connection positions of the upper portion and the lower portion of the ropes 19 may be as far as possible, so as to maintain the stability of the Z-axis flipping frame 13 and enable the Z-axis flipping frame to be empty.
To facilitate control and maintain stability of the Z-axis tilt frame 7, it is preferred that the attachment points of the four ropes 19 located in the upper portion of the Z-axis tilt frame 7 are located in a plane, and the attachment points of the four ropes 19 located in the lower portion of the Z-axis tilt frame 7 are located in a plane, with the planes parallel.
Further, the other end of the rope 19 is connected to a winch system 20 fixed on a load surface, the winch system 20 controls the Z-axis overturning frame 7 to translate in a space through retracting/releasing the rope 19, and the winch system 20 is controlled to retract and release the rope 19 so as to control the Z-axis overturning frame 7 to perform controllable displacement in a certain space, namely, the movement of three degrees of freedom, namely, front and back, left and right and up and down, so as to cooperate with the second three-degree-of-freedom simulation platform to simulate the space states of weightlessness, overweight and the like.
Wherein the winch systems 20 are located around the outer side of the second three-degree-of-freedom simulation platform, which is intended to enable the second three-degree-of-freedom simulation platform to move within the spatial range within the frame formed by the eight winch systems 20.
Specifically, the winch system 20 includes a winch and a servo motor for driving the winch, the servo motor is used for controlling the winch to drive the rope 19 to be retracted/released, the eight servo motors are controlled by corresponding motor controllers, and the directional displacement of the Z-axis turnover frame 7 in space can be controlled by the amount of extension and retraction of the rope 19 controlled by the motors at different positions.
In addition, because the conventional cable can cause contact failure in the displacement process of the equipment, in order to ensure that the electrical connection of the whole equipment cannot be affected in the displacement process, the Z-axis driving component is connected with the alternating current power supply 21 through the spiral telescopic electric wire 22, and the spiral telescopic electric wire 22 stretches along with the movement of the Z-axis overturning frame 7.
In an optional embodiment, each servo motor is provided with a rotation speed sensor, and zero point calibration is performed in an initial state, so that in the control process, the operation of the motor controller is operated and controlled through an upper computer, and the stretching amount of each rope is determined through the rotation speed sensing, so as to control the position and the motion attitude of the second three-degree-of-freedom motion platform.
In order to facilitate the calculation of the control system and accurately control the moving state of the second three-freedom-degree simulation platform, preferably, eight winch systems are positioned at eight vertexes of the hexahedron, and it can be seen that four ropes 19 are arranged in six directions, namely, up, down, left, right, front and back directions in space, and each direction is provided with four ropes 19.
In some embodiments, the four ropes 19 on the right side are tensioned (the same amount of expansion and contraction) by the winch system 20 and the four ropes 19 on the left side are loosened by the winch system 20, and the Z-axis overturn frame 7 moves rightward as a whole.
Further, as shown in fig. 3-4, the second three-degree-of-freedom simulation platform includes an X-axis flipping frame, a Y-axis flipping frame, and a Z-axis flipping frame.
In conjunction with the illustration, the X-axis flipping frame is provided with an X-axis driving assembly for driving the seat 1 pivotally connected thereto to flip in the X-axis direction.
The Y-axis overturning frame is used for supporting the X-axis overturning frame along the horizontal direction and driving the X-axis overturning frame to overturn along the Y axis through the Y-axis driving assembly.
The Z-axis overturning frame is used for supporting the Y-axis overturning frame along the vertical direction and driving the Y-axis overturning frame to rotate along the Z axis through the Z-axis driving assembly.
In a specific embodiment, the Z-axis flipping frame 13 is provided with a Z-axis driving assembly (a Z-axis driving motor 14, a Z-axis motor driving and controlling system 15, and a Z-axis driving reducer 16) on the Z-axis flipping frame 13, and a first brush 18 is provided at a side of a pivot joint between the Z-axis flipping frame 13 and the Y-axis flipping frame 7, the side being away from the Z-axis driving assembly.
In this embodiment, the Z-axis driving motor 14 drives the gear set in the Z-axis driving speed reducer 16 to rotate to increase the driving torque through the control of the Z-axis motor driving system 15, the Z-axis driving speed reducer 16 drives the Y-axis overturning frame 7 on the inner side of the Z-axis overturning frame 13 to rotate along the Z-axis direction, the other side of the Y-axis overturning frame 7 is connected with the Z-axis overturning frame 13 through the rotating shaft 17, the yaw movement of the seat 1 is mainly realized for the rotation of the Z-axis overturning frame 13 by the Y-axis overturning frame 7, and the left-right yaw or rotation movement of the fighter plane can be simulated.
Further, as shown in fig. 5 to 6, a Y-axis turnover frame 7 is provided on the Y-axis turnover frame 7, a Y-axis driving assembly (a Y-axis driving motor 8, a Y-axis motor driving and controlling system 9, and a Y-axis driving reducer 10) is provided on the Y-axis turnover frame 7, and the Y-axis turnover frame 7 is driven by the Z-axis driving assembly to rotate around a transmission shaft thereof relative to the Z-axis turnover frame 7.
In this embodiment, the Y-axis driving motor 8 drives the gear set in the Y-axis driving speed reducer 10 to rotate to increase the driving torque through the control of the Y-axis motor driving system 9, the Y-axis driving speed reducer 10 drives the X-axis turning frame 2 on the inner side of the Y-axis turning frame 7 to rotate along the Y-axis direction, the other side of the X-axis turning frame 2 is connected with the Y-axis turning frame 7 through the rotating shaft 11, the X-axis turning frame 2 mainly realizes the turning motion of the seat 1 for the rotation of the Y-axis turning frame 7, and the turning in the warplane bullet avoidance or the special effects can be simulated.
Further, as shown in fig. 7-8, an X-axis driving assembly (an X-axis driving motor 3, an X-axis motor driving and controlling system 4, and an X-axis driving reducer 5) is disposed on the X-axis turnover frame 2, the X-axis turnover frame 2 is driven by the Y-axis driving assembly to rotate around a transmission shaft thereof relative to the Y-axis turnover frame 7, and a seat 1 driven by the X-axis driving assembly is disposed in the X-axis turnover frame 2.
In this embodiment, the X-axis transmission motor 3 drives the gear set in the X-axis driving speed reducer 5 to rotate through the X-axis motor driving and controlling system 4, the output shaft of the X-axis driving speed reducer 5 drives the seat 1 in the X-axis turnover frame 2 to rotate along the X-axis direction, the seat 1 moves in a pitching motion relative to the X-axis turnover frame 2, and can simulate actions of a fighter such as raising and diving, and in cooperation with the axial and spatial actions, rotation and displacement in a multi-axis space can be realized, so as to simulate various moving postures.
Preferably, as shown in fig. 3, the X-axis flipping frame is configured in a rectangular frame shape and is provided at one pair of sides thereof with an X-axis driving assembly for driving the seat pivotally connected thereto to flip in the X-axis direction; the other side surface of the X-axis overturning frame is arranged to be supported on the Y-axis overturning frame;
the Y-axis overturning frame and the Z-axis overturning frame are both arranged in an octahedral shape, so that the inner side obtains a larger rotating space, wherein the Y-axis driving assembly is arranged along the horizontal direction, and the Z-axis driving assembly is arranged along the vertical direction.
Preferably, in order to reduce the overall load, the frame structure is made of an aluminum alloy material, and has light weight, high strength and better bearing capacity.
In the above embodiment, in order to solve the problem of power supply to the load rotating relatively, and to prevent the conventional wire connection from being wound due to the X-Y-Z flipping during the rotation and flipping, since the Z-axis flipping frame 13 and the Y-axis flipping frame 7 always rotate relatively and the inner layer has a load, the conventional cable cannot supply power to the load on the inner layer, and therefore, in order to supply power to the load on the inner layer, the first brush 18 is mounted on the rotating shaft 17.
In some embodiments, the first brush 18 is used to electrically connect the Z-axis flipping frame 13 and the Y-axis flipping frame 7, and the load on the Y-axis flipping frame 7 is still electrically connected during the continuous relative rotation of the Z-axis flipping frame 13 and the Y-axis flipping frame 7.
Specifically, the power supply circuit is that a spiral telescopic wire 22 is connected with a wire embedded in a wire groove A13.1, and the other end of the wire in the wire groove A13.1 is connected with the first brush 18 to supply power to the first brush 18.
Further, since the Y-axis inverter frame 7 and the X-axis inverter frame 2 are always rotated relatively and the inner layer has a load, the conventional cable cannot supply power to the load of the inner layer, and thus, in order to supply power to the load of the inner layer, the second brush 12 is mounted on the rotating shaft 11.
In some embodiments, the second brush 12 is used to electrically connect the Y-axis flipping frame 7 and the X-axis flipping frame 2, and the load on the X-axis flipping frame 2 is still electrically connected during the continuous relative rotation of the Y-axis flipping frame 7 and the X-axis flipping frame 2.
Specifically, the power supply circuit is that one end of a wire in a wire groove B7.1 on the Y-axis turnover frame 7 is connected to the output end of the first brush 18, and the other end of the wire is respectively connected with the Y-axis driving assembly and the second brush 12.
Specifically, the power supply line of the X-axis driving assembly is that a trunking C2.1 is provided on the X-axis turnover frame 2, a wire is laid in the trunking C2.1, one end of the wire is connected to the output end of the second brush 12, and the other end of the wire is connected to the X-axis driving assembly to supply power to the X-axis driving assembly.
Further, the brush includes: the brush input end is arranged on the Z-axis overturning frame 13/the Y-axis overturning frame 7; the brush output end of the Y-axis overturning frame 7/the X-axis overturning frame 2 is installed;
the input end of the electric brush is in relative rotating connection with the output end of the electric brush, and the input end of the electric brush is electrically connected with the output end of the electric brush through the conductive sliding block.
In some embodiments, the brushes are divided into a first brush 18 installed between the Z-axis flipping frame 13 and the Y-axis flipping frame 7, and a second brush 12 installed between the Y-axis flipping frame 7 and the X-axis flipping frame 2, and the principle is the same, and the first brush 18 is taken as an example in the following.
Fig. 9 is a sectional view at the rotating shaft 17, and the Z-axis rollover frame 13 and the Y-axis rollover frame 7 are connected through the rotating shaft 17 and a bearing 17.1. An input end 18.1 of the first brush 18 is mounted on the Z-axis flipping frame 13, and an output end 18.2 of the first brush 18 is mounted on the Y-axis flipping frame 7.
In this embodiment, the input end 18.1 and the output end 18.2 of the first brush 18 are respectively provided with two conductive chutes, the conductive chute of the input end 18.1 is connected with the wire in the slot a13.1, the conductive chute of the output end 18.2 is connected with the wire in the slot B7.1, and the conductive chute of the input end 18.1 is connected with the conductive chute of the output end 18.2 through the conductive slider 18.3, so that current conduction during relative rotational movement of the Z-axis flipping frame 13 and the Y-axis flipping frame 7 is realized.
Therefore, the first electric brush arranged on one side, away from the Z-axis driving assembly, of the pivot joint part between the Z-axis overturning frame and the Y-axis overturning frame and the second electric brush arranged on one side, away from the Y-axis driving assembly, of the pivot joint part between the Y-axis overturning frame and the X-axis overturning frame are used for achieving connection and power supply of a power source.
X axle drive assembly, Y axle drive assembly and Z axle drive assembly are set up the AC power supply through unified access, and wherein the AC power passes through connecting wire and inserts behind the Z axle drive assembly, conducts to Y axle drive assembly and second brush via first brush, conducts to X axle drive assembly via the second brush, realizes the power supply to triaxial drive assembly.
As shown in fig. 3, 4, 9 and 10, the wires embedded in the slot a13.1 are connected by alternating current through the spiral retractable wire 22, the other end of the wire in the slot a13.1 is connected to the first brush 18 to supply power to the input end 18.1 of the first brush 18, the output end 18.2 of the first brush 18 is connected with the wire in the slot B7.1, wherein the wire in the slot B7.1 supplies power to the Y-axis driving component and forms a loop on one hand, and supplies power to the input end of the second brush 12 on the other hand, and the output end of the second brush 12 supplies power to the X-axis driving component and forms a loop through the wire in the slot C2.1.
The multi-degree-of-freedom motion simulation platform provided by the invention is not limited by the constraint of the problem of power supply of an inner-layer electrified load brought by an electric circuit and the constraint of a telescopic cylinder in a space moving range, so that various complex actions of a seat in the process of flying an airplane, such as cobra maneuver, bell maneuver, roller maneuver and the like, can be simulated, and real simulation experience can be obtained. Meanwhile, in order to solve the problems of circuit and power supply caused by motion simulation in a large space and prevent the problem of wire harness winding in the rotating process, power is supplied to different rotating shafts through an electric brush mechanism, so that the whole mechanism can realize stable and continuous power supply connection in the overturning process.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (8)
1. A multi-degree-of-freedom motion simulation platform is characterized by comprising a first three-degree-of-freedom simulation platform and a second three-degree-of-freedom simulation platform;
the first three-degree-of-freedom simulation platform comprises a plurality of ropes and winch systems which are arranged in one-to-one correspondence with the ropes, one end of each rope is connected to the second three-degree-of-freedom simulation platform, and the other end of each rope is connected to the corresponding winch system fixed on a load surface; the winch system comprises a winch and a motor for driving the winch; the installation positions of the winches corresponding to the ropes are distributed in a regular octahedron shape;
the second three-degree-of-freedom simulation platform comprises an X-axis overturning frame, a Y-axis overturning frame and a Z-axis overturning frame:
-said X-axis flipping frame being provided with an X-axis drive assembly for driving the seat pivotally connected thereto to flip in the X-axis direction;
-the Y-axis flipping frame for supporting the X-axis flipping frame in a horizontal direction and for driving the X-axis flipping frame to flip along the Y-axis by a Y-axis drive assembly;
-the Z-axis flipping frame for supporting the Y-axis flipping frame in a vertical direction and for driving the Y-axis flipping frame to rotate along a Z-axis by a Z-axis drive assembly;
wherein each cable is connected to the Z-axis rollover frame, and wherein a motor of the winch system is configured to drive a winch to rotate to control the Z-axis rollover frame to translate in space by retracting/releasing the cable.
2. The multiple degree of freedom motion simulation platform of claim 1, wherein the X-axis flipping frame is configured in a rectangular frame shape and is provided with an X-axis drive assembly on one pair of sides thereof for driving the seat pivotally connected thereto to flip in the X-axis direction; the other side surface of the X-axis overturning frame is arranged to be supported on the Y-axis overturning frame;
the Y-axis overturning frame and the Z-axis overturning frame are both arranged in an octahedron shape, wherein the Y-axis driving assembly is arranged along the horizontal direction, and the Z-axis driving assembly is arranged along the vertical direction.
3. The multiple degree of freedom motion simulator platform of claim 2 wherein the four cable attachment points located on the upper portion of the Z-axis rollover frame lie in a plane and the four cable attachment points located on the lower portion of the Z-axis rollover frame lie in a plane, the two planes being parallel.
4. The multi-degree-of-freedom motion simulation platform according to claim 1, wherein a first electric brush is arranged on one side, away from the Z-axis driving assembly, of a pivot joint between the Z-axis overturning frame and the Y-axis overturning frame, and a second electric brush is arranged on one side, away from the Y-axis driving assembly, of the pivot joint between the Y-axis overturning frame and the X-axis overturning frame;
x axle drive assembly, Y axle drive assembly and Z axle drive assembly are set up the AC power supply through unified access, and wherein the AC power passes through connecting wire and inserts behind the Z axle drive assembly, conducts to Y axle drive assembly and second brush via first brush, conducts to X axle drive assembly via the second brush, realizes the power supply to triaxial drive assembly.
5. The multiple degree of freedom motion simulation platform of claim 4, wherein the Z-axis flipping frame is provided with a raceway to accommodate a wire connecting the Z-axis drive assembly to the first brush;
a wire groove for accommodating a wire for connecting the Y-axis driving assembly to the second electric brush is arranged on the Y-axis overturning frame;
and a wire groove for accommodating a wire for connecting the second electric brush to the X-axis driving assembly is arranged on the X-axis overturning frame.
6. The multiple degree of freedom motion simulation platform of claim 4, wherein the first brush and the second brush are of the same structure and each include a brush input end and a brush input end, namely, the brush input ends are mounted on the Z-axis turning frame/the Y-axis turning frame; the electric brush output end is arranged on the Y-axis overturning frame/the X-axis overturning frame;
the electric brush input end and the electric brush output end are connected in a relative rotating mode, and the electric brush input end and the electric brush output end are electrically connected through the conductive sliding block.
7. The multiple degree of freedom motion simulation platform of any one of claims 4-6, wherein the corresponding connecting wires of the AC power supply are helical retractable wires and are connected to the Z-axis drive assembly.
8. The multiple degree of freedom motion simulation platform of claim 1, wherein the Z-axis flipping frame and the Y-axis flipping frame are octagonal frames and the X-axis flipping frame is a quadrilateral frame.
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| CN202011250566.1A CN112331020A (en) | 2020-11-11 | 2020-11-11 | Multi-degree-of-freedom motion simulation platform |
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| CN202011250566.1A CN112331020A (en) | 2020-11-11 | 2020-11-11 | Multi-degree-of-freedom motion simulation platform |
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| CN202011250566.1A Pending CN112331020A (en) | 2020-11-11 | 2020-11-11 | Multi-degree-of-freedom motion simulation platform |
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