CN113345312B

CN113345312B - Four-degree-of-freedom parallel mechanism and motion simulator using same

Info

Publication number: CN113345312B
Application number: CN202110512275.3A
Authority: CN
Inventors: 孟强; 侯伟钦
Original assignee: Beijing Rulebit Intelligent Robot Technology Co ltd
Current assignee: Beijing Rulebit Intelligent Robot Technology Co ltd
Priority date: 2021-05-11
Filing date: 2021-05-11
Publication date: 2022-12-09
Anticipated expiration: 2041-05-11
Also published as: CN113345312A

Abstract

The application relates to a four-degree-of-freedom parallel mechanism and a motion simulator applying the same, which relate to the technical field of intelligent machines and comprise a fixed frame and a movable platform, wherein a rotary guide assembly and a plurality of pneumatic support rods are arranged between the movable platform and the fixed frame; one side of the hinged support facing the pneumatic support rod is provided with a mounting groove, a mounting block is inserted into the mounting groove in a matching manner, and the end part of the pneumatic support rod is hinged with one side of the mounting block; the utility model discloses a locking piece, including installation piece, locking pole, spacing groove, locking pole, limiting groove, the locking groove has been seted up on the inside wall of installation groove, the locking inslot slip is provided with the locking pole, set up on the lateral wall of installation piece and supply the locking pole to insert and establish and the offseting spacing groove, be provided with the subassembly that slides on the installation piece. This application has for the ease of maintenance to pneumatic branch quick assembly disassembly, reduces the operation degree of difficulty, extension mechanism life's effect.

Description

Four-degree-of-freedom parallel mechanism and motion simulator using same

Technical Field

The application relates to the technical field of intelligent machines, in particular to a four-degree-of-freedom parallel mechanism and a motion simulator applying the same.

Background

At present, a parallel mechanism is a closed loop system formed by a plurality of parallel chains, has a series of advantages of high rigidity, high precision, high bearing capacity, simple and compact structure, easy realization of high-speed motion and the like, is widely applied to the fields of motion simulators such as airplane flight, war chariot road simulation, submarine simulation and the like, and can well meet the requirements on motion carriers in VR technology.

The Chinese patent with application publication No. CN106903676A designed in the related technology provides a four-degree-of-freedom parallel mechanism driven by pneumatic artificial muscles, which comprises a fixed frame and a movable platform, wherein the movable platform is positioned above the fixed frame, a rotary guide component and a plurality of branched chains are arranged between the movable platform and the fixed frame, and the rotary guide component provides restraint for the movable platform and limits the translational motion of the movable platform in two directions; the branched chain comprises pneumatic artificial muscles, an upper hinged support and a lower hinged support, the pneumatic artificial muscles are rotatably arranged between the upper hinged support and the lower hinged support, the upper hinged support is fixedly connected with the movable platform through bolts, the lower hinged support is fixedly connected with the fixed frame through bolts, and the branched chain can support the movable platform and provide power for the movement of the movable platform.

In view of the above-mentioned related technologies, the inventor thinks that the branched chain on the parallel mechanism needs to be repaired or replaced after being damaged, and the upper hinged support and the lower hinged support are both fixed by bolts, and the branched chain needs to be repaired by disassembling the upper hinged support and the lower hinged support, which is cumbersome to operate and inconvenient for disassembling and assembling the branched chain for maintenance, and thus needs to be improved.

Disclosure of Invention

First aspect, for the convenience to pneumatic branch quick assembly disassembly and maintenance, reduce the operation degree of difficulty, the life of extension mechanism, the four degree of freedom parallel mechanism that this application provided adopts following technical scheme:

a four-degree-of-freedom parallel mechanism comprises a fixed frame and a movable platform, wherein a rotary guide assembly is arranged between the movable platform and the fixed frame, a plurality of pneumatic support rods are arranged between the movable platform and the fixed frame, a plurality of hinged supports are arranged on opposite surfaces of the fixed frame and the movable platform, and the end parts of the pneumatic support rods are hinged with the hinged supports; the end part of the pneumatic support rod is hinged with one side of the mounting block away from the bottom wall direction of the mounting groove; the locking device is characterized in that a locking groove is formed in the inner side wall of the mounting groove, a locking rod is arranged in the locking groove in a sliding mode, a limiting groove for the locking rod to insert and abut against is formed in the outer side wall of the mounting block, a sliding assembly is arranged on the mounting block, and the sliding assembly is used for driving the locking rod to slide in the locking groove.

Through adopting the above technical scheme, when the maintenance needs to be dismantled pneumatic branch, drive the locking lever through the subassembly that slides and slide in the locking inslot, break away from locking lever and spacing groove each other, can take out the installation piece from the mounting groove this moment, dismantle fast between pneumatic branch and the free bearing, after having waited to maintain, insert the installation piece and establish to the mounting groove in, take spacing groove and locking groove at ordinary times each other, slide at the locking inslot through the subassembly drive locking lever that slides, insert the locking lever and establish the spacing inslot, the locking lever offsets with the spacing inslot inside wall, thereby fix the installation piece in the mounting groove, carry out the dismouting change to pneumatic branch fast, need not artificial dismantlement to the free bearing, the operation degree of difficulty has been reduced, convenient maintenance.

Optionally, the mounting groove is provided with two on the free bearing, the subassembly that slides includes actuating lever, gear and rack, be provided with the drive chamber in the free bearing, drive chamber and locking groove intercommunication each other, the drive groove that communicates each other with the drive chamber is seted up towards one side of pneumatic branch direction to the free bearing, the actuating lever rotates and sets up at the drive inslot, the one end and the gear fixed connection of actuating lever orientation drive chamber direction, the gear is located the drive intracavity, the rack is fixed to be set up on the lateral wall of locking pole, the length direction of length direction along the locking pole of rack sets up, wheel and rack intermeshing.

Through adopting above-mentioned technical scheme, when needing to drive the locking lever and sliding in the locking inslot, through rotating the actuating lever, the actuating lever is at the drive inslot internal rotation drive gear revolve, and wheel and rack offset this moment, and then drive the locking lever and slide in the locking inslot, realize sliding of two locking levers on the simultaneous control free bearing through rotating the actuating lever, improved the convenience of operation when having reduced the cost of manufacture.

Optionally, the outer side wall of the driving rod is symmetrically and fixedly provided with a group of power-assisted rods, and the power-assisted rods can abut against the upper surface of the mounting block.

Through adopting above-mentioned technical scheme, on the one hand drive helping hand pole is convenient for drive the actuating lever at the drive inslot internal rotation, has improved the convenience of operation, and on the other hand drive helping hand pole drives the locking pole and inserts and establish to spacing inslot back, and helping hand pole can offset with the upper surface of installation piece, and helping hand pole can play limiting displacement to the installation piece this moment, has improved the stability of installation piece in the mounting groove.

Optionally, a magnetic part is fixedly arranged on the bottom wall of the limiting groove, and an adsorption part which is adsorbed with the magnetic part is fixedly arranged at one end of the locking rod towards the direction of the limiting groove.

Through adopting above-mentioned technical scheme, drive the lock pole through rotating the actuating lever and insert and establish to the spacing inslot after, make the absorption piece and the magnetic part of lock pole tip adsorb each other, improved the stability of lock pole at the spacing inslot to the security of parallel mechanism when using has been improved.

In order to improve the applicability and functionality of the simulator, the motion simulator using the four-degree-of-freedom parallel mechanism provided by the application adopts the following technical scheme: the seat is arranged on a movable platform in a rotating mode, a rotating groove is formed in the surface of the movable platform, a rotating disc is arranged in the rotating groove, the seat is fixedly arranged on the rotating disc, a rotating assembly is arranged on the movable platform and used for driving the rotating disc to rotate in the rotating groove and fix the rotating disc

Through adopting above-mentioned technical scheme, when using the motion simulator who uses to change parallel mechanism, through rotatory subassembly drive rotary disk at the swivelling chute internal rotation, the rotation of control seat on moving the platform is adjusted the angle of seat, and convenient to use person adjusts the orientation of seat according to the in-service use demand to adapt to different application scenes, improved the functionality and the suitability of simulator.

Optionally, the rotating assembly comprises a worm wheel, a worm, a servo motor and a control switch, the worm wheel is fixedly arranged on the lower surface of the rotating disc, the worm wheel and the rotating disc are coaxially arranged, the worm is rotatably arranged in the movable platform and meshed with the worm wheel, the servo motor is fixedly arranged on the movable platform, a driving shaft of the servo motor is fixedly connected with the worm, and the control switch is arranged on the seat and used for controlling the servo motor to rotate forwards and reversely.

Through adopting above-mentioned technical scheme, the user is just reversing through control switch control servo motor on the seat, and servo motor drives the worm and rotates, and then drives the worm wheel and rotate, and then drives rotary disk and seat and rotate, realizes the quick adjustment to the seat orientation, can quick locking between worm wheel and the worm, and the security when the simulator uses is high, and convenient to use person adjusts simultaneously.

Optionally, a plurality of embedding grooves are formed in the bottom wall of the rotating groove, and supporting balls which abut against the bottom wall of the rotating disc are rotationally arranged in the embedding grooves.

Through adopting above-mentioned technical scheme, when servo motor drove the rotary disk and rotates, the support ball supported the rotary disk, and the support ball can be at the embedding inslot rotation, has reduced the frictional force between rotary disk and the rotary trough diapire, and the servo motor of being convenient for drives the rotary disk and rotates.

Optionally, a group of limit ring plates are symmetrically arranged on the movable platform, and the lower surfaces of the limit ring plates are attached to the upper surface of the rotating disk.

Through adopting above-mentioned technical scheme, when the user operates on the seat, spacing crown plate can be spacing to the carousel, alleviates the phenomenon that rotary disk and swivelling chute break away from each other, has improved the stability when simulator uses.

Optionally, a dovetail block is fixedly arranged at the bottom of the limiting ring plate, a dovetail groove is formed in the movable platform, the dovetail block is arranged in the dovetail groove in a sliding mode, and a locking bolt which is abutted to the bottom wall of the dovetail groove is connected to the dovetail block in a threaded mode.

Through adopting above-mentioned technical scheme, rotate the locking bolt, break away from locking bolt and dovetail each other, can drive the dovetail piece at this moment and slide in the dovetail, break away from the surface of spacing ring plate and rotary disk each other, can dismantle between seat and the movable platform this moment, be convenient for maintain the simulator.

In summary, the present application includes at least one of the following beneficial technical effects:

1. by arranging the mounting groove, the mounting block, the locking groove, the locking rod, the limiting groove and the sliding assembly, the mounting block can be fixed in the mounting groove, the pneumatic support rod can be quickly disassembled, assembled and replaced, the hinged support does not need to be manually disassembled, the operation difficulty is reduced, and the maintenance is convenient;

2. by arranging the driving rod, the gear, the rack, the driving cavity, the driving groove, the power-assisted rod, the magnetic part and the adsorption part, the power-assisted rod is rotated to drive the driving rod to rotate in the driving groove so as to drive the gear to rotate, the sliding of two locking rods on the hinged support is controlled simultaneously, the manufacturing cost is reduced, and the convenience of operation is improved;

3. through setting up swivelling chute, rotary disk, worm wheel, worm, servo motor and control switch, the orientation of convenient to use person according to the in-service use demand regulation seat to adapt to different application scenes, improved the functionality and the suitability of simulator.

Drawings

Fig. 1 is a schematic structural diagram of a four-degree-of-freedom parallel mechanism in the embodiment.

Fig. 2 is a transverse cross-sectional view of a hinge base used in the embodied embodiment.

Fig. 3 is a vertical cross-sectional view of a hinge base used in the embodiment.

Fig. 4 is a schematic structural diagram of a motion simulator using a four-degree-of-freedom parallel mechanism in the embodiment.

Fig. 5 is a sectional view for embodying the connection relationship between the seat and the movable platform in the embodiment.

Description of reference numerals: 1. a rotary guide assembly; 11. a fixed mount; 12. a movable platform; 2. a pneumatic strut; 21. hinging seat; 211. a drive chamber; 212. a drive slot; 3. mounting grooves; 31. mounting blocks; 4. a locking groove; 41. a lock lever; 42. a limiting groove; 5. a sliding component; 51. a drive rod; 52. a gear; 53. a rack; 54. a booster rod; 61. a magnetic member; 62. an adsorbing member; 7. a seat; 71. rotating the disc; 72. a rotating tank; 8. a rotating assembly; 81. a worm gear; 82. a worm; 83. a servo motor; 84. a control switch; 9. an embedding groove; 91. a support ball; 10. a limit ring plate; 101. a dovetail block; 1011. locking the bolt; 102. a dovetail groove.

Detailed Description

The present application is described in further detail below with reference to figures 1-5.

The embodiment of the application discloses a four-degree-of-freedom parallel mechanism. Referring to fig. 1, a fixed frame 11 and a movable platform 12 are provided, the movable platform 12 is located above the fixed frame 11, a rotary guide assembly 1 is installed between the movable platform 12 and the fixed frame 11, and the rotary guide assembly 1 provides constraint for the movable platform 12 to limit the translation of the movable platform 12 in two directions. Move and be provided with a plurality of pneumatic branch 2 between platform 12 and the mount 11, pneumatic branch 2 is used for supporting moving platform 12 and for moving platform 12 provides power, is provided with a plurality of free bearing 21 through the bolt on the mount 11 and the opposite face that moves platform 12, and the tip of pneumatic branch 2 is articulated between free bearing 21, all is connected with two pneumatic branch 2 on every free bearing 21.

Referring to fig. 1 and 2, an installation groove 3 is opened at one end of the hinge seat 21 facing the pneumatic support rod 2, an installation block 31 is inserted in the installation groove 3 in a matching manner, and the end of the pneumatic support rod 2 is hinged to one end of the installation block 31 far away from the bottom wall of the installation groove 3. The locking groove 4 has been seted up on the inside wall of mounting groove 3, and the slip is provided with locking pole 41 in the locking groove 4, and the lateral wall of locking pole 41 and the inside wall of locking groove 4 laminate each other. The outer side wall of the mounting block 31 is provided with a limiting groove 42 for the locking rod 41 to insert, and the inner side wall of the limiting groove 42 and the outer side wall of the locking rod 41 are mutually attached. The mounting block 31 is provided with a sliding assembly 5, the locking rod 41 is driven by the sliding assembly 5 to slide in the locking groove 4, the locking rod 41 is separated from the limiting groove 42, the mounting block 31 can be taken out of the mounting groove 3, and the pneumatic support rod 2 can be dismounted from the mechanism without manually dismounting the hinged support 21; insert installation piece 31 and establish in mounting groove 3, utilize the subassembly 5 that slides to insert locking pole 41 simultaneously and establish to locking groove 4 and spacing groove 42 in, locking pole 41 can be spacing to installation piece 31 this moment to carry out the effect of maintaining pneumatic branch rod 2.

Referring to fig. 2 and 3, the sliding assembly 5 includes a driving rod 51, a gear 52, a rack 53 and a power-assisted rod 54, a driving cavity 211 is provided in the hinged support 21, the driving cavity 211 is communicated with the two locking grooves 4, one side of the hinged support 21 facing the direction of the mounting groove 3 is provided with a driving groove 212, and the driving groove 212 is communicated with the driving cavity 211. The driving rod 51 is rotatably arranged in the driving groove 212, one end of the driving rod 51 facing the driving cavity 211 is fixedly connected with the gear 52, the gear 52 is coaxially arranged with the driving rod 51, and the gear 52 is positioned in the driving cavity 211. The rack gear 53 is integrally provided on the outer side wall of the lock lever 41, the lengthwise direction of the rack gear 53 is provided along the lengthwise direction of the lock lever 41, and the rack gear 53 is engaged with the internal gear 52 in the drive chamber 211. The assistance rods 54 are fixed on the outer side wall of the driving rod 51 through welding, two assistance rods 54 are symmetrically arranged on each driving rod 51, and the assistance rods 54 are abutted against the upper surface of the mounting block 31. When needing to drive locking lever 41 and sliding in locking groove 4, drive actuating lever 51 through rotating helping hand pole 54 and rotate, break away from helping hand pole 54 and installation piece 31's surface each other, actuating lever 51 drives gear 52 and offsets with rack 53 this moment, drives two locking levers 41 on the installation piece 31 simultaneously and slides, and then drives locking lever 41 and spacing groove 42 and break away from each other, convenient operation is swift.

Referring to fig. 2, the bottom wall of the limiting groove 42 is provided with a magnetic part 61 in a bonding and fixing manner, the magnetic part 61 is a magnet, the locking rod 41 is provided with an adsorption part 62 in a bonding and fixing manner towards one end of the limiting groove 42, the adsorption part 62 is an iron block, the locking rod 41 is inserted into the locking groove 4 and then adsorbed by the magnetic part 61 and the adsorption part 62, and the stability of the locking rod 41 in the limiting groove 42 is improved.

The implementation principle of the four-degree-of-freedom parallel mechanism in the embodiment of the application is as follows: when pneumatic branch 2 needs to be dismantled and maintained and changed, drive actuating lever 51 through rotating helping hand pole 54 and rotate, and then drive gear 52 and rack 53 and offset, drive locking pole 41 slides in locking groove 4, break away from locking pole 41 and spacing groove 42 each other, will install the piece 31 and take out from mounting groove 3 this moment, need not artificial dismantlement free bearing 21 and can dismantle pneumatic branch 2 from the mechanism, convenient operation is swift, be convenient for maintain pneumatic branch 2 and change.

The embodiment of the application also discloses a motion simulator applying the four-degree-of-freedom parallel mechanism. Referring to fig. 4 and 5, the seat 7 is rotatably disposed on the movable platform 12, a rotating groove 72 is formed in the surface of the movable platform 12, a rotating disc 71 is rotatably disposed in the rotating groove 72, and the seat 7 is fixedly mounted on the rotating disc 71. The movable platform 12 is provided with a rotating assembly 8, the rotating assembly 8 drives the rotating disc 71 to rotate in the rotating groove 72, and the orientation of the seat 7 can be changed so as to adapt to different application scenes.

Referring to fig. 4 and 5, the rotating assembly 8 includes a worm wheel 81, a worm 82, a servo motor 83, and a control switch 84, the worm wheel 81 is fixedly welded to the lower surface of the rotating disc 71, and the worm wheel 81 and the rotating disc 71 are coaxially disposed therebetween. The worm 82 is rotatably arranged in the movable platform 12 and is meshed with the worm wheel 81, the servo motor 83 is fixedly arranged on the movable platform 12, and a driving shaft of the servo motor 83 is connected with the worm 82. The control switch 84 is arranged on the seat 7, and the control switch 84 and the servo motor 83 are connected with each other through a controller and wireless signals. When a user is on the seat 7, the servo motor 83 is controlled to rotate forwards and backwards through the control switch 84, the servo motor 83 drives the worm 82 to rotate forwards and backwards, the worm wheel 81 is driven to rotate, the rotating disc 71 and the seat 7 are driven to rotate, the worm wheel 81 and the worm 82 can be quickly locked, and accordingly the direction of the seat 7 can be quickly adjusted.

Referring to fig. 5, a plurality of embedding grooves 9 are formed in the bottom wall of the rotating groove 72, a supporting ball 91 which abuts against the bottom wall of the rotating disc 71 is rotatably arranged in the embedding grooves 9, and when the rotating assembly 8 drives the rotating disc 71 to rotate in the rotating groove 72, the supporting ball 91 reduces the friction force between the rotating disc 71 and the bottom wall of the rotating groove 72, so that the servo motor 83 drives the rotating disc 71 to rotate.

Referring to fig. 4 and 5, a group of limit ring plates 10 are symmetrically arranged on the movable platform 12, the length direction of the limit ring plates 10 is arranged along the circumferential direction of the rotating disc 71, the lower surface of the limit ring plates 10 is attached to the upper surface of the rotating disc 71, the limit ring plates 10 limit the rotating disc 71, and the phenomenon that the rotating disc 71 is separated from the rotating groove 72 is relieved. The bottom of the limiting ring plate 10 is fixedly welded with a dovetail block 101, a group of dovetail grooves 102 are symmetrically formed in the movable platform 12, the dovetail block 101 is arranged in the dovetail grooves 102 in a sliding mode, the dovetail block 101 is driven to slide in the dovetail grooves 102, the limiting ring plate 10 can be separated from the rotating disc 71, the seat 7 and the movable platform 12 can be detached, and therefore the simulator can be maintained conveniently. A locking bolt 1011 is connected to the dovetail block 101 through a thread, and the locking bolt 1011 is rotated to abut against the bottom wall of the dovetail groove 102, so that the limit ring plate 10 is fixed on the movable platform 12.

The implementation principle of the motion simulator applying the four-degree-of-freedom parallel mechanism in the embodiment of the application is as follows: when the user is on seat 7, control servo motor 83 through control switch 84 and just reversing, drive worm wheel 81 and worm 82 and rotate, and then drive rotary disk 71 and seat 7 and rotate, can change the orientation of seat 7 fast to make the simulator can adapt to different application scenes, improved the functionality and the suitability of simulator.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A four-degree-of-freedom parallel mechanism comprises a fixed frame (11) and a movable platform (12), wherein a rotary guide assembly (1) is arranged between the movable platform (12) and the fixed frame (11), a plurality of pneumatic support rods (2) are arranged between the movable platform (12) and the fixed frame (11), a plurality of hinged supports (21) are arranged on opposite surfaces of the fixed frame (11) and the movable platform (12), and the end parts of the pneumatic support rods (2) are hinged with the hinged supports (21); the method is characterized in that: one side, facing the pneumatic support rod (2), of the hinged support (21) is provided with a mounting groove (3), a mounting block (31) is inserted into the mounting groove (3) in a matching manner, and the end part of the pneumatic support rod (2) is hinged to one side, away from the bottom wall direction of the mounting groove (3), of the mounting block (31); a locking groove (4) is formed in the inner side wall of the mounting groove (3), a locking rod (41) is arranged in the locking groove (4) in a sliding mode, a limiting groove (42) for the locking rod (41) to insert and abut against is formed in the outer side wall of the mounting block (31), a sliding assembly (5) is arranged on the mounting block (31), and the sliding assembly (5) is used for driving the locking rod (41) to slide in the locking groove (4); the utility model discloses a pneumatic bearing, including pneumatic branch pole (2), mounting groove (21), drive chamber (211), drive chamber (51), gear (52) and rack (53), be provided with drive chamber (211) in free bearing (21), drive chamber (211) and locking groove (4) communicate each other, drive chamber (212) with drive chamber (211) intercommunication are seted up towards one side of pneumatic branch (2) direction in free bearing (21), drive rod (51) rotate and set up in drive chamber (212), one end and gear (52) fixed connection of drive chamber (211) orientation of drive rod (51), gear (52) are located drive chamber (211), rack (53) are fixed to be set up on the lateral wall of lock pole (41), the length direction of rack (53) sets up along the length direction of lock pole (41), gear (52) and rack (53) intermeshing.

2. The four degree-of-freedom parallel mechanism of claim 1, wherein: the outer side wall of the driving rod (51) is symmetrically and fixedly provided with a group of power-assisted rods (54), and the power-assisted rods (54) can abut against the upper surface of the mounting block (31).

3. A four degree-of-freedom parallel mechanism according to claim 1, wherein: fixed magnetic part (61) that is provided with on the diapire of spacing groove (42), locking pole (41) are provided with the adsorption part (62) of adsorbing each other with magnetic part (61) towards the one end of spacing groove (42) direction is fixed.

4. A motion simulator using the four-degree-of-freedom parallel mechanism according to any one of claims 1 to 3, wherein: including seat (7), seat (7) rotate to set up on moving platform (12), rotating groove (72) have been seted up on the surface of moving platform (12), rotating groove (72) internal rotation is provided with rotary disk (71), seat (7) fixed mounting is on rotary disk (71), it is provided with rotating assembly (8) on platform (12) to move, rotating assembly (8) are used for driving rotary disk (71) at rotating groove (72) internal rotation and fix rotary disk (71).

5. The motion simulator using the four-degree-of-freedom parallel mechanism according to claim 4, wherein: the rotating assembly (8) comprises a worm wheel (81), a worm (82), a servo motor (83) and a control switch (84), the worm wheel (81) is fixedly arranged on the lower surface of the rotating disc (71), the worm wheel (81) and the rotating disc (71) are coaxially arranged, the worm (82) is rotatably arranged in the movable platform (12) and meshed with the worm wheel (81), the servo motor (83) is fixedly arranged on the movable platform (12), a driving shaft of the servo motor (83) is fixedly connected with the worm (82), and the control switch (84) is arranged on the seat (7) and is used for controlling the servo motor (83) to rotate forwards and reversely.

6. The motion simulator using a four-degree-of-freedom parallel mechanism according to claim 5, wherein: a plurality of embedding grooves (9) are formed in the bottom wall of the rotating groove (72), and supporting balls (91) which abut against the bottom wall of the rotating disc (71) are rotationally arranged in the embedding grooves (9).

7. The motion simulator using a four-degree-of-freedom parallel mechanism according to claim 5, wherein: the movable platform (12) is symmetrically provided with a group of limiting ring plates (10), and the lower surfaces of the limiting ring plates (10) are attached to the upper surface of the rotating disc (71).

8. The motion simulator using the four-degree-of-freedom parallel mechanism according to claim 7, wherein: the bottom of the limiting ring plate (10) is fixedly provided with a dovetail block (101), a dovetail groove (102) is formed in the movable platform (12), the dovetail block (101) is arranged in the dovetail groove (102) in a sliding mode, and a locking bolt (1011) which is abutted to the bottom wall of the dovetail groove (102) is connected to the dovetail block (101) in a threaded mode.