CN113457077A - Four-degree-of-freedom series-parallel riding motion simulation platform - Google Patents
Four-degree-of-freedom series-parallel riding motion simulation platform Download PDFInfo
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- CN113457077A CN113457077A CN202110885624.6A CN202110885624A CN113457077A CN 113457077 A CN113457077 A CN 113457077A CN 202110885624 A CN202110885624 A CN 202110885624A CN 113457077 A CN113457077 A CN 113457077A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
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- General Health & Medical Sciences (AREA)
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- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention relates to a four-degree-of-freedom series-parallel riding motion simulation platform with two-dimensional movement and two-dimensional rotation; the four-bar linkage type four-bar linkage four-; eight have simple structure, the precision is high, bearing capacity is strong, terminal accumulative error is little and accord with the bicycle motion characteristic etc. advantage, can realize terminal two-dimensional rotation and two-dimensional removal under the interact of four groups of electronic jar drive branches.
Description
Technical Field
The invention belongs to the field of fitness equipment, and particularly relates to a four-degree-of-freedom series-parallel riding motion simulation platform with two-dimensional movement and two-dimensional rotation.
Background
With the rapid improvement of economic level and the overall improvement of national quality of life, people begin to pay attention to how to improve the quality of life, and exercise and fitness become a large target pursued by people for healthy life. Under the background of low-carbon sustainable development, the concept of green travel is deep in mind, and riding sports are popular in the world. The bicycle is simple and convenient to ride, has high interestingness, and becomes a new choice for body building of people. However, along with economic development, the environment deteriorates, a layer of shadow is covered on outdoor riding in frequent haze weather, traffic jam occurs, and the safety of outdoor riding is reduced due to the fact that the outdoor riding is carried out by an uncertified driver. Therefore, many people desire to perform an indoor cycling exercise to overcome the undesirable effects of the above factors. Therefore, the bicycle exercise simulator is suitable for being used without being limited by conditions such as weather, time, traffic jam and the like, and the bicycle fitness equipment which does not lack the riding fun is gradually developed. At present, the platform of riding that market was used simple function, single structure adopt the direct mode with bicycle fixed mounting mostly, can't really restore the experience of riding.
The riding motion simulation platform based on the hybrid structure has the characteristics of small accumulated error of the tail ends of the parallel mechanisms, high rigidity and bearing capacity and the like, has the advantage of large motion space of the serial mechanisms, and can realize the advantage complementation of the serial and parallel mechanisms. However, at present, a more common motion simulator is a Stewart six-degree-of-freedom parallel motion simulator, and a riding motion simulation platform with four degrees of freedom, which is based on a serial-parallel series-parallel connection structure form and has practicability, is not common.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a four-degree-of-freedom series-parallel riding motion simulation platform capable of realizing two-dimensional movement and two-dimensional rotation. The series-parallel mechanism has the advantages of simple structure, high precision, strong bearing capacity, small terminal accumulated error, accordance with riding motion characteristics and the like, and has good application prospect in the field of fitness equipment.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a four-degree-of-freedom series-parallel riding motion simulation platform comprises a base, a middle execution mechanism and four driving branches, namely a front driving branch, a rear driving branch, a left driving branch and a right driving branch; the base is U-shaped and comprises a bottom plate and a left baffle and a right baffle; the middle actuating mechanism is formed by sequentially and rotatably connecting a first connecting seat, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a second connecting seat in pairs, wherein the end parts of the first connecting seat and the second connecting seat are fixed on a bottom plate of the base; a support plate is arranged above the middle actuating mechanism, a bicycle frame body is fixed at the top of the support plate, a support shaft is fixedly connected to the bottom of the support plate and penetrates through a gap between the two third connecting rods, two partition plates perpendicular to the third connecting rods are fixedly connected between the two third connecting rods, and a fourth rotating shaft which penetrates through the support shaft and is parallel to the third connecting rods is fixedly connected between the two partition plates; the bottom end of the supporting shaft forms a front-back branching structure and is respectively connected with the front-back driving branch, the front driving branch comprises a first U-shaped kinematic pair, a first electric cylinder component and a first spherical kinematic pair which are sequentially connected together, the back driving branch comprises a second U-shaped kinematic pair, a second electric cylinder component and a second spherical kinematic pair which are sequentially connected together, the first U-shaped kinematic pair and the second U-shaped kinematic pair are respectively connected with the bottom end of the supporting shaft in a branching manner, and one ends of the first spherical kinematic pair and one end of the second spherical kinematic pair are respectively fixed on the bottom plate of the base; the left driving branch comprises a third electric cylinder assembly, the telescopic end of the third electric cylinder assembly is rotatably connected with the rotating part between the first connecting rod and the second connecting rod, and the fixed end of the third electric cylinder assembly is rotatably connected with the left baffle plate of the base through an eighth rotating shaft; the right driving branch comprises a fourth electric cylinder assembly, the telescopic end of the fourth electric cylinder assembly is rotatably connected with a rotating part between the fourth connecting rod and the fifth connecting rod, and the fixed end of the fourth electric cylinder assembly is rotatably connected with the right baffle of the base through a ninth rotating shaft.
The parallel-serial mechanism has the advantages of simple structure, high precision, strong bearing capacity, small accumulated error of the tail end, conformity to the riding motion characteristics of the bicycle and the like, and can realize two-dimensional rotation and two-dimensional movement of the tail end under the interaction of the driving branches of the four groups of electric cylinders.
Compared with the prior art, the invention has the following beneficial effects:
1. the series-parallel mechanism has the advantages of being in line with riding motion characteristics and really restoring riding postures.
2. The invention has the advantages of simple mechanism kinematics algorithm, high precision, strong bearing capacity, simple structure, small tail end error accumulation, good manufacturability and the like.
Drawings
Fig. 1 is one of the structural perspective views of a four-degree-of-freedom series-parallel riding motion simulation platform.
Fig. 2 is a second perspective view of the structure of the four-degree-of-freedom series-parallel riding motion simulation platform.
Fig. 3 is a partially cutaway perspective view of the four-degree-of-freedom series-parallel riding motion simulation platform.
The figures are labeled as follows:
1-a base, 2-a first rotating shaft, 3-a first connecting rod, 4-a second rotating shaft, 5-a second connecting rod, 6-a third rotating shaft, 7-a fourth rotating shaft, 8-a third connecting rod, 9-a fifth rotating shaft, 10-a fourth connecting rod, 11-a sixth rotating shaft, 12-a fifth connecting rod, 13-a seventh rotating shaft, 14-a first U-shaped kinematic pair, 15-a first electric cylinder component, 16-a first spherical kinematic pair, 17-a second U-shaped kinematic pair, 18-a second electric cylinder component, 19-a second spherical kinematic pair, 20-a third electric cylinder component, 21-an eighth rotating shaft, 22-a fourth electric cylinder component, 23-a ninth rotating shaft, 24-a bicycle frame body, 25-a display screen, 26-an inertia flywheel, 27-a motor clutch magnetic resistance module, 28-a touch screen, 29-a posture sensor, 30-a first connecting seat, 31-a second connecting seat, 32-a supporting plate and 33-a supporting shaft.
Detailed Description
The present invention is further illustrated by the following specific examples.
Examples
As shown in figures 1 and 2, a four-degree-of-freedom series-parallel riding motion simulation platform comprises a base 1, a middle actuating mechanism and four driving branches which are arranged front, back, left and right; the base 1 is U-shaped and comprises a bottom plate and a left baffle and a right baffle; the middle actuating mechanism is formed by sequentially and rotatably connecting a first connecting seat 30, a first connecting rod 3, a second connecting rod 5, a third connecting rod 8, a fourth connecting rod 10, a fifth connecting rod 12 and a second connecting seat 31 in pairs, wherein the end parts of the first connecting seat 30 and the second connecting seat 31 are fixed on the bottom plate of the base 1; a supporting plate 32 is arranged above the middle actuating mechanism, a bicycle frame body 24 is fixed at the top of the supporting plate 32, a supporting shaft 33 is fixedly connected to the bottom of the supporting plate 32, the supporting shaft 33 penetrates through a gap between the two third connecting rods 8, two clapboards perpendicular to the third connecting rods 8 are fixedly connected between the two third connecting rods 8, a fourth rotating shaft 7 which penetrates through the supporting shaft 33 and is parallel to the third connecting rods 8 is fixedly connected between the two clapboards, and as shown in fig. 3, the bicycle frame body 24 is connected with the riding motion simulation platform through the seventh rotating shaft 7; the bottom end of the supporting shaft 33 forms a front-back branching structure and is respectively connected with a front-back driving branch, the front driving branch comprises a first U-shaped kinematic pair 14, a first electric cylinder assembly 15 and a first spherical kinematic pair 16 which are sequentially connected together, the back driving branch comprises a second U-shaped kinematic pair 17, a second electric cylinder assembly 18 and a second spherical kinematic pair 19 which are sequentially connected together, wherein the first U-shaped kinematic pair 14 and the second U-shaped kinematic pair 17 are respectively connected with the bottom end of the supporting shaft 33 in a branching manner, and one end of each of the first spherical kinematic pair 16 and one end of each of the second spherical kinematic pair 19 are respectively fixed on the bottom plate of the base 1; the left driving branch comprises a third electric cylinder assembly 20, the telescopic end of the third electric cylinder assembly 20 is rotatably connected with the rotating part between the first connecting rod 3 and the second connecting rod 5, and the fixed end of the third electric cylinder assembly 20 is rotatably connected with the left baffle plate of the base 1 through an eighth rotating shaft 21; the right driving branch comprises a fourth electric cylinder assembly 22, the telescopic end of the fourth electric cylinder assembly 22 is rotatably connected with the rotating part between the fourth connecting rod 10 and the fifth connecting rod 12, the fixed end of the fourth electric cylinder assembly 22 is rotatably connected with the right baffle of the base 1 through a ninth rotating shaft 23, and the eighth rotating shaft 21 and the ninth rotating shaft 23 are both arranged on the left baffle and the right baffle of the base 1 through connecting seats respectively.
Further, adjacent connecting pieces in the first connecting seat 30, the first connecting rod 3, the second connecting rod 5, the third connecting rod 8, the fourth connecting rod 10, the fifth connecting rod 12 and the second connecting seat 31 are respectively and sequentially and rotatably connected through a first rotating shaft 2, a second rotating shaft 4, a third rotating shaft 6, a fifth rotating shaft 9, a sixth rotating shaft 11 and a seventh rotating shaft 13, the telescopic end of the third electric cylinder assembly 20 is rotatably connected with the second rotating shaft 4, and the telescopic end of the fourth electric cylinder assembly 22 is rotatably connected with the sixth rotating shaft 11.
Further, a display screen 25 is mounted on the top of the left baffle of the base 1.
Further, the bicycle frame body 24 is connected with an inertia flywheel 26 and a motor clutch reluctance module 27, and the inertia flywheel 26 and the motor clutch reluctance module 27 are coaxially installed.
Further, a touch screen 28 and a pose sensor 29 are fixedly connected to the handle bar of the bicycle frame body 24.
Furthermore, the left driving branch and the right driving branch are symmetrically distributed, and the front driving branch and the rear driving branch are symmetrically distributed.
The first electric cylinder assembly 15, the second electric cylinder assembly 18, the third electric cylinder assembly 20, the fourth electric cylinder assembly 22, the motor clutch magnetic resistance module 27, the pose sensor 29, the touch screen 28 and the display screen 25 form a motion control and sensing system, the hybrid mechanism has the advantages of simple structure, high precision, strong bearing capacity, small accumulated error of the tail end, conformity with the characteristics of bicycle riding motion and the like, and can realize two-dimensional rotation and two-dimensional movement of the tail end under the interaction of four groups of electric cylinder driving branches.
Claims (6)
1. A four-degree-of-freedom series-parallel riding motion simulation platform is characterized by comprising a base (1), a middle execution mechanism and four driving branches which are front, back, left and right; the base (1) is U-shaped and comprises a bottom plate and a left baffle and a right baffle; the middle actuating mechanism is formed by sequentially and rotatably connecting a first connecting seat (30), a first connecting rod (3), a second connecting rod (5), a third connecting rod (8), a fourth connecting rod (10), a fifth connecting rod (12) and a second connecting seat (31) in pairs, wherein the end parts of the first connecting seat (30) and the second connecting seat (31) are fixed on a bottom plate of the base (1); a supporting plate (32) is arranged above the middle actuating mechanism, a bicycle frame body (24) is fixed at the top of the supporting plate (32), a supporting shaft (33) is fixedly connected to the bottom of the supporting plate (32), the supporting shaft (33) penetrates through a gap between the two third connecting rods (8), two clapboards perpendicular to the third connecting rods (8) are fixedly connected between the two third connecting rods (8), and a fourth rotating shaft (7) which penetrates through the supporting shaft (33) and is parallel to the third connecting rods (8) is fixedly connected between the two clapboards; the bottom end of the supporting shaft (33) forms a front-back branched structure and is respectively connected with a front-back driving branch, the front driving branch comprises a first U-shaped kinematic pair (14), a first electric cylinder assembly (15) and a first spherical kinematic pair (16) which are sequentially connected together, the back driving branch comprises a second U-shaped kinematic pair (17), a second electric cylinder assembly (18) and a second spherical kinematic pair (19) which are sequentially connected together, wherein the first U-shaped kinematic pair (14) and the second U-shaped kinematic pair (17) are respectively connected with the bottom end of the supporting shaft (33) in a branched way, and one ends of the first spherical kinematic pair (16) and the second spherical kinematic pair (19) are respectively fixed on the bottom plate of the base (1); the left driving branch comprises a third electric cylinder assembly (20), the telescopic end of the third electric cylinder assembly (20) is rotatably connected with the rotating part between the first connecting rod (3) and the second connecting rod (5), and the fixed end of the third electric cylinder assembly (20) is rotatably connected with the left baffle plate of the base (1) through an eighth rotating shaft (21); the right driving branch comprises a fourth electric cylinder assembly (22), the telescopic end of the fourth electric cylinder assembly (22) is rotatably connected with a rotating part between the fourth connecting rod (10) and the fifth connecting rod (12), and the fixed end of the fourth electric cylinder assembly (22) is rotatably connected with the right baffle of the base (1) through a ninth rotating shaft (23).
2. The four-degree-of-freedom series-parallel riding motion simulation platform according to claim 1, wherein adjacent connecting pieces in the first connecting seat (30), the first connecting rod (3), the second connecting rod (5), the third connecting rod (8), the fourth connecting rod (10), the fifth connecting rod (12) and the second connecting seat (31) are sequentially and respectively rotatably connected through a first rotating shaft (2), a second rotating shaft (4), a third rotating shaft (6), a fifth rotating shaft (9), a sixth rotating shaft (11) and a seventh rotating shaft (13), the telescopic end of the third electric cylinder assembly (20) is rotatably connected with the second rotating shaft (4), and the telescopic end of the fourth electric cylinder assembly (22) is rotatably connected with the sixth rotating shaft (11).
3. The four-degree-of-freedom series-parallel riding motion simulation platform according to claim 1, wherein a display screen (25) is mounted on the top of a left baffle of the base (1).
4. The four-degree-of-freedom series-parallel riding motion simulation platform according to claim 1, wherein the bicycle frame body (24) is connected with an inertia flywheel (26) and a motor clutch reluctance module (27), and the inertia flywheel (26) and the motor clutch reluctance module (27) are coaxially mounted.
5. The four-degree-of-freedom series-parallel riding motion simulation platform according to claim 1, wherein a touch screen (28) and a pose sensor (29) are fixedly connected to a handlebar of the bicycle frame body (24).
6. The four-degree-of-freedom series-parallel riding motion simulation platform according to claim 1, wherein the left driving branch and the right driving branch are symmetrically distributed, and the front driving branch and the rear driving branch are symmetrically distributed.
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| CN202110885624.6A CN113457077B (en) | 2021-08-03 | 2021-08-03 | Four-degree-of-freedom series-parallel riding motion simulation platform |
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| CN202110885624.6A CN113457077B (en) | 2021-08-03 | 2021-08-03 | Four-degree-of-freedom series-parallel riding motion simulation platform |
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