CN113495496B - Large-inertia three-degree-of-freedom gesture simulation device - Google Patents
Large-inertia three-degree-of-freedom gesture simulation device Download PDFInfo
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- CN113495496B CN113495496B CN202110628773.4A CN202110628773A CN113495496B CN 113495496 B CN113495496 B CN 113495496B CN 202110628773 A CN202110628773 A CN 202110628773A CN 113495496 B CN113495496 B CN 113495496B
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- 238000004088 simulation Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 238000005096 rolling process Methods 0.000 claims abstract description 24
- 238000010008 shearing Methods 0.000 claims description 38
- 230000006835 compression Effects 0.000 claims description 29
- 238000007906 compression Methods 0.000 claims description 29
- 238000005056 compaction Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007123 defense Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
The invention belongs to the technical field of gesture simulation, and particularly relates to a large-inertia three-degree-of-freedom gesture simulation device. The device comprises a vertical lifting mechanism, a horizontal slewing mechanism and an axial rolling mechanism, wherein the horizontal slewing mechanism is arranged on the vertical lifting mechanism, two groups of axial rolling mechanisms which are symmetrically arranged are arranged on the horizontal slewing mechanism, the axial rolling mechanism is divided into a driving part and a driven part, the axial rolling mechanism of the driven part comprises a large gear, the two sides of the large gear are symmetrically arranged on a supporting base, a supporting cushion block and a pressing cushion block are arranged on the inner side of the large gear, the pressing cushion block is clamped on the large gear through a groove on the side surface, the groove in the pressing cushion block is connected with one end of a pressing screw rod which is I-shaped, the pressing screw rod is arranged in a hole of an I-shaped fixing block, and the I-shaped fixing block is fixed on the large gear; the axial rolling mechanism of the driving part comprises a mechanism of the driven part and a driving mechanism, and the driving mechanism is meshed with the large gear.
Description
Technical Field
The invention belongs to the technical field of gesture simulation, and particularly relates to a large-inertia three-degree-of-freedom gesture simulation device.
Background
The attitude simulation system is generally applied to the fields of simulating the attitude and semi-physical simulation of a cylindrical workpiece to be tested, and is widely applied to the fields of national defense industry such as aerospace and the like and the field of precise measurement.
The gesture simulation is an important branch of the semi-physical simulation technology, and the application of the semi-physical simulation technology in China is mainly focused on the national defense technology field and is mainly used for testing small inertia workpieces. However, due to the lack of corresponding theoretical basis and test equipment, there are fewer attitude simulation devices with large inertia.
The invention provides a large-inertia three-degree-of-freedom gesture simulation device. The device can realize the gesture simulation of three degrees of freedom of vertical lifting, horizontal rotation and axial rolling of the measured piece. The three degrees of freedom can be independently moved and can be linked.
Disclosure of Invention
The invention provides a large-inertia three-degree-of-freedom gesture simulation device for widening the application range of a large-inertia gesture simulation system.
The invention adopts the following technical scheme: the large inertia three-degree-of-freedom gesture simulation device comprises a vertical lifting mechanism, a horizontal rotation mechanism and an axial rolling mechanism, wherein the horizontal rotation mechanism is arranged on the vertical lifting mechanism, two groups of axial rolling mechanisms which are symmetrically arranged are arranged on the horizontal rotation mechanism, the axial rolling mechanism is divided into a driving part and a driven part, the axial rolling mechanism of the driven part comprises a large gear, the two sides of the large gear are symmetrically arranged on a supporting base, three fracture parts are arranged on the large gear, the fracture parts at the topmost part are fixedly connected through a locking device, the fracture parts at the two sides are fixedly connected through a gear connecting piece, a supporting cushion block and a compression cushion block are arranged on the inner side of the large gear, the compression cushion block is clamped on the large gear through a groove at the side face, the groove inside the compression cushion block is connected with one end of a compression screw in an I shape, the compression screw is arranged in a hole of an I-shaped fixing block, and the I-shaped fixing block is fixed on the large gear; the axial rolling mechanism of the driving part comprises a mechanism of the driven part and a driving mechanism, and the driving mechanism is meshed with the large gear.
Furthermore, the large gear adopts a hollowed rib plate structure on the inner side, and double rows of teeth are distributed on the outer side; the large gear comprises a left minor arc tooth, a major arc tooth and a right minor arc tooth, wherein the central angles of the left minor arc tooth and the right minor arc tooth are 60 degrees, and the two teeth are identical in structure and symmetrically arranged about a central line; the left minor arc tooth and the right minor arc tooth form a fracture I, the major arc tooth and the right minor arc tooth form a fracture II, the left minor arc tooth and the right minor arc tooth form a fracture III, the fracture I and the fracture II are symmetrical about a central line, the inner sides of the left minor arc tooth and the right minor arc tooth are provided with notches, the two sides of the notches are provided with small holes and adopt rib plate structures, and the notches are used for fixing I-shaped fixed blocks and providing sliding tracks for the compression cushion blocks; the major arc teeth are symmetrically distributed with two rows of small holes for installing the supporting cushion block.
Further, the support base comprises a compression wheel, a compression block, a guide rod, a support seat, an L-shaped support block, a support guide rail, a support slide block, a support wheel and a guide wheel, wherein the support seat is fixed on the horizontal slewing mechanism through the L-shaped support block, the support guide rail is arranged on the inclined surface of the support seat and connected with the support slide block, and the support guide rail is embedded in a groove of the support slide block; the supporting slide block is in a convex shape, and the front surface and the rear surface are provided with compression blocks; two large holes are formed in the compaction block, a compaction wheel is arranged on the outer side of each large hole, and a small hole is formed in the center of the inner side of each compaction wheel; a guide rod is arranged at the middle line of the outer side of the compression block; a guide wheel is arranged on the guide rod and is contacted with the inner side of the major arc tooth, and the movement of the large gear is limited from the inner side; the supporting wheel is dumbbell-shaped, fixes between two pinch rollers, and the inboard of supporting wheel contacts with the outside of gear wheel for support gear wheel, limit gear wheel removal from the outside.
Further, the driving mechanism comprises a driving motor, a base, a driving gear, a bearing and a bearing end cover, wherein a flange of the base is fixed on the horizontal slewing mechanism, the bearing is installed on the base, the bearing end covers are installed on two sides of the bearing, the driving gear is installed on a shaft of the driving motor and jointly installed in the bearing, and the driving gear is used for providing power for axial transverse rolling and meshed with the large gear to drive the large gear to rotate.
Further, the locking device comprises a left locking block and a right locking block, the left locking block and the right locking block are identical and are symmetrically arranged, and the left locking block is fixed in the middle of the double rows of teeth of the left inferior arc teeth and is positioned at the left side of the fracture III; the right locking block is fixed in the middle of the right inferior arc tooth double rows of teeth and is positioned on the right side of the fracture III; the left locking block and the right locking block are locked by pins.
Further, the gear connecting piece comprises a fixing piece and a rotating piece, wherein the fixing piece is fixed in the middle of the double rows of teeth of the major arc teeth and is positioned below the fracture I or the fracture II; the rotating piece is fixed between the double rows of the left minor arc teeth or the right minor arc teeth and is positioned above the fracture I or the fracture II; the rotating piece is connected with the fixing piece through a hole shaft, so that the left inferior arc tooth or the right inferior arc tooth can rotate conveniently.
Further, the vertical lifting mechanism comprises a fixed hinged support, an outer shearing fork arm, an inner shearing fork arm, a double hydraulic cylinder, a crankshaft, a connecting block, a connecting platform, a sliding block and an I-shaped guide rail, wherein the horizontal end of the fixed hinged support is fixed, and the semicircular end is connected with the circular end of the outer shearing fork arm; the outer shearing fork arms and the inner shearing fork arms are respectively provided with an upper layer and a lower layer, and the triangular ends of the two outer shearing fork arms on the upper layer and the lower layer on the same surface are connected through screws; the center of the outer shearing fork arm is provided with a hole and is connected with the center of the inner shearing fork arm through a pin shaft; triangular ends of two inner scissor arms of the upper layer and the lower layer on the same surface are connected through screws; a crankshaft is arranged between two inner shearing fork arms of the same layer, a connecting double hydraulic cylinder is connected between the two crankshafts, the round end at the top of each inner shearing fork arm is connected with a connecting block, a fixed platform is arranged between the connecting blocks at two sides, and two rows of sliding blocks are arranged below the fixed platform; the sliding block is in a concave shape, and an I-shaped guide rail is embedded in the sliding block.
Further, the horizontal rotary mechanism comprises a horizontal rotary platform, a support panel, a horizontal driving motor, a primary driving gear and a rotary support bearing, wherein the rotary support bearing comprises an outer gear and an inner ring, and two sides of the bottom of the support panel are respectively connected with the fixed hinge support and the I-shaped guide rail; the support panel is provided with a horizontal driving motor, the output end of the horizontal driving motor is connected with a primary driving gear through a worm gear, the primary driving gear is meshed with an external gear of the rotary support bearing, and the external gear is fixed with a horizontal rotary platform; the inner ring of the slewing bearing is fixed with the support panel.
Compared with the prior art, the invention has the following beneficial effects:
1) The gesture simulation device is novel in structure and comprises three degrees of freedom of movement, each degree of freedom is not interfered with each other, and the gesture simulation device can operate in a single degree of freedom and can also be linked in a plurality of degrees of freedom.
2) The horizontal slewing mechanism adopts a slewing bearing, has a simple structure and operates stably.
3) The axial rolling mechanism adopts a three-point positioning mode to fix the position of the tested workpiece. The position of the supporting point can be adjusted along with the diameter of the measured piece, so that the application range of gesture simulation is widened.
Drawings
FIG. 1 is a three-dimensional block diagram of a large inertia three-degree-of-freedom gesture simulation device of the present invention;
FIG. 2 is a three-dimensional block diagram of the vertical lift mechanism of the present invention;
FIG. 3 is a three-dimensional block diagram of a connection platform of the vertical lift mechanism of the present invention;
FIG. 4 is a three-dimensional block diagram of the horizontal turning mechanism of the present invention;
FIG. 5 is a three-dimensional block diagram of the axial roll mechanism of the present invention;
FIG. 6 is a three-dimensional mechanical diagram of a support base in the axial roll mechanism of the present invention;
FIG. 7 is a three-dimensional block diagram of a drive mechanism in the axial roll mechanism of the present invention;
FIG. 8 is a schematic view of the large gear configuration of the present invention;
FIG. 9 is a schematic view of the structure of the locking device of the present invention;
fig. 10 is a schematic view of the gear coupling of the present invention.
Detailed Description
As shown in fig. 1, the invention provides a large-inertia three-degree-of-freedom gesture simulation device which comprises a vertical lifting mechanism 1, a horizontal slewing mechanism 2 and an axial rolling mechanism 3.
As shown in fig. 2 and 3, the vertical lifting mechanism 1 comprises a fixed hinged support 11, an outer shearing fork arm 12, an inner shearing fork arm 13, a double hydraulic cylinder 14, a crankshaft 15, a connecting block 16, a connecting platform 17, a sliding block 18 and an i-shaped guide rail 19, and is used for simulating the freedom degree of vertical lifting movement. The whole vertical lifting mechanism 1 is divided into an upper layer and a lower layer, and the front surface and the rear surface of the vertical lifting mechanism comprise an inner shearing fork arm and an outer shearing fork arm. The horizontal end of the fixed hinge support 11 is fixed, and the semicircular end is connected with the circular end of the outer shearing fork arm 12; triangular ends of two outer shearing fork arms 12 on the upper layer and the lower layer on the same surface are connected through screws; the center of the outer shearing fork arm 12 is provided with a hole and is connected with the center of the inner shearing fork arm 13 through a pin shaft; triangular ends of two inner scissor arms 13 on the upper layer and the lower layer on the same surface are connected through screws; a crankshaft 15 is arranged between the two inner shearing arms 13 of the same layer to provide support for the double hydraulic cylinders 14; two ends of the double hydraulic cylinders 14 are respectively connected with two crankshafts 15; the round end of the inner scissor arm 13 is connected with the connecting block 16; the connecting blocks 16 are arranged on two sides of the fixed platform 17; two rows of sliding blocks 18 are arranged below the fixed platform 17; the sliding block 18 is in a concave shape and is embedded on the I-shaped guide rail 19; the upper layer of I-shaped guide rails 19 are fixed on the support panel 22, and the lower layer of I-shaped guide rails 19 are fixed on the ground.
As shown in fig. 4, the horizontal slewing mechanism 2 is installed above the vertical lift mechanism 1, and includes a horizontal slewing platform 21, a support panel 22, a horizontal drive motor 23, a primary drive gear 24, and a slewing bearing 25, wherein the slewing bearing includes an outer gear 251 and an inner ring 252 for simulating the degree of freedom of horizontal slewing motion. The support panel 22 is connected with the vertical lifting mechanism 1 through the upper layer fixed hinge support 11 and the upper layer I-shaped guide rail 19; a horizontal driving motor 23 is arranged below the support panel 22 to provide power for horizontal rotation; the output end of the horizontal driving motor 23 is connected with a primary driving gear 24 through a worm gear; the primary drive gear 24 is meshed with an external gear 251 of the slewing bearing; the external gear 251 is fixed with the horizontal rotary platform 21; the inner race 252 of the slewing bearing is fixed to the support panel 22.
As shown in fig. 5, the axial rolling mechanism 3 is installed above the horizontal slewing mechanism 2, and comprises a locking device 31, a gear connecting piece 32, a supporting cushion block 33, a supporting base 34, a driving mechanism 35, a large gear 36, a pressing cushion block 37, an i-shaped fixing block 38 and a pressing screw 39, wherein the supporting base 34 comprises a pressing wheel 341, a pressing block 342, a guide rod 343, a supporting base 344, an L-shaped supporting block 345, a supporting guide rail 346, a supporting slide block 347, a supporting wheel 348 and a guide wheel 349, and the driving mechanism 35 comprises a driving motor 351, a base 352, a driving gear 353, a bearing 354 and a bearing end cover 355, and is used for simulating the freedom degree of axial rolling motion.
The large gear 36 is a specially customized gear with three breaks for loading and unloading the cylindrical workpiece to be tested; the locking device 31 is divided into two parts, two sides of the fracture at the highest point of the large gear 36 are respectively installed, and the large gear 36 is locked by a pin; the supporting cushion block 33 is arranged on the inner side of the large gear 36 to prevent the abrasion of the tested workpiece; the horizontal planes of the L-shaped supporting blocks 345, the horizontal rotary platform 21 and the supporting seat 344 are fixed together; the supporting rail 346 is installed on the inclined surface of the supporting seat 344; the support rail 346 is embedded in the groove of the support slider 347; the two sides of the supporting slide block 347 are provided with a compression block 342, a large hole of the compression block 342 is provided with a compression wheel, and the outer side of the compression block 342 is provided with a guide rod 343; the guide rod 343 is provided with a guide wheel 349 which is contacted with the inner side of the large gear and is used for providing the position guide of the large gear 36; the supporting wheel 348 is matched with the large hole on the compression block 342 through the shaft of the supporting wheel 348 and is used for supporting the large gear 36; the flange of the base 352 is fixed on the horizontal rotary platform 21, a bearing 354 is arranged in a hole of the base 352, and a bearing end cover 355 is arranged on the outer side of the base 352; a driving gear 353 is arranged on the shaft of the driving motor 351 and is jointly arranged in the bearing for providing power for axial transverse rolling; the driving gear 353 is engaged with the large gear 36 to rotate the large gear. The I-shaped fixed block 38 is fixed on the large gear 36, and a compression screw 39 is arranged in a hole of the I-shaped fixed block 38; one end of the compression screw 39 is used for adjusting the position of the screw, and the other end is I-shaped and is embedded in an inner groove of the compression cushion block 37; the hold-down pad 37 is clamped on the gearwheel 36 by a lateral recess.
The axial rolling mechanism is divided into two parts, one part is driven and the other part is driven. The driving part provides driving force through the driving motor, and then drives the driven part to rotate. The driving part compresses tightly through the compression cushion block 37, the I-shaped fixed block 38 and the compression screw 39, and positions the cylindrical workpiece to be measured through three supporting points of two supporting wheels 348 and a driving gear 353. The driven portion is assisted in positioning by two support wheels 348. Wherein the supporting wheel 348 can be adjusted in position by means of a supporting slide 347.
The support base 34 includes two support wheels 348, with only one support wheel 348 providing a support point at a time. The diameter of the workpiece determines the position of the support slide 347 and also which support wheel 348 on the same support base 34 provides support.
In the invention, the horizontal end of the lower layer fixed hinge support 11 is fixed on the traction trolley through a ground angle bolt, the horizontal end of the upper layer fixed hinge support 11 is fixed on the support panel 22 through a bolt, and the other end is connected with the round end of the outer shearing fork arm 12 through a countersunk head screw to form a hinge; triangular ends of the two outer shearing fork arms 12 on the upper layer and the lower layer are connected through screws to form a rotary pair; the center of the outer shearing fork arm 12 is provided with a hole, and the outer shearing fork arm is connected with the center of the inner shearing fork arm 13 through a pin shaft to form a rotary pair; triangular ends of the two inner shearing fork arms 13 on the upper layer and the lower layer are connected through screws to form a rotary pair; a crankshaft 15 is arranged between two inner shearing fork arms 13 on the same layer through a shaft hole structure, so that support is provided for the double hydraulic cylinders 14; two ends of the double hydraulic cylinders 14 are respectively connected with two crankshafts 15 through pin shafts, and are used for providing power for vertical lifting of the system; the round end of the inner shearing fork arm 13 is connected with the connecting block 16 through a bolt; the side surfaces of the connecting blocks 16 are arranged on the two sides of the fixed platform 17 through bolts and nuts; two rows of sliding blocks 18 are arranged below the fixed platform 17 through screws; the sliding block 18 is in a concave shape and is embedded on the I-shaped guide rail 19 to form a moving pair; the upper layer of I-shaped guide rail 19 is fixed on the support panel 22 through bolts and nuts, and the lower layer of I-shaped guide rail 19 is fixed on the traction trolley through foundation bolts.
As shown in fig. 3, the connection blocks 16 are mounted on both sides of the fixing platform 17 by screws; the horizontal plane and the side surface of the fixed platform 17 are welded together, and rib plate structures are added at the joints to prevent the side surface from being deformed under stress; two rows of sliding blocks 18 are arranged below the fixed platform 17 through countersunk head screws, so that the contact area is increased, and the sliding blocks 18 are prevented from being deformed under pressure; the sliding block 18 is in a concave shape and is embedded on the I-shaped guide rail 19; the upper layer of I-shaped guide rails 19 are fixed on the support panel 22, and the lower layer of I-shaped guide rails 19 are fixed on the ground. The contact surface of the sliding block 18 and the I-shaped guide rail 19 adopts a horizontal plane, so that the effective stress area is increased, and the I-shaped guide rail 19 is prevented from being deformed under pressure.
In the invention, the support panel 22 is connected with the fixed hinge support 11 and the upper guide rail 19 through screw nuts; the support panel 22 is provided with small holes, and a horizontal driving motor 23 is fixed by screws to provide horizontal rotation power; the output end of the horizontal driving motor 23 is connected with a primary driving gear 24 through a worm gear and a worm, and is used for transmitting torque; the primary drive gear 24 is meshed with an external gear 251 of the slewing bearing to form a gear pair; the external gear 251 of the slewing bearing is fixed with the horizontal slewing platform 21 through a screw nut; the inner race 252 of the slewing bearing is secured to the support panel 22 by a screw and nut.
In the present invention, the large gear 36 is specially processed, the inner side is in a hollow rib plate structure, and double rows of teeth are distributed on the outer side. The novel tooth structure comprises a left minor arc tooth 361, a major arc tooth 362 and a right minor arc tooth 363, wherein the central angles of the left minor arc tooth and the right minor arc tooth are 60 degrees, are identical and are symmetrically distributed about a central line. The left minor arc tooth 361 and the major arc tooth 362 form a fracture 1, the major arc tooth 362 and the right minor arc tooth 363 form a fracture 2, and the left minor arc tooth 361 and the right minor arc tooth 363 form a fracture 3, wherein the fractures 1, 2 are symmetrical about a center line. The inner sides of the left and right minor arc teeth are provided with notches, both sides of the notches are provided with small holes and are in rib plate structures, and the notches are used for fixing the I-shaped fixed blocks 38 and providing sliding tracks for the compression cushion blocks 37; the major arc teeth 362 are symmetrically distributed with two rows of small holes for mounting the support cushion 33.
As shown in fig. 6, the horizontal plane of the L-shaped supporting block 345 and the bottom surface of the supporting seat 344 are fixed together on the horizontal rotary platform 21; the side surface of the L-shaped supporting block 345 is fixed with the side surface of the supporting seat 344; the supporting rail 346 is installed on the inclined surface of the supporting seat 344; the support rail 346 is embedded in the groove of the support slider 347; the supporting slide block 347 is in a convex shape, and the pressing blocks 342 are arranged on the front surface and the rear surface; two large holes are formed in the compression block 342, a compression wheel 341 is arranged on the outer side of each large hole, and a small hole is formed in the center of the inner side of each compression wheel 341; a guide rod 343 is arranged at the middle line of the outer side of the compression block 342; the guide bar 343 is provided with a guide wheel 349 which contacts the inner side of the major arc teeth 362 and restricts the movement of the large gear 36 from the inner side; the supporting wheel 348 has a dumbbell shape and is fixed between the two pressing wheels 341, and the inner side of the wheel of the supporting wheel 348 contacts with the outer side of the large gear 36 for supporting the large gear 36 and restricting the movement of the large gear 36 from the outer side.
By adjusting the position of the supporting point through the supporting rail 346 and the supporting slider 347, the large gear 36 with different diameters can be replaced, and the diameter range of the workpiece to be measured is widened. The support seat 34 limits the large gear 36 from the inner and outer sides, and is safer, more reliable and uniformly stressed than a conventional single point support.
As shown in fig. 9, the locking device 31 includes a left locking block 311 and a right locking block 312, which are identical and symmetrically distributed. The left locking block 311 is fixed in the middle of the double rows of the left minor arc teeth 361 and is positioned at the left side of the fracture 3; the right locking block 312 is fixed in the middle of the double rows of right minor arc teeth 362 and positioned on the right side of the fracture 3; the left locking block and the right locking block are locked through pins.
As shown in fig. 10, the gear coupling 32 includes a fixed member 321 and a rotary member 322. The fixing piece 321 is fixed in the middle of the double rows of the major arc teeth 362 and is positioned below the fracture 1; the rotating piece 322 is fixed in the middle of the double rows of the left minor arc teeth 361 and is positioned above the fracture 1; the rotating member 322 and the fixing member 321 are connected through a hole shaft, so that the left inferior arc tooth 363 can rotate conveniently. The fixing piece 321 is fixed in the middle of the double rows of the major arc teeth 362 and is positioned below the fracture 2; the rotating piece 322 is fixed in the middle of the double rows of teeth of the right inferior arc tooth 363 and is positioned above the fracture 2; the rotating member 322 and the fixing member 321 are connected through a hole shaft, so that the right inferior arc tooth 363 can rotate conveniently.
Claims (5)
1. A large inertia three-degree-of-freedom gesture simulation device is characterized in that: the device comprises a vertical lifting mechanism (1), a horizontal slewing mechanism (2) and an axial rolling mechanism (3), wherein the horizontal slewing mechanism (2) is arranged on the vertical lifting mechanism (1), two groups of symmetrical axial rolling mechanisms (3) are arranged on the horizontal slewing mechanism (2), the axial rolling mechanism is divided into a driving part and a driven part, the axial rolling mechanism (3) of the driven part comprises a large gear (36), the two sides of the large gear (36) are symmetrically arranged on a supporting base (34), three fracture parts are arranged on the large gear (36), the fracture parts at the top are fixedly connected through a locking device (31), the fracture parts at the two sides are fixedly connected through a gear connecting piece (32), a supporting cushion block (33) and a pressing cushion block (37) are arranged on the inner side of the large gear (36), the pressing cushion block (37) is clamped on the large gear (36) through a groove at the side face, the groove inside the pressing cushion block (37) is connected with one end of a pressing screw (39) in an I shape, the pressing screw (39) is arranged in a hole of an I-shaped fixing block (38), and the I-shaped fixing block (38) is fixed on the large gear (36); the axial rolling mechanism (3) of the driving part comprises a mechanism of the driven part and a driving mechanism (35), and the driving mechanism (35) is meshed with the large gear (26);
the large gear (36) is of a hollow rib plate structure at the inner side, and double rows of teeth are distributed at the outer side; the large gear (36) comprises a left minor arc tooth (361), a major arc tooth (362) and a right minor arc tooth (363), wherein the central angles of the left minor arc tooth (361) and the right minor arc tooth (363) are 60 degrees, and the two are identical in structure and symmetrically arranged about a central line; the left minor arc tooth (361) and the major arc tooth (362) form a fracture I, the major arc tooth (362) and the right minor arc tooth (363) form a fracture II, the left minor arc tooth (361) and the right minor arc tooth (363) form a fracture III, the fracture I and the fracture II are symmetrical about a central line, the inner sides of the left minor arc tooth (361) and the right minor arc tooth (363) are provided with notches, the two sides of the notches are provided with small holes and adopt rib plate structures, and the small holes are used for fixing the I-shaped fixed blocks (38) and providing sliding tracks for the compression cushion blocks (37); two rows of small holes are symmetrically distributed on the major arc teeth (362) and are used for installing the supporting cushion block (33);
the locking device (31) comprises a left locking block (311) and a right locking block (312), the left locking block and the right locking block are completely identical and symmetrically arranged, and the left locking block (311) is fixed in the middle of double rows of teeth of the left inferior arc tooth (361) and is positioned at the left side of the fracture III; the right locking block (312) is fixed in the middle of the double rows of teeth of the right inferior arc teeth (362) and is positioned on the right side of the fracture III; the left locking block and the right locking block are locked by pins;
the gear connecting piece (32) comprises a fixing piece (321) and a rotating piece (322), wherein the fixing piece (321) is fixed in the middle of the double rows of teeth of the major arc teeth (362) and is positioned below the fracture I or the fracture II; the rotating piece (322) is fixed between the double rows of teeth of the left minor arc tooth (361) or the right minor arc tooth (363) and is positioned above the fracture I or the fracture II; the rotating piece (322) and the fixing piece (321) are connected through a hole shaft, so that the left inferior arc tooth (363) or the right inferior arc tooth (363) can rotate conveniently.
2. The high inertia three degree of freedom gesture simulation apparatus of claim 1, wherein: the supporting base (34) comprises a compression wheel (341), a compression block (342), a guide rod (343), a supporting seat (344), an L-shaped supporting block (345), a supporting guide rail (346), a supporting sliding block (347), a supporting wheel (348) and a guide wheel (349), the supporting seat (344) is fixed on the horizontal rotary mechanism (2) through the L-shaped supporting block (345), a supporting guide rail (346) is arranged on the inclined surface of the supporting seat (344), the supporting guide rail (346) is connected with the supporting sliding block (347), and the supporting guide rail (346) is inlaid in a groove of the supporting sliding block (347); the supporting slide block (347) is in a convex shape, and the front surface and the rear surface are provided with compression blocks (342); two large holes are formed in the compaction block (342), a compaction wheel (341) is arranged on the outer side of each large hole, and a small hole is formed in the center of the inner side of each compaction wheel (341); a guide rod (343) is arranged at the middle line of the outer side of the compaction block (342); a guide wheel (349) is arranged on the guide rod (343), contacts with the inner side of the major arc tooth (362) and limits the movement of the large gear (36) from the inner side; the supporting wheel (348) is dumbbell-shaped and is fixed between the two pressing wheels (341), and the inner side of the supporting wheel (348) is in contact with the outer side of the large gear (36) and is used for supporting the large gear (36) and limiting the large gear (36) to move from the outer side.
3. The high inertia three degree of freedom gesture simulation apparatus of claim 2, wherein: the driving mechanism (35) comprises a driving motor (351), a base (352), a driving gear (353), a bearing (354) and a bearing end cover (355), wherein a flange of the base (352) is fixed on the horizontal rotary mechanism (2), the bearing (354) is installed on the base (352), the bearing end covers (355) are installed on two sides of the bearing (354), the driving gear (353) is installed on the shaft of the driving motor (351) and jointly installed in the bearing (354) to be used for providing power for axial transverse rolling, and the driving gear (353) is meshed with the large gear (36) to drive the large gear to rotate.
4. A high inertia three degree of freedom gesture simulation apparatus according to claim 3, wherein: the vertical lifting mechanism (1) comprises a fixed hinge support (11), an outer shearing fork arm (12), an inner shearing fork arm (13), a double hydraulic cylinder (14), a crankshaft (15), a connecting block (16), a connecting platform (17), a sliding block (18) and an I-shaped guide rail (19), wherein the horizontal end of the fixed hinge support (11) is fixed, and the semicircular end is connected with the circular end of the outer shearing fork arm (12); the outer shearing fork arms (12) and the inner shearing fork arms (13) are respectively provided with an upper layer and a lower layer, and the triangular ends of the two outer shearing fork arms (12) on the upper layer and the lower layer on the same surface are connected through screws; the center of the outer shearing fork arm (12) is provided with a hole, and the outer shearing fork arm is connected with the center of the inner shearing fork arm (13) through a pin shaft; triangular ends of two inner scissor arms (13) of the upper layer and the lower layer on the same surface are connected through screws; a crankshaft (15) is arranged between two inner shearing fork arms (13) of the same layer, a connecting double hydraulic cylinder (14) is connected between the two crankshafts (15), the round end at the top of each inner shearing fork arm (13) is connected with a connecting block (16), a fixed platform (17) is arranged between the connecting blocks (16) at two sides, and two rows of sliding blocks (18) are arranged below the fixed platform (17); the sliding block (18) is in a concave shape, and an I-shaped guide rail (19) is embedded in the sliding block (18).
5. The high inertia three degree of freedom gesture simulation apparatus of claim 4, wherein: the horizontal rotary mechanism (2) comprises a horizontal rotary platform (21), a support panel (22), a horizontal driving motor (23), a primary driving gear (24) and a rotary support bearing (25), wherein the rotary support bearing comprises an outer gear (251) and an inner ring (252), and two sides of the bottom of the support panel (22) are respectively connected with the fixed hinge support (11) and the I-shaped guide rail (19); a horizontal driving motor (23) is arranged on the support panel (22), the output end of the horizontal driving motor (23) is connected with a primary driving gear (24) through a worm gear, the primary driving gear (24) is meshed with an external gear (251) of the rotary support bearing, and the external gear (251) is fixed with the horizontal rotary platform (21); an inner ring (252) of the slewing bearing is fixed with the support panel (22).
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