CN115019596A - Multi-degree-of-freedom motion simulation platform - Google Patents
Multi-degree-of-freedom motion simulation platform Download PDFInfo
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- CN115019596A CN115019596A CN202210692622.XA CN202210692622A CN115019596A CN 115019596 A CN115019596 A CN 115019596A CN 202210692622 A CN202210692622 A CN 202210692622A CN 115019596 A CN115019596 A CN 115019596A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 57
- 238000004088 simulation Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 12
- 239000010959 steel Substances 0.000 claims abstract description 12
- 230000008859 change Effects 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims abstract description 7
- 238000004804 winding Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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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 ropes, a steel frame, a guide device, a crane mechanism and a load cabin, wherein the ropes are distributed in a four-down-four-square mode in a spatially symmetrical mode, one end of each rope is wound on the crane mechanism, the other end of each rope bypasses the guide device and is connected to the load cabin, the load cabin realizes five-degree-of-freedom motion of an X axis, a Y axis, a Z axis, pitching and rolling along with the change of the telescopic length of eight ropes in a three-dimensional space, the load cabin comprises a load frame, an arc-shaped guide rail, a guide rail sliding block, a rotary table, a driver seat and a yaw motor, the yaw motor generates yaw torque to drive the rotary table to rotate, and yaw direction motion is realized in the three-dimensional space. Through the method, six-degree-of-freedom motion in a three-dimensional space can be realized, the method can be used for simulating the attitude and speed change of the aircraft, and a driver can feel the real motion state of the aircraft.
Description
Technical Field
The invention relates to the field of flight simulators, in particular to a multi-degree-of-freedom motion simulation platform.
Background
The flight simulator is a platform used for simulating the flight of an aircraft in space and comprises a cockpit simulation system, a vision system, a control system, a motion system and the like. The motion system is used for simulating the change of the attitude and the speed of the aircraft, and can enable a driver to be taught to feel the real motion of the aircraft. It needs to be able to truly reflect the motion state of the aircraft in six degrees of freedom in space, i.e. axial motion and pivoting in three-dimensional space coordinates. Meanwhile, as the simulated cockpit comprises various control devices, instruments and signal display equipment, the structure is complex, and the overall mass is large, a large effective load needs to be provided, and higher requirements on the stability of the motion simulation platform are provided.
The prior art discloses a six-degree-of-freedom motion platform device of a flight simulator (invention patent application publication number: CN 108053716A), which relates to a six-degree-of-freedom motion platform device of a flight simulator, wherein three identical bases are arranged on a ground platform in an equilateral triangle shape; the driving electric cylinder is connected with the bottom end of the upper hinge piece through a telescopic rod. The technical scheme can provide the six-degree-of-freedom motion platform device of the flight simulator, which has the advantages of large bearing capacity, stable and reliable driving, more movable degrees of freedom and good safety.
The flight simulator is developed based on a hexapod type motion platform and is driven by a plurality of groups of hydraulic cylinders or electric cylinders at different angles. Due to the limitation of a mechanical structure, continuous motion on a multi-angle axis cannot be realized in the process of simulating motion, and due to the limitation of the arm length of the six-foot telescopic cylinder, the six-foot telescopic cylinder is difficult to have a large motion range in the vertical direction. Thus limiting flight simulator performance to some extent.
The invention discloses a cable-driven robot device for simulating zero-gravity and low-gravity environments (patent application publication No. CN104443448A), and relates to a cable-driven robot device for simulating zero-gravity and low-gravity environments, which comprises a base frame, cables, a cable driving unit, a cable guiding device, a simulated load platform, a sensor and a control system, wherein eight cables are distributed in a spatially symmetrical 'four-up-four-down' mode, and the driving unit driven by a motor is extended or shortened by the cables to act according to instructions of the control system.
According to the rope traction scheme of the robot device, 8 ropes are used for traction of a load cabin, and load movement is achieved through rope winding and unwinding. But limited by the external frame, the nacelle configuration, and the placement of the tow points, the achievable yaw angle is very limited, and a large moment is required to achieve yaw, which may not even be achieved under some extreme conditions. Thus limiting the performance of the motion platform to some extent.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a multi-degree-of-freedom motion simulation platform, which can perform large-scale displacement motion in space and complete continuous axial motion on multiple axes, so as to effectively solve the problem that the yaw angle is limited by the external frame, the cabin configuration and the placement of the traction point, realize large-scale yaw, reduce the yaw load force of the rope, and provide a large effective load.
In order to achieve the purpose, the invention provides a multi-degree-of-freedom motion simulation platform which comprises ropes, a steel frame, a guide device, a crane mechanism and a load cabin, wherein four sets of crane mechanisms with 90-degree intervals are respectively installed at the upper end and the lower end of the steel frame, the guide device is respectively installed at the upper end and the lower end of the steel frame and correspondingly positioned in front of the crane mechanism, the ropes are distributed in a four-up and four-down square mode in a spatially symmetrical mode, one end of each rope is wound on the crane mechanism, the other end of each rope is connected to the load cabin by bypassing the guide device, the load cabin realizes five-degree-of-freedom motion of an X axis, a Y axis, a Z axis, pitching and rolling in a three-dimensional space along with the change of the telescopic length of eight ropes,
the load cabin comprises a load frame, arc-shaped guide rails, guide rail sliders, turntables, a driver seat and yaw motors, wherein the arc-shaped guide rails are arranged at the upper end and the lower end of the load frame respectively, the turntables are connected with the arc-shaped guide rails through the guide rail sliders respectively, the driver seat is connected and arranged between the two turntables, and the yaw motors are symmetrically arranged on the arc-shaped guide rails at the two ends of the load frame respectively to drive the turntables to rotate so as to realize yaw direction movement in a three-dimensional space.
Optionally, the steelframe includes stand, upper mounting plate and lower platform level respectively set up many the upper and lower both ends of stand, and constitute hollow cuboid structure.
Optionally, an octagonal through hole is formed in the middle of the upper platform, and a rectangular through hole is formed in the middle of the lower platform.
Optionally, four sets of the crane mechanisms are respectively arranged at four bevel edges of the upper platform opposite to the octagonal through hole and are spaced by 90 degrees; and the other four sets of crane mechanisms are respectively arranged at the four corners of the rectangular through hole of the lower platform at intervals of 90 degrees.
Optionally, every loop wheel machine mechanism includes driving motor, reel and encoder, the reel rotates to be connected driving motor's front end, the encoder sets up driving motor's rear end is rotated by driving motor drive reel, changes along with the rotation of reel the flexible length of rope, by the flexible length of real-time feedback rope of encoder.
Optionally, each set of guide device comprises a pulley, a pressure sensor is mounted on the pulley, and the tension of the rope is fed back by the pressure sensor in real time.
Optionally, one end of each rope is wound on a winding drum of the crane mechanism, and the other end of each rope is connected to a load frame of the load compartment by passing through a pulley of the guide device.
The invention has the beneficial effects that: the multi-degree-of-freedom motion simulation platform provided by the invention has the advantages that the eight sets of crane mechanisms and the guide devices are used for realizing the retraction and release of eight ropes, so that the load cabin is driven to move in five degrees of freedom, namely an X axis, a Y axis, a Z axis, a pitching axis and a rolling axis, the arc-shaped guide rail arranged on the load cabin is used for restraining the movement in the degree of freedom in the yawing direction, the yawing motor arranged on the arc-shaped guide rail is used for generating yawing torque and driving the rotary table to rotate, the movement in the yawing direction is realized in a three-dimensional space, the movement in six degrees of freedom in the three-dimensional space can be realized, the large-range displacement can be realized, the continuous axial motion can be carried out on multiple axes, and the large-range yawing requirement is met; load is shared by multiple branches, single-channel driving power is low, a driving part does not move, inertia load is reduced, dynamic performance is high, and larger load can be driven.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multi-degree-of-freedom motion simulation platform according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a load compartment according to an embodiment of the present invention;
FIG. 3 is a top view of a multiple degree of freedom motion simulator platform in accordance with embodiments of the present invention;
FIG. 4 is a schematic structural view of a crane mechanism and guide assembly according to an embodiment of the invention;
FIG. 5 is a schematic structural diagram of a yaw motor according to an embodiment of the present invention;
the parts in the drawings are numbered as follows: 1. a rope; 2. a steel frame; 3. a guide device; 4. a crane mechanism; 5. a load compartment; 21. a column; 22. an upper platform; 23. a lower platform; 24. an octagonal via hole; 25. a rectangular through hole; 31. a pulley; 32. a pressure sensor; 41. a motor; 42. a reel; 43. an encoder; 51. a load frame; 52. an arc-shaped guide rail; 53. a guide rail slider; 54. a turntable; 55. a driver seat; 56. a yaw motor; 57. a revolute pair; 58. absolute angular displacement encoder.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1 to 5, the present embodiment includes:
a multi-degree-of-freedom motion simulation platform comprises ropes 1, a steel frame 2, a guide device 3, a crane mechanism 4 and a load cabin 5.
Four sets of crane mechanisms 4 with 90-degree intervals are respectively installed at the upper end and the lower end of the steel frame 2, the guide devices 3 are respectively installed at the upper end and the lower end of the steel frame 2 and are correspondingly located in front of the crane mechanisms 4, the eight ropes 1 are symmetrically arranged in an upper-four-lower-four-square mode, one end of each rope 1 is wound on the crane mechanisms 4, the other end of each rope 1 bypasses the guide devices 3 to be connected to the load cabin 5, the load cabin 5 is connected to the load cabin 5 along with the change of the telescopic length of the eight ropes 1, and five-degree-of-freedom motion of an X axis, a Y axis, a Z axis, pitching and a rolling is achieved in a three-dimensional space.
The load compartment 5 comprises a load frame 51, arc-shaped guide rails 52, guide rail sliders 53, rotary tables 54, a driver seat 55 and yaw motors 56, wherein the arc-shaped guide rails 52 are respectively arranged at the upper end and the lower end of the load frame 51, the two rotary tables 54 are respectively connected with the arc-shaped guide rails 52 through the guide rail sliders 53, the driver seat 55 is connected and arranged between the two rotary tables 54, the two yaw motors 56 are respectively symmetrically arranged on the arc-shaped guide rails 52 at the upper end of the load frame 51, and the yaw motors 56 generate yaw torque to drive the rotary tables 54 to rotate so as to realize yaw direction movement in a three-dimensional space. In this embodiment, a rotating pair 57 of the yaw motor 56 is connected to the arc-shaped guide rail 52, and the rotating pair 57 is provided with an absolute angular displacement encoder 58, so that the angular displacement encoder system can be used for closed-loop yaw angular displacement control.
The crane means 4 spaced at 90 ° means that the angle between adjacent crane means 4 in the same plane is 90 °.
In the foregoing, the steel frame 2 includes the upright posts 21, the upper platform 22 and the lower platform 23, and the upper platform 22 and the lower platform 23 are respectively horizontally disposed at the upper and lower ends of the plurality of upright posts 21, and form a hollow rectangular parallelepiped structure. Wherein, the middle position of the upper platform 22 is provided with an octagonal through hole 24, and the middle position of the lower platform 23 is provided with a rectangular through hole 25. In the embodiment, four sets of crane mechanisms 4 are respectively arranged at four opposite bevel edges of the octagonal through hole 24 of the upper platform 22 and are spaced at 90 degrees; the four sets of crane mechanisms 4 are respectively arranged at the four corners of the rectangular through hole 25 of the lower platform 23 and are spaced by 90 degrees.
Furthermore, each set of crane mechanism 4 comprises a driving motor 41, a winding drum 42 and an encoder 43, the winding drum 42 is rotatably connected to the front end of the driving motor 41, the encoder 43 is arranged at the rear end of the driving motor 41, the winding drum 42 is driven by the driving motor 41 to rotate, the length of the rope 1 extending and retracting is changed along with the rotation of the winding drum 42, and the length of the rope 1 extending and retracting is fed back by the encoder 43 in real time. Each set of guiding devices 3 comprises a pulley 31, a pressure sensor 32 is arranged on the pulley 31, and the tension of the rope 1 is fed back by the pressure sensor 32 in real time.
Specifically, eight ropes 1 are wound around the drum 42 of the hoist mechanism 4 at one end of each rope 1, and the other end is connected to the load frame 51 of the load compartment 5 around the pulley 31 of the guide device 3. The load frame 51 realizes five degrees of freedom motions of X axis, Y axis, Z axis, pitching and rolling in a three-dimensional space along with the change of the telescopic length of the other ends of the eight ropes 1. The drum 42 is driven to rotate by the drive motor 41, and the length of the rope 1 that stretches and contracts is changed as the drum 42 rotates.
The control system obtains the pose of the load frame 51 through kinematics forward solution operation according to the installation structure parameters of the rope driving platform and the length measurement result of the rope 1, analyzes and simulates the motion state of the load frame 51 under the pose in the flight process, solves the tension required by the motion to the next position and the rope 1 stretching amount through inverse dynamics and inverse kinematics, outputs the command of the rope tension and length change through the controller, and combines the encoder 43 and the pressure sensor 32 to realize the motion servo control of the rope driving platform.
The working principle is as follows: eight sets of crane mechanisms 4 and guiding devices 3 are used for realizing the retraction of eight ropes 1, so that the load cabin 5 is driven to move in five degrees of freedom including X-axis, Y-axis, Z-axis, pitching and rolling, the arc-shaped guide rail 52 arranged on the load cabin 5 restrains the movement in yaw degree of freedom, the driver seat 55 is connected with the turntable 54, the yaw motor 56 arranged on the arc-shaped guide rail 52 at the upper end of the load frame 51 generates yaw torque to drive the turntable 54 to rotate, and the movement in the yaw direction is realized in a three-dimensional space.
In conclusion, the multi-degree-of-freedom motion simulation platform provided by the invention can realize six-degree-of-freedom motion in a three-dimensional space, can realize large-range displacement, and can perform continuous axial motion on multiple axes, thereby meeting the requirement of large-range yaw; load is shared by multiple branches, single-channel driving power is low, a driving part does not move, inertia load is reduced, dynamic performance is high, and larger load can be driven.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. A multi-degree-of-freedom motion simulation platform is characterized in that: the three-dimensional space three-degree-of-freedom elevator comprises ropes, a steel frame, guide devices, elevator mechanisms and a load cabin, wherein four sets of elevator mechanisms with 90-degree intervals are respectively installed at the upper end and the lower end of the steel frame, the guide devices are respectively installed at the upper end and the lower end of the steel frame and are correspondingly positioned in front of the elevator mechanisms, the ropes are distributed in a four-square mode and a four-square mode, the space is symmetrical, one end of each rope is wound on the elevator mechanism, the other end of each rope is wound on the load cabin, the guide devices are connected to the load cabin, the load cabin realizes five-degree-of-freedom motion of an X axis, a Y axis, a Z axis, pitching and rolling in a three-dimensional space along with the change of the telescopic length of the eight ropes,
the load cabin comprises a load frame, arc-shaped guide rails, guide rail sliders, turntables, a driver seat and yaw motors, wherein the arc-shaped guide rails are arranged at the upper end and the lower end of the load frame respectively, the turntables are connected with the arc-shaped guide rails through the guide rail sliders respectively, the driver seat is connected and arranged between the two turntables, and the yaw motors are symmetrically arranged on the arc-shaped guide rails at the two ends of the load frame respectively to drive the turntables to rotate so as to realize yaw direction movement in a three-dimensional space.
2. The multiple degree of freedom motion simulation platform of claim 1, wherein: the steelframe includes stand, upper mounting plate and lower platform level respectively set up many the upper and lower both ends of stand, and constitute hollow cuboid structure.
3. The multiple degree of freedom motion simulation platform of claim 2, wherein: the middle position of the upper platform is provided with an octagonal through hole, and the middle position of the lower platform is provided with a rectangular through hole.
4. The multiple degree of freedom motion simulation platform of claim 3, wherein: the four sets of crane mechanisms are respectively arranged at four bevel edges opposite to the octagonal through hole of the upper platform and are spaced by 90 degrees; and four sets of crane mechanisms are respectively arranged at the four corners of the rectangular through hole of the lower platform at intervals of 90 degrees.
5. The multiple degree of freedom motion simulation platform of claim 4, wherein: every set loop wheel machine mechanism includes driving motor, reel and encoder, the reel rotates to be connected driving motor's front end, the encoder sets up driving motor's rear end is rotated by driving motor drive reel, changes along with the rotation of reel the flexible length of rope is fed back the flexible length of rope in real time by the encoder.
6. The multiple degree of freedom motion simulation platform of claim 5, wherein: each set of guide device comprises a pulley, a pressure sensor is mounted on the pulley, and the tension of the rope is fed back by the pressure sensor in real time.
7. The multiple degree of freedom motion simulation platform of claim 6, wherein: one end of each rope is wound on a winding drum of the crane mechanism, and the other end of each rope is wound around a pulley of the guide device and connected to a load frame of the load compartment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210692622.XA CN115019596A (en) | 2022-06-17 | 2022-06-17 | Multi-degree-of-freedom motion simulation platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210692622.XA CN115019596A (en) | 2022-06-17 | 2022-06-17 | Multi-degree-of-freedom motion simulation platform |
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| CN115019596A true CN115019596A (en) | 2022-09-06 |
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| CN202210692622.XA Pending CN115019596A (en) | 2022-06-17 | 2022-06-17 | Multi-degree-of-freedom motion simulation platform |
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Cited By (1)
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Application publication date: 20220906 |