CN117238191A - Adjusting cushion block for improving rapid autorotation effect of guide rod of multi-freedom-degree motion platform - Google Patents
Adjusting cushion block for improving rapid autorotation effect of guide rod of multi-freedom-degree motion platform Download PDFInfo
- Publication number
- CN117238191A CN117238191A CN202311235111.6A CN202311235111A CN117238191A CN 117238191 A CN117238191 A CN 117238191A CN 202311235111 A CN202311235111 A CN 202311235111A CN 117238191 A CN117238191 A CN 117238191A
- Authority
- CN
- China
- Prior art keywords
- platform
- cushion block
- adjusting cushion
- guide rod
- double
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 40
- 230000000694 effects Effects 0.000 title claims abstract description 23
- 150000001875 compounds Chemical class 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000013461 design Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims 1
- 238000004088 simulation Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 7
- 238000012360 testing method Methods 0.000 description 6
- 239000002131 composite material Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Vibration Dampers (AREA)
Abstract
The application provides an adjusting cushion block for improving the rapid autorotation effect of a guide rod of a multi-degree-of-freedom motion platform, wherein the upper end and the lower end of each electric cylinder of the platform are respectively hinged to an upper platform and a lower platform through vertical Hooke hinges, and the adjusting cushion block is arranged between the vertical Hooke hinges and the upper platform; the bottom of the adjusting cushion block is horizontal and fixed with the bottom of the upper platform, and the mounting surface of the adjusting cushion block has a preset angle; the adjusting cushion blocks are distributed in groups, each group of adjusting cushion blocks is integrally designed to form a double-inclined-plane cushion block, the double-inclined-plane cushion block is provided with two inclined planes which are oppositely arranged to form central symmetrical distribution, and the bottom surface of a bearing seat of the vertical Hooke hinge is arranged at the center of each inclined plane; the center of the double-inclined-plane cushion block is provided with a platform buffer area, and the two inclined planes are respectively positioned at two sides of the platform buffer area. According to the application, by adding the inclined cushion block, the adaptability of the platform to the swinging action of the small-angle compound attitude angle is improved, the autorotation effect of the guide rod in the swinging process of the compound attitude angle is reduced, and the structural damage caused by rapid autorotation of the guide rod is avoided.
Description
The application is a divisional application of a six-degree-of-freedom motion platform which is proposed by the applicant in 2021, 12 and 29 and has the application number of 2021116424649 and the application name of improving the rotation effect of a guide rod.
Technical Field
The application relates to the technical field of multi-degree-of-freedom motion platforms, in particular to an adjusting cushion block for improving the rapid autorotation effect of a guide rod of the multi-degree-of-freedom motion platform.
Background
The multi-degree-of-freedom motion platform is widely applied to the field of driving simulation, particularly vehicle driving simulation (armored vehicles, tanks and the like) and flight simulation, and a closed-loop simulation system of a personal vehicle road is simulated based on the six-degree-of-freedom motion platform, such as a typical driving simulation control system shown in fig. 1, and is mainly provided with a visual simulation display system, an acoustic simulation feedback system, a somatosensory simulation feedback system and a dynamic model of a driving object. A manipulation load simulation system is also designed in the flight simulation to simulate force feedback. The driving simulation system carries out training simulation, performance analysis, evaluation and the like in a semi-physical simulation mode, accurately simulates driving operation, obtains driving operation feeling of a real vehicle and an airplane, and has important significance for personnel training and evaluation.
In these driving simulation systems, an electric cylinder is generally adopted to design a multi-degree-of-freedom motion system, so that motion feedback to a driver is realized, a manipulator such as a cockpit, an accelerator pedal, a steering wheel, a gear lever of a gearbox and the like is arranged on an upper platform of a six-degree-of-freedom platform, a typical structure of the six-degree-of-freedom platform is shown in fig. 2 and 3, a plurality of electric cylinders are arranged between the upper platform and a lower platform, a crank at the end part of each electric cylinder is hinged with the upper platform through a vertical Hooke hinge, the bottom of each electric cylinder is also hinged with the vertical Hooke hinge on the lower platform, and multi-degree-of-freedom motion operation between the upper platform and the lower platform is realized through telescopic linear motion of each electric cylinder.
However, in the actual platform movement process, the vertical Hooke hinge can generate a guide rod rotation effect when in compound attitude angle movement, and in the actual operation process, the Hooke hinge is damaged because the guide rod and the Hooke hinge shaft cannot rotate correspondingly and rapidly, and the Hooke hinge shaft rotation angular speed in the 25-degree compound swinging action with the period of 4s is tested by combining with fig. 4 and 5, and in the compound attitude angle movement process, the six-degree-of-freedom platform adopting the vertical Hooke hinge is adopted, and the guide rod rapidly rotates to cause structural damage.
The actual effect of the hook plastic bending failure due to the guide rod rotation effect is shown in fig. 6.
Prior art literature:
patent document 1: dynamic simulation motion platform of CN211479367U armored vehicle
Patent document 2: CN110107599A Hooke hinge structure for electric six-degree-of-freedom motion platform
Academic paper: xie Xiao: six-degree-of-freedom driving simulation system development based on virtual reality
Disclosure of Invention
The application aims to solve the problems of structural damage and interference caused when a vertical Hooke hinge is adopted to realize the hinged connection between an electric cylinder and an upper platform and a lower platform of a multi-degree-of-freedom motion platform in the prior art, and provides an adjusting cushion block for improving the rapid rotation effect of a guide rod of the multi-degree-of-freedom motion platform, which is used for improving the rotation effect of the guide rod of the electric cylinder and reducing the Hooke hinge structural damage caused by the rotation effect of the guide rod.
According to a first aspect of the present application, an adjusting pad for improving a rapid rotation effect of a guide rod of a multi-degree-of-freedom motion platform is provided, the multi-degree-of-freedom motion platform includes a plurality of electric cylinders, the upper and lower ends of each electric cylinder are respectively hinged to an upper platform and a lower platform through a first vertical hook hinge and a second hook hinge, and the adjusting pad is disposed between the first vertical hook hinge and the upper platform;
the bottom of the adjusting cushion block is horizontal and is fixedly connected with the bottom of the upper platform, the mounting surface of the adjusting cushion block has a preset angle, and the angle range is 25-45 degrees;
the adjusting cushion blocks are arranged to be distributed in groups according to parallel design, each group of adjusting cushion blocks are integrally designed to form a double-inclined-plane cushion block, the two inclined planes are oppositely arranged to be distributed in a central symmetry mode, and the bottom surface of the bearing seat of the first vertical Hooke hinge is arranged in the center of the inclined plane;
the center of the double-inclined-plane cushion block is provided with a platform buffer area, and two inclined planes are respectively positioned at two sides of the platform buffer area;
the guide rod autorotation effect of the six-degree-of-freedom motion platform in the process of compound attitude angle swinging is reduced through the arrangement of the double-inclined-plane cushion blocks.
As an alternative embodiment, the angle of the mounting surface of the adjusting pad is set to 30 °.
As an alternative embodiment, the width of the platform buffer area satisfies: the horizontal distance between the bottom surfaces of the bearing seats of the two first vertical Hooke hinges arranged on the double-inclined-plane cushion block is at least larger than 1.2-1.5 Lp, wherein Lp represents the width of the platform buffer area.
As an alternative embodiment, the bottom surface of the double-inclined-surface cushion block is 15cm in length, 5cm in width and 3.5cm to 4cm in maximum height;
the width of the platform buffer zone is 2 cm-3 cm, and the height of the platform buffer zone is 1 cm-1.5 cm
According to the technical scheme, the adjusting cushion block for improving the rapid rotation effect of the guide rod of the multi-degree-of-freedom motion platform has the remarkable beneficial effects that:
in the design of the parallel multi-degree-of-freedom motion platform, the inclined cushion block is additionally arranged, so that the adaptability of the multi-degree-of-freedom platform to the swinging action of the small-angle composite attitude angle is improved, the autorotation effect of the guide rod in the swinging process of the composite attitude angle is reduced, and the larger the angle of the cushion block is, the more obvious the action is, thereby reducing the structural damage problem caused by rapid autorotation of the guide rod when the original vertical Hooke hinge moves in the composite attitude angle.
Drawings
FIG. 1 is an architectural schematic diagram of a typical driving simulation system.
Fig. 2-3 are schematic structural views of a parallel six-degree-of-freedom motion platform employing a vertical hook hinge in the prior art.
Fig. 4 is a schematic diagram of a guide rod hinge structure of a vertical hook hinge and an electric cylinder of an upper platform of the parallel six-degree-of-freedom motion platform in fig. 2.
Fig. 5 is a schematic diagram of a test result of the hook hinge rotation angular velocity in the 25 ° compound swing motion with the test period of 4s for the multi-degree of freedom platform adopting the structure of fig. 2-4.
Fig. 6 is a diagram showing the actual effect of plastic bending fracture of the vertical hook hinge caused by the guide rod rotation effect.
FIG. 7 is a block diagram of a parallel six degree of freedom motion platform employing bevel adjustment pods according to an illustrated embodiment of the present application.
Fig. 8 is a schematic diagram of a hinge structure of the vertical hook joint and the electric cylinder guide rod after the adjusting cushion block is adopted in the embodiment of fig. 7.
Fig. 9 is a schematic diagram of a test result of the rotation angular velocity of the vertical hook hinge shaft during a 25 ° compound swing motion with a test period of 4s for the parallel six-degree-of-freedom motion platform according to the embodiment shown in fig. 7 to 8.
Detailed Description
For a better understanding of the technical content of the present application, specific examples are set forth below, along with the accompanying drawings.
Aspects of the application are described in this disclosure with reference to the drawings, in which are shown a number of illustrative embodiments. The embodiments of the present disclosure are not necessarily intended to include all aspects of the application. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, may be implemented in any of a number of ways, as the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the disclosure may be used alone or in any suitable combination with other aspects of the disclosure.
Referring to fig. 7 to 8, a six-degree-of-freedom motion platform for improving the rotation effect of a guide bar according to an exemplary embodiment of the present application includes an upper platform 10, a lower platform 20, an electric cylinder 30, a vertical hook hinge, and an adjustment pad 50.
The plurality of electric cylinders 30 are arranged between the upper platform 10 and the lower platform 20 to form a parallel multi-degree-of-freedom motion platform structure design.
Referring to fig. 7, the electric cylinder 30 has a cylinder body 31 and a guide rod 32 which is telescopically and linearly movable in the cylinder body axis direction, and a first crank 33 is provided at the tip end of the guide rod. The bottom of the cylinder is provided with a second crank 34. Alternatively, the electric cylinder 30 is a high-precision, high-load-capacity electric cylinder released in japan or an electric cylinder of Thomson corporation.
Referring to fig. 7 and 8, vertical hook hinges are respectively provided at both ends of one electric cylinder. That is, a vertical hook is provided corresponding to each electric cylinder, and each electric cylinder 30 is provided with two vertical hooks, namely, a first vertical hook 41 and a second vertical hook 42, which are provided at the bottom of the upper stage 10 and the upper surface of the lower stage 20, respectively.
Referring to fig. 7 and 8, in the embodiment of the present application, an adjusting pad 50 is added to each electric cylinder, and the first vertical hook 41 corresponding to the electric cylinder 30 is fixed to the upper platform 10 through the adjusting pad 50.
Referring to fig. 8, the adjusting pad 50 is configured as a pad having a triangular cross section, the bottom of which is horizontal and fixedly connected to the upper platform, and the mounting surface of the adjusting pad, i.e., the inclined surface, has a predetermined angle, wherein the bottom surface of the bearing housing of the first vertical hook hinge 41 is fixed to the mounting surface, and the rotating shaft of the first vertical hook hinge 41 is connected to the first crank 33 of the guide rod 32 via a pin shaft, thereby realizing a rotary link.
In the embodiment of the application, the vertical Hooke joint can adopt the structural design of the existing vertical Hooke joint and consists of a bearing seat and a rotating shaft supported by the bearing seat.
Referring to fig. 2, the bottom surface of the bearing seat of the second vertical hook 42 is fixed to the lower platform 20, and the rotation shaft of the second vertical hook is hinged to the second crank 34 at the bottom of the cylinder.
In an alternative embodiment, the aforementioned angle of the incline of the mounting surface of the adjustment block 50 is set at 25 ° to 45 °. Preferably a 30 ° incline is used.
As a preferred embodiment, among the adjusting pads at the bottom of the upper platform 10, the adjusting pads are designed to be distributed in groups according to parallel connection, and each group of adjusting pads is designed integrally to form a double-inclined-surface pad, that is, two groups of adjusting pads 50 are integrated and combined, and have two inclined surfaces which are oppositely arranged, wherein the angle of each inclined surface is 30 degrees, and the inclined surfaces are distributed in a central symmetry manner. Wherein, the bearing seat bottom surface of the first vertical hook 41 is installed at the center of the inclined plane.
Preferably, both inclined surfaces of the double inclined surface pad have the same inclination angle, preferably an inclined surface inclination angle of 30 °.
The center of the double-inclined-plane cushion block is provided with a platform buffer area, and the two inclined planes are respectively positioned at two sides of the platform buffer area.
To further illustrate exemplary implementations of the present application, with reference to fig. 9, simulation is performed on a six-degree-of-freedom parallel motion platform with a double-bevel pad applied by the present application, and the test results of the vertical hook hinge self-rotation angular velocity in the optimized design of fig. 7 and 8 are significantly improved by the result surface when the test cycle is a 25 ° compound swing motion of 4s, and the self-rotation angular velocity of each vertical hook hinge is substantially stable during the motion process without abrupt change and large inflection points, thereby avoiding structural damage caused by rapid rotation, and improving the stability and lifetime of the six-degree-of-freedom motion platform.
As a preferred example, the width Lp of the platform buffer satisfies: the horizontal distance L0 between the bottom surfaces of the bearing seats of the two first vertical Hooke hinges arranged on the double-inclined-plane cushion block is at least larger than 1.2 Lp-1.5 Lp, so that interference is reduced and avoided.
In the embodiment of the application, the bottom surface of the double-inclined-surface cushion block is 15cm in length, 5cm in width, 3.5 cm-4 cm in maximum height, 2 cm-3 cm in width and 1 cm-1.5 cm in height.
While the application has been described with reference to preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present application. Accordingly, the scope of the application is defined by the appended claims.
Claims (4)
1. The adjusting cushion block is characterized by comprising a plurality of electric cylinders, wherein the upper end and the lower end of each electric cylinder are respectively hinged to an upper platform and a lower platform through a first vertical Hooke hinge and a second Hooke hinge, and the adjusting cushion block is arranged between the first vertical Hooke hinge and the upper platform;
the bottom of the adjusting cushion block is horizontal and is fixedly connected with the bottom of the upper platform, the mounting surface of the adjusting cushion block has a preset angle, and the angle range is 25-45 degrees;
the adjusting cushion blocks are arranged to be distributed in groups according to parallel design, each group of adjusting cushion blocks are integrally designed to form a double-inclined-plane cushion block, the two inclined planes are oppositely arranged to be distributed in a central symmetry mode, and the bottom surface of the bearing seat of the first vertical Hooke hinge is arranged in the center of the inclined plane;
the center of the double-inclined-plane cushion block is provided with a platform buffer area, and two inclined planes are respectively positioned at two sides of the platform buffer area;
the guide rod autorotation effect of the six-degree-of-freedom motion platform in the process of compound attitude angle swinging is reduced through the arrangement of the double-inclined-plane cushion blocks.
2. The adjusting cushion block for improving the rapid rotation effect of a guide rod of a multi-degree-of-freedom motion platform according to claim 1, wherein the angle of the installation surface of the adjusting cushion block is set to be 30 degrees.
3. The adjusting cushion block for improving the rapid rotation effect of a guide rod of a multi-degree-of-freedom motion platform according to claim 1, wherein the width of the platform buffer region satisfies the following conditions: the horizontal distance between the bottom surfaces of the bearing seats of the two first vertical Hooke hinges arranged on the double-inclined-plane cushion block is at least larger than 1.2-1.5 Lp, wherein Lp represents the width of the platform buffer area.
4. The six-degree-of-freedom motion platform for improving the autorotation effect of a guide rod according to claim 5, wherein the bottom surface of the double-inclined-surface cushion block is 15cm in length, 5cm in width and 3.5cm to 4cm in maximum height;
the width of the platform buffer zone is 2 cm-3 cm, and the height of the platform buffer zone is 1 cm-1.5 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311235111.6A CN117238191A (en) | 2021-12-29 | 2021-12-29 | Adjusting cushion block for improving rapid autorotation effect of guide rod of multi-freedom-degree motion platform |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311235111.6A CN117238191A (en) | 2021-12-29 | 2021-12-29 | Adjusting cushion block for improving rapid autorotation effect of guide rod of multi-freedom-degree motion platform |
| CN202111642464.9A CN114333491B (en) | 2021-12-29 | 2021-12-29 | Six-degree-of-freedom motion platform for improving guide rod rotation effect |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111642464.9A Division CN114333491B (en) | 2021-12-29 | 2021-12-29 | Six-degree-of-freedom motion platform for improving guide rod rotation effect |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117238191A true CN117238191A (en) | 2023-12-15 |
Family
ID=81016858
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111642464.9A Active CN114333491B (en) | 2021-12-29 | 2021-12-29 | Six-degree-of-freedom motion platform for improving guide rod rotation effect |
| CN202311235111.6A Pending CN117238191A (en) | 2021-12-29 | 2021-12-29 | Adjusting cushion block for improving rapid autorotation effect of guide rod of multi-freedom-degree motion platform |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111642464.9A Active CN114333491B (en) | 2021-12-29 | 2021-12-29 | Six-degree-of-freedom motion platform for improving guide rod rotation effect |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN114333491B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117773887A (en) * | 2022-04-30 | 2024-03-29 | 江苏普旭科技股份有限公司 | Light-weight high-precision parallel multi-degree-of-freedom motion platform |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102141110B (en) * | 2011-01-24 | 2012-10-03 | 北京航空航天大学 | Hydraulic vibration active isolation platform |
| CN202700104U (en) * | 2012-07-18 | 2013-01-30 | 广州金砺信息科技有限公司 | Six degree-of-freedom action simulation platform used for dynamic cinema |
| CN204463520U (en) * | 2015-01-09 | 2015-07-08 | 李永涛 | Engineering machinery analogue simulation training system |
| CN204347622U (en) * | 2015-01-09 | 2015-05-20 | 洛阳博智自动控制技术有限公司 | A kind of hinged-support of multiaxis parallel institution, platform and this multiaxis parallel institution |
| CN206242048U (en) * | 2016-12-16 | 2017-06-13 | 东北石油大学 | A kind of small-sized six-freedom parallel motion platform |
| CN209224060U (en) * | 2018-12-13 | 2019-08-09 | 穆特科技（武汉）股份有限公司 | A kind of straight line slide unit six degree of freedom platform structure |
| CN210306643U (en) * | 2019-04-19 | 2020-04-14 | 上海工程技术大学 | Rocket flexible automatic posture-adjusting butt joint AGV (automatic guided vehicle) frame vehicle based on six-degree-of-freedom platform |
| CN111462568B (en) * | 2020-05-11 | 2021-12-21 | 成都沃赢创投科技有限公司 | Tank simulation training system based on VR and six-degree-of-freedom motion control |
| CN214409700U (en) * | 2020-12-29 | 2021-10-15 | 上海威瞳视觉技术有限公司 | Load posture adjusting platform based on moving AGV chassis |
| CN113766418B (en) * | 2021-08-31 | 2022-07-15 | 中国矿业大学 | Attitude self-correction underground transportation equipment based on UWB technology and control method thereof |
-
2021
- 2021-12-29 CN CN202111642464.9A patent/CN114333491B/en active Active
- 2021-12-29 CN CN202311235111.6A patent/CN117238191A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN114333491A (en) | 2022-04-12 |
| CN114333491B (en) | 2023-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102042307B1 (en) | Simulator | |
| JP5389268B2 (en) | Movable platform | |
| KR102033370B1 (en) | A motion platform system | |
| EP2688055B1 (en) | Machine that simulates the movement produced during transport | |
| US10066714B2 (en) | Drive apparatus of chair assembly for 4D theater | |
| CN103244801B (en) | Four-degree-of-freedom movement means | |
| CN114333491B (en) | Six-degree-of-freedom motion platform for improving guide rod rotation effect | |
| CN109765022B (en) | Helicopter main reducer vibration isolation system test device | |
| CN211978335U (en) | Fatigue impact test equipment for automobile chassis | |
| CN114623992B (en) | Steel plate spring loading test bench | |
| CN111256933A (en) | Inclination adjusting device and swing experiment table | |
| US5810596A (en) | Motion simulator for rail and road based vehicles | |
| CN114290318A (en) | Multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion and motion control inverse solution method thereof | |
| KR101146947B1 (en) | 4 degrees of freedom motion limiting device and simulator motion platform utilizing the motion limiting device | |
| CN103440794A (en) | Six-freedom-degree series-parallel gravity compensation mechanism | |
| CN206179296U (en) | Simulator platform that can infinitely rotate | |
| CN116086744A (en) | Multipurpose lifting vibration swinging test bed | |
| US5291787A (en) | Triaxial vibrating platform, particularly for helicopter simulators | |
| CN1439869A (en) | Virtual mechanical axis material test systems | |
| CN108053716B (en) | Six-degree-of-freedom motion platform device of flight simulator | |
| CN109533403B (en) | Three-degree-of-freedom load simulation equipment of single-leg recovery rocket landing support mechanism | |
| CN215450523U (en) | Six-degree-of-freedom platform for automobile driving simulation | |
| CN113804474B (en) | Swing test bed | |
| CN209373845U (en) | A kind of multi-degree-of-freedom motion platform for flight simulator | |
| CN115096580B (en) | Multi freedom test device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |