CN1523546A - Hydraulic and gravitational balancing type space motion simulator equilibrium - Google Patents
Hydraulic and gravitational balancing type space motion simulator equilibrium Download PDFInfo
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- CN1523546A CN1523546A CNA031508456A CN03150845A CN1523546A CN 1523546 A CN1523546 A CN 1523546A CN A031508456 A CNA031508456 A CN A031508456A CN 03150845 A CN03150845 A CN 03150845A CN 1523546 A CN1523546 A CN 1523546A
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Abstract
The invention discloses hydraulic pressure gravitational equilibrium space sports simulator. It is made up of parallel six-freedom platform, simulator cabin, elevating sports platform and safety protection system. The middle platform of elevating sports platform has parallel six-freedom sports platform, there sets a gravitational equilibrium device made up of driving hydraulic pressure cylinder and follow-up hydraulic pressure cylinder under the middle platform; two ends and the side of the middle platform set guide track slide block which matching with guide track on three walls of the simulator; the safety protection system is double safe clamp matching with guide track at two ends of the middle platform, there sets buffers at two side of the middle platform two ends' top and the under the middle platform. It can realize six-freedom movement, it is safe, reliable, and low power consumption.
Description
Affiliated technical field
The present invention relates to motion simulator, particularly a kind of hydraulic pressure Weight-balancing type spatial movement simulator.
Background technology
Along with the development of ground simulation technology, at present external a lot of aerial, spaces and deepwater test, training etc. are all changed into ground and are carried out, and ground experiment is safety both, can economize on the use of funds again.China is also greatly developing the ground simulation technology, but quantitatively, still fall behind and American-European developed country on the technical merit, has very big development space, is badly in need of fast-developing simultaneously.
The motion of naval vessels, aircraft etc. is the three-dimensional space motion of colourful attitude, and motion simulator compares description accurately and its motion state is carried out dynamic simulation it.
Domestic, in the motion simulation applicator platform of medium and small motion amplitude, mostly adopt the Stewart structure to realize six-freedom motion, technology is ripe relatively, and the motion amplitude is very big, especially the heave movement amplitude surpass ± motion simulator of 1.5m do not have report as yet.The present invention then can be used for the heave movement amplitude and reaches ± motion simulation of 3.75m, and have high-performance, safe, reliable, energy-conservation, real characteristics.
Summary of the invention
The purpose of this invention is to provide a kind of hydraulic pressure Weight-balancing type spatial movement simulator, it is safe, reliable, low in energy consumption, can the real simulation naval vessel, aircraft etc. in boat (flying) row motion and the motion simulator of what comes into a driver's.
In order to achieve the above object, the technical solution used in the present invention: the boiler-plate that visual system is arranged in comprising 6-dof motion platform in parallel and being installed on the motion platform.It also comprises heave movement plateform system, safety system; Wherein:
1) heave movement plateform system: the guiding mechanism, the mobile cable bridge that comprise the gravity balance device that surges that belly board, heave platform drive hydraulic cylinder, be made up of hydraulic cylinder more than two or two and supporting hydraulic system thereof, form by three guide rails and supporting slide block thereof; 6-dof motion platform in parallel is installed above the belly board, and heave platform of vertical installation drives hydraulic cylinder under the belly board central point, and the hinged-support that tailpiece of the piston rod is installed with rod end ball pivot and belly board bottom center is connected; Also vertical installation is the hydraulic cylinder more than two or two of center, symmetric arrangement and the gravity balance device that the supporting system of surging forms with the driving hydraulic cylinder below the belly board; Belly board two ends and a side are equipped with two guide rail slide blocks up and down respectively, the guide rail slide block be vertically mounted on that the guide rail on three metopes cooperates the composition guiding mechanism around the motion simulator; Between belly board and flank wall, install one and move cable bridge;
2) safety system: the guide rail on the belly board two ends are installed two bidirectional safety tongs respectively and are vertically mounted on belly board two headwalls cooperates; the both sides, upper end that are vertically mounted on the guide rail at belly board two ends are installed two upper end impact dampers respectively, and driving hydraulic cylinder with the heave platform on the ground under the belly board is that the center symmetry is installed four impact dampers.
The heave movement platform utilizes the weight of gravity balance device balance simulation device and load thereof among the present invention under high-precision guiding mechanism guiding, by a long stroke hydraulic cylinder directly drive realize big amplitude, fast, the heave movement of high acceleration, high frequency sound; 6-dof motion platform in parallel is installed on belly board, and it combines the six-freedom motion of realizing simulator with the heave platform; Because it is manned that motion simulator is used for, so designed machinery, hydraulic pressure, the electric security protector system three cover protection systems safety of protecting whole device in parallel; Boiler-plate is used for manned and correlation test equipment; The display screen that visual system is housed in the boiler-plate shows true to nature, real-time navigation (flight) what comes into a driver's.
The present invention compares with background technology, and the useful effect that has is: heave movement is by heave movement platform or 6-dof motion platform in parallel or both are in conjunction with realization.The heave platform adopts a hydraulic cylinder directly to drive, utilize the weight of the most of load of gravity balance device balance simultaneously, can realize the heave movement of big amplitude, and have high fractional energy savings, fast, high frequency sound, high acceleration, reliable and stable, characteristics such as security is good, its energy saving, rapidity, control characteristic, stability and security all are better than other form.And this scheme has simple in structure, advantages such as cost is low, technology maturation.This system is to guide rail, very little to the pressure of wall, less demanding to civil engineering.Have very high practicality, can be widely used in significantly motion simulator and other equipment of heave movement with elevating movement.
Description of drawings
Fig. 1 is a structural principle synoptic diagram of the present invention;
Fig. 2 is the vertical view of Fig. 1 belly board of the present invention;
Fig. 3 is the side view of Fig. 1 of the present invention;
Fig. 4 is a gravity balance device hydraulic circuit principle schematic of the present invention;
Fig. 5 is a computer system composition diagram of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
As Fig. 1, Fig. 2, shown in Figure 3, the present invention includes 6-dof motion platform 4 in parallel and be installed on the motion platform in the boiler-plate 3 of visual system is arranged.It also comprises heave movement plateform system, safety system; Wherein:
1) heave movement plateform system: the guiding mechanism, the mobile cable bridge that comprise hydraulic pressure gravity balance device that belly board 5, heave platform drive hydraulic cylinder 8, be made up of hydraulic cylinder more than two or two 9 and supporting hydraulic system thereof, form by three guide rails 2 and supporting slide block 7 thereof; 6-dof motion platform 4 in parallel is installed above the belly board 5, and heave platform of vertical installation drives hydraulic cylinder 8 under belly board 5 central points, and tailpiece of the piston rod is connected with the hinged-support that belly board bottom center installs with the rod end ball pivot; Also vertical installation is the hydraulic cylinder more than two or two 9 of center, symmetric arrangement and the gravity balance device that supporting hydraulic system is formed with driving hydraulic cylinder 8 below the belly board 5; Belly board 5 two ends and a side are equipped with two guide rail slide blocks 7 up and down respectively, guide rail slide block 7 be vertically mounted on that the guide rail 2 on three metopes 14 cooperates the composition guiding mechanism around the motion simulator; Between belly board 5 and flank wall 14, install one and move cable bridge;
2) safety system: the guide rail 2 on belly board 5 two ends are installed two bidirectional safety tongs 6 respectively and are vertically mounted on 5 liang of headwalls of belly board cooperates; the both sides, upper end that are vertically mounted on the guide rail 2 at belly board 5 two ends are installed two upper end impact dampers 1 respectively, and driving hydraulic cylinder 8 with the heave platform on the ground under the belly board 5 13 is that the center symmetry is installed four impact dampers 10.
As shown in Figure 4, the hydraulic circuit of said hydraulic pressure gravity balance device comprises motor 15, hydraulic pump 16, electromagnetic relief valve 17, several accumulators 18, emergency protection module 19, hydraulic cylinder 8, fuel tank 25; Hydraulic pump 16 outlets connect electromagnetic relief valve 17 and several accumulators 18, connect the rodless cavity of hydraulic cylinder 8 again by emergency protection module 19, and hydraulic cylinder 8 rod chambers lead to atmosphere.
Said emergency protection module 19 comprises throttling valve 20, retaining valve 21, second hydraulic control one-way valve 22, first hydraulic control one-way valve 23, two position three way directional control valve 24; The end that several accumulators 18 connect the emergency protection module is connected with the P mouth of two position three way directional control valve 24 and the import of first hydraulic control one-way valve 23; the outlet of first hydraulic control one-way valve 23 is connected with the rodless cavity of hydraulic cylinder 8; the T mouth of two position three way directional control valve 24 leads to fuel tank 25; the A mouth connects the control port of first, second hydraulic control one- way valve 23,22; throttling valve 20 is in parallel with retaining valve 21; one end leads to fuel tank 25; the other end is connected with the outlet of second hydraulic control one-way valve 22, and the import of second hydraulic control one-way valve 22 is connected with the rodless cavity of hydraulic cylinder 8.
Theoretical foundation
The calculating that the heave system power dissipation reduces after the gravitational equilibrium
System power: P=m (g+a) v before the gravitational equilibrium
System power is approximately after the gravitational equilibrium: P '=mav
The ratio of power is before and after the gravitational equilibrium:
In the formula: m-object quality
G-acceleration of gravity
A-object of which movement acceleration
The heave movement acceleration is generally less than 1g in motion simulator, so energy saving of system is more than 50%.
Apparatus structure and principle of work
(1) heave movement platform
Guiding mechanism, mobile cable bridge that the heave movement platform comprises hydraulic pressure gravity balance device that belly board 5, heave platform drive hydraulic cylinder 8, be made up of hydraulic cylinder more than two or two 9 and supporting hydraulic system thereof, is made up of three guide rails 2 and supporting slide block 7 thereof.
Heave platform of vertical installation drives hydraulic cylinder 8 under belly board 5 central points, hydraulic cylinder can install on the ground or be embedded in fully below ground fully or part is embedded in below ground, and tailpiece of the piston rod is connected with the hinged-support that belly board bottom center installs with the rod end ball pivot.Hydraulic cylinder adopts special construction list rod symmetrical structure, utilizes symmetrical valve control asymmetric cylinder, to solve the flex point problem of simulator motion.
Also vertical installation is the hydraulic cylinder more than two or two 9 of center, symmetric arrangement and the gravity balance device that supporting hydraulic system is formed with driving hydraulic cylinder 8 below the belly board 5.
Between belly board 5 and flank wall 14, install one and move cable bridge; Move cable bridge at belly board 5 and 14 installations one of flank wall; protect the pipeline etc. of oil pipe, power lead, signal wire and the boiler-plate of 6-dof motion platform in parallel to leave the overhanging portion of platform to oil sources, power supply, signal source, the hinge on the mobile cable bridge can be bent them.
The heave movement platform is under high precision guiding mechanism guiding, utilize most of gravity of gravity balance device balance exercise simulator and load thereof, drive the heave movement that hydraulic cylinder 8 directly drives the big amplitude of realization, quick, high acceleration, high frequency sound by the heave platform.According to the calculating of theoretical foundation, gravity balance device can significantly reduce the power consumption of heave system.
(2) 6-dof motion platform in parallel
As shown in Figure 1 and Figure 2,6-dof motion platform 4 in parallel is installed on the belly board 5.
6-dof motion platform 4 in parallel adopts the Stewart structures, drives hydraulic cylinders 12 by upper and lower platform and both six of being connected in parallel and forms, and adopts Hooke's hinge 11 to be connected respectively between hydraulic cylinder and the upper and lower platform.6-dof motion platform in parallel can realize along X, Y, Z to translation and rotatablely moving around X, Y, Z axle.
6-dof motion platform 4 in parallel combines the six-freedom motion of realizing simulator with the heave platform.Wherein heave movement can combine realization by heave movement platform or 6-dof motion platform in parallel or both.
Six driving hydraulic cylinders 12 all adopt special construction list rod symmetrical hydraulic cylinder, utilize symmetrical valve control asymmetric cylinder, to solve the flex point problem of simulator motion.
(3) safety system
Because it is manned that motion simulator is used for, so designed machinery, hydraulic pressure, the electric security protector system three cover protection systems safety of protecting whole device in parallel.
(1) machine security protection system
A. bidirectional safety tongs
As shown in Figure 1, the guide rail 2 on the X axis two ends of belly board 5 are installed two bidirectional safety tongs 6 respectively and are vertically mounted on 5 liang of headwalls of belly board cooperates.During the system operate as normal, safety tongs is an open mode, when power down or hydraulic system decompression, then tightens guide rail, and platform is slowed down until stopping.Simultaneously, can cooperate, finish deceleration with travel switch, overspeed detection system, EmS etc.
B. impact damper
As Fig. 1, Fig. 2, shown in Figure 3, the both sides, upper end that are vertically mounted on the guide rail 2 at belly board 5 two ends are installed two upper end impact dampers 1 respectively, and driving hydraulic cylinder 8 with the heave platform on the ground under the belly board 5 13 is that the center symmetry is installed four impact dampers 10.Malfunctioning when platform control system, when safety tongs was also failed platform stop, impact damper will play to be avoided platform directly to rush to summit and hits the effect at the end.
C. security window
Be installed on the boiler-plate top.When the hatch door damage that meets accident, when causing personnel to come in and go out, be convenient to the escape of personnel in the cabin or entering of maintainer.Security window is provided with the electrical interlocks device, and when security window was opened, platform just can't move.Have only after security window shuts, platform could move.
(2) hydraulic safe protection system
A. hydraulic protecting module.
Be used for 6-dof motion platform in parallel and lifting hydraulic cylinder.During the system power down or during system's decompression, the bidirectional hydraulic lock in the hydraulic system can block the pressure oil in oil cylinder two chambeies, makes platform not withdraw or throw away, thereby guarantees the security of hoistable platform.In like manner, also can be used for protecting the safety of 6-dof motion platform in parallel.
B. cushion in the hydraulic cylinder
Hoistable platform and the used hydraulic cylinder of 6-dof motion platform in parallel all design buffering in the cylinder.
C. the safeguard protection design to simulator of hydraulic system
Can suppress the surpressure in the loop, preventing the damage of hydraulic oil pump, and prevent to be in overload.Fault alarms such as oil supply pressure is unusual, oil sources abnormal state, pipeline leakage of oil, oil filter obstruction, processing and anxious stop etc.
(3) automatically controlled safety system
A. electric interlock is equipped with in the motion simulation cabin, and when making boiler-plate can only be positioned at the position of bottom defined, hatch door could be opened, and hatch door unlatching analog platform stop motion afterwards and can not starting.
When b. boiler-plate top trapdoor was opened, motion simulator can not start.
C. in control program, the motion of hoistable platform and 6-dof motion platform in parallel is protected.And design emergency operation control system.
D. emergency stop switch
1. emergency stop switch in the cabin: adopt non-automatic reset switch,, pull emergency stop switch in the cabin, platform is stopped rapidly when the platform operation is out of control will occur danger the time.
2. main control room emergency stop switch: be installed in main control room, main for debugging and monitoring personnel use.
3. hoistable platform emergency stop switch: be installed on the hoistable platform, when being mainly used in maintenance.
4. guide rail bottom emergency stop switch: be installed in the guide rail bottom, when being mainly used in maintenance.
E. warning system
When breaking down or facing a danger situation in the boiler-plate, personnel can notify the operator on duty by warning system in the cabin.Alarm button is set in the cabin, presses the button the warning system work that can make duty room.
F. overload protection:
When simulator load exceeds standard, the platform fail to start, and report to the police; Platform is reduced to extreme lower position in the running status, and system is out of service.
G. have emergency lighting system.
(4) boiler-plate and visual system
Boiler-plate is used for manned and correlation test equipment.
Be provided with the fixed orifice and the power supply of tables and chairs, porthole and various testing equipments in the boiler-plate, large screen display is used to show true to nature, real-time navigation (flight) what comes into a driver's.
The boiler-plate front window shows 120 horizontal field of view angle three-dimensional visions with the triple channel display, and display is installed in the boiler-plate and moves with motion platform.
The hardware platform of graphics system adopts top-grade computer to add the pattern of high-performance specialty three-dimensional picture accelerator card; Software platform adopts real-time what comes into a driver's management software and what comes into a driver's modeling software and independently developed some specific purpose tool softwares that are used to support above-mentioned software.
The sound simulation system also is installed, the true sound equipment when realistic simulation navigation, flight in the cabin in the boiler-plate.
(5) hydraulic pressure gravity balance device
Be illustrated in figure 4 as the gravity balance device hydraulic schematic diagram.The hydraulic circuit of said hydraulic pressure gravity balance device comprises motor 15, hydraulic pump 16, electromagnetic relief valve 17, several accumulators 18, emergency protection module 19, hydraulic cylinder 8, fuel tank 25; Hydraulic pump 16 outlets connect electromagnetic relief valve 17 and several accumulators 18, connect the rodless cavity of hydraulic cylinder 8 again by emergency protection module 19, and hydraulic cylinder 8 rod chambers lead to atmosphere.
The course of work: hydraulic cylinder 8 piston rods are to be in retracted state when initial, utilize the hydraulic pump machine to press oil to the accumulator internal-filling liquid, and until reaching predetermined work pressure, hydraulic pump stops, and in the course of work, when pressure was lower than setting value, hydraulic pump was opened automatically.During work, accumulator and hydraulic cylinder constitute a sealed volume, and heave platform driving cylinder synchronization telescope is followed in hydraulic cylinder piston rod servo-actuated in the course of work, can keep certain thrust that makes progress with balanced load gravity simultaneously.According to the calculating of theoretical foundation, gravity balance device can significantly reduce the power consumption of heave system.
(6) computer system
As Fig. 5 computer system composition diagram of doing, described the computer system of motion simulator and formed.
The simulator computer system includes central computer, visual system management planning level computing machine, figure and resolves computing machine, motion control management planning level computing machine, heave movement real-time control system, 6-dof motion platform real-time control system in parallel etc.The function of system has the status monitoring of synchronous generation broadcast, simulation system of the man-machine interface that provides friendly, the servocontrol that realizes the simulator motion, what comes into a driver's and safeguard protection etc.
The valve-controlled cylinder electrohydraulic servo-controlling system is to realize the motion simulator power performance element of heave movement significantly, is made up of servoamplifier, servo-valve, hydraulic cylinder and displacement transducer.The main feedback loop of servo hydraulic cylinder is a position ring, and auxiliary feedback signal has speed, pressure and mechanical compliance feedback equalizing network.
The principle of work of motion simulator multilevel computer control system is, central computer carries out the reproduction of model real-time resolving or motion course, send the athletic posture signal to motion control management planning level computing machine, simultaneously synchronous what comes into a driver's signal is sent to visual system management planning level computing machine, by two management planning levels
Computing machine carries out sending instruction to the next stage computer system after the further computing, and final control executing mechanism is moved or shown on display.
Claims (3)
1, a kind of hydraulic pressure Weight-balancing type spatial movement simulator, comprise 6-dof motion platform in parallel (4) and be installed on the motion platform in the boiler-plate (3) of visual system is arranged, it is characterized in that: it also comprises heave movement plateform system, safety system; Wherein:
1) heave movement plateform system: the guiding mechanism, the mobile cable bridge that comprise hydraulic pressure gravity balance device that belly board (5), heave platform drive hydraulic cylinder (8), be made up of follower hydraulic cylinder more than two or two (9) and supporting hydraulic system thereof, form by three guide rails (2) and supporting slide block (7) thereof; 6-dof motion platform in parallel (4) is installed above the belly board (5), and heave platform of vertical installation drives hydraulic cylinder (8) under belly board (5) central point, and tailpiece of the piston rod is connected with the hinged-support that belly board bottom center installs with the rod end ball pivot; Also vertical installation is the follower hydraulic cylinder more than two or two (9) of center, symmetric arrangement and the gravity balance device that supporting hydraulic system is formed with driving hydraulic cylinder (8) below the belly board (5); Belly board (5) two ends and a side are equipped with two guide rail slide blocks (7) up and down respectively, guide rail slide block (7) be vertically mounted on that the guide rail (2) on three metopes (14) cooperates the composition guiding mechanism around the motion simulator; Between belly board (5) and flank wall (14), install one and move cable bridge;
2) safety system: the guide rail (2) on belly board (5) two ends are installed two bidirectional safety tongs (6) respectively and are vertically mounted on belly board (5) two headwalls cooperates; the both sides, upper end that are vertically mounted on the guide rail (2) at belly board (5) two ends are installed two upper end impact dampers (1) respectively, and the ground (13) under belly board (5) is gone up and driven hydraulic cylinder (8) with the heave platform is that the center symmetry is installed four impact dampers (10).
2, a kind of hydraulic pressure Weight-balancing type spatial movement simulator according to claim 1, it is characterized in that: the hydraulic circuit of said hydraulic pressure gravity balance device comprises motor (15), hydraulic pump (16), electromagnetic relief valve (17), several accumulators (18), emergency protection module (19), hydraulic cylinder (8), fuel tank (25); Hydraulic pump (16) outlet connects electromagnetic relief valve (17) and several accumulators (18), connects the rodless cavity of hydraulic cylinder (8) again by emergency protection module (19), and hydraulic cylinder (8) rod chamber leads to atmosphere.
3, a kind of hydraulic pressure Weight-balancing type spatial movement simulator according to claim 2, it is characterized in that: said emergency protection module (19) comprises throttling valve (20), retaining valve (21), second hydraulic control one-way valve (22), first hydraulic control one-way valve (23), two position three way directional control valve (24); The end that several accumulators (18) connect the emergency protection module is connected with the P mouth of two position three way directional control valve (24) and the import of first hydraulic control one-way valve (23); the outlet of first hydraulic control one-way valve (23) is connected with the rodless cavity of hydraulic cylinder (8); the T mouth of two position three way directional control valve (24) leads to fuel tank (25); the A mouth connects first; second hydraulic control one-way valve (23); (22) control port; throttling valve (20) is in parallel with retaining valve (21); one end leads to fuel tank (25); the other end is connected with the outlet of second hydraulic control one-way valve (22), and the import of second hydraulic control one-way valve (22) is connected with the rodless cavity of hydraulic cylinder (8).
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| CN 03150845 CN1228746C (en) | 2003-09-03 | 2003-09-03 | Hydraulic and gravitational balancing type space motion simulator equilibrium |
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| CN 03150845 CN1228746C (en) | 2003-09-03 | 2003-09-03 | Hydraulic and gravitational balancing type space motion simulator equilibrium |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100342151C (en) * | 2005-03-31 | 2007-10-10 | 浙江大学 | Hydraulic buffer of complex vibration with mechanism in six degree of freedom based on parallel connection |
| CN103472861A (en) * | 2013-08-06 | 2013-12-25 | 总装备部工程设计研究总院 | Macro-micro control system for space servo-actuated constant tension |
| WO2014198190A1 (en) * | 2013-06-13 | 2014-12-18 | Huang Jie | Swaying boat apparatus |
| CN105070138A (en) * | 2015-07-28 | 2015-11-18 | 长沙中联消防机械有限公司 | Simulated training system, simulated training method and simulated training device for high-altitude rescue and fire fighting vehicles |
| CN105845011A (en) * | 2015-01-14 | 2016-08-10 | 天津工大瑞工光电技术研究院有限公司 | Spatial topological motion simulation platform |
| CN105976646A (en) * | 2016-07-29 | 2016-09-28 | 安庆米锐智能科技有限公司 | Intelligent display equipment for e-commerce teaching |
| CN106023665A (en) * | 2016-07-29 | 2016-10-12 | 安庆米锐智能科技有限公司 | Intelligent display device based on parallel mechanism |
| CN106781963A (en) * | 2015-11-20 | 2017-05-31 | 中国舰船研究设计中心 | Crewman's anti-blooming ship trainer |
| CN107378526A (en) * | 2017-08-10 | 2017-11-24 | 南通第五机床有限公司 | A kind of nC vertical milling machine workbench |
| CN110789730A (en) * | 2018-08-02 | 2020-02-14 | 北京众驰自动化设备有限公司 | Flight simulation platform for detecting performance of aircraft fuel tank |
| CN111564075A (en) * | 2020-04-28 | 2020-08-21 | 广东电力信息科技有限公司 | Electrical switching field simulation and emulation training system based on VR |
| CN114120748A (en) * | 2021-11-25 | 2022-03-01 | 中国人民解放军火箭军工程大学 | Six-degree-of-freedom motion platform system based on reverse gravity balance |
| CN115837963A (en) * | 2022-12-12 | 2023-03-24 | 广东工业大学 | A stabilize compensation platform for ocean engineering |
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2003
- 2003-09-03 CN CN 03150845 patent/CN1228746C/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100342151C (en) * | 2005-03-31 | 2007-10-10 | 浙江大学 | Hydraulic buffer of complex vibration with mechanism in six degree of freedom based on parallel connection |
| WO2014198190A1 (en) * | 2013-06-13 | 2014-12-18 | Huang Jie | Swaying boat apparatus |
| CN103472861B (en) * | 2013-08-06 | 2016-12-07 | 总装备部工程设计研究总院 | The space grand micro control system of servo-actuated identical tension |
| CN103472861A (en) * | 2013-08-06 | 2013-12-25 | 总装备部工程设计研究总院 | Macro-micro control system for space servo-actuated constant tension |
| CN105845011A (en) * | 2015-01-14 | 2016-08-10 | 天津工大瑞工光电技术研究院有限公司 | Spatial topological motion simulation platform |
| CN105070138A (en) * | 2015-07-28 | 2015-11-18 | 长沙中联消防机械有限公司 | Simulated training system, simulated training method and simulated training device for high-altitude rescue and fire fighting vehicles |
| CN106781963A (en) * | 2015-11-20 | 2017-05-31 | 中国舰船研究设计中心 | Crewman's anti-blooming ship trainer |
| CN106023665A (en) * | 2016-07-29 | 2016-10-12 | 安庆米锐智能科技有限公司 | Intelligent display device based on parallel mechanism |
| CN105976646A (en) * | 2016-07-29 | 2016-09-28 | 安庆米锐智能科技有限公司 | Intelligent display equipment for e-commerce teaching |
| CN106023665B (en) * | 2016-07-29 | 2018-08-31 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | A kind of intelligent display device based on parallel institution |
| CN105976646B (en) * | 2016-07-29 | 2018-09-25 | 浙江中腾科教设备有限公司 | A kind of intelligent display device for electronic commerce teaching |
| CN107378526A (en) * | 2017-08-10 | 2017-11-24 | 南通第五机床有限公司 | A kind of nC vertical milling machine workbench |
| CN110789730A (en) * | 2018-08-02 | 2020-02-14 | 北京众驰自动化设备有限公司 | Flight simulation platform for detecting performance of aircraft fuel tank |
| CN111564075A (en) * | 2020-04-28 | 2020-08-21 | 广东电力信息科技有限公司 | Electrical switching field simulation and emulation training system based on VR |
| CN114120748A (en) * | 2021-11-25 | 2022-03-01 | 中国人民解放军火箭军工程大学 | Six-degree-of-freedom motion platform system based on reverse gravity balance |
| CN115837963A (en) * | 2022-12-12 | 2023-03-24 | 广东工业大学 | A stabilize compensation platform for ocean engineering |
| CN115837963B (en) * | 2022-12-12 | 2024-05-03 | 广东工业大学 | A stable compensation platform for ocean engineering |
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