CN201255936Y - Three degree of freedom motion simulation platform - Google Patents
Three degree of freedom motion simulation platform Download PDFInfo
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- CN201255936Y CN201255936Y CNU2008200722879U CN200820072287U CN201255936Y CN 201255936 Y CN201255936 Y CN 201255936Y CN U2008200722879 U CNU2008200722879 U CN U2008200722879U CN 200820072287 U CN200820072287 U CN 200820072287U CN 201255936 Y CN201255936 Y CN 201255936Y
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Abstract
The utility model discloses a three-degree-of-freedom motion stimulation platform, which has low gravity center, strong bearing capacity, more considered passenger safety, and greatly reduced integral height of the motion stimulation system, thereby better meeting motion stimulation requirements in fields of vehicles, ships, aircrafts, virtual reality, entertainment industry and the like. The three-degree-of-freedom motion stimulation platform mainly comprises a frame, actuators and a servo control system, wherein the actuators and the servo control system are connected to the frame, the frame includes a lower frame (1), a middle frame (2) and an upper frame (3), the centers of the lower frame (1) and the middle frame (2) are connected through a universal joint (4), the lower frame (1) and the middle frame (2) are connected through two actuators (6, 5), the middle frame (2) and the upper frame (3) are connected through a middle actuator (9) and two linear guide rails (8, 7), and the three actuators are controlled to expand by the servo control system.
Description
Technical field
The utility model relates to a kind of three freedom degree movement simulation platform and control system thereof, this motion platform has pitching, rolling and front and back translation three degree of freedom, be applicable to the rolling, pitching, acceleration, deceleration, braking on simulating vehicle, aircraft, naval vessel etc., also be applicable to other fields such as virtual reality, show business.
Background technology
Present sport simulated system, mostly at motion simulation objects such as vehicle, boats and ships, aircraft, multiple freedom parallel mechanisms such as employing Stewart (Stewart) platform are as motion simulator, simulator cabin is loaded on the top of the motion platform that parallel institution props up more, such motion simulator overall dimensions is higher, so need be installed in the higher buildings.Its major defect is the center of gravity height, and security is low.
Summary of the invention
The utility model proposes that a kind of center of gravity is low, load-bearing capacity is considered occupant safety by force, more, and reduce the three freedom degree movement simulation platform of sport simulated system whole height significantly, to satisfy the motion simulation demand in fields such as vehicle, boats and ships, aircraft, virtual reality, show business better.
Above-mentioned purpose of the present utility model is achieved in that accompanying drawings is as follows:
A kind of three freedom degree movement simulation platform, mainly actuator and the servo-control system by framework, connecting frame constitutes, said framework comprises underframe 1, middle frame 2, upper frame 3, the center of underframe 1, middle frame 2 connects by a universal joint 4, connect by two actuator 5,6 between underframe 1 and the middle frame 2, be connected with two line slideways 7,8 by middle actuator 9 between middle frame 2 and the upper frame 3, actuator 5,6 and middle actuator 9 are flexible by servo-control system control.
Said two actuator 5,6 are vertical and be symmetrically distributed in the platform front side, the one end links to each other with underframe 1 by universal joint 10,12 respectively, the other end links to each other by the sway brace that universal joint 11,13 and middle frame 2 stretch out respectively, by control in the actuator elongation and another is when shortening, motion simulation platform rotates around the longitudinal axis, two actuator are stretched out simultaneously or when withdrawing simultaneously, motion simulation platform rotates around transverse axis.
Said three actuator by servo-control system control can servo apply hydraulic pressure cylinder, pneumatic servo cylinders or are adopted the electrical servo cylinder.
Said servo-control system comprises host computer 16 and motion platform servo controller 24, host computer 16 is sent to motion platform servo controller 24 by the RS485 interface with steering order, be construed to the action command of three electrical servo cylinders by it, and this command signal passed to the servomotor 19 of three electrical servo cylinders, control three electrical servo cylinders and carry out predetermined actions.
Said each electrical servo cylinder is provided with the upper limit position switch 20 and the lower position switch 21 of range, minimum stroke extreme position, motion platform servo controller 24 is provided with scram button 17, on the motion platform servo controller, also be provided with manual adjustment pitching, rolling, and before and after the manual operator group 18 of translation amplitude.
Three degree of freedom motion simulator provided by the utility model by actuator being arranged in around the platform and actuator such as is laterally placed at measure, is reduced to bottom line with the height of platform.Thereby occupant's degree of safety greatly improved when fault was occurred, and had reduced the requirement for height of placing the required buildings of motion simulator, and first the dressing up originally of motion simulator greatly reduced.
Technique effect of the present utility model is: compared with prior art the advantage of this three freedom degree movement simulation platform is mainly reflected in two aspects: at first be three freedom degree movement simulation platform provided by the utility model and compare with the motion platform of other type of tonnage, its podium level greatly reduces, and is very favourable to the height that reduces whole sport simulated system; Secondly, the motion amplitude of the front and back translation of three freedom degree movement simulation platform provided by the utility model can be done greatlyyer, and to the acceleration, deceleration of working direction such as vehicle, boats and ships, aircraft, the motion simulation of braking is more favourable.
Description of drawings
The utility model is described in further detail below in conjunction with the accompanying drawing illustrated embodiment.
Fig. 1 is the three freedom degree movement simulation platform structure principle chart;
Fig. 2 is the entity structure example of three freedom degree movement simulation platform;
Fig. 3 is that the three freedom degree movement simulation platform control system is formed example.
Among the figure: 1. in the middle of another line slideways 9. of 7. 1 line slideways of underframe 2. middle frame 3. upper frames, 4. universal joints 5. 1 actuator, 6. another actuator 8. actuator 10～15. for the identical universal joint 16. host computers 17. scram buttons 18. manual operator groups 19. servomotors 20. upper limit position switch 21. lower position switch 22. ball-screws 23. synchronous cog belts 24. motion platform servo controllers 5 of structure ', 6 ', 9 '. be respectively the instruction E. control bus F. position control signal that translation manual operator D. before and after three electric servo cylinder A. pitching manual operator B. rolling manual operator C. come from host computer
Embodiment
Actuator can the servo apply hydraulic pressure cylinder, pneumatic servo cylinder and electrical servo cylinder etc., and actuator adopts the electrical servo cylinder in this example.
Fig. 2 is the entity structure example of motion platform.This motion platform is made up of upper frame 1, middle frame 2 and underframe 3, drive two electrical servo cylinders 5 of dependence ', 6 ' and middle electrical servo cylinder 9 '.Underframe 1 is connected by a universal joint 4 at center position with middle frame 2, the position control of middle frame 2 rely on two electrical servo cylinders 5 ', 6 ' realize, two electrical servo cylinders 5 ', 6 ' respectively link to each other with underframe 1 by universal joint one end, the other end links to each other with the sway brace that middle frame 2 stretches out. Line slideway 7,8 with two parallel placements in front and back between middle frame 2 and the upper frame 3 connects, with line slideway placing abreast an electrical servo cylinder 9 ', one end of this servoBcylinder is connected with middle frame 2 by universal joint, and the other end is connected with upper frame 3 by universal joint.Two electrical servo cylinders 5 ', 6 ' simultaneously when flexible, platform produces luffing, when elongation and another shortened, platform produced rolling movement; Middle electrical servo cylinder 9 ' when stretching, translation motion before and after platform produces.
The control system that Figure 3 shows that this motion platform is formed example.Control system is made of host computer 16 and motion platform servo controller 24.Host computer 16 is sent to motion platform servo controller 24 by the RS485 interface with steering order, be construed to the action command of three electrical servo cylinders by it, then this command signal is passed to the servomotor 19 of three electrical servo cylinders, controlled three electrical servo cylinders and produce predetermined actions.Extreme position limit switch 20,21 when each electrical servo cylinder is provided with range, minimum stroke, after the electrical servo cylinder reached capacity the position, limit switch was summoned the motion that stops this electrical servo cylinder to servo controller.The motion platform servo controller is provided with scram button 17, is used for promptly stopping when facing a danger the motion of platform.On the motion platform servo controller, also be provided with manual adjustment pitching, rolling, and before and after the manual operator group 18 of translation amplitude, use during for the manual adjustment position of platform.
Claims (6)
1, a kind of three freedom degree movement simulation platform, mainly by framework, the actuator of connecting frame and servo-control system are formed, it is characterized in that said framework comprises underframe (1), middle frame (2), upper frame (3), underframe (1), the center of middle frame (2) connects by a universal joint (4), pass through two actuator (6 between underframe (1) and the middle frame (2), 5) connect, between middle frame (2) and the upper frame (3) by middle actuator (9) and two line slideways (8,7) connect, three actuator are flexible by servo-control system control.
2, three freedom degree movement simulation platform according to claim 1, it is characterized in that said two actuator (6,5) are vertical and be symmetrically distributed in the platform front side, one end of two actuator links to each other with underframe (1) by universal joint (12,10) respectively, the other end links to each other with the sway brace that middle frame (2) stretches out by universal joint (11,13) respectively, by control in the actuator elongation and another is when shortening, motion simulation platform rotates around the longitudinal axis, two actuator are stretched out simultaneously or when withdrawing simultaneously, motion simulation platform rotates around transverse axis.
3, three freedom degree movement simulation platform according to claim 1, it is characterized in that said middle actuator (9) and two line slideways (8,7) are placed in parallel between middle frame (2) and the upper frame (3) along front and back, one end of middle actuator (9) links to each other with middle frame (2) by universal joint (14), the other end links to each other with upper frame (3) by universal joint (15), by controlling the flexible of this actuator, can make upper frame (3) produce the front and back translation motion with respect to middle frame (2).
4, three freedom degree movement simulation platform according to claim 1 is characterized in that said three actuator by servo-control system control can servo apply hydraulic pressure cylinder, pneumatic servo cylinder or adopt the electrical servo cylinder.
5, according to claim 1 or 4 described three freedom degree movement simulation platforms, it is characterized in that said servo-control system comprises host computer (16) and motion platform servo controller (24), host computer (16) is sent to motion platform servo controller (24) by the RS485 interface with steering order, be construed to the action command of three electrical servo cylinders by it, and this command signal passed to the servomotor (19) of three electrical servo cylinders, control three electrical servo cylinders and carry out predetermined actions.
6, three freedom degree movement simulation platform according to claim 5, it is characterized in that said each electrical servo cylinder is provided with the upper limit position switch (20) and the lower position switch (21) of range, minimum stroke extreme position, motion platform servo controller (24) is provided with scram button (17), the manual operator group (18) of translation amplitude before and after also being provided with on the motion platform servo controller and adjusting pitching, rolling, reaching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200722879U CN201255936Y (en) | 2008-08-18 | 2008-08-18 | Three degree of freedom motion simulation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200722879U CN201255936Y (en) | 2008-08-18 | 2008-08-18 | Three degree of freedom motion simulation platform |
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| Publication Number | Publication Date |
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| CN201255936Y true CN201255936Y (en) | 2009-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2008200722879U Expired - Lifetime CN201255936Y (en) | 2008-08-18 | 2008-08-18 | Three degree of freedom motion simulation platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011001447A3 (en) * | 2009-06-16 | 2011-02-24 | Zen Technologies Limited | A motion platform system |
| CN102042912A (en) * | 2010-11-09 | 2011-05-04 | 浙江大学 | Three-degree-of-freedom plane loading device |
| CN101339701B (en) * | 2008-08-18 | 2011-06-08 | 吉林大学 | Three freedom degree movement simulation platform |
| CN103337217A (en) * | 2013-05-29 | 2013-10-02 | 哈尔滨工业大学 | Planer three-degree-of-freedom parallel motion simulation device |
| CN104504984B (en) * | 2014-11-20 | 2016-08-31 | 上海交通大学 | The test device of six degree of freedom gait simulation |
| CN106781963A (en) * | 2015-11-20 | 2017-05-31 | 中国舰船研究设计中心 | Crewman's anti-blooming ship trainer |
| CN108087422A (en) * | 2018-01-31 | 2018-05-29 | 重庆梦神科技有限公司 | Cross guide rail and virtual reality experience equipment |
-
2008
- 2008-08-18 CN CNU2008200722879U patent/CN201255936Y/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101339701B (en) * | 2008-08-18 | 2011-06-08 | 吉林大学 | Three freedom degree movement simulation platform |
| WO2011001447A3 (en) * | 2009-06-16 | 2011-02-24 | Zen Technologies Limited | A motion platform system |
| US10373513B2 (en) | 2009-06-16 | 2019-08-06 | Zen Technologies Limited | Motion platform system |
| CN102042912A (en) * | 2010-11-09 | 2011-05-04 | 浙江大学 | Three-degree-of-freedom plane loading device |
| CN103337217A (en) * | 2013-05-29 | 2013-10-02 | 哈尔滨工业大学 | Planer three-degree-of-freedom parallel motion simulation device |
| CN104504984B (en) * | 2014-11-20 | 2016-08-31 | 上海交通大学 | The test device of six degree of freedom gait simulation |
| CN106781963A (en) * | 2015-11-20 | 2017-05-31 | 中国舰船研究设计中心 | Crewman's anti-blooming ship trainer |
| CN108087422A (en) * | 2018-01-31 | 2018-05-29 | 重庆梦神科技有限公司 | Cross guide rail and virtual reality experience equipment |
| CN108087422B (en) * | 2018-01-31 | 2024-03-12 | 重庆梦神科技有限公司 | Cross guide rail and virtual reality experience device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20090610 Effective date of abandoning: 20080818 |