CN201255936Y - Three degree of freedom motion simulation platform - Google Patents

Abstract

The utility model discloses a three-degree-of-freedom motion simulation platform. A three-degree-of-freedom motion simulation platform with a low center of gravity, strong carrying capacity, more consideration for occupant safety, and a substantial reduction in the overall height of the motion simulation system is proposed to better meet the needs of vehicles, ships, aircraft, virtual reality, and entertainment Motion simulation needs in industries and other fields. The platform is mainly composed of a frame, an actuator connected to the frame and a servo control system. The said frame includes a lower frame (1), a middle frame (2), an upper frame (3), a lower frame (1), a middle frame ( 2) The central position is connected by a universal joint (4), the lower frame (1) and the middle frame (2) are connected by two actuators (6, 5), the middle frame (2) and the upper frame ( 3) are connected by an intermediate actuator (9) and two linear guide rails (8, 7), and the expansion and contraction of the three actuators is controlled by a servo control system.

Description

Three degrees of freedom motion simulation platform

technical field

The utility model relates to a three-degree-of-freedom motion simulation platform and a control system thereof. The motion platform has three degrees of freedom of pitch, roll, and forward and backward translation, and is suitable for simulating rolling, pitching, acceleration, deceleration, Braking, etc., are also applicable to other fields such as virtual reality and entertainment industry.

Background technique

Most of the current motion simulation systems are aimed at motion simulation objects such as vehicles, ships, and aircrafts. Stewart (Stewart) platform and other multi-degree-of-freedom parallel mechanisms are used as motion simulation devices, and the simulator cockpit is mostly installed above the motion platform supported by the parallel mechanism. , such a motion simulator has a relatively high overall size, so it needs to be installed in a relatively high building. Its main disadvantage is the high center of gravity and low safety.

Contents of the invention

The utility model proposes a three-degree-of-freedom motion simulation platform with a low center of gravity, strong carrying capacity, greater consideration of occupant safety, and a greatly reduced overall height of the motion simulation system, so as to better meet the needs of vehicles, ships, aircraft, Motion simulation needs in virtual reality, entertainment industry and other fields.

The above-mentioned purpose of the utility model is achieved in that, in conjunction with accompanying drawing, description is as follows:

A three-degree-of-freedom motion simulation platform is mainly composed of a frame, an actuator connected to the frame and a servo control system. The frame includes a lower frame 1, a middle frame 2, an upper frame 3, and a lower frame 1 and a middle frame The center position is connected by a universal joint 4, the lower frame 1 and the middle frame 2 are connected by two actuators 5, 6, the middle frame 2 and the upper frame 3 are connected by an intermediate actuator 9 and two linear guides 7, 8 are connected, actuators 5, 6 and intermediate actuator 9 are controlled by the servo control system to expand and contract.

The two actuators 5 and 6 are distributed vertically and symmetrically on the front side of the platform, one end of which is connected to the lower frame 1 through universal joints 10 and 12 respectively, and the other end is connected to the middle frame through universal joints 11 and 13 respectively. 2 The protruding support arms are connected. When one of the actuators is extended and the other is shortened, the motion simulation platform rotates around the longitudinal axis. When the two actuators are extended or retracted at the same time, the motion simulation platform rotates Horizontal axis rotation.

Said intermediate actuator 9 and two linear guide rails 7, 8 are placed between the middle frame 2 and the upper frame 3 in parallel along front and back, one end of the intermediate actuator 9 is connected with the middle frame 2 through a universal joint 14, and the other One end is connected with the upper frame 3 through a universal joint 15 , and by controlling the expansion and contraction of the actuator, the upper frame 3 can produce forward and backward translational motion relative to the middle frame 2 .

The three actuators controlled by the servo control system can adopt hydraulic servo cylinders, pneumatic servo cylinders or electric servo cylinders.

Said servo control system comprises host computer 16 and motion platform servo controller 24, and host computer 16 transmits control instruction to motion platform servo controller 24 through RS485 interface, is interpreted as the action instruction of three electric servo cylinders by it, and The command signal is sent to the servo motors 19 of the three electric servo cylinders to control the three electric servo cylinders to perform predetermined actions.

Said each electric servo cylinder is provided with maximum stroke, upper limit switch 20 and lower limit switch 21 of minimum stroke limit position, is provided with emergency stop button 17 on motion platform servo controller 24, on motion platform servo controller It is also provided with a manual operator group 18 for manually adjusting pitch, roll, and front and rear translation ranges.

The three-degree-of-freedom motion simulator provided by the utility model reduces the height of the platform to a minimum by arranging the actuator around the platform and placing the actuator horizontally. Therefore, the safety of the occupants is greatly improved when a fault occurs, and the height requirement of the building required for placing the motion simulator is reduced, so that the initial installation cost of the motion simulator is greatly reduced.

The technical effect of the utility model is: compared with the prior art, the advantages of the three-degree-of-freedom motion simulation platform are mainly reflected in two aspects: firstly, the three-degree-of-freedom motion simulation platform provided by the utility model is different from other types of the same tonnage Compared with the motion platform, the height of the platform is greatly reduced, which is extremely beneficial to reduce the height of the entire motion simulation system; secondly, the range of motion of the three-degree-of-freedom motion simulation platform provided by the utility model can be made relatively large for the forward and backward translation. The motion simulation of acceleration, deceleration and braking in the forward direction of vehicles, ships, aircraft, etc. is more beneficial.

Description of drawings

The utility model will be further described below in conjunction with the embodiment shown in the accompanying drawings.

Figure 1 is a structural schematic diagram of a three-degree-of-freedom motion simulation platform;

Fig. 2 is an example of the physical structure of the three-degree-of-freedom motion simulation platform;

Figure 3 is an example of the composition of the three-degree-of-freedom motion simulation platform control system.

In the figure: 1. Lower frame 2. Middle frame 3. Upper frame 4. Universal joint 5. One actuator 6. Another actuator 7. One linear guide 8. Another linear guide 9. Intermediate actuator 10～15. Universal joints with the same structure 16. Host computer 17. Emergency stop button 18. Hand operator group 19. Servo motor 20. Upper limit switch 21. Lower limit switch 22. Ball screw 23. Synchronous tooth shape Belt 24. Motion platform servo controller 5′, 6′, 9′. There are three electric servo cylinders respectively A. Pitch handheld operator B. Rolling handheld operator C. Front and rear translation handheld operator D. From the upper computer Command E. Control bus F. Position control signal

Detailed ways

The actuator can adopt hydraulic servo cylinder, pneumatic servo cylinder and electric servo cylinder, etc. In this example, the actuator adopts electric servo cylinder.

Figure 2 is an example of the physical structure of the motion platform. The motion platform is composed of an upper frame 1, a middle frame 2 and a lower frame 3, driven by two electric servo cylinders 5', 6' and the middle electric servo cylinder 9'. The lower frame 1 and the middle frame 2 are connected through a universal joint 4 at the center, and the position control of the middle frame 2 is realized by two electric servo cylinders 5', 6', and the two electric servo cylinders 5', 6' are respectively One end of the universal joint is connected with the lower frame 1, and the other end is connected with the extended support arm of the middle frame 2. The middle frame 2 and the upper frame 3 are connected by two parallel linear guide rails 7 and 8, and an electric servo cylinder 9' is placed parallel to the linear guide rails. One end of the servo cylinder is connected to the middle frame through a universal joint. 2, and the other end is connected with the upper frame 3 through a universal joint. When the two electric servo cylinders 5' and 6' expand and contract at the same time, the platform produces a pitching motion; when one stretches and the other shortens, the platform produces a rolling motion; when the middle electric servo cylinder 9' stretches, the platform produces a forward and backward translational motion.

Figure 3 shows an example of the composition of the control system of the motion platform. The control system consists of a host computer 16 and a motion platform servo controller 24 . The upper computer 16 transmits the control command to the motion platform servo controller 24 through the RS485 interface, which interprets it as the action command of the three electric servo cylinders, and then transmits the command signal to the servo motors 19 of the three electric servo cylinders to control Three electric servo cylinders generate predetermined movements. Each electric servo cylinder is provided with limit position limit switches 20 and 21 for maximum stroke and minimum stroke. After the electric servo cylinder reaches the limit position, the limit switch transmits a message to the servo controller to stop the motion of the electric servo cylinder. An emergency stop button 17 is arranged on the servo controller of the moving platform, which is used to stop the movement of the platform in an emergency when encountering danger. The motion platform servo controller is also provided with a manual operator group 18 for manually adjusting pitch, roll, and forward and backward translation ranges, for use when manually adjusting the platform position.

Claims (6)

1, a kind of three-degree-of-freedom motion simulation platform, mainly is made up of frame, the actuator that connects frame and servo control system, it is characterized in that said frame comprises lower frame (1), middle frame (2), upper frame ( 3), the center positions of the lower frame (1) and the middle frame (2) are connected by a universal joint (4), and the lower frame (1) and the middle frame (2) are connected by two actuators (6, 5 ) connection, the middle frame (2) and the upper frame (3) are connected by an intermediate actuator (9) and two linear guide rails (8, 7), and the three actuators are controlled to expand and contract by the servo control system. 2. The three-degree-of-freedom motion simulation platform according to claim 1, characterized in that said two actuators (6, 5) are vertically and symmetrically distributed on the front side of the platform, and one end of the two actuators is respectively It is connected with the lower frame (1) through the universal joints (12, 10), and the other end is respectively connected with the support arm protruding from the middle frame (2) through the universal joints (11, 13). By controlling one of the actuators When stretched and the other shortened, the motion simulation platform rotates around the longitudinal axis, and when the two actuators extend or retract simultaneously, the motion simulation platform rotates around the horizontal axis. 3. The three-degree-of-freedom motion simulation platform according to claim 1, characterized in that said intermediate actuator (9) and two linear guide rails (8, 7) are placed parallel to the middle frame (2) and Between the upper frame (3), one end of the middle actuator (9) is connected with the middle frame (2) through the universal joint (14), and the other end is connected with the upper frame (3) through the universal joint (15). Controlling the expansion and contraction of the actuator can make the upper frame (3) produce forward and backward translational motion relative to the middle frame (2). 4. The three-degree-of-freedom motion simulation platform according to claim 1, wherein the three actuators controlled by the servo control system can be hydraulic servo cylinders, pneumatic servo cylinders or electric servo cylinders. 5. The three-degree-of-freedom motion simulation platform according to claim 1 or 4, characterized in that said servo control system includes a host computer (16) and a motion platform servo controller (24), and the host computer (16) communicates via RS485 The interface transmits the control command to the motion platform servo controller (24), which is interpreted as the action command of the three electric servo cylinders, and the command signal is passed to the servo motors (19) of the three electric servo cylinders to control the three electric servo cylinders. Electric servo cylinders perform predetermined actions. 6. The three-degree-of-freedom motion simulation platform according to claim 5, characterized in that each electric servo cylinder is provided with an upper limit switch (20) and a lower limit switch (21) for the maximum stroke and the minimum stroke limit position. ), the motion platform servo controller (24) is provided with an emergency stop button (17), and the motion platform servo controller is also provided with a manual operator group (18) for adjusting pitch, roll, and front and rear translation amplitudes.

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