CN206697128U - Connection in series-parallel motion simulator - Google Patents
Connection in series-parallel motion simulator Download PDFInfo
- Publication number
- CN206697128U CN206697128U CN201720381876.4U CN201720381876U CN206697128U CN 206697128 U CN206697128 U CN 206697128U CN 201720381876 U CN201720381876 U CN 201720381876U CN 206697128 U CN206697128 U CN 206697128U
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- CN
- China
- Prior art keywords
- turntable
- rotating shaft
- outer shroud
- inner ring
- middle ring
- Prior art date
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Abstract
The utility model provides a kind of connection in series-parallel motion simulator, including 3 UPU parallel connection platforms, the lower platform of 3 UPU parallel connection platforms is the translation platforms that motion simulator pedestal, upper mounting plate are annular, outer shroud turntable is provided with by outer shroud rotating shaft in translation platform, middle ring turntable is provided with by middle ring rotating shaft in outer shroud turntable, inner ring turntable is provided with by inner ring rotating shaft in middle ring turntable, outer shroud rotating shaft, middle ring rotating shaft, inner ring rotating shaft are driven by outer shroud rotary driver, middle ring rotary driver, inner ring rotary driver respectively.The utility model can be used for the motions such as space flight, aviation, navigation, battlebus simulation, also act as recreational facilities, and dual-machine linkage can be additionally used in space tracking and be tested with docking technique.
Description
Technical field
It the utility model is related to a kind of simulator, more particularly to a kind of connection in series-parallel motion simulator.
Background technology
Motion simulator can embody its kinematic and dynamic characteristic with the spatial movement state of true reappearance object,
Aeronautics and Astronautics and navigation etc. play more and more important effect in field.Tsai proposes 3-UPU translation mechanisms within 1986
(Kinematics of A Three-Dof Platform with Three Extensible Limbs.Recent
Advances in Robot Kinematics,1996:401-410.), and provide 3-UPU keep translation condition.Existing
Parallel kinematic simulator in, be widely used in by main flow of Six Degree-of-Freedom Parallel Platform in all kinds of motion simulators, but
The characteristics of being due to Six Degree-of-Freedom Parallel Platform itself mechanism, is there is many deficiencies, such as its position forecast is difficult to solve, and moves
The position of platform and orientation coupling, high-precision ball pivot manufacture is difficult especially in industry manufactures, and causes to use six degree of freedom
The precision of anticipation is not reached during parallel connection platform.
The content of the invention
The purpose of this utility model is to provide for a kind of connection in series-parallel motion simulator.
What the purpose of this utility model was realized in：Including 3-UPU parallel connection platforms, the lower platform of 3-UPU parallel connection platforms
It is the translation platforms that motion simulator pedestal, upper mounting plate are annular, outer shroud turntable is provided with by outer shroud rotating shaft in translation platform,
Middle ring turntable is provided with by middle ring rotating shaft in outer shroud turntable, middle ring turntable is interior to be provided with inner ring turntable by inner ring rotating shaft, outside
Ring rotating shaft, middle ring rotating shaft, inner ring rotating shaft pass through outer shroud rotary driver, middle ring rotary driver, inner ring rotary driver respectively
Driving.
The utility model also includes some such architectural features：
1. the outer shroud turntable, middle ring turntable are loop configuration, the inner ring turntable is work chamber.
Compared with prior art, the beneficial effects of the utility model are：The purpose of this utility model is to provide a kind of utilization
Three-dimensional translating and three axles are rotated to realize the sport simulated system of simulation real motion, and three direction translationals pass through mobile model 3-
What UPU parallel connection platforms were realized, mobile model 3-UPU parallel connection platforms are connected with pedestal by three connecting rods, and each connecting rod is successively comprising logical
With secondary (U), prismatic pair (P), general secondary (U)；Simultaneously three-axle table it is outer, in, inner ring (work chamber) it is rotatable around its axis, can allow
Any attitude in space is fully achieved in operating cabin.The utility model is series-parallel structure, is easy to control and repairs.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1, the utility model includes：Motion simulator pedestal 1, the drive link 2 of pedestal and translation platform, translation
Platform 3, outer shroud turntable 4, middle ring turntable 5, inner ring turntable (work chamber) 6, connecting rod driver 7, outer shroud rotary driver 8, middle ring
All it is general secondary connection between rotary driver 9, inner ring rotary driver 10, pedestal and connecting rod, translation platform and connecting rod.This practicality
The new three-axle table by mobile 3-UPU parallel connection platforms and series connection forms.Three-axle table of connecting is arranged on movement by cylinder hinge
On the translation platform of 3-UPU parallel connection platforms.The motion of work chamber six-freedom degree is decoupled, mobile 3-UPU parallel connection platforms come
Control the translation of work chamber three degree of freedom, the rotation of series connection three-axle table control work chamber three degree of freedom.It is in parallel by 3-UPU
The translation platform that platform is formed is the support of series connection three-axle table, is controlled by controlling the elongation of three connecting rods in three-axle table
The locus of ring.The series connection three-axle table is passed through by outer shroud turntable, middle ring turntable and inner ring turntable (work chamber)
Cylinder hinge, which is serially connected, to be formed, and work chamber is realized the motion of space any attitude.
The system that mechanism of the present utility model can realize simulation real motion by the motion of space six degree of freedom, by
Control device, power set, turntable, translation platform are formed, and the translation and can that work chamber can complete the confined space realizes space
Inside rotate at any angle；Described control device is made up of key switch and program control monolithic computer, installed in inner ring (work
Cabin) in；Described power set are hydraulically operated device, motor, gear and rack guide rail and formed；Described translation platform is by three
Connecting rod is connected and composed (mobile model 3-UPU parallel connection platforms) between pedestal and platform with general pair respectively；Described turntable by
Outer shroud turntable, middle ring turntable, inner ring turntable are formed.
Drive link 2 completes the translation of translation state three degree of freedom in the presence of connecting rod driver 8.Outer shroud turntable 4, in
Ring turntable 5, inner ring turntable (work chamber) 6 are in outer shroud rotary driver 8, middle ring rotary driver 9, inner ring rotary driver 10
Around each axis of rotation under driving successively, so as to realize the arbitrary motion of work chamber.
To sum up, the utility model " connection in series-parallel motion simulator " is related to one kind and rotated using three-dimensional translating and three axles to realize
Simulate the sport simulated system of real motion, category mechanics field.Purpose is to provide one kind and rotated using three-dimensional translating and three axles
To realize the sport simulated system of simulation real motion, three-axle table inner ring (work chamber) can be sent to sky by three direction translationals
Interior certain position；Simultaneously three-axle table it is outer, in, inner ring be rotated about axis, can allow operating cabin that space is fully achieved
Any attitude.The utility model can be used for the motions such as space flight, aviation, navigation, battlebus simulation, also act as recreational facilities, two-shipper
Linkage can be additionally used in space tracking and be tested with docking technique.
Claims (2)
1. connection in series-parallel motion simulator, including 3-UPU parallel connection platforms, it is characterised in that：The lower platform of 3-UPU parallel connection platforms is fortune
Dynamic simulator pedestal, upper mounting plate are the translation platforms of annular, and translation platform is interior to be provided with outer shroud turntable, outer shroud by outer shroud rotating shaft
Middle ring turntable is provided with by middle ring rotating shaft in turntable, middle ring turntable is interior to be provided with inner ring turntable by inner ring rotating shaft, and outer shroud turns
Axle, middle ring rotating shaft, inner ring rotating shaft are driven by outer shroud rotary driver, middle ring rotary driver, inner ring rotary driver respectively.
2. connection in series-parallel motion simulator according to claim 1, it is characterised in that：The outer shroud turntable, middle ring turntable are equal
It is loop configuration, the inner ring turntable is work chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720381876.4U CN206697128U (en) | 2017-04-13 | 2017-04-13 | Connection in series-parallel motion simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720381876.4U CN206697128U (en) | 2017-04-13 | 2017-04-13 | Connection in series-parallel motion simulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206697128U true CN206697128U (en) | 2017-12-01 |
Family
ID=60440748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720381876.4U Expired - Fee Related CN206697128U (en) | 2017-04-13 | 2017-04-13 | Connection in series-parallel motion simulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206697128U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746896A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motor pattern |
| CN111564095A (en) * | 2020-01-23 | 2020-08-21 | 浙江大学 | Series-parallel combined type two-degree-of-freedom heavy swing platform |
| CN112896421A (en) * | 2021-01-22 | 2021-06-04 | 天津大学 | Shipborne underwater parallel stable platform |
-
2017
- 2017-04-13 CN CN201720381876.4U patent/CN206697128U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746896A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motor pattern |
| CN109746896B (en) * | 2018-12-11 | 2022-02-18 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motion patterns |
| CN111564095A (en) * | 2020-01-23 | 2020-08-21 | 浙江大学 | Series-parallel combined type two-degree-of-freedom heavy swing platform |
| CN112896421A (en) * | 2021-01-22 | 2021-06-04 | 天津大学 | Shipborne underwater parallel stable platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171201 Termination date: 20190413 |
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| CF01 | Termination of patent right due to non-payment of annual fee |