CN207141431U - Nine-degree of freedom sport simulated system - Google Patents
Nine-degree of freedom sport simulated system Download PDFInfo
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- CN207141431U CN207141431U CN201721053883.8U CN201721053883U CN207141431U CN 207141431 U CN207141431 U CN 207141431U CN 201721053883 U CN201721053883 U CN 201721053883U CN 207141431 U CN207141431 U CN 207141431U
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Abstract
The utility model provides a kind of nine-degree of freedom sport simulated system, including horizontal linear moving mechanism, vertical lines travel mechanism, longitudinal linear moving mechanism and Lateral mobile platform mechanism, vertically-moving platform mechanism, longitudinal mobile platform mechanism, the linear moving mechanism in three directions is orthogonal, Lateral mobile platform mechanism moves linearly on horizontal linear moving mechanism, vertically-moving platform mechanism moves linearly in vertical lines travel mechanism, longitudinal mobile platform mechanism moves linearly on longitudinal linear moving mechanism, and longitudinal linear moving mechanism is arranged in Lateral mobile platform mechanism, tracking platform system is provided with vertically-moving platform mechanism；Target Station system is provided with longitudinal mobile platform mechanism.The utility model makes system reach higher synthesis pose accuracy；The manufacture scale of the component of a system is reduced under conditions of identical nine-degree of freedom sport simulated system function is met, manufacture difficulty is reduced, improves feasibility and economy.
Description
Technical field
The utility model belongs to Aero-Space motion analogue technique field, is imitated more particularly, to one kind docking semi physical that crosses
The nine-degree of freedom sport simulated system really tested.
Background technology
Nine-degree of freedom sport simulated system be generally used for two relative motion laws between airborne vehicle or spacecraft of simulation,
Verify the correctness, high efficiency, the measurement accuracy for demarcating related sensor of navigational guidance control algolithm.
At present the nine-degree of freedom in aerospace field be " 6+3 " free degree forms of distribution, i.e., one of simulator
Only possesses the locomitivity of three-axis attitude three degree of freedom, another simulator possesses three-axis attitude and three axle straight line six degree of freedoms
Locomitivity.This free degree matching way logically more they tends to express the simulation to two body relative freedoms.But will
When crossing multiple degrees of freedom and being stacked on a simulator, more error term will be introduced, it is not easy to reach higher relative position
Appearance precision.
Utility model content
In view of this, the utility model is directed to a kind of nine-degree of freedom sport simulated system, to solve existing nine freely
The problem of system accuracy is not high is spent, meanwhile, the manufacture scale of system constructing is reduced under conditions of identical function is met, is reduced
Manufacture difficulty, improve the feasibility and economy of system.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of nine-degree of freedom sport simulated system, including horizontal linear moving mechanism, vertical lines travel mechanism, longitudinal direction are directly
Line travel mechanism and Lateral mobile platform mechanism, vertically-moving platform mechanism, longitudinal mobile platform mechanism, three directions it is straight
Line travel mechanism is orthogonal, and Lateral mobile platform mechanism moves linearly on horizontal linear moving mechanism, vertically-moving platform mechanism
Being moved linearly in vertical lines travel mechanism, longitudinal mobile platform mechanism moves linearly on longitudinal linear moving mechanism, and
Longitudinal linear moving mechanism is arranged in Lateral mobile platform mechanism, and tracking platform system is provided with vertically-moving platform mechanism；
Target Station system is provided with longitudinal mobile platform mechanism；
Further, the tracking stylobate seat mechanism that platform system includes being arranged in vertically-moving platform mechanism, tracking are followed the trail of
Stylobate seat mechanism is provided with the tracking platform outer shroud framework that can freely rotate, and is provided with what can freely be rotated on tracking platform outer shroud framework
Follow the trail of platform middle ring framework, and follow the trail of platform middle ring framework rotary shaft perpendicular to tracking platform outer shroud frame member axle, in platform is followed the trail of
Ring framework is provided with the tracking platform mechanism loading that can freely rotate, and follows the trail of tracking platform inner ring rotating shaft and the tracking platform of platform mechanism loading
Rotary shaft, the rotary shaft of tracking platform middle ring framework of outer shroud framework are spatially orthogonal；
Further, the Target Station that Target Station system includes being arranged in longitudinal mobile platform mechanism increases mechanism and setting
Target Station foundation means thereon and the Target Station outer shroud framework freely rotated being arranged in Target Station foundation means,
Target Station outer shroud framework is provided with the Target Station middle ring framework that can freely rotate, in the Target Station inner axle of Target Station middle ring framework
It is provided with Target Station load system；
There is the rotational freedom on three directions tracking platform part, have in rectilinear movement system translation on three directions from
By spending, there is the rotational freedom in three directions Target Station part, i.e., has three rotational freedoms in tracking platform whole system
With two translation freedoms, there are three rotational freedoms and a translation freedoms in Target Station whole system, it is above-mentioned to be
So-called " 5+4 " the free method of salary distribution；
Further, horizontal linear moving mechanism includes cross slide way component, and cross slide way component is put down including transversary
Platform, horizontal leading screw bearing and horizontal leading screw, Lateral mobile platform mechanism include horizontal leading screw nut, horizontal drive motor and transverse direction
Mobile platform；Transversary platform is fixed on ground, and horizontal leading screw bearing is fixed on transversary platform, horizontal leading screw peace
On horizontal leading screw bearing, horizontal drive motor be arranged on Lateral mobile platform on, horizontal leading screw nut be arranged on laterally
On motor, horizontal leading screw nut cooperatively forms screw thread pair with horizontal leading screw；
Further, in addition to transverse slider and cross slide way, cross slide way are arranged on transversary platform, laterally sliding
Block is arranged on cross slide way and can moved linearly along guide rail direction, and transverse slider is fixedly mounted in Lateral mobile platform；
Further, vertical lines travel mechanism includes vertical guide component, and vertical guide component is put down including vertical structure
Platform, vertical motor, driving pulley, timing belt, servo-actuated belt wheel, bearing, bearing spider and vertical leading screw；Vertically-moving platform
Mechanism includes vertically-moving platform and vertical feed screw nut；Vertical structure platform is fixedly mounted in Lateral mobile platform, with horizontal stroke
Moved in the horizontal to mobile platform, vertical motor, bearing spider are each attached on vertical structure platform；Driving pulley is consolidated
It is scheduled in the rotary shaft of vertical motor, servo-actuated belt wheel is fixed on the top of vertical leading screw, and driving pulley leads to servo-actuated belt wheel
Synchronous band connection is crossed, vertical leading screw both ends are arranged in bearing spider by bearing, and vertical feed screw nut is fixed on vertically movable
On platform, vertically-moving platform is used to install tracking Tai Xi mechanisms；
Further, in addition to vertical guide, vertical sliding block；Vertical guide is fixed on vertical structure platform, vertical sliding
Block is fixed in vertically-moving platform, and vertical sliding block is arranged in vertical guide, vertically guide rail direction can be moved linearly；
Further, longitudinal linear moving mechanism includes vertical structure platform, rack and longitudinal rail；Longitudinal mobile platform
Mechanism includes longitudinal mobile platform, decelerator, vertical drive motor, gear and longitudinal sliding block；Vertical structure platform is fixed on ground
On base, it can be fixed on using pouring type on ground, rack, longitudinal rail are arranged on vertical structure platform, decelerator, longitudinal direction
Sliding block is arranged in longitudinal mobile platform, and vertical drive motor is arranged on decelerator input, and gear exports installed in decelerator
End, longitudinal sliding block are arranged on guide rail, can moved linearly along longitudinal rail direction；When vertical drive motor energization rotates, pass through
Decelerator is passed motion on gear, and wheel and rack forms gear pair, promotes longitudinal mobile platform, longitudinal sliding block, deceleration
Device and vertical drive motor move along longitudinal rail direction；
Further, following the trail of platform system includes tracking turntable, and tracking turntable includes tracking platform system pedestal, tracking platform system outer shroud
Motor, tracking platform system outer shroud support body, follow the trail of annulate shaft, tracking platform in collar bearing outside platform system, tracking platform system middle ring motor, tracking platform system
Collar bearing, tracking platform system middle ring support body, tracking platform system inner ring motor, tracking platform system inner ring bearing, tracking platform system inner axle in system
With tracking platform system loading disk；Tracking platform system pedestal is fixed in vertically-moving platform, with vertically-moving platform on vertical
Mobile, collar bearing is arranged on tracking platform system pedestal outside tracking platform system's outer shroud motor and tracking platform system, tracking platform system outer shroud support body
It is arranged on the rotor of tracking platform system outer shroud motor, and leads to positioned at tracking platform system outer shroud bearing inner race, tracking platform system outer shroud motor
When electricity rotates, driving tracking platform system's outer shroud support body rotates outside tracking platform system under the constraint of collar bearing；Follow the trail of platform system middle ring motor
It is arranged on collar bearing in tracking platform system on tracking platform system outer shroud support body, follows the trail of annulate shaft in platform system and be fixed in tracking platform system middle ring electricity
On the rotor of machine, and it is arranged on positioned at tracking platform system middle ring bearing inner race, tracking platform system middle ring support body in tracking platform system on annulate shaft,
When following the trail of the middle ring electrical power rotation of platform system, annulate shaft and tracking platform system's middle ring support body are in tracking platform system middle ring in driving tracking platform system
Rotated under the constraint of bearing；Tracking platform system's inner ring motor and tracking platform system inner ring bearing are arranged on tracking platform system middle ring support body,
Platform system inner axle is followed the trail of to be arranged on the rotor of tracking platform system inner ring motor, and positioned at tracking platform system inner ring bearing inner race, tracking
Platform system loading disk is fixed on tracking platform system inner axle, when tracking platform system inner ring electrical power rotates, driving tracking platform system inner ring
Axle and tracking platform system's loading disk rotate under the constraint of tracking platform system inner ring bearing；
Further, Target Station system includes target turntable, and target turntable includes Target Station system pedestal, Target Station system outer shroud
Motor, Target Station system outer shroud support body, annulate shaft, Target Station in collar bearing, Target Station system middle ring motor, Target Station system outside Target Station system
Collar bearing, Target Station system middle ring support body, Target Station system inner ring motor, Target Station system inner ring bearing, Target Station system inner axle in system
With Target Station system loading disk；Target Station system pedestal is arranged on heightening structure, and Target Station system pedestal and heightening structure are together with vertical
Moved to mobile platform, collar bearing is arranged on Target Station system pedestal outside Target Station system outer shroud motor and Target Station system, Target Station
It is that outer shroud support body is arranged on the rotor of Target Station system outer shroud motor and is located at Target Station system outer shroud bearing inner race, outside Target Station system
When ring electrical power rotates, driving Target Station system outer shroud support body rotates outside Target Station system under the constraint of collar bearing；Target Station system
Collar bearing is arranged on Target Station system outer shroud support body in middle ring motor and Target Station system, and annulate shaft is arranged on Target Station in Target Station system
It is on middle ring rotor and is located at Target Station system middle ring bearing inner race, Target Station system middle ring support body is consolidated with annulate shaft in Target Station system
Fixed connection, when Target Station system middle ring electrical power rotates, annulate shaft and Target Station system middle ring support body are in target in driving Target Station system
Rotated in platform system under the constraint of collar bearing；Target Station system inner ring motor and Target Station system inner ring bearing are arranged in Target Station system
On ring stand body, Target Station system inner axle is located on Target Station system inner ring rotor and is located at Target Station system inner ring bearing inner race,
Target Station system loading disk is fixedly connected with Target Station system inner axle, when Target Station system inner ring electrical power rotates, drives Target Station
It is that inner axle and Target Station system loading disk rotate under the constraint of Target Station system inner ring bearing；
Relative to prior art, nine-degree of freedom sport simulated system described in the utility model has the advantage that：
The present invention takes the free degree allocative decision of new model, and system accuracy is improved from the theoretical foundation of error propagation,
The free degree forms of distribution of " 5+4 " that uses, compared to existing " 6+3 " and other combination formed nine-degree of freedom structure more
Add scientific and reasonable, matched by the rational free degree and error is subjected to comprehensive matching, so that system reaches higher synthesis position
Appearance precision；
The manufacture scale of the component of a system is reduced under conditions of identical nine-degree of freedom sport simulated system function is met, is dropped
Low manufacture difficulty, improves feasibility and economy；
Overall structure quality lightweight of the present invention, higher movement velocity and dynamic response capability can be obtained, makes system
Simulation capacity be substantially improved.
Brief description of the drawings
Form a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new
The schematic description and description of type is used to explain the utility model, does not form to improper restriction of the present utility model.
In accompanying drawing：
Fig. 1 is nine-degree of freedom sport simulated system kinematic sketch of mechanism of the present invention；
Fig. 2 is the nine-degree of freedom sport simulated system composition figure described in the embodiment of the present invention；
Fig. 3 is the horizontal linear moving mechanism sectional view described in the embodiment of the present invention；
Fig. 4 is the vertical lines travel mechanism sectional view described in the embodiment of the present invention；
Fig. 5 is longitudinal linear moving mechanism sectional view described in the embodiment of the present invention；
Fig. 6 is the tracking turntable side cross-sectional, view described in the embodiment of the present invention；
Fig. 7 is the tracking turntable top cross-sectional view described in the embodiment of the present invention；
Fig. 8 is the target turntable side cross-sectional, view described in the embodiment of the present invention；
Fig. 9 is the target turntable top cross-sectional view described in the embodiment of the present invention；
Description of reference numerals：
101- transverse direction linear moving mechanisms；102- vertical lines travel mechanism；103- longitudinal directions linear moving mechanism；104- is horizontal
To mobile platform mechanism；105- vertically-moving platforms mechanism；106- longitudinal mobile platforms mechanism；107- follows the trail of stylobate seat mechanism；
108- follows the trail of platform outer shroud framework；109- follows the trail of platform middle ring framework；110- follows the trail of platform inner ring rotating shaft；111- follows the trail of platform mechanism loading；
112- Target Stations increase mechanism；113- Target Station foundation means；114- Target Station outer shroud frameworks；115- Target Station middle ring frameworks；
116- Target Station inner axles；117- Target Station load systems；21- cross slide way components；22- vertical guide components；23- is longitudinally led
Rail assembly；24- follows the trail of turntable；25- heightening structures；26- target turntables；2101- transversary platforms；2102- horizontal leading screw branch
Seat；2103- horizontal leading screws；2104- horizontal leading screw nuts；2105- horizontal drive motors；2106- Lateral mobile platforms；2107-
Transverse slider；2108- cross slide ways；2201- vertical structure platforms；The vertical motors of 2202-；2203- driving pulleys；
2204- timing belts；2205- is servo-actuated belt wheel；2206- bearings；2207- bearing spiders；2208- vertical guides；2209- is vertically slided
Block；2210- vertically-moving platforms；The vertical feed screw nuts of 2211-；The vertical leading screws of 2212-；2301- vertical structure platforms；2302-
Rack；2303- longitudinal mobile platforms；2304- decelerators；2305- vertical drive motors；2306- gears；2307- longitudinal rails；
2308- longitudinal sliding blocks；2401- tracking platforms system pedestal；2402- tracking platforms system outer shroud motor；2403- tracking platforms system outer shroud support body；
Collar bearing outside 2404- tracking platforms system；2405- tracking platforms system middle ring motor；Annulate shaft in 2406- tracking platforms system；2407- tracking platforms system
Middle collar bearing；2408- tracking platforms system middle ring support body；2409- tracking platforms system inner ring motor；2410- tracking platforms system inner ring bearing；
2411- tracking platforms system inner axle；2412- tracking platforms system loading disk；2601- Target Stations system pedestal；2602- targets system outer shroud electricity
Machine；2603- Target Stations system outer shroud support body；Collar bearing outside 2604- Target Stations system；2603- Target Stations system outer shroud support body；2605- mesh
Mark platform system middle ring motor；Annulate shaft in 2606- Target Stations system；Collar bearing in 2607- Target Stations system；Ring stand in 2608- Target Stations system
Body；2609- Target Stations system inner ring motor；2610- Target Stations system inner ring bearing；2611- Target Stations system inner axle；2612- targets
Platform system loading disk.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For to limitation of the present utility model.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that instruction
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
With reference to shown in Fig. 1, a kind of nine-degree of freedom sport simulated system, including horizontal linear moving mechanism 101, vertical lines
Travel mechanism 102, longitudinal linear moving mechanism 103 and Lateral mobile platform mechanism 104, vertically-moving platform mechanism 105, indulge
To mobile platform mechanism 106, the rectilinear movement system in three directions is orthogonal, and Lateral mobile platform mechanism 104 is laterally straight
Moved linearly in line travel mechanism 101, vertically-moving platform mechanism 105 moves linearly in vertical lines travel mechanism 102, indulges
Moved linearly to mobile platform mechanism 106 on longitudinal linear moving mechanism 103, and longitudinal linear moving mechanism 103 is arranged on
In Lateral mobile platform mechanism 104, tracking stylobate seat mechanism 107 is provided with vertically-moving platform mechanism 105, follows the trail of sewing platform base
Mechanism 107 is provided with the tracking platform outer shroud framework 108 that can freely rotate, and is provided with and can freely turn on tracking platform outer shroud framework 108
Dynamic tracking platform middle ring framework 109, and the rotary shaft for following the trail of platform middle ring framework 109 rotates perpendicular to tracking platform outer shroud framework 108
Axle, the tracking platform mechanism loading 111 that can freely rotate is provided with tracking platform middle ring framework 109, tracking platform mechanism loading 111
Follow the trail of the rotary shaft of platform inner ring rotating shaft 110 and tracking platform outer shroud framework 108, follow the trail of the rotary shaft of platform middle ring framework 109 in space
It is upper orthogonal；Increase mechanism 112 and the target stylobate being disposed thereon provided with Target Station in longitudinal mobile platform mechanism 106
Seat mechanism 113 and the Target Station outer shroud framework 114 freely rotated being arranged in Target Station foundation means 113, in Target Station
Outer shroud framework 114 is provided with the Target Station middle ring framework 115 that can freely rotate, in the Target Station of Target Station middle ring framework 115
Annulate shaft 116 is provided with Target Station load system 117；There are the rotational freedom on three directions, rectilinear movement system in tracking platform part
There are the translation freedoms on three directions on system, there is the rotational freedom in three directions Target Station part, i.e., whole in tracking platform
There are three rotational freedoms and two translation freedoms in system, there are three rotational freedoms in Target Station whole system
With a translation freedoms, above-mentioned i.e. so-called " 5+4 " the free method of salary distribution；
Free degree distribution specific in detail：Pre-buried horizontal linear moving mechanism 101 and longitudinal linear moving mechanism on ground
103, two rectilinear movement systems are on horizontal plane, and two rectilinear movement systems are orthogonal；
Wherein, the horizontal Shang You Lateral mobile platforms mechanism 104 of linear moving mechanism 101, it can transversely line slideway 101
Direction carries out horizontal movement, has the rectilinear movement free degree；
Wherein, vertical lines travel mechanism 102 is arranged in Lateral mobile platform mechanism 104, with Lateral mobile platform one
With motion, vertical lines travel mechanism 102 is simultaneously orthogonal with horizontal linear moving mechanism 101 and longitudinal linear moving mechanism 103；
Wherein, Shang You vertically-moving platforms mechanism 105 of vertical lines travel mechanism 102, it can vertically line slideway 102
Direction carries out vertical motion, has the linear motion free degree；
Wherein, follow the trail of stylobate seat mechanism 107 to be arranged in vertically-moving platform mechanism 105, with vertically-moving platform mechanism
105 are moved；
Wherein, following the trail of has tracking platform outer shroud framework 108 on stylobate seat mechanism 107, can the relative edge of tracking stylobate seat mechanism 107
Vertical axes carry out driftage revolution, have rotational freedom；
Wherein, following the trail of has tracking platform middle ring framework 109 on platform outer shroud framework 108, can the relative edge of tracking platform outer shroud framework 108
Trunnion axis carries out pitching revolution, has rotational freedom；
Wherein, following the trail of has tracking platform inner axle 110 on platform middle ring framework 109, relative can follow the trail of platform middle ring framework 109 along water
Flat axle carries out rolling revolving, has rotational freedom；
Wherein, follow the trail of platform loading disk 111 to be fixed on tracking platform inner axle 110, together moved with tracking platform inner axle；
Longitudinal Shang You longitudinal mobile platforms mechanism 106 of linear moving mechanism 103, it can be along longitudinal linear moving mechanism 103
Direction carries out horizontal movement, has the rectilinear movement free degree；
Wherein, Target Station heightening structure 112 is fixed in longitudinal mobile platform, with longitudinal mobile platform mechanism 106 together
Motion；
Wherein, target sewing platform base 113 is fixed on Target Station heightening structure 112, is together transported with Target Station heightening structure 112
It is dynamic.
Wherein, have Target Station outer shroud framework 114 on target sewing platform base 113, its can relative target sewing platform base 113 along vertical axes
Driftage revolution is carried out, there is rotational freedom；
Wherein, there is Target Station middle ring framework 115 on Target Station outer shroud framework 114, it can relative target platform outer shroud framework 114
Pitching revolution is carried out along trunnion axis, there is rotational freedom；
Wherein, there is Target Station inner axle 116 on Target Station middle ring framework 115, it can the edge of relative target platform middle ring framework 115
Trunnion axis carries out rolling revolving, has rotational freedom；
Wherein, Target Station loading disk 117 is fixed on Target Station inner axle 116, is together transported with Target Station inner axle 116
It is dynamic；
With reference to shown in Fig. 2, the concrete structure of various pieces in the nine-degree of freedom sport simulated system that the present invention is applied, bag
Cross slide way component 21, vertical guide component 22, longitudinal rail component 23, tracking turntable 24, heightening structure 25 and target is included to turn
Platform 26, cross slide way component 21 are one of horizontal 101 specific form of expression of linear moving mechanism, and vertical guide component 22 is
For one of 102 specific form of expression of vertical lines travel mechanism, longitudinal rail component 23 is longitudinal linear moving mechanism 103
One of specific form of expression, tracking turntable 24 are to follow the trail of in stylobate seat mechanism 107, tracking platform outer shroud framework 108, tracking platform
One of form of expression of ring framework 109, tracking platform inner ring rotating shaft 110 and the integrated mechanism of tracking platform mechanism loading 111, heightening structure
25 and Target Station 26 be Target Station increase mechanism 112, Target Station foundation means 113, Target Station outer shroud framework 114, Target Station
One of form of expression of middle ring framework 115, Target Station inner axle 116 and the integrated mechanism of Target Station load system 117；
With reference to shown in Fig. 3, cross slide way component 21 includes transversary platform 2101, horizontal leading screw bearing 2102, transverse direction
Leading screw 2103, horizontal leading screw nut 2104, horizontal drive motor 2105, Lateral mobile platform 2106, transverse slider 2107 and horizontal stroke
Direction guiding rail 2108, transversary platform 2101 are fixed on ground, and transversary platform can be fixed using pouring type with ground,
Horizontal leading screw bearing 2102 is fixed on transversary platform 2101, and horizontal leading screw 2103 is arranged on horizontal leading screw bearing 2102
On, cross slide way 2108 is arranged on transversary platform 2101, and transverse slider 2107 is arranged on cross slide way 2108 and energy
Moved linearly along guide rail direction, transverse slider 2107 is fixedly mounted in Lateral mobile platform 2106, horizontal drive motor 2105
On in Lateral mobile platform 2106, horizontal leading screw nut 2104 is arranged on horizontal drive motor 2105, is turned with motor
Son rotates, meanwhile, horizontal leading screw nut 2104 cooperatively forms screw thread pair with horizontal leading screw 2103；Horizontal drive motor 2105 is powered
During rotation, the concomitant rotation of horizontal leading screw nut 2104, Lateral mobile platform 2106 and transverse slider 2107 transversely guide rail are promoted
Move in 2108 directions；
With reference to shown in Fig. 4, vertical guide component 22 includes vertical structure platform 2201, vertical motor 2202, driving
Belt wheel 2203, timing belt 2204, servo-actuated belt wheel 2205, bearing 2206, bearing spider 2207, vertical guide 2208, vertical sliding block
2209th, vertically-moving platform 2210, vertical feed screw nut 2211 and vertical leading screw 2212；Vertical structure platform 2201 is fixedly mounted
In Lateral mobile platform 2106, moved in the horizontal with Lateral mobile platform 2106, vertical motor 2202, bearing spider
2207th, vertical guide 2208 is each attached on vertical structure platform 2201；Driving pulley 2203 is fixed on vertical motor
In 2202 rotary shaft, servo-actuated belt wheel 2205 is fixed on the top of vertical leading screw 2212, driving pulley 2203 and servo-actuated belt wheel
2205 are connected by timing belt 2204, and the vertical both ends of leading screw 2212 are arranged in bearing spider 2207 by bearing 2206, vertically
Sliding block 2209, vertical feed screw nut 2211 are fixed in vertically-moving platform 2210, and vertical sliding block 2209 is arranged on vertical guide
On 2208, vertically guide rail direction it can move linearly, vertically-moving platform 2210 is used to install tracking Tai Xi mechanisms；Vertical driving
When the energization of motor 2202 rotates, vertical silk is passed motion to by driving pulley 2203, timing belt 2204, servo-actuated belt wheel 2205
Thick stick 2212, vertical leading screw 2212 rotates under the constraint of bearing 2206, due to vertical leading screw 2212 and vertical 2211 groups of feed screw nut
Into screw thread pair, the vertical revolution of leading screw 2212 promotes vertically-moving platform 2210, vertical feed screw nut 2211 and vertical sliding block 2209
Vertically the direction of guide rail 2208 is moved；
With reference to shown in Fig. 5, longitudinal linear moving mechanism 103 includes vertical structure platform 2301, rack 2302, vertically moved
Platform 2303, decelerator 2304, vertical drive motor 2305, gear 2306, longitudinal rail 2307 and longitudinal sliding block 2308；Longitudinal direction
Structure platform 2301 is fixed on ground, can be fixed on using pouring type on ground, and rack 2302, longitudinal rail 2307 are installed
On vertical structure platform 2301, decelerator 2304, longitudinal sliding block 2308 are arranged in longitudinal mobile platform 2303, zigzag tread patterns
Motor 2305 is arranged on the input of decelerator 2304, and gear 2306 is arranged on the output end of decelerator 2304, and longitudinal sliding block 2308 is pacified
On guide rail 2307, it can be moved linearly along longitudinal rail direction；When the energization of vertical drive motor 2305 rotates, pass through decelerator
2304 pass motion on gear 2306, gear 2306 and the formation gear pair of rack 2302, promotion longitudinal mobile platform 2303,
Longitudinal sliding block 2308, decelerator 2304 and vertical drive motor 2305 move along the direction of longitudinal rail 2302；
With reference to shown in Fig. 6 and Fig. 7, tracking turntable 24 include tracking platform system pedestal 2401, tracking platform system outer shroud motor 2402,
Follow the trail of platform system outer shroud support body 2403, follow the trail of annulate shaft in collar bearing 2404 outside platform system, tracking platform system middle ring motor 2405, tracking platform system
2406th, collar bearing 2407 in platform system, tracking platform system middle ring support body 2408, tracking platform system inner ring motor 2409, tracking platform system are followed the trail of
Inner ring bearing 2410, tracking platform system inner axle 2411 and tracking platform system loading disk 2412；Tracking platform system pedestal 2401 is fixed in perpendicular
To on mobile platform 2210, moved up with vertically-moving platform 2210 perpendicular, follow the trail of platform system outer shroud motor 2402 and chase after
Collar bearing 2404 is arranged on tracking platform system pedestal 2401 outside track platform system, and tracking platform system outer shroud support body 2403 is arranged on tracking platform system
On the rotor of outer shroud motor 2402, and the inner ring of collar bearing 2404 outside tracking platform system, tracking platform system outer shroud motor 2402 are powered
During rotation, driving tracking platform system outer shroud support body 2403 rotates outside tracking platform system under the constraint of collar bearing 2404；Follow the trail of in platform system
Collar bearing 2407 is arranged on tracking platform system outer shroud support body 2403 in ring motor 2405 and tracking platform system, follows the trail of annulate shaft in platform system
2406 are fixed on the rotor of tracking platform system middle ring motor 2405, and the inner ring of collar bearing 2407 in tracking platform system, follow the trail of platform
It is that middle ring support body 2408 is arranged in tracking platform system on annulate shaft 2406, when the energization of tracking platform system middle ring motor 2405 rotates, driving
Annulate shaft 2406 and tracking platform system middle ring support body 2408 rotate in tracking platform system under the constraint of collar bearing 2407 in tracking platform system；Chase after
Track platform system inner ring motor 2409 and tracking platform system inner ring bearing 2410 are arranged on tracking platform system middle ring support body 2408, follow the trail of platform system
Inner axle 2411 is arranged on the rotor of tracking platform system inner ring motor 2409, and is located at the inner ring of tracking platform system inner ring bearing 2410,
Tracking platform system loading disk 2412 is fixed on tracking platform system inner axle 2411, when the energization of tracking platform system inner ring motor 2409 rotates,
Driving tracking platform system inner axle 2411 and tracking platform system loading disk 2412 rotate under the constraint of tracking platform system inner ring bearing 2410；
With reference to shown in Fig. 8 and Fig. 9, target turntable 26 include Target Station system pedestal 2601, Target Station system outer shroud motor 2602,
Annulate shaft in collar bearing 2604, Target Station system middle ring motor 2605, Target Station system outside Target Station system outer shroud support body 2603, Target Station system
2606th, collar bearing 2607, Target Station system middle ring support body 2608, Target Station system inner ring motor 2609, Target Station system in Target Station system
Inner ring bearing 2610, Target Station system inner axle 2611 and Target Station system loading disk 2612；Target Station system pedestal 2601 is arranged on increasing
In high structure 25, Target Station system pedestal 2601 and heightening structure 25 move with longitudinal mobile platform 2303 together, outside Target Station system
Collar bearing 2604 is arranged on Target Station system pedestal 2601 outside ring motor 2602 and Target Station system, Target Station system outer shroud support body 2603
It is arranged on the rotor of Target Station system outer shroud motor 2602 and positioned at the inner ring of collar bearing 2604 outside Target Station system, Target Station system outer shroud
When the energization of motor 2602 rotates, driving Target Station system outer shroud support body 2603 turns outside Target Station system under the constraint of collar bearing 2604
It is dynamic；Collar bearing 2607 is arranged on Target Station system outer shroud support body 2603 in Target Station system middle ring motor 2605 and Target Station system, mesh
Annulate shaft 2606 in platform system is marked to be arranged on the rotor of Target Station system middle ring motor 2605 and in collar bearing 2607 in Target Station system
Circle, Target Station system middle ring support body 2608 are fixedly connected with annulate shaft 2606 in Target Station system, and Target Station system middle ring motor 2605 is powered
During rotation, the pact of annulate shaft 2606 and Target Station system middle ring support body 2608 collar bearing 2607 in Target Station system in Target Station system is driven
Rotated under beam；Target Station system inner ring motor 2609 and Target Station system inner ring bearing 2610 are arranged on Target Station system middle ring support body 2608
On, Target Station system inner axle 2611 is located on the rotor of Target Station system inner ring motor 2609 and is located at Target Station system inner ring bearing 2610
Inner ring, Target Station system loading disk 2612 are fixedly connected with Target Station system inner axle 2611, and Target Station system inner ring motor 2609 is powered
During rotation, the constraint of Target Station system inner axle 2611 and Target Station system loading disk 2612 in Target Station system inner ring bearing 2610 is driven
Lower rotation；
The manufacture scale of the component of a system is reduced under conditions of identical nine-degree of freedom sport simulated system function is met, is dropped
Low manufacture difficulty, improves feasibility and economy；The present invention takes the free degree allocative decision of new model, from error propagation
Theoretical foundation improves system accuracy, that is, the free degree forms of distribution of " 5+4 " that uses, by reasonably being integrated error
Matching, so that system reaches higher synthesis pose accuracy；
Overall structure quality lightweight of the present invention, higher movement velocity and dynamic response capability can be obtained, makes system
Simulation capacity be substantially improved.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (10)
- A kind of 1. nine-degree of freedom sport simulated system, it is characterised in that：Including horizontal linear moving mechanism (101), vertical lines Travel mechanism (102), longitudinal linear moving mechanism (103) and Lateral mobile platform mechanism (104), vertically-moving platform mechanism (105), longitudinal mobile platform mechanism (106), the linear moving mechanism in three directions is orthogonal, Lateral mobile platform mechanism (104) Moved linearly on horizontal linear moving mechanism (101), vertically-moving platform mechanism (105) is in vertical lines travel mechanism (102) moved linearly on, longitudinal mobile platform mechanism (106) moves linearly on longitudinal linear moving mechanism (103), and longitudinal direction Linear moving mechanism (103) is arranged in Lateral mobile platform mechanism (104), is provided with vertically-moving platform mechanism (105) Follow the trail of platform system；Target Station system is provided with longitudinal mobile platform mechanism (106).
- 2. nine-degree of freedom sport simulated system according to claim 1, it is characterised in that：Tracking platform system includes being arranged on Tracking stylobate seat mechanism (107) in vertically-moving platform mechanism (105), tracking stylobate seat mechanism (107) is provided with can be freely The tracking platform outer shroud framework (108) of rotation, the tracking platform middle ring frame that can freely rotate is provided with tracking platform outer shroud framework (108) Frame (109), and the rotary shaft for following the trail of platform middle ring framework (109) is following the trail of platform perpendicular to tracking platform outer shroud framework (108) rotary shaft Middle ring framework (109) is provided with the tracking platform mechanism loading (111) that can freely rotate, the tracking of tracking platform mechanism loading (111) Platform inner ring rotating shaft (110) is with following the trail of the rotary shaft of platform outer shroud framework (108), following the trail of the rotary shaft of platform middle ring framework (109) in sky Between it is upper orthogonal.
- 3. nine-degree of freedom sport simulated system according to claim 1, it is characterised in that：Target Station system includes being arranged on The Target Station foundation means (113) that Target Station in longitudinal mobile platform mechanism (106) increases mechanism (112) and is disposed thereon And the Target Station outer shroud framework (114) freely rotated in Target Station foundation means (113) is arranged on, in Target Station outer shroud frame Frame (114) is provided with the Target Station middle ring framework (115) that can freely rotate, in the Target Station of Target Station middle ring framework (115) Annulate shaft (116) is provided with Target Station load system (117).
- 4. nine-degree of freedom sport simulated system according to claim 1, it is characterised in that：Horizontal linear moving mechanism (101) cross slide way component (21) is included, cross slide way component (21) includes transversary platform (2101), horizontal leading screw bearing (2102) and horizontal leading screw (2103), Lateral mobile platform mechanism (104) include horizontal leading screw nut (2104), laterally driven electricity Machine (2105) and Lateral mobile platform (2106)；Transversary platform (2101) is fixed on ground, horizontal leading screw bearing (2102) it is fixed on transversary platform (2101), horizontal leading screw (2103) is arranged on horizontal leading screw bearing (2102), horizontal It is arranged on to motor (2105) in Lateral mobile platform (2106), horizontal leading screw nut (2104) is arranged on laterally driven electricity On machine (2105), horizontal leading screw nut (2104) cooperatively forms screw thread pair with horizontal leading screw (2103).
- 5. nine-degree of freedom sport simulated system according to claim 4, it is characterised in that：Also include transverse slider (2107) With cross slide way (2108), cross slide way (2108) is arranged on transversary platform (2101), transverse slider (2107) installation It can move linearly on cross slide way (2108) and along guide rail direction, transverse slider (2107) is fixedly mounted on Lateral mobile platform (2106) on.
- 6. nine-degree of freedom sport simulated system according to claim 1, it is characterised in that：Vertical lines travel mechanism (102) vertical guide component (22) is included, vertical guide component (22) includes vertical structure platform (2201), vertical motor (2202), driving pulley (2203), timing belt (2204), servo-actuated belt wheel (2205), bearing (2206), bearing spider (2207) and Vertical leading screw (2212)；Vertically-moving platform mechanism (105) includes vertically-moving platform (2210) and vertical feed screw nut (2211)；Vertical structure platform (2201) is fixedly mounted in Lateral mobile platform (2106), with Lateral mobile platform (2106) Move in the horizontal, vertical motor (2202), bearing spider (2207) are each attached on vertical structure platform (2201)；Drive Movable belt pulley (2203) is fixed in the rotary shaft of vertical motor (2202), and servo-actuated belt wheel (2205) is fixed on vertical leading screw (2212) top, driving pulley (2203) are connected with servo-actuated belt wheel (2205) by timing belt (2204), vertical leading screw (2212) both ends are arranged in bearing spider (2207) by bearing (2206), and vertical feed screw nut (2211) is fixed on vertical shifting On moving platform (2210).
- 7. nine-degree of freedom sport simulated system according to claim 6, it is characterised in that：Also include vertical guide (2208), vertical sliding block (2209)；Vertical guide (2208) is fixed on vertical structure platform (2201), vertical sliding block (2209) It is fixed in vertically-moving platform (2210), vertical sliding block (2209) is arranged in vertical guide (2208), can vertically guide rail (2208) direction moves linearly.
- 8. nine-degree of freedom sport simulated system according to claim 1, it is characterised in that：Longitudinal linear moving mechanism (103) vertical structure platform (2301), rack (2302) and longitudinal rail (2307) are included；Longitudinal mobile platform mechanism (106) Including longitudinal mobile platform (2303), decelerator (2304), vertical drive motor (2305), gear (2306) and longitudinal sliding block (2308)；Vertical structure platform (2301) is fixed on ground, can be fixed on using pouring type on ground, rack (2302), Longitudinal rail (2307) is arranged on vertical structure platform (2301), and decelerator (2304), longitudinal sliding block (2308) are arranged on vertical To on mobile platform (2303), vertical drive motor (2305) is arranged on decelerator (2304) input, gear (2306) installation In decelerator (2304) output end, longitudinal sliding block (2308) is arranged on longitudinal rail (2307), can be along longitudinal rail (2307) Direction moves linearly.
- 9. nine-degree of freedom sport simulated system according to claim 1, it is characterised in that：Following the trail of platform system includes tracking turn Platform (24), tracking turntable (24) include tracking platform system's pedestal (2401), tracking platform system's outer shroud motor (2402), tracking platform system outer shroud Annulate shaft in collar bearing (2404), tracking platform system's middle ring motor (2405), tracking platform system outside support body (2403), tracking platform system (2406), follow the trail of collar bearing (2407) in platform system, tracking platform system's middle ring support body (2408), tracking platform system's inner ring motor (2409), Follow the trail of platform system's inner ring bearing (2410), tracking platform system's inner axle (2411) and tracking platform system's loading disk (2412)；Follow the trail of platform system seat Body (2401) is fixed in vertically-moving platform (2210), is moved up, is followed the trail of perpendicular with vertically-moving platform (2210) Collar bearing (2404) is arranged on tracking platform system's pedestal (2401) outside platform system outer shroud motor (2402) and tracking platform system, follows the trail of platform system Outer shroud support body (2403) is arranged on the rotor of tracking platform system's outer shroud motor (2402), and the collar bearing outside tracking platform system (2404) inner ring；Collar bearing (2407) is arranged on ring stand outside tracking platform system in tracking platform system's middle ring motor (2405) and tracking platform system On body (2403), follow the trail of annulate shaft (2406) in platform system and be fixed on the rotor of tracking platform system's middle ring motor (2405), and be located at and chase after Collar bearing (2407) inner ring in track platform system, tracking platform system's middle ring support body (2408) are arranged in tracking platform system on annulate shaft (2406)； Tracking platform system's inner ring motor (2409) and tracking platform system's inner ring bearing (2410) are arranged on tracking platform system's middle ring support body (2408), Platform system's inner axle (2411) is followed the trail of to be arranged on the rotor of tracking platform system's inner ring motor (2409), and positioned at tracking platform system inner axle (2410) inner ring is held, tracking platform system's loading disk (2412) is fixed on tracking platform system's inner axle (2411).
- 10. nine-degree of freedom sport simulated system according to claim 1, it is characterised in that：Target Station system includes target Turntable (26), target turntable (26) include Target Station system pedestal (2601), Target Station system outer shroud motor (2602), outside Target Station system Annulate shaft in collar bearing (2604), Target Station system middle ring motor (2605), Target Station system outside ring stand body (2603), Target Station system (2606), collar bearing (2607) in Target Station system, Target Station system middle ring support body (2608), Target Station system inner ring motor (2609), Target Station system inner ring bearing (2610), Target Station system inner axle (2611) and Target Station system loading disk (2612)；Target Station system seat Body (2601) is arranged on heightening structure (25), and Target Station system pedestal (2601) and heightening structure (25) are flat with vertically moving together Platform (2303) moves, and collar bearing (2604) is arranged on Target Station system pedestal outside Target Station system outer shroud motor (2602) and Target Station system (2601) on, Target Station system outer shroud support body (2603) is arranged on the rotor of Target Station system outer shroud motor (2602) and is located at target Collar bearing (2604) inner ring outside platform system；Collar bearing (2607) is arranged on mesh in Target Station system middle ring motor (2605) and Target Station system Mark on platform system's outer shroud support body (2603), annulate shaft (2606) is arranged on Target Station system middle ring motor (2605) rotor in Target Station system And positioned at collar bearing (2607) inner ring in Target Station system, Target Station system middle ring support body (2608) and annulate shaft (2606) in Target Station system It is fixedly connected；Target Station system inner ring motor (2609) and Target Station system inner ring bearing (2610) are arranged on Target Station system middle ring support body (2608) on, Target Station system inner axle (2611) is located on Target Station system inner ring motor (2609) rotor and in Target Station system Collar bearing (2610) inner ring, Target Station system loading disk (2612) are fixedly connected with Target Station system inner axle (2611).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721053883.8U CN207141431U (en) | 2017-08-22 | 2017-08-22 | Nine-degree of freedom sport simulated system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721053883.8U CN207141431U (en) | 2017-08-22 | 2017-08-22 | Nine-degree of freedom sport simulated system |
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| Publication Number | Publication Date |
|---|---|
| CN207141431U true CN207141431U (en) | 2018-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721053883.8U Withdrawn - After Issue CN207141431U (en) | 2017-08-22 | 2017-08-22 | Nine-degree of freedom sport simulated system |
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| CN (1) | CN207141431U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380488A (en) * | 2017-08-22 | 2017-11-24 | 天津航天机电设备研究所 | Nine-degree of freedom sport simulated system |
-
2017
- 2017-08-22 CN CN201721053883.8U patent/CN207141431U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380488A (en) * | 2017-08-22 | 2017-11-24 | 天津航天机电设备研究所 | Nine-degree of freedom sport simulated system |
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