CN212160992U - 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator actuating mechanism - Google Patents
3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator actuating mechanism Download PDFInfo
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- CN212160992U CN212160992U CN202020110765.1U CN202020110765U CN212160992U CN 212160992 U CN212160992 U CN 212160992U CN 202020110765 U CN202020110765 U CN 202020110765U CN 212160992 U CN212160992 U CN 212160992U
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Abstract
A3-RPS +3-UPU +3-RRR type six-freedom-degree motion simulator actuating mechanism comprises a frame, a 3-RPS mechanism, 3 UPU branched chains, 3 RRR mechanisms, a seat and 3 driving rotary tables. The 3-RRR mechanism is arranged on the 3-RPS mechanism, the 3-RRR mechanism can realize two-translation one-rotation three-freedom-degree movement of the seat relative to the moving platform through the drive of 3 driving rotary tables through 3 UPU branched chains, the 3-RPS mechanism can realize movement along the Z axis and rotation around the X, Y axis, and the movement simulator can complete six-freedom-degree movement. The utility model discloses outstanding advantage lies in that the initiative component is installed in the frame, and overall structure is compact, and inertia of motion is little.
Description
Technical Field
The patent of the utility model relates to a motion simulator field, especially a six degree of freedom motion simulator actuating mechanism of 3-RPS +3-UPU +3-RRR type.
Background
The parallel mechanism is a closed-loop mechanism with two or more degrees of freedom and is connected with a moving platform and a static platform through two or more branched chains, and has the advantages of high rigidity, high precision, high load capacity, no error accumulation and the like. The parallel mechanism is widely applied to motion simulators, and commonly comprises a 6-UPS six-degree-of-freedom motion simulator and a 3-RPS three-degree-of-freedom motion simulator. Particularly, the 6-UPS six-freedom-degree motion simulator has the advantages of full-freedom-degree simulation capability, high rigidity, strong bearing capacity and the like, and is widely applied to flight motion simulation or racing motion simulation. But its working space is small, especially the rotating space is small, which also limits its application range. The 3-RPS three-degree-of-freedom motion simulator has the advantages of compact structure, low cost and great application, but the simulation capability is weak, and the responsible motion cannot be simulated. The utility model designs an adopt two three degree of freedom parallel mechanism to establish ties structure together for end platform has the ability of simulating six degree of freedom motions, and establishes ties terminal three degree of freedom mechanism and by 3 UPU branched chain transmission power, this actuating mechanism has low inertia, high rigidity, high bearing capacity and big workspace.
Disclosure of Invention
An object of the utility model is to provide a 3-RPS +3-UPU +3-RRR type six degrees of freedom motion simulator actuating mechanism, solved the little problem of general six degrees of freedom parallel mechanism rotation range, had low inertia, high rigidity, high accuracy, big workspace's advantage.
A3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator actuating mechanism comprises a frame 1, a 3-RPS mechanism, a first UPU branched chain 22, a second UPU branched chain 23, a third UPU branched chain 24, a first RRR mechanism, a second RRR mechanism, a third RRR mechanism, a seat 18, a first driving rotary table 19, a second driving rotary table 20 and a third driving rotary table 21.
The 3-RPS mechanism is composed of a first driving rod 2, a first connecting rod 3, a second driving rod 4, a second connecting rod 5, a third driving rod 6, a third connecting rod 7 and a movable platform 8, wherein the first driving rod 2 is connected with a rack 1 through a first revolute pair 9, the first driving rod 2 is connected with the first connecting rod 3 through a first revolute pair 10, the first connecting rod 3 is connected with the movable platform 8 through a first spherical hinge 11, the second driving rod 4 is connected with the rack 1 through a second revolute pair 12, the second driving rod 4 is connected with the second connecting rod 5 through a second revolute pair 13, the second connecting rod 5 is connected with the movable platform 8 through a second spherical hinge 14, the third driving rod 6 is connected with the rack 1 through a third revolute pair 15, the third driving rod 6 is connected with the third connecting rod 7 through a third revolute pair 16, and the third connecting rod 7 is connected with the movable platform 8 through a third spherical hinge 17.
The first UPU branched chain 22 is composed of a first telescopic rod 221 and a second telescopic rod 222, and the first telescopic rod 221 is connected with the second telescopic rod 222 through a fourth sliding pair 223.
The second UPU branched chain 23 is composed of a third telescopic rod 231 and a fourth telescopic rod 232, and the third telescopic rod 231 is connected with the fourth telescopic rod 232 through a fifth sliding pair 233.
The third UPU branched chain 24 is composed of a fifth telescopic rod 241 and a sixth telescopic rod 242, and the fifth telescopic rod 241 is connected with the sixth telescopic rod 242 through a sixth sliding pair 243.
The first RRR mechanism is composed of a first transmission rod 31 and a second transmission rod 32, the first transmission rod 31 is connected with the second transmission rod 32 through a fourth revolute pair 33, the first transmission rod 31 is connected with the movable platform 8 through a fifth revolute pair 43, the first transmission rod 31 is connected with a second telescopic rod 222 through a first hook hinge 26, and the second transmission rod 32 is connected with the seat 18 through a sixth revolute pair 46.
The second RRR mechanism is composed of a third transmission rod 34 and a fourth transmission rod 35, the third transmission rod 34 is connected with the fourth transmission rod 35 through a seventh revolute pair 36, the third transmission rod 34 is connected with the movable platform 8 through an eighth revolute pair 44, the third transmission rod 34 is connected with a fourth telescopic rod 232 through a second hooke joint 28, and the fourth transmission rod 35 is connected with the seat 18 through a ninth revolute pair 47.
The third RRR mechanism is composed of a fifth transmission rod 37 and a sixth transmission rod 38, the fifth transmission rod 37 is connected with the sixth transmission rod 38 through a tenth revolute pair 39, the fifth transmission rod 37 is connected with the movable platform 8 through an eleventh revolute pair 45, the fifth transmission rod 37 is connected with a sixth telescopic rod 242 through a third hooke joint 30, and the sixth transmission rod 38 is connected with the seat 18 through a twelfth revolute pair 48.
The first driving rotary table 19 is connected with the frame 1 through a thirteenth revolute pair 40, and the first driving rotary table 19 is connected with the first telescopic rod 221 through a fourth hooke joint 25.
The second driving rotary table 20 is connected to the frame 1 through a fourteenth revolute pair 41, and the second driving rotary table 20 is connected to the third telescopic rod 231 through a fifth hooke joint 27.
The third driving rotary table 21 is connected with the frame 1 through a fifteenth rotary pair 42, and the third driving rotary table 21 is connected with a fifth telescopic rod 241 through a sixth hooke joint 29.
The utility model has the advantages that:
1. the 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator actuating mechanism has the advantages of low inertia, high rigidity and large working space.
Drawings
Fig. 1 is a schematic view of a first structure of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator of the present invention.
Fig. 2 is a schematic diagram of a second structure of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator.
Fig. 3 is a schematic diagram of a third structure of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator of the present invention.
Fig. 4 is a schematic diagram of a fourth structure of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator of the present invention.
Fig. 5 is a schematic diagram of a fifth structure of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator of the present invention.
Fig. 6 is a schematic diagram of a first UPU branched chain structure of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator.
FIG. 7 is a schematic diagram of a second UPU branched chain structure of an actuator of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator.
Fig. 8 is a schematic diagram of a third UPU branched chain structure of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator.
Fig. 9 is a schematic view of a first motion attitude of an actuator of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator.
Fig. 10 is a schematic diagram of a second motion posture of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator of the present invention.
Fig. 11 is a schematic diagram of a third motion attitude of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator.
Fig. 12 is a diagram of a fourth motion attitude of an actuator of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator.
Fig. 13 is a schematic diagram of a fifth motion attitude of an actuating mechanism of a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings and embodiments.
Referring to fig. 1, 2, 3, 4, 5, 6, 7 and 8, a 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator actuator includes a frame 1, a 3-RPS mechanism, a first UPU branched chain 22, a second UPU branched chain 23, a third UPU branched chain 24, a first RRR mechanism, a second RRR mechanism, a third RRR mechanism, a seat 18, a first driving turntable 19, a second driving turntable 20 and a third driving turntable 21.
The 3-RPS mechanism is composed of a first driving rod 2, a first connecting rod 3, a second driving rod 4, a second connecting rod 5, a third driving rod 6, a third connecting rod 7 and a movable platform 8, wherein the first driving rod 2 is connected with a rack 1 through a first revolute pair 9, the first driving rod 2 is connected with the first connecting rod 3 through a first revolute pair 10, the first connecting rod 3 is connected with the movable platform 8 through a first spherical hinge 11, the second driving rod 4 is connected with the rack 1 through a second revolute pair 12, the second driving rod 4 is connected with the second connecting rod 5 through a second revolute pair 13, the second connecting rod 5 is connected with the movable platform 8 through a second spherical hinge 14, the third driving rod 6 is connected with the rack 1 through a third revolute pair 15, the third driving rod 6 is connected with the third connecting rod 7 through a third revolute pair 16, and the third connecting rod 7 is connected with the movable platform 8 through a third spherical hinge 17.
The first UPU branched chain 22 is composed of a first telescopic rod 221 and a second telescopic rod 222, and the first telescopic rod 221 is connected with the second telescopic rod 222 through a fourth sliding pair 223.
The second UPU branched chain 23 is composed of a third telescopic rod 231 and a fourth telescopic rod 232, and the third telescopic rod 231 is connected with the fourth telescopic rod 232 through a fifth sliding pair 233.
The third UPU branched chain 24 is composed of a fifth telescopic rod 241 and a sixth telescopic rod 242, and the fifth telescopic rod 241 is connected with the sixth telescopic rod 242 through a sixth sliding pair 243.
The first RRR mechanism is composed of a first transmission rod 31 and a second transmission rod 32, the first transmission rod 31 is connected with the second transmission rod 32 through a fourth revolute pair 33, the first transmission rod 31 is connected with the movable platform 8 through a fifth revolute pair 43, the first transmission rod 31 is connected with a second telescopic rod 222 through a first hook hinge 26, and the second transmission rod 32 is connected with the seat 18 through a sixth revolute pair 46.
The second RRR mechanism is composed of a third transmission rod 34 and a fourth transmission rod 35, the third transmission rod 34 is connected with the fourth transmission rod 35 through a seventh revolute pair 36, the third transmission rod 34 is connected with the movable platform 8 through an eighth revolute pair 44, the third transmission rod 34 is connected with a fourth telescopic rod 232 through a second hooke joint 28, and the fourth transmission rod 35 is connected with the seat 18 through a ninth revolute pair 47.
The third RRR mechanism is composed of a fifth transmission rod 37 and a sixth transmission rod 38, the fifth transmission rod 37 is connected with the sixth transmission rod 38 through a tenth revolute pair 39, the fifth transmission rod 37 is connected with the movable platform 8 through an eleventh revolute pair 45, the fifth transmission rod 37 is connected with a sixth telescopic rod 242 through a third hooke joint 30, and the sixth transmission rod 38 is connected with the seat 18 through a twelfth revolute pair 48.
The first driving rotary table 19 is connected with the frame 1 through a thirteenth revolute pair 40, and the first driving rotary table 19 is connected with the first telescopic rod 221 through a fourth hooke joint 25.
The second driving rotary table 20 is connected to the frame 1 through a fourteenth revolute pair 41, and the second driving rotary table 20 is connected to the third telescopic rod 231 through a fifth hooke joint 27.
The third driving rotary table 21 is connected with the frame 1 through a fifteenth rotary pair 42, and the third driving rotary table 21 is connected with a fifth telescopic rod 241 through a sixth hooke joint 29.
Referring to fig. 9, 10, 11, 12 and 13, the first active lever 2, the second active lever 4 and the third active lever 6 drive the 3-RPS mechanism to move, so as to realize three-degree-of-freedom movement of the movable platform 8, the seat 18 follows the movable platform 8 to realize three-degree-of-freedom movement, and the first active turntable 19, the second active turntable 20 and the third active turntable 21 drive the first RRR mechanism, the second RRR mechanism and the third RRR mechanism to move respectively through the first UPU branched chain 22, the second UPU branched chain 23 and the third UPU branched chain 24, so as to realize three-degree-of-freedom movement of the seat 18 relative to the movable platform 8. In summary, seat 18 has the ability to simulate six degrees of freedom motion.
Claims (1)
1. The utility model provides a 3-RPS +3-UPU +3-RRR type six degrees of freedom motion simulator actuating mechanism, includes frame (1), 3-RPS mechanism, first UPU branch chain (22), second UPU branch chain (23), third UPU branch chain (24), first RRR mechanism, second RRR mechanism, third RRR mechanism, seat (18), first initiative revolving stage (19), second initiative revolving stage (20) and third initiative revolving stage (21), its characterized in that:
the 3-RPS mechanism consists of a first driving rod (2), a first connecting rod (3), a second driving rod (4), a second connecting rod (5), a third driving rod (6), a third connecting rod (7) and a movable platform (8), wherein the first driving rod (2) is connected with the rack (1) through a first revolute pair (9), the first driving rod (2) is connected with the first connecting rod (3) through a first revolute pair (10), the first connecting rod (3) is connected with the movable platform (8) through a first spherical hinge (11), the second driving rod (4) is connected with the rack (1) through a second revolute pair (12), the second driving rod (4) is connected with the second connecting rod (5) through a second revolute pair (13), the second connecting rod (5) is connected with the movable platform (8) through a second spherical hinge (14), and the third driving rod (6) is connected with the rack (1) through a third revolute pair (15), the third driving rod (6) is connected with a third connecting rod (7) through a third moving pair (16), the third connecting rod (7) is connected with the movable platform (8) through a third spherical hinge (17),
the first UPU branched chain (22) consists of a first telescopic rod (221) and a second telescopic rod (222), the first telescopic rod (221) is connected with the second telescopic rod (222) through a fourth sliding pair (223),
the second UPU branched chain (23) consists of a third telescopic rod (231) and a fourth telescopic rod (232), the third telescopic rod (231) is connected with the fourth telescopic rod (232) through a fifth sliding pair (233),
the third UPU branched chain (24) consists of a fifth telescopic rod (241) and a sixth telescopic rod (242), the fifth telescopic rod (241) is connected with the sixth telescopic rod (242) through a sixth moving pair (243),
the first RRR mechanism is composed of a first transmission rod (31) and a second transmission rod (32), the first transmission rod (31) is connected with the second transmission rod (32) through a fourth revolute pair (33), the first transmission rod (31) is connected with the movable platform (8) through a fifth revolute pair (43), the first transmission rod (31) is connected with a second telescopic rod (222) through a first hooke joint (26), the second transmission rod (32) is connected with the seat (18) through a sixth revolute pair (46),
the second RRR mechanism is composed of a third transmission rod (34) and a fourth transmission rod (35), the third transmission rod (34) is connected with the fourth transmission rod (35) through a seventh revolute pair (36), the third transmission rod (34) is connected with the movable platform (8) through an eighth revolute pair (44), the third transmission rod (34) is connected with a fourth telescopic rod (232) through a second hooke joint (28), the fourth transmission rod (35) is connected with the seat (18) through a ninth revolute pair (47),
the third RRR mechanism consists of a fifth transmission rod (37) and a sixth transmission rod (38), the fifth transmission rod (37) is connected with the sixth transmission rod (38) through a tenth revolute pair (39), the fifth transmission rod (37) is connected with the movable platform (8) through an eleventh revolute pair (45), the fifth transmission rod (37) is connected with a sixth telescopic rod (242) through a third hooke hinge (30), the sixth transmission rod (38) is connected with the seat (18) through a twelfth revolute pair (48),
the first driving rotary table (19) is connected with the frame (1) through a thirteenth revolute pair (40), the first driving rotary table (19) is connected with a first telescopic rod (221) through a fourth hook joint (25),
the second driving rotary table (20) is connected with the rack (1) through a fourteenth revolute pair (41), the second driving rotary table (20) is connected with a third telescopic rod (231) through a fifth hooke joint (27),
the third driving rotary table (21) is connected with the rack (1) through a fifteenth revolute pair (42), and the third driving rotary table (21) is connected with a fifth telescopic rod (241) through a sixth hook hinge (29).
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| CN202020110765.1U CN212160992U (en) | 2020-01-19 | 2020-01-19 | 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator actuating mechanism |
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| CN202020110765.1U CN212160992U (en) | 2020-01-19 | 2020-01-19 | 3-RPS +3-UPU +3-RRR type six-degree-of-freedom motion simulator actuating mechanism |
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