CN213400088U

CN213400088U - Four-axis motion simulation system

Info

Publication number: CN213400088U
Application number: CN202022594656.4U
Authority: CN
Inventors: 刘金; 张春雷
Original assignee: Beijing Aviation Speed Technology Co ltd
Current assignee: Beijing Aviation Speed Technology Co ltd
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2021-06-08
Anticipated expiration: 2030-11-11

Abstract

The utility model provides a four-axis motion simulation system belongs to the training equipment field. This four-axis motion simulation system includes: the seat comprises a base, an outer ring, a middle ring, an inner ring and an offset seat frame; the outer ring is arranged on the base, the middle ring is arranged on the outer ring, the inner ring is arranged on the middle ring, and the offset seat frame is arranged on the inner ring; the outer ring can rotate around a rotating shaft vertical to the horizontal plane, the middle ring can rotate around a rotating shaft parallel to the horizontal plane, and the inner ring can rotate around the longitudinal central axis of the middle ring; the offset seat frame can move on the inner ring to realize eccentricity. The utility model discloses but three axle of automatic control moves according to predetermined speed, position and time accurately, can provide the independent accurate position of three axle simultaneously, realizes eccentric rotation through adjusting seat horizontal position, realizes simulation unipolar, multiaxis rotation, eccentric rotation and combined motion, makes the training more press close to reality.

Description

Four-axis motion simulation system

Technical Field

The utility model belongs to the training equipment field, concretely relates to four-axis motion simulation system is applicable to the three-dimensional vestibule function training of pilot.

Background

The existing vestibular function training equipment for pilots mainly comprises two types of equipment, namely six-degree-of-freedom equipment and three-axis rotation equipment, wherein the two types of equipment are different in training emphasis point, the six-degree-of-freedom equipment can simulate the motions of six degrees of freedom, namely front and back, up and down, left and right, pitching, heeling and rolling, but the rotation position is limited, and the rotation motion of each axis cannot be simulated. The three-dimensional motion can realize the arbitrary rotation of the air attitude. The existing rotating equipment on the market can realize three-dimensional rotation, but the existing rotating equipment is mainly manual and cannot realize eccentric rotation. The simulated real flight still has certain difference, the pilot needs to do high-difficulty actions such as turning over, rolling and the like in the flight, good psychological and physiological quality needs to be achieved, long-term training is needed, the pilot can do the actions to adapt to the body, the stability and the anti-dizziness capacity of the vestibule function are enhanced, for the vestibule function training, the three-axis eccentric rotation has four dimensions to simulate the flight training, and the simulation flight training truth is improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve the difficult problem that exists among the above-mentioned prior art, provide a four-axis motion simulation system, through increasing the horizontal position that an axle changed the seat on the triaxial motion platform basis, realize that the eccentricity of seat is adjustable, utilize eccentric rotation to train the personnel of being trained, realize eccentric compound rotary motion, strengthen the true degree of simulation aircraft motion.

The utility model discloses a realize through following technical scheme:

a four-axis motion simulation system, comprising: the seat comprises a base, an outer ring, a middle ring, an inner ring and an offset seat frame;

the outer ring is arranged on the base, the middle ring is arranged on the outer ring, the inner ring is arranged on the middle ring, and the offset seat frame is arranged on the inner ring;

the outer ring can rotate around a rotating shaft vertical to the horizontal plane, the middle ring can rotate around a rotating shaft parallel to the horizontal plane, and the inner ring can rotate around the longitudinal central axis of the middle ring; the offset seat frame can move on the inner ring to realize eccentricity.

The utility model is further improved in that the outer ring adopts a U-shaped structure with an upward opening, the symmetrical axis of the U-shaped structure with the upward opening is the rotation axis of the outer ring, the rotation axis is vertical to the horizontal plane, and the outer ring can rotate around the rotation axis; the outer ring comprises two vertical arms and a horizontal bottom connecting arm connected with the bottoms of the two vertical arms;

the middle ring is of a closed O-shaped structure and comprises a left arm, a right arm and an upper arm and a lower arm which are parallel, and the upper arm and the lower arm are perpendicular to the left arm and the right arm; the left arm, the upper arm, the right arm and the lower arm are sequentially connected and enclosed to form an O-shaped structure; the centers of the left arm and the right arm are respectively connected with the outer ring through a motion shafting, the connecting line of the centers of the left arm and the right arm forms the rotation axis of the middle ring, the rotation axis is parallel to the horizontal plane, and the middle ring can rotate around the rotation axis; the connecting line of the centers of the upper arm and the lower arm forms the longitudinal central axis of the middle ring;

the inner ring is of a U-shaped structure with a forward opening and comprises an upper connecting arm, a lower connecting arm and a side arm which connects the upper connecting arm and the lower connecting arm in parallel; the upper connecting arm and the lower connecting arm of the inner ring are respectively connected with the upper arm and the lower arm of the middle ring through a motion shaft system, the rotation axis of the inner ring and the longitudinal central axis of the middle ring are positioned on the same straight line, and the inner ring can rotate around the rotation axis of the inner ring.

The utility model is further improved in that the upper part and the lower part of the rear part of the offset seat frame are respectively provided with a slide block;

the upper part and the lower part of the side arm of the inner ring are respectively provided with a slideway, and the sliding blocks are in one-to-one correspondence with the slideways;

the sliding block above the offset seat frame can reciprocate on the slide way above the side arm of the inner ring; the sliding block below the offset seat frame can move back and forth on the slide ways below the side arms of the inner ring.

The utility model has the further improvement that each slide way is provided with a plurality of fastening holes;

the central axis of each fastening hole is vertical to the length direction of the slide way;

and each fastening hole is provided with a fastening bolt.

The utility model is further improved in that the center of the slide way in the length direction is aligned with the rotation axis of the inner ring;

the axis of symmetry of the offset seat frame and the axis of rotation of the inner ring lie in the same plumb plane when the center of the slider is aligned with the center of the slide and in a different plumb plane when the center of the slider is misaligned with the center of the slide.

The utility model discloses a further improvement lie in be provided with seat, handrail, multiunit safety belt, pressure shoulder and instrument case on the skew seat frame.

The utility model is further improved in that the system further comprises a motion control card which can synchronously control the driving motors of the outer ring, the middle ring and the inner ring;

meanwhile, photoelectric encoders are respectively arranged on the driving motors of the outer ring, the middle ring and the inner ring.

The utility model discloses a further improvement lies in, the system further includes: the three-phase circuit breaker, the power input switch and the solid-state relay are connected in series;

meanwhile, the system further comprises: the system comprises a grating sensor, a tested personnel emergency stop button and an operator emergency stop button; the grating sensor, the pressure shoulder, the buckles of the multiple groups of safety belts, the emergency stop button of the tested person and the emergency stop button of the operator are connected in series and control the solid-state relay; grating sensors are respectively arranged at four corners of the base;

and a measure enabling switch is further arranged in the instrument box and is connected in parallel with the grating sensor, the shoulder pressing device, the buckles of the multiple groups of safety belts and the emergency stop button of the tested person.

The utility model discloses a further improvement lie in be provided with six acceleration sensor with height position department such as surveyed personnel's head on the skew seat frame.

The utility model discloses a further improvement lies in the support truckle and the support lower margin that can height-adjusting are installed to the below of base.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses but three axle of automatic control moves according to predetermined speed, position and time accurately, can provide the independent accurate position of three axle simultaneously, realizes eccentric rotation through adjusting seat horizontal position, realizes simulating unipolar, multiaxis rotation, eccentric rotation and combined motion, makes the training more press close to reality, and the pilot can effectual reinforcing pilot's space orientation ability and vestibule functional stability through this equipment training.

Drawings

Fig. 1 is a schematic structural diagram of a four-axis motion simulation system of the present invention;

fig. 2 is a schematic structural diagram of an inner ring in the four-axis motion simulation system of the present invention;

fig. 3 is a schematic structural view of the back of a seat in the four-axis motion simulation system of the present invention;

fig. 4 is a schematic structural view of the four-axis motion simulation system of the present invention in a state of eccentric seat;

fig. 5-1 is a schematic view of a three-dimensional structure of a slide way and a slide block connected between a seat and an inner ring in four-axis motion simulation of the present invention;

fig. 5-2 is a schematic side view of the slide and the slide block connected between the seat and the inner ring in the four-axis motion simulation of the present invention;

FIG. 6 is a control schematic diagram of the four-axis motion simulation system of the present invention;

fig. 7 the utility model discloses four-axis motion simulation system's safety guarantee schematic diagram.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings:

the utility model relates to a four-axis motion simulation system is the control system of high accuracy, is the key equipment of ground flight physical simulation for various actions and gestures of simulation aircraft in the air, including driftage, roll over and every single move, be an electric signal to mechanical motion's conversion equipment. A high-precision sensor is arranged at the back part of the brain of the seat, a photoelectric encoder is arranged on each shaft system, and electric signals of various postures of the aircraft in the air are converted into four-shaft mechanical rotation of the rotary table, so that the flying state is simulated on the ground.

As shown in fig. 1 to 4, the four-axis motion simulation system of the present invention includes: base 1, outer loop 2, zhonghuan 3, inner ring 4 and skew seat frame 5, outer loop 2 is used for simulating driftage, zhonghuan 3 is used for simulating the every single move, inner ring 4 is used for simulating the roll install the seat on the skew seat frame 5, through the adjustment the eccentric position of seat can be adjusted to the position of skew seat frame 5. The four frames of simultaneous actions can simulate the real actions and postures of the pilot in the three-dimensional space.

The embodiment of the utility model is as follows:

[ EXAMPLES one ]

The base 1 is installed on the ground or other stable planes, a motion shafting and a driving device of an outer ring are installed inside the base 1, and the base 1 is made of a steel structure to increase the weight and plays a stabilizing role.

But base 1's below is installed and is supported truckle and height-adjusting's support lower margin, supports the lower margin and rises the back, supports truckle and ground contact, and whole equipment can carry out the translation on flat ground, supports the lower margin through the adjustment and makes equipment rise, supports the truckle and leaves ground, realizes that equipment stabilizes and lays. The supporting feet and the supporting caster wheels are made of the existing products, and the details are not repeated.

[ example two ]

The outer ring 2 adopts an upward-opening U-shaped structure, the symmetry axis of the upward-opening U-shaped structure is the rotation axis of the outer ring 2, the rotation axis is vertical to the horizontal plane, and the outer ring can rotate around the rotation axis. The bottom of the outer ring 2 is connected with the base 1 through a motion shaft system, and a slip ring is installed at the center of the motion shaft system, so that 360-degree rotation of the outer ring is realized. The moving shaft system and the driving device of the middle ring are both arranged in the inner cavity of the outer ring, the moving shaft system and the driving device of the middle ring can be arranged in the inner cavity of one end of the U-shaped structure of the outer ring, and the moving shaft system of the middle ring is arranged in the inner cavity of the other end of the U-shaped structure of the outer ring.

Specifically, the outer ring 2 includes two vertical arms and a horizontal bottom connecting arm connected to the bottoms of the two vertical arms, and the axis of symmetry of the U-shaped structure is the central axis of the outer ring, which is parallel to the two vertical arms. The outer ring can be rotated 360 degrees continuously.

The utility model discloses an adopt U type structure to reduce the focus of whole outer loop, through adopting slewing bearing, reduced the height of frame base, and then reduced whole mechanism's focus, make the rotation of each axle more stable, improved the stability and the reliability of system operation. And a rotary slip ring is arranged at the central position of the rotary support bearing, and signals connected by the slip ring comprise signal wires of the middle ring servo system and the inner ring servo system and signal wires required by the inner ring load. Servo system signal divide into power line and position sensor signal line, consequently the utility model discloses the special rotatory sliding ring of well selection multichannel servo motor ensures to rotate the in-process, and servo system signal's connection is reliable.

[ EXAMPLE III ]

The middle ring 3 is of a closed O-shaped structure and comprises a left arm, a right arm and an upper arm and a lower arm which are parallel, and the upper arm and the lower arm are perpendicular to the left arm and the right arm; the left arm, the upper arm, the right arm and the lower arm are sequentially connected and enclosed to form an O-shaped structure; the centers of the left arm and the right arm are connected with the outer ring through a motion shaft system, the connecting line of the centers of the left arm and the right arm forms the rotation axis of the middle ring, the rotation axis is parallel to the horizontal plane, and the middle ring can rotate around the rotation axis. The centers of the upper arm and the lower arm are provided with a motion shafting and a driving device of the inner ring. The O-shaped structure can be round or square. The connecting line of the centers of the upper arm and the lower arm forms the vertical central axis of the middle ring.

[ EXAMPLE IV ]

The inner ring 4 is of a U-shaped structure with a forward opening and comprises an upper connecting arm, a lower connecting arm and a side arm which connects the upper connecting arm and the lower connecting arm in parallel. The upper connecting arm and the lower connecting arm of the inner ring are respectively connected with the upper arm and the lower arm of the middle ring through a motion shaft system, the rotation axis of the inner ring and the vertical central axis of the middle ring are located on the same straight line, and the inner ring can rotate around the rotation axis of the inner ring. The side arm is provided with a slideway to realize the eccentric adjustment of the seat.

The motion shafting and the drive arrangement of each frame adopt current motion shafting and drive arrangement can, for example the motion shafting can adopt the action wheel and follow driving wheel, rotation axis, and drive arrangement can adopt servo motor, speed reducer, shaft coupling, and servo motor is connected with the speed reducer, the output shaft of speed reducer passes through the shaft coupling and is connected with the action wheel, action wheel and follow driving wheel interlock, follow driving wheel and drive corresponding frame through the rotation axis and rotate, these all are existing equipment, no longer describe herein. Furthermore, the frameworks of the inner ring, the middle ring and the outer ring can be manufactured by welding steel frameworks, the steel frameworks are coated with thin steel plates to form each frame, the thin steel plates surround to form an inner cavity of each frame, the driving device and the moving shaft system are arranged in the inner cavity, and the rotating shaft extends out of the inner cavity and is connected with the frames.

[ EXAMPLE V ]

The upper portion and the lower portion of the rear portion of the offset seat frame 5 are respectively provided with a sliding block 9, the upper portion and the lower portion of the side arm of the inner ring 4 are respectively provided with a sliding rail 8, the sliding blocks 9 correspond to the sliding rails 8 one by one, the sliding blocks 9 above the offset seat frame 5 can move on the sliding rails 8 above the side arm of the inner ring 4 in a reciprocating mode and are located, and the sliding blocks 9 below the offset seat frame 5 can move on the sliding rails 8 below the side arm of the inner ring 4 in a reciprocating mode and are located.

Each slide way 8 is provided with a plurality of fastening holes, the central axis of each fastening hole is perpendicular to the length direction of the slide way 8, fastening bolts are installed in each fastening hole, after the fastening bolts are screwed, the end parts of the fastening bolts prop against the slide block, so that the slide block cannot move along the slide way, the slide block is fixed, after the fastening bolts are loosened, the slide block 9 can drive the offset seat frame to move out of the central position, and after the adjustment to the target position, the fastening slide block is locked, and further the adjustment of the eccentric position of the seat is realized. The offset seat frame and the seat are both bilaterally symmetric structures, both being bilaterally symmetric about an axis of symmetry.

The center of the slide way 8 in the length direction is aligned with the rotation axis of the inner ring, namely when the center of the slide block is aligned with the center of the slide way, the offset seat frame is not eccentric, the symmetry axis of the offset seat frame and the rotation axis of the inner ring are positioned in the same plumb bob surface, when the center of the slide block is not aligned with the center of the slide way, the eccentricity is formed when the offset seat frame leaves the center of the slide way, and the symmetry axis of the offset seat frame and the rotation axis of the inner ring are positioned in different plumb bob surfaces.

The slide block and the slide way can adopt the existing structures of various slide blocks and slide ways, for example, the slide way and ball slide block structure shown in fig. 5-1 and fig. 5-2 can be adopted, the slide block and slide way structure comprises a slide way 8 and a slide block 9, an upper retainer 904 and a lower retainer 906 are arranged on the slide block 9, the two retainers are used for retaining steel balls 905, and an end cover 903, an end face sealing gasket 902 and an oil nozzle 901 are respectively arranged at two ends of the slide block 9.

The offset seat frame is provided with a seat 6, armrests, a multipoint safety belt, a pressure shoulder 7, an instrument box body and the like, and provides good support and protection for a tested person in the training process. The seat is provided with a plurality of safety belts for providing safety protection for the tested person, for example, the seat can be provided with a five-point safety belt for fixing the trunk and the arms of the tested person, and the seat is also provided with a thigh safety belt and a shank safety belt for fixing the thigh and the shank corresponding to the thigh position and the shank position of the practicer.

[ EXAMPLE six ]

The utility model discloses used multichannel motor synchronous control technique: the motion synchronism of the three-axis frame system is ensured by adopting a multi-axis synchronous control technology while realizing the independent control of the three frames. Specifically, a high-performance motion control card is used as a control hardware core, and the high-performance motion control card can realize synchronous control of three motors. The high-performance motion control port can be implemented by using an existing motion control card, and is not described herein again.

Furthermore, a photoelectric encoder is respectively arranged on the servo motor of each frame. The synchronous control of two variables of the rotating speed and the rotating angle is realized by accurately measuring the angle through a photoelectric encoder on the motor, and the synchronous operation of three shafts can conveniently realize the multi-position rotation training and the space swing training realized by the mixed control of the frame position and the speed.

The utility model discloses a control software on the computer carries out parameter setting to send control command with the instruction form. The control software reads the data collected by the photoelectric encoder in real time, but does not participate in the control operation of the control system, so that the influence of the software fault of the upper computer on the control system of the trainer is isolated to the maximum extent, and the stability and the reliability of the trainer system are improved.

Specifically, as shown in fig. 6, the control software on the computer is used to set the position, the rotational speed, and the acceleration value for each of the three frames (which are implemented by using the prior art and are not described herein again), and the set values are sent to the motion control unit (i.e., the motion control card) through the motion control signal, the motion control unit controls the servo unit (i.e., the inner loop servo unit, the middle loop servo unit, and the outer loop servo unit) of each frame according to the motion control signal, the servo unit includes the driving circuit and the feedback control circuit of the servo motor (which are implemented by using the prior art and are not described herein again), and finally, the three-axis motion is performed by the driving systems of the servo motor, the deceleration shafting, and.

The utility model discloses a photoelectric encoder and servo drive realize closed-loop control, feed back the operating condition information to the control software of computer simultaneously. After the upper computer sends a position or rotating speed command, the motor frame is specifically controlled to operate by the motion control card, and the motion control card detects the position and speed in real time to perform accurate control, so that the software fault of the upper computer does not influence the specific execution after setting, namely the software fault of the upper computer does not influence the stability and reliability of the trainer system.

[ EXAMPLE VII ]

Further, the utility model discloses be provided with multiple safety mechanism. The trainer system is provided with multiple safety guarantee mechanisms, a hardware emergency stop mechanism is designed aiming at the unexpected conditions that a safety belt is likely to fall off, a person requests to stop, an external fault emergency stop request and a person mistakenly enters a training area in the using process, the safety measures of the system are connected in a series mode, the safety measure detection is divided into direct detection parts such as shoulder pressing, the safety belt and emergency stop operation, and peripheral sensing safety measures such as a safety grating are arranged at the same time.

Specifically, as shown in fig. 7, the utility model discloses a safety guarantee structure includes three-phase circuit breaker, power input switch and solid state relay, and the three series connection, grating, pressure shoulder, multiunit safety belt buckle (including the buckle of all safety belts that set up in the system), surveyed personnel emergency stop button, operating personnel emergency stop button series connection simultaneously, and control solid state relay as long as any one disconnection then the circuit disconnection in grating, pressure shoulder, multiunit safety belt buckle, surveyed personnel emergency stop button, the operating personnel emergency stop button, the power electricity of can not throwing into has guaranteed like this that equipment can not operate to guaranteed tester and operating personnel's safety, when taking place the accident, surveyed personnel and operating personnel can all be through the rotation of respective emergency stop button stop equipment. The equipment can normally act only in the state that the grating is not triggered, the shoulder pressing button is pressed down, the safety belts are normally connected, the emergency stop button of the tested person is not pressed down, and the emergency stop button of the operator is not pressed down.

Furthermore, a measure enabling switch is arranged in the instrument box and is connected with the grating, the shoulder pressing device, the multiple groups of safety belt buckles and the emergency stop button of the tested person in parallel. The bypass is switched on after the measure enabling switch is closed, so that the grating, the shoulder pressing button, the emergency stop button of the tested person and the multiple groups of safety belt buckles are all out of work, the overhaul, debugging and the like of equipment can be carried out at the moment, when the measure enabling switch is switched off, any one signal of the grating, the shoulder pressing button, the emergency stop button of the tested person and the multiple groups of safety belt buckles is switched off, and power is forcibly switched off.

Preferably, four corners of the base 1 are respectively provided with a grating sensor to form gratings around the base, when a person approaches the base, the grating sensors are triggered to disconnect a circuit, and a safe emergency stop is started, so that the mistaken entering person can be prevented from being bruised by the rotating frame.

And meanwhile, the three circuit breakers provide power for the motor drivers of the frames, each motor driver drives a servo motor, each servo motor is provided with a brake, and the brakes of the frames are connected with the three-axis power-off internal contracting brake respectively.

The manual emergency stop in fig. 6 includes the emergency stop of the tested person and the emergency stop of the operator in fig. 7. The safety device in fig. 6 refers to a brake and a three-axis power-off band-type brake of a servo motor with three frames.

When the equipment is powered off, the three-shaft power-off internal contracting brake locks the rotating shaft system of the three frames, so that the equipment is prevented from rotating due to self weight. When electric power is input, the three-axis power-off internal contracting brake is started, and the movement of the three frames is controlled by the servo motor and the matched brake.

[ example eight ]

Furthermore, the utility model discloses still be provided with acceleration measurement device at surveyed personnel's head position. Specifically, an inertia measurement unit is arranged at a position, equal to the head of a person to be measured, on the offset seat frame, and the inertia measurement unit only needs to adopt an existing six-axis acceleration sensor, so that the current three-axis acceleration and the current three-axis angular rate are measured in real time in the system operation process, and data support is provided for analyzing the real-time overload condition of the person to be measured.

[ EXAMPLE ninth ]

The embodiment of the utility model provides an in the technical indicator of system as follows:

1. net load size: 135. + -.5 (height). times.65. + -.5 (width). times.80. + -.5 (depth) cm.

2. Net load weight: 80 kg.

3. Maximum angular velocity inner ring: 180 DEG/s.

Middle ring: 180 DEG/s.

Outer ring: 180 DEG/s.

4. Minimum angular velocity: an inner ring: 6 °/s.

Middle ring: 6 °/s.

Outer ring: 6 °/s.

5. Maximum angular acceleration: an inner ring: 60 °/s2

Middle ring: 60 °/s2

Outer ring: 60 °/s2

6. Three-axis corner precision: 1 degree

7. Three-axis range of motion: continuously infinite.

8. The displacement distance range of the offset shaft is minus 80mm to plus 80mm, and the error is less than or equal to plus or minus 3 mm; maximum speed: 60 mm/s;

in the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, unless otherwise specified, the terms "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

Finally, it should be noted that the above technical solution is only an embodiment of the present invention, and for those skilled in the art, various modifications or variations can be easily made on the basis of the structure and principle disclosed in the present invention, and not limited to the structure described in the above specific embodiments of the present invention, so that the structure described in the foregoing is only preferred, and not restrictive.

Claims

1. A four-axis motion simulation system is characterized in that: the four-axis motion simulation system comprises: the seat comprises a base, an outer ring, a middle ring, an inner ring and an offset seat frame;

2. The four-axis motion simulation system of claim 1, wherein: the outer ring is of a U-shaped structure with an upward opening, the symmetry axis of the U-shaped structure with the upward opening is the rotation axis of the outer ring, the rotation axis is vertical to the horizontal plane, and the outer ring can rotate around the rotation axis of the outer ring; the outer ring comprises two vertical arms and a horizontal bottom connecting arm connected with the bottoms of the two vertical arms;

3. The four-axis motion simulation system of claim 2, wherein: sliders are respectively arranged above and below the rear part of the offset seat frame;

4. The four-axis motion simulation system of claim 3, wherein: each slideway is provided with a plurality of fastening holes;

and each fastening hole is provided with a fastening bolt.

5. The four-axis motion simulation system of claim 4, wherein: the center of the slide in the length direction is aligned with the rotation axis of the inner ring;

6. The four-axis motion simulation system of claim 5, wherein: a seat, armrests, a plurality of groups of safety belts, a shoulder press and an instrument box are arranged on the offset seat frame.

7. The four-axis motion simulation system of claim 6, wherein: the system further comprises a motion control card which can synchronously control the driving motors of the outer ring, the middle ring and the inner ring;

8. The four-axis motion simulation system of claim 7, wherein: the system further comprises: the three-phase circuit breaker, the power input switch and the solid-state relay are connected in series;

9. The four-axis motion simulation system of claim 1, wherein: and a six-axis acceleration sensor is arranged on the offset seat frame at the position which is as high as the head of the tested person.

10. The four-axis motion simulation system of claim 1, wherein: and a supporting caster and a supporting foot capable of adjusting the height are arranged below the base.