CN2539235Y - Three free degree hydraulic servo platform - Google Patents
Three free degree hydraulic servo platform Download PDFInfo
- Publication number
- CN2539235Y CN2539235Y CN 02220102 CN02220102U CN2539235Y CN 2539235 Y CN2539235 Y CN 2539235Y CN 02220102 CN02220102 CN 02220102 CN 02220102 U CN02220102 U CN 02220102U CN 2539235 Y CN2539235 Y CN 2539235Y
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- cross joint
- axis
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- degree
- moving platform
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Abstract
The utility model relates to a 3-DOF hydraulic servo platform which is suitable for simulation training or simulation entertainment, comprising a base, a bearing seat fixedly connected with the base, an equalizing frame and a cross joint, a rocker, a former hydraulic cylinder, two side hydraulic cylinders, a rotation articulated connecting rod and a moving platform are arranged on the base, the moving platform is provided with the cross joint, so a 3-DOF space link mechanism is formed. The end of the cylinder barrel of the former hydraulic cylinder is connected with the cross joint by a pin roll, the cross joint is fixedly arranged on the front side of the base, the end of the cylinder rod of the former hydraulic cylinder is connected with the cross joint by a pin roll, the cross joint is fixedly arranged on the front side of the moving platform, meanwhile, an end of the rocker is arranged on the pin roll of the cross joint, the other end of the rocker is arranged in the former pin roll hole of the equalizing frame by a pin roll. The ends of the cylinder rod and the cylinder barrel of the two side hydraulic cylinders are respectively fixed on the left and right sides of the base and the moving platform by the cross joint.
Description
Technical field
The utility model relates to a kind of space three-freedom hydraulic servo platform that is suitable for simulated training or emulation amusement use.
Background technology
In the simulated training or emulation amusement of movable machinery (as tank, vehicle, self-propelled gun, boats and ships etc.), require front and back pitching that training cabin or emulation cabin can skimulated motion machinery, vacillate now to the left, now to the right, pitch and various motion states such as lateral bending.In the hydraulic servo platform in existing carrying training cabin or emulation cabin, the axis normal of the hydraulic cylinder on the support is in the support plane, servo accuracy to hydraulic cylinder requires high, other three hydraulic cylinders are asymmetric layout on the support longitudinal axis of the upper edge, plane of support, therefore, be difficult to improve the static stability and the dynamic stability of moving platform.
Summary of the invention
The utility model provides a kind of Three Degree Of Freedom hydraulic servo platform at above-mentioned weak point, the cross joint is housed on the moving platform, the spatial linkage of forming Three Degree Of Freedom, various simulated trainings or emulation amusement operational window can be carried in moving platform top, the front and back pitching of skimulated motion machinery, vacillate now to the left, now to the right, pitch and various motion states such as lateral bending.
The utility model is achieved through the following technical solutions: Three Degree Of Freedom hydraulic servo platform tool organic block, load-bearing seat, supporting base and cross joint on support are fixedly connected, rocking bar, preceding hydraulic cylinder, two side hydraulic cylinders, rotating hinge connective pole and moving platforms are housed on the support, the cross joint is housed on the moving platform, forms the spatial linkage of Three Degree Of Freedom.
The cylinder barrel end of hydraulic cylinder is connected on the cross joint with bearing pin before the Three Degree Of Freedom hydraulic servo platform, the cross arthrodesis is installed in the front side of support, the tailpiece of the piston rod of preceding hydraulic cylinder is connected on the cross joint with bearing pin, the cross arthrodesis is installed in the front side of moving platform, one end of rocking bar is installed on the bearing pin in this cross joint simultaneously, the other end of rocking bar is installed in bearing pin in the preceding pin shaft hole of supporting base, and the axis of preceding hydraulic cylinder becomes certain angle with the support surface level.
The cylinder barrel end of two side hydraulic cylinders of Three Degree Of Freedom hydraulic servo platform is connected on the cross joint with bearing pin respectively, this cross arthrodesis is installed in the left and right sides of support, the tailpiece of the piston rod of two hydraulic cylinders is connected on the cross joint with bearing pin, this cross joint respective fixation is installed in the left and right sides of moving platform, and the axis of side hydraulic cylinder becomes certain angle with the support surface level.
The rotating hinge connective pole of Three Degree Of Freedom hydraulic servo platform is hinged by bearing pin by two connecting rods, the upper end of rotating hinge connective pole is connected on the cross joint with bearing pin, the cross joint is installed on the moving platform, and the lower end is installed in the back axis hole of supporting base with bearing pin.
The utility model hydraulic cylinder symmetrical arrangement has four pivot centers, has improved the static stability and the dynamic stability of moving platform, under identical servo accuracy, can obtain higher simulation precision and emulation sense; Moving platform is the shaped as frame structure, can make the three-degree-of-freedom motion in space, and various simulated trainings or emulation amusement operational window can be carried in its top, the front and back pitching of skimulated motion machinery, vacillates now to the left, now to the right, pitches and various motion states such as lateral bending.
Description of drawings
The utility model is described in further detail below with reference to accompanying drawing.
Fig. 1 is the structural representation of Three Degree Of Freedom hydraulic servo platform.
Fig. 2 is the mechanism principle figure of Three Degree Of Freedom hydraulic servo platform.
Fig. 3 is the rotating hinge connective pole structural representation of Three Degree Of Freedom hydraulic servo platform.
Fig. 4 is first kind of cross articulation structure synoptic diagram of Three Degree Of Freedom hydraulic servo platform.
Fig. 5 is the another kind of cross articulation structure synoptic diagram of Three Degree Of Freedom hydraulic servo platform.
Embodiment
Clear for representing, removed one group of linkage assembly of forming by support 1, side hydraulic cylinder 7, moving platform 5 in the accompanying drawing 2.This mechanism be positioned at the endplay device formed by support 1, preceding hydraulic cylinder 6, rocking bar 3, moving platform 5 and by support 1, lower link 13, go up the opposite side of the linkage assembly that connecting rod 15, moving platform 5 form.
Accompanying drawing 1, accompanying drawing 3～5 are depicted as exemplary, but not determinate.Consider that the utility model has multiple structural modification and some other parts can realize aforesaid goal of the invention, protection domain of the present utility model should be come unique definite by claims of this patent.
Embodiment
With reference to accompanying drawing 1, Three Degree Of Freedom hydraulic servo platform is made up of support 1, rocking bar 3, preceding hydraulic cylinder 6, two side hydraulic cylinders 7, rotating hinge connective pole 8 and moving platforms 5.Be installed with load-bearing seat 2, supporting base 9 and cross joint 4b, 4c on the support 1, first kind of cross joint 4a, 4d and another kind of cross joint 11 are housed on the moving platform.
The cylinder barrel end of preceding hydraulic cylinder 6 is connected on the 4b of cross joint with bearing pin 12b, cross joint 4b is fixedly mounted on the front side of support 1, the tailpiece of the piston rod of preceding hydraulic cylinder 6 is connected on the 4a of cross joint with bearing pin 12a, cross joint 4a is fixedly mounted on the front side of moving platform 5, one end of rocking bar 3 is installed on the bearing pin 12a in this cross joint simultaneously, the other end of rocking bar 3 is installed in bearing pin 10a in the preceding pin shaft hole of supporting base 9, and the axis of preceding hydraulic cylinder 6 becomes certain angle with support 1 surface level.The piston rod of hydraulic cylinder 6 before moving can make rocking bar 3 around the preceding pin shaft hole swing of supporting base.
The cylinder barrel end of two side hydraulic cylinders 7 is connected on the 4c of cross joint with bearing pin 12d respectively, cross joint 4c symmetry is fixedly mounted on the left and right sides of support 1, its tailpiece of the piston rod is connected on the 4d of cross joint with bearing pin 12c, cross joint 4d symmetry is fixedly mounted on the left and right sides of moving platform 5, the axis of side hydraulic cylinder 7 becomes certain angle with support 1 surface level, the piston rod of the side hydraulic cylinder 7 of the mobile left and right sides can make moving platform 5 swing up and down and common axis line around cross joint 4a and cross joint 11 swings around bearing pin 12a axis.
Moving platform 5 is a framed structure, is installed with cross joint 4a, 4d and cross joint 11 on the moving platform 5, does the motion of Three Degree Of Freedom in mechanism, and various simulated trainings or emulation amusement operational window can be carried in its top.
On support 1, be installed with load-bearing seat 2.When servo platform quit work, the top movement parts dropped on the load-bearing seat 2, guaranteed the steady stability of entire mechanism.
Referring to accompanying drawing 2, form endplay device by support 1, preceding hydraulic cylinder 6, rocking bar 3, moving platform 5, when the piston rod of current hydraulic cylinder 6 moved, rocking bar 3 can be swung to axis around the Z of revolute pair B.The linkage assembly of being made up of support 1, lower link 13, last connecting rod 15, moving platform 5 is a follower, the X in cross joint (sphere-pin pair) 11 constitutes same axis to the X of axis and cross joint (sphere-pin pair) 4a to axis, and moving platform 5 can swing in the Y-Z plane around this axis.The endplay device of forming by support 1, preceding hydraulic cylinder 6, rocking bar 3, moving platform 5 and by support 1, lower link 13, on the Z of the linkage assembly formed of connecting rod 15, moving platform 5 to both sides, symmetry has been installed the linkage assembly by support 1, side hydraulic cylinder 7, moving platform 5, when the piston rod of side hydraulic cylinder 7 moves, moving platform 5 both can swing up and down to axis around the Z of cross joint (sphere-pin pair) 4a, can also swing to the coaxial line of axis to the X of axis and cross joint (sphere-pin pair) 11 around the X of cross joint (sphere-pin pair) 4a.Therefore, the degree of freedom of this mechanism is 3, but the front and back pitching of skimulated motion machinery, vacillates now to the left, now to the right, pitches and various motion states such as lateral bending.
Referring to accompanying drawing 3, the rotating hinge connective pole is hinged by bearing pin 14 by last connecting rod 15 and lower link 13, the upper end of last connecting rod 15 is connected on the cross joint 11 with bearing pin 16, and cross joint 11 is installed on the moving platform 5, and the lower end of lower link is installed in the back axis hole of supporting base 9 with bearing pin 10b.Rotating hinge connective pole 8 is driven members of finishing attitude motion, and its connection and the cross joint 4a that is installed in cross joint 11 and preceding hydraulic cylinder piston rod end on the moving platform have formed the axis that moving platform 5 swings, and have guaranteed the robust motion of moving platform 5.
The cross joint is sphere-pin pair motion class parts, is one of critical component of realizing mechanism freedom.Structure referring to 4, the first kinds of cross joints 4 of accompanying drawing is: the centre is a rectangular frame 19, and rectangular frame 19 walls have four axis holes, and four axis holes are cross distribution, and are in the same plane.The outside of rectangular frame is a socket joint 17, and two axis holes are arranged in the socket joint 17, and two bearing pins 18 insert the axis hole on socket joint 17 and the rectangular frame 19 respectively.Two axis holes in addition with on the bearing pin 12 insertion rectangular frames can connect with other member.
Referring to accompanying drawing 5, the structure in another kind of cross joint 11 is: an axis hole is arranged on the socket joint 20, a gudgeon 21 is housed in the axis hole, the other end of gudgeon has an axis hole, the axis normal of axis hole is in the axis of gudgeon, two axial lines is in the same plane, inserts in the axis hole with bearing pin 16, can connect with last connecting rod 15.
Claims (10)
1, a kind of Three Degree Of Freedom hydraulic servo platform, it is characterized in that having support, load-bearing seat, supporting base and cross joint on support are fixedly connected, rocking bar, preceding hydraulic cylinder, two side hydraulic cylinders, rotating hinge connective pole and moving platforms are housed on the support, the cross joint is housed on the moving platform, has formed the spatial linkage of Three Degree Of Freedom.
2, Three Degree Of Freedom hydraulic servo platform according to claim 1, the cylinder barrel end of hydraulic cylinder is connected on the cross joint with bearing pin before it is characterized in that, the cross arthrodesis is installed in the front side of support, the tailpiece of the piston rod of preceding hydraulic cylinder is connected on the cross joint with bearing pin, the cross arthrodesis is installed in the front side of moving platform, one end of rocking bar is installed on the bearing pin in this cross joint simultaneously, the other end of rocking bar is installed in bearing pin in the preceding pin shaft hole of supporting base, and the axis of preceding hydraulic cylinder becomes certain angle with the support surface level.
3, Three Degree Of Freedom hydraulic servo platform according to claim 1, the cylinder barrel end that it is characterized in that two side hydraulic cylinders is connected on the cross joint with bearing pin respectively, this cross arthrodesis is installed in the left and right sides of support, the tailpiece of the piston rod of two hydraulic cylinders is connected on the cross joint with bearing pin, this cross joint respective fixation is installed in the left and right sides of moving platform, and the axis of side hydraulic cylinder becomes certain angle with the support surface level.
4, Three Degree Of Freedom hydraulic servo platform according to claim 1, it is characterized in that the rotating hinge connective pole is hinged by bearing pin by two connecting rods, the upper end of rotating hinge connective pole is connected on the cross joint with bearing pin, the cross joint is installed on the moving platform, and the lower end is installed in the back axis hole of supporting base with bearing pin.
5, Three Degree Of Freedom hydraulic servo platform according to claim 1, the structure that it is characterized in that first kind of cross joint is: the centre is the rectangular frame of hollow, the rectangular frame wall has four axis holes, four axis holes are cross distribution, in the same plane, the outside of rectangular frame is a socket joint, and two axis holes are arranged in the socket joint, two bearing pins insert respectively in the axis hole of same axis on socket joint and the rectangular frame, can insert bearing pin in the axis hole of two the same axis in addition on the rectangular frame.
6, Three Degree Of Freedom hydraulic servo platform according to claim 1, the structure that it is characterized in that another kind of cross joint is: an axis hole is arranged on the socket joint, a gudgeon is housed in the axis hole, one end of gudgeon is flat, one axis hole is arranged on it, the axis normal of axis hole is in the axis of gudgeon, and two axial lines is in the same plane, can insert bearing pin in the axis hole.
7, Three Degree Of Freedom hydraulic servo platform according to claim 1 is characterized in that moving platform is a framed structure, is installed with the cross joint on the moving platform.
8, according to claim 1 or 7 described Three Degree Of Freedom hydraulic servo platforms, when it is characterized in that current hydraulic cylinder stretches, moving platform is around the horizontal axis swing of the preceding pin shaft hole of supporting base.
According to claim 1 or 7 described Three Degree Of Freedom hydraulic servo platforms, it is characterized in that when two side hydraulic cylinder collapsing lengths are identical that 9, moving platform is around the pin shaft hole horizontal line swing of preceding hydraulic cylinder piston rod end.
10, according to claim 1 or 7 described Three Degree Of Freedom hydraulic servo platforms, it is characterized in that working as side hydraulic cylinder collapsing length not simultaneously, moving platform is around the common axis line swing of the cross articulating pin axis hole that preceding hydraulic cylinder piston rod end is installed with the cross articulating pin axis hole of installation rotating hinge connective pole upper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02220102 CN2539235Y (en) | 2002-04-23 | 2002-04-23 | Three free degree hydraulic servo platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02220102 CN2539235Y (en) | 2002-04-23 | 2002-04-23 | Three free degree hydraulic servo platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2539235Y true CN2539235Y (en) | 2003-03-05 |
Family
ID=33698469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02220102 Expired - Fee Related CN2539235Y (en) | 2002-04-23 | 2002-04-23 | Three free degree hydraulic servo platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2539235Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100346369C (en) * | 2005-05-17 | 2007-10-31 | 南京工业大学 | Two-dimensional high-performance alternating-current servo CNC experiment system |
| CN100368043C (en) * | 2004-08-10 | 2008-02-13 | 大连大学 | Artificial animal amusement device |
| CN102288146A (en) * | 2011-05-10 | 2011-12-21 | 吉林大学 | Hydraulic system for three-degree-of-freedom vehicle wheel clearance detecting table |
| CN102755754A (en) * | 2012-07-18 | 2012-10-31 | 武汉金领湾实业有限公司 | Full-slewing multi-degree-of-freedom dynamic device with mechanical animal |
| TWI807841B (en) * | 2022-05-31 | 2023-07-01 | 智崴資訊科技股份有限公司 | Motion simulating apparatus and actuating system |
-
2002
- 2002-04-23 CN CN 02220102 patent/CN2539235Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368043C (en) * | 2004-08-10 | 2008-02-13 | 大连大学 | Artificial animal amusement device |
| CN100346369C (en) * | 2005-05-17 | 2007-10-31 | 南京工业大学 | Two-dimensional high-performance alternating-current servo CNC experiment system |
| CN102288146A (en) * | 2011-05-10 | 2011-12-21 | 吉林大学 | Hydraulic system for three-degree-of-freedom vehicle wheel clearance detecting table |
| CN102755754A (en) * | 2012-07-18 | 2012-10-31 | 武汉金领湾实业有限公司 | Full-slewing multi-degree-of-freedom dynamic device with mechanical animal |
| TWI807841B (en) * | 2022-05-31 | 2023-07-01 | 智崴資訊科技股份有限公司 | Motion simulating apparatus and actuating system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20030305 Termination date: 20100423 |