CN104623911B - A kind of six degree of freedom series parallel type family expenses multidimensional seat - Google Patents
A kind of six degree of freedom series parallel type family expenses multidimensional seat Download PDFInfo
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- CN104623911B CN104623911B CN201410751938.7A CN201410751938A CN104623911B CN 104623911 B CN104623911 B CN 104623911B CN 201410751938 A CN201410751938 A CN 201410751938A CN 104623911 B CN104623911 B CN 104623911B
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Abstract
A kind of six degree of freedom series parallel type family expenses multidimensional seat, it comprises support, halfpace, moving platform, seat, control section hardware and six branches, and wherein seat is located on moving platform, and Control Hardware Department divides and is located at support place. What connect support and halfpace is three RPS branches, one end of linear drives moving sets in these three RPS branches is connected with support by revolute pair, its other end is connected with halfpace by compound spherical hinge, and these three branch two ends are circumference uniform distribution on support and halfpace; What connect halfpace and moving platform is three SPR branches, one end of linear drives moving sets in these three SPR branches is connected with halfpace by compound spherical hinge, its other end is connected with moving platform by revolute pair, and these three SPR branch two ends are circumference uniform distribution on halfpace and moving platform. The present invention is simple to operate, rigidity is high, working space is large, floor space is little, turning power is strong, be active in one's movements.
Description
Technical field
The present invention relates to a kind of seat, particularly a kind of multidimensional seat.
Background technology
Multidimensional seat has been widely used in large-scale public place of entertainment, game article, and in 4D movie theatre, but due to itComplicated operation and dynamic effect are poor, and the application places of multidimensional seat and crowd have been subject to certain restriction, andThe progress of multidimensional seat is subject to the impact of basic machine structure, improves the dynamic effect of multidimensional seat and reduces itCost is the direction of current multidimensional seat development.
The one three that existing lower-mobility multidimensional seat proposes as: Chinese patent CN201220724362.1 fromBy the electronic multidimensional seat of degree, three electric lifting mechanisms are arranged in under-seat, and its turning power is limited. ExistingSome Six-freedom dynamic seat basic machine version is single, and structure and layout adopt traditional moreStewart structure, as: the multidimensional seat of the 4D movie theatre that Chinese patent CN201220435815.9 proposes is flatPlatform is that the theory based on Stewart platform designs, and its six lifting shafts are mutually V-arrangement between two, arrange presentChair below; The commercial game machine multidimensional seat mechanical platform that Chinese patent CN201120544720.6 proposes is also adoptedBy traditional Stewart platform layout, six oil cylinders are arranged in the below of platform, the cloth of these two kinds of multidimensional seatsOffice's mode all limits to some extent to turning power, therefore has the hypodynamic problem of rotational.
In addition, though existing multidimensional seat automaticity is improved, it uses place to be subject to certain limitSystem, the small-sized multidimensional seat that is applicable to home theater, home computer is also little, Chinese patentA kind of 4D cinema multidimensional seat of controlling based on PLC that CN201320090263.7 proposes, needs computerConnect PLC controller, could realize the control to chair motions.
Summary of the invention
The object of the present invention is to provide a kind of simple to operate, rigidity is high, working space is large, floor space is little,The six degree of freedom series parallel type family expenses multidimensional seat that turning power is strong, be active in one's movements.
Technical scheme of the present invention is as follows:
The present invention includes support, halfpace, moving platform, seat, control section hardware and be connected support,Six branches of halfpace and moving platform. Wherein, seat is located on moving platform.
Connection support is three RPS branches that structure is identical with halfpace, three described RPS branchesIn one end of linear drives moving sets be connected with support by revolute pair, another of this linear drives moving setsEnd is connected with halfpace by compound spherical hinge, and three described RPS branch two ends are at support and halfpaceOn be circumference uniform distribution, the revolute pair of three RPS branches is distributed on three tangent lines of a circle on support, andPerpendicular to coupled linear drives moving sets, what compound spherical hinge adopted is three axis junction equivalent compound sphere joint,To be formed by three mutually perpendicular revolute pair B, revolute pair C and revolute pair D equivalence, revolute pair B and branchIn linear drives moving sets be connected and perpendicular to this linear drives moving sets, and be parallel in the branch of placeThe revolute pair being connected with support, revolute pair D is connected with halfpace and perpendicular to halfpace.
What connect halfpace and moving platform is three SPR branches that structure is identical, and three described SPR divideOne end of linear drives moving sets in is connected with halfpace by compound spherical hinge, and this linear drives movesThe secondary other end is connected with moving platform by revolute pair, three described SPR branch two ends halfpace withOn moving platform, be circumference uniform distribution; The linear drives moving sets of described SPR branch and coupled composite ballsThe revolute pair B of hinge is vertical, and the revolute pair that three described SPR branches are connected with moving platform is distributed in moving platformThree of a upper circle are tangential upper, parallel with the revolute pair B of place branch, and perpendicular to coupled straightLine drives moving sets.
Control section hardware is located at support place, is furnished with USB interface, be connected with home computer through data wire, byThe operation of computer control automatic seat.
The present invention compared with prior art tool has the following advantages:
1, adopt hybrid mechanism, rigidity is high, working space is large, floor space is little, turning power is strong.
2, branch adopts inside and outside layout, responds soon, is active in one's movements.
3, by PC computer controlling run situation, plug and play, simple to operate, be easy to promote.
Brief description of the drawings
Fig. 1 is stereochemical structure simplified schematic diagram of the present invention.
In Fig. 1: 1-support, 2-halfpace, 3-moving platform, 4-seat, 5-RPS branch,5-1-revolute pair, 5-2-linear drives moving sets, 5-3-compound spherical hinge, 5-3b-revolute pair B, 5-3c-revolute pair C, 5-3d-revolute pair D, 6-SPR branch, 6-1-linear drives moving sets, 6-2-rotationSecondary, 7-control section hardware.
Detailed description of the invention
In a kind of six degree of freedom series parallel type family expenses multidimensional seat schematic diagram shown in Fig. 1, seat 4 is located at movingOn platform 3, what connect support 1 and halfpace 2 is three RPS branches 5 that structure is identical, described threeThe one end of linear drives moving sets 5-2 in individual RPS branch is connected with support 1 by revolute pair 5-1, shouldThe other end of linear drives moving sets 5-1 is connected with halfpace 2 by compound spherical hinge 5-3, and described threeIndividual branch two ends are circumference uniform distribution, the revolute pair 6-2 of three RPS branches on support 1 and halfpace 2Be distributed on three tangent lines of a circle on support 1, and perpendicular to coupled linear drives moving sets 5-2,What compound spherical hinge 5-3 adopted is three axis junction equivalent compound sphere joint, is by three mutually perpendicular revolute pair B5-3b, revolute pair C5-3c and revolute pair D5-3d equivalence form, and the straight line in revolute pair B and branch drivesMoving moving sets 5-2 is connected and perpendicular to this linear drives moving sets 5-2, and is parallel in the branch of place and machineSeat 1 connected revolute pair 5-1, revolute pair D is connected with halfpace 2 and perpendicular to halfpace 2; ConnectHalfpace 2 and moving platform 3 be three SPR branches 6 that structure is identical, in three described SPR branchesOne end of linear drives moving sets 6-1 be connected with halfpace 2 by compound spherical hinge 5-3, this straight line drivesThe other end of moving moving sets 6-1 is connected with moving platform 3 by revolute pair 6-2, three described SPR branchesTwo ends are circumference uniform distribution on halfpace 2 and moving platform 3; The linear drives of described SPR branch movesThe revolute pair B5-3d of secondary 6-1 and coupled compound spherical hinge is vertical, and three described SPR branches are with movingIt is tangential upper that the revolute pair 6-2 that platform 3 connects is distributed in three an of circle on moving platform, with place branchRevolute pair B is parallel, and perpendicular to coupled linear drives moving sets 6-1. Control section hardware 7 is located atSupport place, is furnished with USB interface, is connected, by the fortune of computer control automatic seat through data wire with home computerOK.
Claims (2)
1. a six degree of freedom series parallel type family expenses multidimensional seat, it comprise support, halfpace, moving platform,Seat, control section hardware and be connected six branches of support, halfpace and moving platform, seat is located at movingOn platform, it is characterized in that: what in six described branches, connect support and halfpace is three structure phasesWith RPS branch, one end of the linear drives moving sets in three described RPS branches by revolute pair withSupport connects, and the other end of this linear drives moving sets is connected with halfpace by compound spherical hinge, describedThree RPS branch two ends are circumference uniform distribution on support and halfpace, and the revolute pair of three RPS branches is dividedOn three tangent lines of cloth circle on support, and perpendicular to coupled linear drives moving sets, compoundWhat ball pivot adopted is three axis junction equivalent compound sphere joint, is by three mutually perpendicular revolute pair B, revolute pair CEquivalence forms with revolute pair D, and revolute pair B is connected with the linear drives moving sets in branch and is straight perpendicular to thisLine drives moving sets, and is parallel to the revolute pair being connected with support in the branch of place, and revolute pair D is with middlePlatform be connected and perpendicular to halfpace; What in six described branches, connect halfpace and moving platform is threeThe SPR branch that individual structure is identical, one end of the linear drives moving sets in three described SPR branches is passed throughCompound spherical hinge is connected with halfpace, and the other end of this linear drives moving sets connects by revolute pair and moving platformConnect, three described SPR branch two ends are circumference uniform distribution, described SPR on halfpace and moving platformThe linear drives moving sets of branch is vertical with the revolute pair B of coupled compound spherical hinge, three described SPRThe revolute pair that branch is connected with moving platform is distributed in three tangential going up of a circle on moving platform, with place branchRevolute pair B parallel, and perpendicular to coupled linear drives moving sets.
2. a kind of six degree of freedom series parallel type family expenses multidimensional seat according to claim 1, is characterized in that:Described control section hardware is located at support place, is furnished with USB interface, is connected, by computer through data wire with computerControl the operation of multidimensional seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410751938.7A CN104623911B (en) | 2014-12-08 | 2014-12-08 | A kind of six degree of freedom series parallel type family expenses multidimensional seat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410751938.7A CN104623911B (en) | 2014-12-08 | 2014-12-08 | A kind of six degree of freedom series parallel type family expenses multidimensional seat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104623911A CN104623911A (en) | 2015-05-20 |
| CN104623911B true CN104623911B (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410751938.7A Expired - Fee Related CN104623911B (en) | 2014-12-08 | 2014-12-08 | A kind of six degree of freedom series parallel type family expenses multidimensional seat |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105289015B (en) * | 2015-10-23 | 2017-11-10 | 深圳市精敏数字机器有限公司 | Suspension type stereo moving device and the control method in suspension type stereo moving space |
| CN106956247B (en) * | 2017-05-05 | 2023-08-18 | 中国计量大学 | Active compliant vertebra of serial-parallel four-foot robot |
| CN109671348B (en) * | 2019-01-11 | 2021-12-31 | 华强方特文化科技集团股份有限公司 | Virtual experience test system of amusement facilities |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9089786B2 (en) * | 2011-02-22 | 2015-07-28 | D-Box Technologies Inc. | Method and system for reducing vibration of motion-enabled chairs |
| CN102151411A (en) * | 2011-03-17 | 2011-08-17 | 深圳市一品红文化传播有限公司 | Autokinetic seat for 4D cinema |
| CN102755755A (en) * | 2012-07-11 | 2012-10-31 | 武汉金领湾实业有限公司 | Full-circle slewing multi-degree of freedom dynamic device |
| CN203016321U (en) * | 2012-12-25 | 2013-06-26 | 大连理工计算机控制工程有限公司 | Dynamic electric seat with three degrees of freedom |
| CN104029195B (en) * | 2014-05-21 | 2016-06-29 | 燕山大学 | A kind of two rotate one is moved through constraint parallel institution |
| CN104029196B (en) * | 2014-05-21 | 2016-03-02 | 燕山大学 | A kind of three rotate one moves symmetrical four-freedom parallel mechanism |
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| CN104623911A (en) | 2015-05-20 |
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