CN106652648A - Swaying platform under control of cross-shaped sliding table and swaying control method - Google Patents
Swaying platform under control of cross-shaped sliding table and swaying control method Download PDFInfo
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- CN106652648A CN106652648A CN201710070464.3A CN201710070464A CN106652648A CN 106652648 A CN106652648 A CN 106652648A CN 201710070464 A CN201710070464 A CN 201710070464A CN 106652648 A CN106652648 A CN 106652648A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
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Abstract
The invention provides a swaying platform under the control of a cross-shaped sliding table. The swaying platform under the control of the cross-shaped sliding table mainly comprises a training platform, cross-shaped sliding rails, sliding blocks, a bottom board, longitudinal hydraulic cylinders, support rods and horizontal hydraulic cylinders. Compared with the scheme of the traditional swaying platform, the scheme provided by the invention has the advantage that the integral height of the swaying platform provided by the invention is greatly reduced, and thus the influences of the inertia force when the swaying platform sways are reduced; compared with other schemes, the scheme provided by the invention has the advantage that the swaying platform can truly simulate various swaying postures; compared with the similar swaying platforms, the swaying platform provided by the invention has the advantages that the weight of the swaying platform under the control of the cross-shaped sliding table is reduced, meanwhile, the weight of the training platform is born by the support rods but not the hydraulic cylinders, thus most of the work of the hydraulic cylinders is used for realizing the swaying of the swaying platform, and therefore, the burden of a hydraulic device is alleviated.
Description
Technical field
The invention belongs to attitude-simulating field, is related to a kind of cross slid platform control tilter, more particularly to a kind of simulation warship
The tilter of ship sea roll attitude.
Background technology
Naval vessels are often required to navigate by water in waves surging turbulently, meteorological capricious ocean, while long service is in severe ocean
In environment, can be corroded by salt fog, marine atmosphere and seawater.But while a series of training carried out around naval vessels are carved and not allowed
It is slow.Therefore, in order to shorten cycle of training, training effectiveness is improved, saves training cost, reduce training risk, needs are built on land
A series of training platform for carrying out sea trainings for naval vessels is made, wherein, for simulating naval vessels roll attitude after stormy waves is run into
Tilter be training platform agent structure, be one of training platform important composition, China is in the design-build side of tilter
Face is tracking always external product and technology, while lacking the side for building the tilter for being adapted to simulation naval vessels sea action feature
Case.Therefore, it is necessary to invent a kind of waving for roll attitude when simulating naval vessels sail that can be accurate, quick, stable set
It is standby, so as to make up deficiency of the China in a series of training of naval vessels, there is great practical application valency to the sea training of naval vessels
Value.
The content of the invention
Goal of the invention：The present invention provides a kind of cross slid platform and controls tilter, its objective is to solve sea existing at present
The problem that the tilter scheme of upper naval vessels training analog system is present.
Technical scheme：
A kind of cross slid platform controls tilter, it is characterised in that：Described cross slid platform control tilter mainly includes that training is flat
Platform, cross slide rail, slide block, base plate, longitudinal hydraulic cylinder, support bar and transverse hydraulic cylinder；Training platform is arranged on by support bar
On slide block, slide block is arranged on cross slide rail, and cross slide rail is mobile to be arranged on base plate, and longitudinal hydraulic cylinder connection sliding block is simultaneously
Band movable slider movement, transverse hydraulic cylinder connection cross slide rail simultaneously drives cross slide rail to move.
Described training platform is by four they sup-ports and supporting bar top is connected with training platform bottom by ball pivot；
Tie point is the point of intersection of the golden section line of training platform length and width, while four support bars reach extreme higher position in training platform
When with training platform out of plumb, four support bars are outwards at an angle, and while four support bar bottoms are just at training platform four
Angle is at the subpoint on ground.
Described cross slide rail includes：Horizontal concrete chute, cross slide rail hinged seat and longitudinal slide rail；
Described slide block includes：Support bar ball hinged support, longitudinal hydraulic cylinder ball hinged support and longitudinal chute；
Described base plate includes：Horizontal slide rail, floor ball pivot joint chair and base plate hinged seat；
The bottom of four described support bars is connected in the support bar ball hinged support of four slide blocks respectively by ball-joint；It is described
The longitudinal slide rail of longitudinal chute and cross slide rail of slide block coordinate, form sliding pair, slide block can longitudinally be slided on cross slide rail
It is dynamic；The horizontal concrete chute of described cross slide rail coordinates with the horizontal slide rail on base plate, sliding pair is formed, so as to cross slide rail is in horizontal stroke
Transversely slide to the drive lower band movable slider of hydraulic cylinder.
The transverse shifting of described cross slide rail is driven by transverse hydraulic cylinder, and the cylinder barrel of transverse hydraulic cylinder is connected to base plate hinge
On joint chair, base plate hinged seat is located between two horizontal slide rails, and piston rod and the cross slide rail hinged seat of transverse hydraulic cylinder are hinged company
Connect；The longitudinal sliding motion of described slide block is connected to floor ball pivot joint chair by longitudinal Driven by Hydraulic Cylinder, the cylinder barrel of longitudinal hydraulic cylinder, living
Stopper rod is connected on longitudinal hydraulic cylinder ball hinged support.
The roll attitude of described cross slid platform control tilter is determined by four support bars, according to residing for four support bars
Different spatial, determines swing angle of the training platform in locus, wherein any three support bars are in holding state,
State is servo-actuated at remaining one.Described cross slid platform control tilter is carried out being combined and waved, and its roll attitude is by four supports
Three decisions in bar, the top of three support bars is in different spatial under the control of cross slid platform part, therefore determines instruction
Practice platform in a certain instantaneous locus, state is servo-actuated at another support bar.
The slide block movement of the cross slide rail kinetic energy longitudinal sliding motion of transverse shifting, both individually or simultaneously move, and make support
The bottom of bar obtains two frees degree of traversing and vertical shift, so as to drive one jiao of generation action on locus of training platform.
Longitudinal slide rail stroke is shorter than horizontal slide rail.
The control swinging method implemented using above-mentioned cross slid platform control tilter, described cross slid platform control is shaken
Set a table and be divided into two kinds of roll and pitch, and roll and pitch can be divided into two kinds, i.e. easy roll and violent rolling, slightly indulge
Shake and violent pitching, its reason is shorter than horizontal slide rail for longitudinal slide rail stroke, wherein easy roll is shaken by longitudinal Driven by Hydraulic Cylinder
Two groups of longitudinal hydraulic cylinders that longitudinal homonymy is often in during pendulum are a motor unit, and two motor units are opposite action, i.e., one
Group another group of shortening of elongation, controlled training platform produces easy roll；Acutely rolling is driven by transverse hydraulic cylinder, is often located when waving
It is a motor unit in two groups of transverse hydraulic cylinders of longitudinal homonymy, each motor unit does opposite action, controlled training platform
Produce violent rolling；Slightly by longitudinal Driven by Hydraulic Cylinder, two groups of longitudinal hydraulic cylinders that horizontal homonymy is often in when waving are for pitching
One motor unit, each motor unit does opposite action, and controlled training platform produces slight pitching；Acutely pitching is by horizontal liquid
Cylinder pressure drives, and two groups of transverse hydraulic cylinders that horizontal homonymy is often in when waving are a motor unit, and each motor unit does phase
Reverse action, controlled training platform produces violent pitching.
Beneficial effect：
（1）Compared with traditional tilter scheme, this cross slid platform control tilter supports whole using non-telescoping support bar
The scheme of body platform, while support bar bottom connection cross slid platform, is moved, the party by the mobile drive support bar of cross slid platform
Case simple structure, it is easy to control, rolling, pitching and heave are focused on into one layer, whole height is greatly reduced, reduce and wave
The impact of inertia force when platform is waved.
（2）With other scheme comparisons, cross slid platform control tilter is horizontal, pitching hydraulic test is separate, by behaviour
Indulge the elongation of each hydraulic cylinder, shortening amount to be superimposed swinging effect, more really simulate various roll attitudes.
（3）Compared with same type tilter, cross slid platform control tilter weight reduction, while by support bar rather than liquid
Cylinder pressure so that hydraulic cylinder major part work(is used to realize waving for tilter, alleviates hydraulic pressure bearing the weight of training platform
The burden of equipment.
Description of the drawings：
Fig. 1 tilter overall structure figures
Fig. 2 tilter front views
Fig. 3 tilter left views
Fig. 4 cross sliding table structure figures
Fig. 5 cross rail structure figures
Fig. 6 slide block structure figures
Fig. 7 base arrangement figures
Fig. 8 longitudinal directions hydraulic cylinder structure figure
Fig. 9 supporting bar structure figures
Figure 10 transverse hydraulic cylinder structure figures.
Specific embodiment：
As shown in Figure 1 to Figure 3, described cross slid platform controls tilter mainly to be included, training platform 1, cross slide rail 2, slide block
3rd, base plate 4, longitudinal hydraulic cylinder 5, support bar 6 and transverse hydraulic cylinder 7；Training platform 1 is arranged on slide block 3 by support bar 6, sliding
Block 3 is arranged on cross slide rail 2, and cross slide rail 2 is mobile to be arranged on base plate 4, the connection sliding block 3 of longitudinal hydraulic cylinder 5 and band
Movable slider 3 is moved, and the connection cross of transverse hydraulic cylinder 7 slide rail 2 simultaneously drives cross slide rail 2 to move.
Described training platform 1 is supported by four support bars 6 and the top of support bar 6 passes through ball pivot with the bottom of training platform 1
Connection；Tie point is the point of intersection of the golden section line of the length and width of training platform 1, while four support bars 6 reach in training platform 1
With the out of plumb of training platform 1 during extreme higher position, four support bars 6 are outwards at an angle, and while the bottom of four support bar 6 just at
1 four jiaos of training platform is at the upright projection point on ground.
As shown in figure 5, described cross slide rail 2 includes：Horizontal concrete chute 2-1, cross slide rail hinged seat 2-2 and longitudinal slide rail
2-3；
As shown in fig. 6, described slide block 3 includes：Support bar ball hinged support 3-1, longitudinal direction hydraulic cylinder ball hinged support 3-2 and longitudinal direction are sliding
Groove 3-3；
As shown in fig. 7, described base plate 4 includes：Horizontal slide rail 4-1, floor ball pivot joint chair 4-2 and base plate hinged seat 4-3；
The bottom of four described support bars 6 is connected to respectively the support bar ball hinged support 3-1 of four slide blocks 3 by ball-joint
In；As shown in figure 4, slide block 3, cross slide rail 2 and horizontal slide rail 4-1 form cross slid platform, longitudinal chute 3- of described slide block 3
3 coordinate with longitudinal slide rail 2-3 of cross slide rail 2, form sliding pair, and slide block 3 can the longitudinal sliding motion on cross slide rail 2；Described
The horizontal concrete chute 2-1 of cross slide rail 2 coordinates with horizontal slide rail 4-1 on base plate, sliding pair is formed, so as to cross slide rail 2 is in horizontal stroke
Transversely slide to the drive lower band movable slider 3 of hydraulic cylinder 7.
The transverse shifting of described cross slide rail 2 is driven by transverse hydraulic cylinder 7, and the cylinder barrel of transverse hydraulic cylinder 7 is connected to bottom
On plate hinged seat 4-3, base plate hinged seat 4-3 is located at position as shown in Figure 7 between two horizontal slide rail 4-1 end points, transverse hydraulic
The piston rod of cylinder 7 is articulated and connected with cross slide rail hinged seat 2-2；The longitudinal sliding motion of described slide block 3 is driven by longitudinal hydraulic cylinder 5
Dynamic, the cylinder barrel of longitudinal hydraulic cylinder 5 is connected to floor ball pivot joint chair 4-2, and piston rod is connected to longitudinal hydraulic cylinder ball hinged support 3-2
On.
The roll attitude of described cross slid platform control tilter is determined by four support bars 6, according to four institutes of support bar 6
Place's different spatial, determines swing angle of the training platform 1 in locus, wherein any three support bars 6 are in support
State, is servo-actuated state at residue one.Described cross slid platform control tilter can be carried out being combined and waved, and its roll attitude is by four
Three decisions in root support bar 6, the top of three support bars 6 is in different spatial under the control of cross slid platform part,
Therefore training platform 1 is determined in a certain instantaneous locus, state is servo-actuated at another support bar 6.
Described tilter main control structure is cross slid platform part, and the kinetic energy of cross slide rail 2 of transverse shifting is longitudinally sliding
Dynamic slide block 3 is moved, and both can individually or simultaneously move, and the bottom for making support bar 6 obtains traversing two frees degree with vertical shift,
So as to drive 1 one jiaos of generation actions on locus of training platform.
Longitudinal slide rail 2-3 stroke is shorter than horizontal slide rail 4-1.
Described cross slid platform control tilter is divided into two kinds of roll and pitch, and roll and pitch can be divided into two
Kind, i.e. easy roll and violent rolling, slight pitching and violent pitching, its reason is shorter than horizontal cunning for longitudinal slide rail 2-3 stroke
Rail 4-1, wherein easy roll are driven by longitudinal hydraulic cylinder 5, and two groups of longitudinal hydraulic cylinders 5 that longitudinal homonymy is often in when waving are one
Individual motor unit, two motor units do another group of shortening of group elongation of opposite action, i.e., and controlled training platform 1 is produced slightly
Rolling；Acutely rolling is driven by transverse hydraulic cylinder 7, and two groups of transverse hydraulic cylinders 7 that longitudinal homonymy is often in when waving are dynamic for one
Make unit, each motor unit does opposite action, controlled training platform 1 produces violent rolling；Slight pitching is by longitudinal hydraulic cylinder 5
Drive, two groups of longitudinal hydraulic cylinders 5 that horizontal homonymy is often in when waving are a motor unit, and each motor unit does phase reaction
Make, controlled training platform 1 produces slight pitching；Acutely pitching is driven by transverse hydraulic cylinder 7, and horizontal homonymy is often in when waving
Two groups of transverse hydraulic cylinders 7 are a motor unit, and each motor unit does opposite action, and controlled training platform 1 produces acutely vertical
Shake.Longitudinal homonymy is exactly to arrange in a longitudinal direction.Horizontal homonymy is in the same manner.
As shown in figure 8, the described cylinder barrel of longitudinal hydraulic cylinder 5 and piston rod are connected with ball pivot with miscellaneous part.
As shown in figure 9, the described two ends of support bar 6 are connected with ball pivot with miscellaneous part.
As shown in Figure 10, the described cylinder barrel of transverse hydraulic cylinder 7 and piston rod is connected with being hinged with miscellaneous part.
Specific implementation step：
Tilter can be divided into four parts when its rocking action is realized：
Part I, realizes the heave of tilter.The heave motion of tilter is remained stationary as and four groups of longitudinal directions by transverse hydraulic cylinder 7
Hydraulic cylinder 5 extends and shortens to realize the heave of integral platform simultaneously.
Part II, realizes the rolling of tilter.The rolling of tilter is by parallel with the length direction of base plate 4 and homonymy two
Group transverse hydraulic cylinder 7 elongates or shortens two groups of equally parallel with the length direction of base plate 4 transverse hydraulic cylinders 7 of opposite side simultaneously and does phase
Anti- action is realizing, wherein longitudinal hydraulic cylinder 5 does not extend and do not shorten yet in addition to servo-actuated.Length direction is exactly letter A in Fig. 1
Shown longitudinal direction, and letter b is horizontal, i.e. width.
Part III, realizes the pitching of tilter.The pitching of tilter is by parallel with the width of base plate 4 and homonymy two
The longitudinal hydraulic cylinder 5 of group elongates or shortens two groups of equally parallel with the width of base plate 4 longitudinal hydraulic cylinders 5 of opposite side simultaneously and does phase
Realizing, wherein transverse hydraulic cylinder 7 does not extend and does not shorten yet in addition to servo-actuated for anti-action.
Part IV, realizes the compound motion of tilter.The compound motion of tilter is by three roots in four support bars 6
Factually border track requirements stretch to simulate the different roll attitudes of tilter by the difference of horizontal, longitudinal hydraulic cylinder, and the 4th
Support bar 6 is in servo-actuated state.
Claims (8)
1. a kind of cross slid platform controls tilter, it is characterised in that：Described cross slid platform control tilter mainly includes, trains
Platform（1）, cross slide rail（2）, slide block（3）, base plate（4）, longitudinal hydraulic cylinder（5）, support bar（6）With transverse hydraulic cylinder（7）；Instruction
Practice platform（1）By support bar（6）It is arranged on slide block（3）On, slide block（3）It is arranged on cross slide rail（2）On, cross slide rail（2）
It is mobile to be arranged on base plate（4）On, longitudinal hydraulic cylinder（5）Connection sliding block（3）And band movable slider（3）It is mobile, transverse hydraulic cylinder
（7）Connection cross slide rail（2）And drive cross slide rail（2）It is mobile.
2. a kind of cross slid platform according to claim 1 controls tilter, it is characterised in that：Described training platform（1）
By four support bars（6）Support and support bar（6）Top and training platform（1）Bottom is connected by ball pivot；Tie point is training
Platform（1）The point of intersection of the golden section line of length and width, while four support bars（6）In training platform（1）When reaching extreme higher position with
Training platform（1）Out of plumb, four support bars（6）It is outwards at an angle, and while four support bars（6）Bottom is flat just at training
Platform（1）Corner is at the subpoint on ground.
3. cross slid platform according to claim 2 controls tilter, it is characterised in that：Described cross slide rail（2）Including：
Horizontal concrete chute（2-1）, cross slide rail hinged seat（2-2）And longitudinal slide rail（2-3）；
Described slide block（3）Including：Support bar ball hinged support（3-1）, longitudinal hydraulic cylinder ball hinged support（3-2）With longitudinal chute
（3-3）；
Described base plate（4）Including：Horizontal slide rail（4-1）, floor ball pivot joint chair（4-2）With base plate hinged seat（4-3）；
Four described support bars（6）Bottom respectively four slide blocks are connected to by ball-joint（3）Support bar ball hinged support
（3-1）In；Described slide block（3）Longitudinal chute（3-3）With cross slide rail（2）Longitudinal slide rail（2-3）Coordinate, formed and slided
Pair, slide block（3）Can be in cross slide rail（2）Upper longitudinal sliding motion；Described cross slide rail（2）Horizontal concrete chute（2-1）On base plate
Horizontal slide rail（4-1）Coordinate, sliding pair is formed, so as to cross slide rail（2）In transverse hydraulic cylinder（7）Drive lower band movable slider
（3）Transversely slide.
4. cross slid platform according to claim 3 controls tilter, it is characterised in that：Described cross slide rail（2）Horizontal stroke
To mobile by transverse hydraulic cylinder（7）Drive, transverse hydraulic cylinder（7）Cylinder barrel be connected to base plate hinged seat（4-3）On, base plate is hinged
Seat（4-3）Positioned at two horizontal slide rails（4-1）Between, transverse hydraulic cylinder（7）Piston rod and cross slide rail hinged seat（2-2）It is hinged
Connection；Described slide block（3）Longitudinal sliding motion by longitudinal hydraulic cylinder（5）Drive, longitudinal hydraulic cylinder（5）Cylinder barrel be connected to floor
Ball pivot joint chair（4-2）, piston rod is connected to longitudinal hydraulic cylinder ball hinged support（3-2）On.
5. cross slid platform according to claim 2 controls tilter, it is characterised in that：Described cross slid platform control is waved
The roll attitude of platform is by four support bars（6）Determine, according to four support bars（6）Residing different spatial, determines that training is flat
Platform（1）In the swing angle of locus, wherein any three support bars（6）Shape is servo-actuated at holding state, residue one
State；
Described cross slid platform control tilter is carried out being combined and waved, and its roll attitude is by four support bars（6）In three certainly
It is fixed, three support bars（6）Top cross slid platform part control under be in different spatial, therefore determine training platform（1）
In a certain instantaneous locus, another support bar（6）The servo-actuated state in place.
6. cross slid platform according to claim 2 controls tilter, it is characterised in that：The cross slide rail of transverse shifting（2）
The slide block of kinetic energy longitudinal sliding motion（3）Motion, both individually or simultaneously move, and make support bar（6）Bottom obtain it is traversing and vertical
Two frees degree moved, so as to drive training platform（1）One jiao of generation action on locus.
7. cross slid platform according to claim 4 controls tilter, it is characterised in that：Longitudinal slide rail（2-3）Stroke is shorter than
Horizontal slide rail（4-1）.
8. the control swinging method implemented using the cross slid platform control tilter described in claim 7, it is characterised in that：Institute
The cross slid platform control tilter stated is divided into two kinds of roll and pitch, and roll and pitch can be divided into two kinds, i.e., slight horizontal
Shake and violent rolling, slight pitching and violent pitching, its reason is longitudinal slide rail（2-3）Stroke is shorter than horizontal slide rail（4-1）, its
Mild or moderate rolling is by longitudinal hydraulic cylinder（5）Drive, two groups of longitudinal hydraulic cylinders of longitudinal homonymy are often in when waving（5）It is dynamic for one
Make unit, two motor units do another group of shortening of group elongation of opposite action, i.e., controlled training platform（1）Produce slight horizontal
Shake；Acutely rolling is by transverse hydraulic cylinder（7）Drive, two groups of transverse hydraulic cylinders of longitudinal homonymy are often in when waving（7）For one
Motor unit, each motor unit does opposite action, controlled training platform（1）Produce violent rolling；Slight pitching is by longitudinal liquid
Cylinder pressure（5）Drive, two groups of longitudinal hydraulic cylinders of horizontal homonymy are often in when waving（5）For a motor unit, each action list
Opposite action, controlled training platform do in unit（1）Produce slight pitching；Acutely pitching is by transverse hydraulic cylinder（7）Drive, it is every when waving
It is in two groups of transverse hydraulic cylinders of horizontal homonymy（7）For a motor unit, each motor unit does opposite action, controlled training
Platform（1）Produce violent pitching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710070464.3A CN106652648A (en) | 2017-02-09 | 2017-02-09 | Swaying platform under control of cross-shaped sliding table and swaying control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710070464.3A CN106652648A (en) | 2017-02-09 | 2017-02-09 | Swaying platform under control of cross-shaped sliding table and swaying control method |
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| Publication Number | Publication Date |
|---|---|
| CN106652648A true CN106652648A (en) | 2017-05-10 |
Family
ID=58844556
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710070464.3A Withdrawn CN106652648A (en) | 2017-02-09 | 2017-02-09 | Swaying platform under control of cross-shaped sliding table and swaying control method |
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Cited By (5)
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| CN108198482A (en) * | 2018-01-16 | 2018-06-22 | 南京科技职业学院 | A kind of 3-dimensional freedom platform |
| CN108461010A (en) * | 2018-03-27 | 2018-08-28 | 中国海洋大学 | A kind of sailing Actual Simulation training station and its control method |
| CN109235417A (en) * | 2018-11-17 | 2019-01-18 | 镇江华飞检测技术有限公司 | A kind of composite amplitude modulation mechanism for vibratile compacter |
| CN109659043A (en) * | 2017-10-10 | 2019-04-19 | 中国船舶重工集团公司第七〇九研究所 | A kind of nuclear constrain test platform in ocean |
| CN110767027A (en) * | 2019-11-11 | 2020-02-07 | 中国人民解放军第四军医大学 | Pilot space situation perception auxiliary training system |
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| CN110767027A (en) * | 2019-11-11 | 2020-02-07 | 中国人民解放军第四军医大学 | Pilot space situation perception auxiliary training system |
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Application publication date: 20170510 |
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| WW01 | Invention patent application withdrawn after publication |