CN204480577U - A kind of parallel Dual Drive emulation platform of simulated vehicle low-and high-frequency motion - Google Patents
A kind of parallel Dual Drive emulation platform of simulated vehicle low-and high-frequency motion Download PDFInfo
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- CN204480577U CN204480577U CN201520154224.8U CN201520154224U CN204480577U CN 204480577 U CN204480577 U CN 204480577U CN 201520154224 U CN201520154224 U CN 201520154224U CN 204480577 U CN204480577 U CN 204480577U
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Abstract
The utility model relates to the parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion.It comprises output stage, posture adjustment platform and detection branches; Described output stage comprises moving platform, ball pivot, rectilinear movement executor and universal hinge, the high frequency low amplitude vibrations that simulated vehicle produces; Described posture adjustment platform comprises slide block, servomotor, fixed platform, ball-screw, line slideway, track base, pedestal and static load balance device, and simulation multidimensional is significantly waved; Described static load balance device passes through counterweigh system static load, to reduce motor output torque; Described detection branches is six-freedom motion chain, the equal sensor installation of each single dof mobility vice division chief, obtains moving platform kinematic parameter in real time.The utility model adopts Dual Drive control mode to achieve the decomposition of skimulated motion to two driving platforms, and in conjunction with detection branches and static load balance device, thus have that bearing capacity is large, the feature such as the real-time self-inspection of kinematic parameter, applicability are wide.
Description
Technical field
The utility model belongs to motion simulation apparatus field, specifically, relates to the parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion.
Background technology
The vehicles working environments such as vehicle are complicated, the vehicle equipment that it is installed is in jounce condition always, this motion spectrum is significantly waved by high-frequency low amplitude vibrations and low frequency and is formed by stacking, and therefore how the running motion simulation of the true reappearance vehicles is the problem that research and development emulator needs solution badly.Parallel institution is the outstanding advantages such as precision is high, dynamic performance good, load-bearing capacity is strong, compact conformation owing to having, and is widely used in the motion simulation field of the vehicles such as vehicle, naval vessel, aircraft in recent years.The simulated effect that conventional motion emulation platform significantly waves low frequency is better, but is difficult to simulate high frequency low amplitude vibrations simultaneously, therefore makes the simulation application of vehicle equipment in true environment be greatly limited.Along with the continuous expansion of movement simulation platform application, had higher requirement in the aspects such as its load capacity, kinematic accuracy, dynamic property.Parallel institution drive part great majority are realized by electric cylinder or hydraulic cylinder, when adopting electric cylinder to drive, there is overload capacity by force, easily realize high-precision servo control, move the advantages such as flexible, but its limited torque output, motion simulation can not be carried out to Attitude equipment; When adopting Driven by Hydraulic Cylinder, platform can bear heavy duty, but hydraulic system volume is large, element easily leaks, maintenance cost is high, limit its development and application in movement simulation platform to the shortcoming such as responsive to temperature, poor mobility.In addition, emulation platform kinematic parameter needs precision optical instrument to measure, and not only increases system cost, and the accuracy of measurement parameter and real-time cannot ensure, this reduces kinematic accuracy and the dynamic property of system.
For solving the problem, Chinese patent 201410144113.9 proposes a kind of 6 connecting-rod electric actuation movement simulators of ball-screw up-down mode, though use motor manner to replace existing hydraulic way improve control performance dramatically, and reduce cost of manufacture, but the less and moving platform of its load-bearing capacity can only realize height and Slope angle adjustment; Chinese patent CN130035169B discloses a kind of double parallel type heavy-duty static balance motion simulation platform, this system comprises motion platform, basic platform, bearing platform, six structure identical driving branches and three identical load-bearing branches of structure, drastically increase the load-bearing capacity of system, dynamic response capability, owing to only having a set of driver, therefore platform can not the low-and high-frequency motion of the simultaneously vehicles such as simulating vehicle; Chinese patent CN130150939B discloses a kind of six freedom-degree motion simulator of redundant drive, and six rectilinear movement assemblies of space distribution achieve the pose conversion such as driving cabin pitching, rolling, translation.Though this device achieves large rotation angle, but limited load bearing capacities, and in spatial dimension, amplitude posture adjustment cannot realize, and lacks necessary real-time monitoring device, and security cannot ensure; Chinese patent CN131632110B discloses a kind of true mechanical simulator for experiencing the vehicles in motion, can true reappearance to be arranged in the institute that the vehicles driver of any motion bears strong, and do not need to use high-power and expensive motor.But this simulator lay particular emphasis on driver the simulation of stressed (lateral thrust, acceleration, damping force etc.), range of movement and load-bearing capacity limited, and the pose simulations such as upset, swing cannot be realized; Chinese patent 200820004705.0 discloses a kind of heavy load six degree of freedom electric platforms, and this mechanism's load-bearing capacity is strong, but moving platform range of movement is less, and motor consumes major part power with the swing of electric cylinder, indirectly limits the service load of platform.
Summary of the invention
For solving the problems of the technologies described above, the utility model provide a kind of can simultaneously simulated vehicle low-and high-frequency motion, can heavy duty be born and there is the parallel Dual Drive movement simulation platform of kinematic parameter real-time detection function.
The parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion described in the utility model, described parallel Dual Drive emulation platform comprises output stage, posture adjustment platform and detection branches; Described output stage comprises moving platform 1, ball pivot 2, rectilinear movement executor 3 and universal hinge 4; Described posture adjustment platform comprises track base 10, fixed platform 7, slide block 5, servomotor 6, line slideway 9, ball-screw 8, pedestal 12 and static load balance device 11, and this static load balance device 11 comprises wire rope 14, fixed pulley A15, pressing plate 16, two column 17, fixed pulley B18, suspension ring 19, counterweight 20, Upright post base 21; The shape of described moving platform 1 is hexagon or rectangle, and its edge is evenly distributed with mounting hole; Described ball pivot 2 totally six, adjacent two are set to one group, and the upper free bearing of this ball pivot 2 is connected by the mounting hole of screw with moving platform 1; One end of described rectilinear movement executor 3 is connected with ball pivot 2, and the other end is connected with universal hinge 4; By axis, orthogonal and intersect at a point three revolute pairs are formed described ball pivot 2; Described universal hinge 4 is fixedly connected on slide block 5 upper surface, and by axis, orthogonal and intersect at a point two revolute pairs are formed for it; Described track base 10 totally six, adjacent two are set to one group, are evenly fixed on fixed platform 7, often organize that track base 10 center line is parallel to each other and perpendicular to fixed platform 7 corresponding side surface, two adjacent groups track base 10 centerlines is 120 °; The outside of described track base 10 is provided with servomotor 6, and upside is provided with two line slideways 9 parallel to each other; Described ball-screw 8 is installed between two line slideways 9 of track base 10, and its one end is connected with the output shaft of servomotor 6, and the other end is connected with track base 10 top end shaft bearing; The both sides of described slide block 5 are stuck on line slideway 9, be installed on ball-screw 8 by screw thread in the middle of it, its front end is connected with one end of wire rope 14, and the other end of this wire rope 14 is walked around fixed pulley A15, the fixed pulley B18 be located on track base 10 and pressing plate 16 and is connected with the suspension ring 19 be located in counterweight 20; Described counterweight 20 both sides are provided with two column 17, and to ensure that counterweight 20 vertically moves, this pair of column 17 two ends are separately fixed on pressing plate 16 and Upright post base 21; Described pressing plate 16 and Upright post base 21 are connected with track base 10 and pedestal 12 respectively by bolt mounting holes; Described counterweight 20 totally six, is made up of lead material, and its gross mass is the 90%-150% of output stage and vehicle equipment weight summation; Described pedestal 12 is provided with mounting hole, and it uses bolt to be connected with the fixed platform 7 of top; Described detection branches is adopted 13 and is used UPS kinematic chain structure, the detection branches ball pivot 22 on its top is installed on moving platform 1 lower surface center, the universal hinge 31 of detection branches of its bottom is installed on pedestal 12 upper surface center, and its moving sets is realized by the relative motion of detection branches expansion link 26 and support tube 27; Described detection branches ball pivot 22 is realized by three single-degree-of-freedom revolute pairs, and on axis junction point and moving platform 1, the central point of six ball pivots 2 is coplanar; The universal hinge 31 of described detection branches is realized by two single-degree-of-freedom revolute pairs, and axis junction point is between fixed platform 7 and pedestal 12; The single dof mobility vice division chief sensor installation respectively of described detection branches, wherein, scrambler is installed at detection branches ball pivot 22 and detection branches universal hinge 31 place, and grating scale 28 is installed by mobile vice division chief; The precision of described detection branches ball pivot 22 and mobile vice division chief sensor rotate with moving platform 1 and vertical mobile required by accuracy of detection grade consistent; The precision of described detection branches universal hinge 31 place sensor moves horizontally required accuracy of detection height 2-3 grade than moving platform 1.
The parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion described in the utility model, described detection branches ball pivot 22 comprises scrambler A23, scrambler B24, scrambler C25, free bearing 32 on ball pivot, ball pivot pre-loading screw 33, ball pivot end cap 34, ball pivot sensor installing plate 35, ball pivot joint spider 36, ball pivot angular contact bearing 37, ball pivot gland bonnet 38, free bearing 39 under ball pivot, its concrete assembling mode is: by free bearing 39 dead eye under detection branches expansion link 26 upper end insertion ball pivot, successively ball pivot gland bonnet 38 and ball pivot angular contact bearing 37 are loaded from upside and with detection branches expansion link 26 interference fit, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 is used to be fixed and pretension above-mentioned part, finally scrambler C25 is fixed on ball pivot sensor installing plate 35, ball pivot joint spider 36 to be inserted under ball pivot in free bearing 39 dead eye, successively ball pivot gland bonnet 38, ball pivot angular contact bearing 37 to be loaded from outside ball pivot in free bearing 39 dead eye and to make bearing inner race and ball pivot joint spider 36 interference fit, use ball pivot end cap 34, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 to be fixed and pretension, finally scrambler B24 is fixed on ball pivot sensor installing plate 35, ball pivot joint spider 36 to be inserted on ball pivot in free bearing 32 dead eye, successively ball pivot gland bonnet 38, ball pivot angular contact bearing 37 to be loaded from outside ball pivot in free bearing 32 dead eye and to make bearing inner race and ball pivot joint spider 36 interference fit, use ball pivot end cap 34, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 to be fixed and pretension, finally scrambler A24 is fixed on ball pivot sensor installing plate 35.
The parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion described in the utility model, the universal hinge 31 of described detection branches comprises scrambler D29, scrambler E30, free bearing 40 in universal hinge, universal hinge pre-loading screw 41, universal hinge end cap 42, universal hinge sensor installing plate 43, universal hinge angular contact bearing 44, universal hinge gland bonnet 45, universal hinge joint spider 46, free bearing 47 under universal hinge, its concrete assembling mode is: to be inserted by universal hinge joint spider 46 in universal hinge in free bearing 40 dead eye, successively by universal hinge gland bonnet 45, universal hinge angular contact bearing 44 to load from outside universal hinge in free bearing 40 dead eye and makes bearing inner race and universal hinge joint spider 46 interference fit, use universal hinge end cap 42, universal hinge sensor installing plate 43 and universal hinge pre-loading screw 41 are fixed and pretension, finally scrambler D29 is fixed on universal hinge sensor installing plate 43, universal hinge joint spider 46 to be inserted under universal hinge in free bearing 47 dead eye, successively universal hinge gland bonnet 45, universal hinge angular contact bearing 44 to be loaded from outside universal hinge in free bearing 47 dead eye and to make bearing inner race and universal hinge joint spider 46 interference fit, use universal hinge end cap 42, universal hinge sensor installing plate 43 and universal hinge pre-loading screw 41 to be fixed and pretension, finally scrambler E29 is fixed on universal hinge sensor installing plate 43.
The parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion described in the utility model, described moving platform 1 adopts aviation aluminum alloy material to make, and its circumscribed circle diameter is 1.5-3.0m.
The parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion described in the utility model, described fixed platform 7 is hexagon, and its circumscribed circle diameter is 2 times of moving platform 1 circumscribed circle diameter, and its minor face and long edge lengths ratio are 0.5.
The parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion described in the utility model, described pedestal 12 is truncated conical shape, and on its round platform, disc and lower disc diameter proportion are 0.4-0.8.
The parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion described in the utility model, described fixed platform 7 and pedestal 12 all adopt carbon steel material to make.
Compared with prior art, the parallel Dual Drive emulation platform of vehicles low-and high-frequency motion described in the utility model, unique design unique output stage and posture adjustment platform, to achieve in motion spectrum low-and high-frequency part to the decomposition of above-mentioned two platform drivers, can comparatively truly analog carrier equipment with the running working condition of the vehicles.In addition, adopt the design proposal of six degree of freedom detection branches and static load balance device, the utility model also has bearing capacity large (introducing of counter weight device can significantly reduce motor output torque), control easily (low-and high-frequency motion carries out drived control respectively), the real-time self-inspection of kinematic parameter (detection branches is from belt sensor), the advantages such as applicability wide (loaded area and bearing capacity adjustable), cost low (power of motor is little, just can self-inspection parameter without the need to external detection instrument).
Accompanying drawing explanation
Fig. 1: the parallel Dual Drive simulation platform structure schematic diagram of simulated vehicle low-and high-frequency motion, Fig. 2: moving platform hinge point arrangenent diagram, Fig. 3: fixed platform hinge point arrangenent diagram, Fig. 4: posture adjustment Platform movement branched structure schematic diagram, Fig. 5: detection branches structural representation, Fig. 6: detection branches ball pivot explosive view, Fig. 7: the universal hinge explosive view of detection branches, moving platform-1, ball pivot-2, rectilinear movement executor-3, universal hinge-4, slide block-5, servomotor-6, fixed platform-7, ball-screw-8, line slideway-9, track base-10, static load balance device-11, pedestal-12, detection branches-13, wire rope-14, fixed pulley A-15, pressing plate-16, two column-17, fixed pulley B-18, suspension ring-19, counterweight-20, Upright post base-21, detection branches ball pivot-22, scrambler A-23, scrambler B-24, scrambler C-25, detection branches expansion link-26, support tube-27, grating scale-28, scrambler D-29, scrambler E-30, the universal hinge-31 of detection branches, free bearing-32 on ball pivot, ball pivot pre-loading screw-33, ball pivot seat end cap-34, ball pivot sensor installing plate-35, ball pivot joint spider-36, ball pivot angular contact bearing-37, ball pivot seat gland bonnet-38, free bearing-39 under ball pivot, free bearing-40 in universal hinge, universal hinge pre-loading screw-41, universal free bearing end cap-42, universal hinge sensor installing plate-43, universal hinge angular contact bearing-44, universal free bearing gland bonnet-45, universal hinge joint spider-46, free bearing-47 under universal hinge.
Embodiment
Below in conjunction with specific embodiment, the parallel Dual Drive emulation platform that simulated vehicle low-and high-frequency described in the utility model is moved is described further, but protection domain of the present utility model is not limited to this.
Embodiment 1
A parallel Dual Drive emulation platform for simulated vehicle low-and high-frequency motion, described parallel Dual Drive emulation platform comprises output stage, posture adjustment platform and detection branches, and its structural representation is as shown in Figure 1, described output stage comprises moving platform 1, ball pivot 2, rectilinear movement executor 3 and universal hinge 4, described posture adjustment platform comprises track base 10, fixed platform 7, slide block 5, servomotor 6, line slideway 9, ball-screw 8, pedestal 12 and static load balance device 11, and this static load balance device 11 comprises wire rope 14, fixed pulley A15, pressing plate 16, two column 17, fixed pulley B18, suspension ring 19, counterweight 20, Upright post base 21, the shape of described moving platform 1 is hexagon, and its edge is evenly distributed with mounting hole, described ball pivot 2 totally six, adjacent two are set to one group, and the upper free bearing of this ball pivot 2 is connected by the mounting hole of screw with moving platform 1, one end of described rectilinear movement executor 3 is connected with ball pivot 2, the other end is connected with universal hinge 4, by the stretching motion of six rectilinear movement executors 3, vehicle equipment implementation space six degree of freedom high frequency low amplitude vibrations can be driven, therefore this cover drive system has the features such as moving range is little, Velocity-acceleration large, frequent commutation, and its specific implementation form is high frequency servo electric cylinder, by axis, orthogonal and intersect at a point three revolute pairs are formed described ball pivot 2, this point are called the hinge point of ball pivot 2, need ensure that above-mentioned six hinge points are coplanar and perpendicular to the normal of moving platform 1, corresponding hinge point is arranged as shown in Figure 2, a in figure during installation
1-a
6for ball pivot point, α often organize the angle between hinge point, described universal hinge 4 is fixedly connected on slide block 5 upper surface, and by axis, orthogonal and intersect at a point two revolute pairs are formed for it, its arrangement form and ball pivot 2 hinge point similar, namely above-mentioned six universal hinge 2 hinge points are coplanar and perpendicular to the normal of fixed platform 7, described track base 10 totally six, adjacent two are set to one group, are evenly fixed on fixed platform 7, often organize that track base 10 center line is parallel to each other and perpendicular to fixed platform 7 corresponding side surface, two adjacent groups track base 10 centerlines is 120 °, as shown in Figure 3, b in figure
1-b
6for fixed platform 7 point, k
1-k
6for track base 10 center line, the outside of described track base 10 is provided with servomotor 6, and upside is provided with two line slideways 9 parallel to each other, described ball-screw 8 is installed between two line slideways 9 of track base 10, and its one end is connected with the output shaft of servomotor 6, and the other end is connected with track base 10 top end shaft bearing, the both sides of described slide block 5 are stuck on line slideway 9, be installed on ball-screw 8 by screw thread in the middle of it, its front end is connected with one end of wire rope 14, and the other end of this wire rope 14 is walked around fixed pulley A15, the fixed pulley B18 be located on track base 10 and pressing plate 16 and is connected with the suspension ring 19 be located in counterweight 20, described counterweight 20 both sides are provided with two column 17, and to ensure that counterweight 20 vertically moves, this pair of column 17 two ends are separately fixed on pressing plate 16 and Upright post base 21, described pressing plate 16 and Upright post base 21 are connected with track base 10 and pedestal 12 respectively by bolt mounting holes, described counterweight 20 totally six, is made up of lead material, and its gross mass is 100% of output stage and vehicle equipment weight summation, described pedestal 12 is provided with mounting hole, and it uses bolt to be connected with the fixed platform 7 of top, described detection branches 13 does not carry any acting force, a compliant platform 1 associated movement, and its Main Function is the kinematic parameter detecting moving platform 1 in real time, comprises pose, speed, acceleration etc., described detection branches is adopted 13 and is used UPS kinematic chain structure, the detection branches ball pivot 22 on its top is installed on moving platform 1 lower surface center, the universal hinge 31 of detection branches of its bottom is installed on pedestal 12 upper surface center, and its moving sets is realized by the relative motion of detection branches expansion link 26 and support tube 27, described detection branches ball pivot 22 is realized by three single-degree-of-freedom revolute pairs, and on axis junction point and moving platform 1, the central point of six ball pivots 2 is coplanar, the universal hinge 31 of described detection branches is realized by two single-degree-of-freedom revolute pairs, and axis junction point is between fixed platform 7 and pedestal 12, the single dof mobility vice division chief sensor installation respectively of described detection branches, wherein, scrambler is installed at detection branches ball pivot 22 and detection branches universal hinge 31 place, and grating scale 28 is installed by mobile vice division chief, the precision of described detection branches ball pivot 22 and mobile vice division chief sensor rotate with moving platform 1 and vertical mobile required by accuracy of detection grade consistent, the precision of described detection branches universal hinge 31 place sensor moves horizontally high 2 grades of required accuracy of detection than moving platform 1, described detection branches ball pivot 22 comprises scrambler A23, scrambler B24, scrambler C25, free bearing 32 on ball pivot, ball pivot pre-loading screw 33, ball pivot end cap 34, ball pivot sensor installing plate 35, ball pivot joint spider 36, ball pivot angular contact bearing 37, ball pivot gland bonnet 38, free bearing 39 under ball pivot, its concrete assembling mode is: by free bearing 39 dead eye under detection branches expansion link 26 upper end insertion ball pivot, successively ball pivot gland bonnet 38 and ball pivot angular contact bearing 37 are loaded from upside and with detection branches expansion link 26 interference fit, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 is used to be fixed and pretension above-mentioned part, finally scrambler C25 is fixed on ball pivot sensor installing plate 35, ball pivot joint spider 36 to be inserted under ball pivot in free bearing 39 dead eye, successively ball pivot gland bonnet 38, ball pivot angular contact bearing 37 to be loaded from outside ball pivot in free bearing 39 dead eye and to make bearing inner race and ball pivot joint spider 36 interference fit, use ball pivot end cap 34, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 to be fixed and pretension, finally scrambler B24 is fixed on ball pivot sensor installing plate 35, ball pivot joint spider 36 to be inserted on ball pivot in free bearing 32 dead eye, successively ball pivot gland bonnet 38, ball pivot angular contact bearing 37 to be loaded from outside ball pivot in free bearing 32 dead eye and to make bearing inner race and ball pivot joint spider 36 interference fit, use ball pivot end cap 34, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 to be fixed and pretension, finally scrambler A24 is fixed on ball pivot sensor installing plate 35, the universal hinge 31 of described detection branches comprises scrambler D29, scrambler E30, free bearing 40 in universal hinge, universal hinge pre-loading screw 41, universal hinge end cap 42, universal hinge sensor installing plate 43, universal hinge angular contact bearing 44, universal hinge gland bonnet 45, universal hinge joint spider 46, free bearing 47 under universal hinge, its concrete assembling mode is: to be inserted by universal hinge joint spider 46 in universal hinge in free bearing 40 dead eye, successively by universal hinge gland bonnet 45, universal hinge angular contact bearing 44 to load from outside universal hinge in free bearing 40 dead eye and makes bearing inner race and universal hinge joint spider 46 interference fit, use universal hinge end cap 42, universal hinge sensor installing plate 43 and universal hinge pre-loading screw 41 are fixed and pretension, finally scrambler D29 is fixed on universal hinge sensor installing plate 43, universal hinge joint spider 46 to be inserted under universal hinge in free bearing 47 dead eye, successively universal hinge gland bonnet 45, universal hinge angular contact bearing 44 to be loaded from outside universal hinge in free bearing 47 dead eye and to make bearing inner race and universal hinge joint spider 46 interference fit, use universal hinge end cap 42, universal hinge sensor installing plate 43 and universal hinge pre-loading screw 41 to be fixed and pretension, finally scrambler E29 is fixed on universal hinge sensor installing plate 43, described moving platform 1 adopts aviation aluminum alloy material to make, and its circumscribed circle diameter is 1.6m, described fixed platform 7 is hexagon, and its circumscribed circle diameter is 2 times of moving platform 1 circumscribed circle diameter, and its minor face and long edge lengths ratio are 0.5, described pedestal 12 is truncated conical shape, and on its round platform, disc and lower disc diameter proportion are 0.4, described fixed platform 7 and pedestal 12 all adopt carbon steel material to make.
Embodiment 2
A parallel Dual Drive emulation platform for simulated vehicle low-and high-frequency motion, described parallel Dual Drive emulation platform comprises output stage, posture adjustment platform and detection branches, and its structural representation is as shown in Figure 1; Described output stage comprises moving platform 1, ball pivot 2, rectilinear movement executor 3 and universal hinge 4; Described posture adjustment platform comprises track base 10, fixed platform 7, slide block 5, servomotor 6, line slideway 9, ball-screw 8, pedestal 12 and static load balance device 11, and this static load balance device 11 comprises wire rope 14, fixed pulley A15, pressing plate 16, two column 17, fixed pulley B18, suspension ring 19, counterweight 20, Upright post base 21; The shape of described moving platform 1 is rectangle, and its edge is evenly distributed with mounting hole; Described ball pivot 2 totally six, adjacent two are set to one group, and the upper free bearing of this ball pivot 2 is connected by the mounting hole of screw with moving platform 1; One end of described rectilinear movement executor 3 is connected with ball pivot 2, the other end is connected with universal hinge 4, by the stretching motion of six rectilinear movement executors 3, vehicle equipment implementation space six degree of freedom high frequency low amplitude vibrations can be driven, therefore this cover drive system has the features such as moving range is little, Velocity-acceleration large, frequent commutation, and its specific implementation form is high frequency servo electric cylinder; By axis, orthogonal and intersect at a point three revolute pairs are formed described ball pivot 2, this point are called the hinge point of ball pivot 2, need ensure that above-mentioned six hinge points are coplanar and perpendicular to the normal of moving platform 1, corresponding hinge point is arranged as shown in Figure 2, a in figure during installation
1-a
6for ball pivot point, α often organize the angle between hinge point; Described universal hinge 4 is fixedly connected on slide block 5 upper surface, and by axis, orthogonal and intersect at a point two revolute pairs are formed for it, its arrangement form and ball pivot 2 hinge point similar, namely above-mentioned six universal hinge 2 hinge points are coplanar and perpendicular to the normal of fixed platform 7; Described track base 10 totally six, adjacent two are set to one group, are evenly fixed on fixed platform 7, often organize that track base 10 center line is parallel to each other and perpendicular to fixed platform 7 corresponding side surface, two adjacent groups track base 10 centerlines is 120 °, as shown in Figure 3, b in figure
1-b
6for fixed platform 7 point, k
1-k
6for track base 10 center line; The outside of described track base 10 is provided with servomotor 6, and upside is provided with two line slideways 9 parallel to each other; Described ball-screw 8 is installed between two line slideways 9 of track base 10, and its one end is connected with the output shaft of servomotor 6, and the other end is connected with track base 10 top end shaft bearing; The both sides of described slide block 5 are stuck on line slideway 9, be installed on ball-screw 8 by screw thread in the middle of it, its front end is connected with one end of wire rope 14, and the other end of this wire rope 14 is walked around fixed pulley A15, the fixed pulley B18 be located on track base 10 and pressing plate 16 and is connected with the suspension ring 19 be located in counterweight 20; Described counterweight 20 both sides are provided with two column 17, and to ensure that counterweight 20 vertically moves, this pair of column 17 two ends are separately fixed on pressing plate 16 and Upright post base 21; Described pressing plate 16 and Upright post base 21 are connected with track base 10 and pedestal 12 respectively by bolt mounting holes; Described counterweight 20 totally six, is made up of lead material, and its gross mass is 120% of output stage and vehicle equipment weight summation; Described pedestal 12 is provided with mounting hole, and it uses bolt to be connected with the fixed platform 7 of top; Described detection branches 13 does not carry any acting force, a compliant platform 1 associated movement, and its Main Function is the kinematic parameter detecting moving platform 1 in real time, comprises pose, speed, acceleration etc.Described detection branches is adopted 13 and is used UPS kinematic chain structure, the detection branches ball pivot 22 on its top is installed on moving platform 1 lower surface center, the universal hinge 31 of detection branches of its bottom is installed on pedestal 12 upper surface center, and its moving sets is realized by the relative motion of detection branches expansion link 26 and support tube 27, described detection branches ball pivot 22 is realized by three single-degree-of-freedom revolute pairs, and on axis junction point and moving platform 1, the central point of six ball pivots 2 is coplanar, the universal hinge 31 of described detection branches is realized by two single-degree-of-freedom revolute pairs, and axis junction point is between fixed platform 7 and pedestal 12, the single dof mobility vice division chief sensor installation respectively of described detection branches, wherein, scrambler is installed at detection branches ball pivot 22 and detection branches universal hinge 31 place, and grating scale 28 is installed by mobile vice division chief, the precision of described detection branches ball pivot 22 and mobile vice division chief sensor rotate with moving platform 1 and vertical mobile required by accuracy of detection grade consistent, the precision of described detection branches universal hinge 31 place sensor moves horizontally high 2 grades of required accuracy of detection than moving platform 1, described detection branches ball pivot 22 comprises scrambler A23, scrambler B24, scrambler C25, free bearing 32 on ball pivot, ball pivot pre-loading screw 33, ball pivot end cap 34, ball pivot sensor installing plate 35, ball pivot joint spider 36, ball pivot angular contact bearing 37, ball pivot gland bonnet 38, free bearing 39 under ball pivot, its concrete assembling mode is: by free bearing 39 dead eye under detection branches expansion link 26 upper end insertion ball pivot, successively ball pivot gland bonnet 38 and ball pivot angular contact bearing 37 are loaded from upside and with detection branches expansion link 26 interference fit, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 is used to be fixed and pretension above-mentioned part, finally scrambler C25 is fixed on ball pivot sensor installing plate 35, ball pivot joint spider 36 to be inserted under ball pivot in free bearing 39 dead eye, successively ball pivot gland bonnet 38, ball pivot angular contact bearing 37 to be loaded from outside ball pivot in free bearing 39 dead eye and to make bearing inner race and ball pivot joint spider 36 interference fit, use ball pivot end cap 34, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 to be fixed and pretension, finally scrambler B24 is fixed on ball pivot sensor installing plate 35, ball pivot joint spider 36 to be inserted on ball pivot in free bearing 32 dead eye, successively ball pivot gland bonnet 38, ball pivot angular contact bearing 37 to be loaded from outside ball pivot in free bearing 32 dead eye and to make bearing inner race and ball pivot joint spider 36 interference fit, use ball pivot end cap 34, ball pivot sensor installing plate 35 and ball pivot pre-loading screw 33 to be fixed and pretension, finally scrambler A24 is fixed on ball pivot sensor installing plate 35, the universal hinge 31 of described detection branches comprises scrambler D29, scrambler E30, free bearing 40 in universal hinge, universal hinge pre-loading screw 41, universal hinge end cap 42, universal hinge sensor installing plate 43, universal hinge angular contact bearing 44, universal hinge gland bonnet 45, universal hinge joint spider 46, free bearing 47 under universal hinge, its concrete assembling mode is: to be inserted by universal hinge joint spider 46 in universal hinge in free bearing 40 dead eye, successively by universal hinge gland bonnet 45, universal hinge angular contact bearing 44 to load from outside universal hinge in free bearing 40 dead eye and makes bearing inner race and universal hinge joint spider 46 interference fit, use universal hinge end cap 42, universal hinge sensor installing plate 43 and universal hinge pre-loading screw 41 are fixed and pretension, finally scrambler D29 is fixed on universal hinge sensor installing plate 43, universal hinge joint spider 46 to be inserted under universal hinge in free bearing 47 dead eye, successively universal hinge gland bonnet 45, universal hinge angular contact bearing 44 to be loaded from outside universal hinge in free bearing 47 dead eye and to make bearing inner race and universal hinge joint spider 46 interference fit, use universal hinge end cap 42, universal hinge sensor installing plate 43 and universal hinge pre-loading screw 41 to be fixed and pretension, finally scrambler E29 is fixed on universal hinge sensor installing plate 43, described moving platform 1 adopts aviation aluminum alloy material to make, and its circumscribed circle diameter is 3.0m, described fixed platform 7 is hexagon, and its circumscribed circle diameter is 2 times of moving platform 1 circumscribed circle diameter, and its minor face and long edge lengths ratio are 0.5, described pedestal 12 is truncated conical shape, and on its round platform, disc and lower disc diameter proportion are 0.8, described fixed platform 7 and pedestal 12 all adopt carbon steel material to make.
Compared with prior art, the parallel Dual Drive emulation platform of vehicles low-and high-frequency motion described in the utility model, unique design unique output stage and posture adjustment platform, to achieve in motion spectrum low-and high-frequency part to the decomposition of above-mentioned two platform drivers, can comparatively truly analog carrier equipment with the running working condition of the vehicles.In addition, adopt the design proposal of six degree of freedom detection branches and static load balance device, the utility model also has bearing capacity large (introducing of counter weight device can significantly reduce motor output torque), control easily (low-and high-frequency motion carries out drived control respectively), the real-time self-inspection of kinematic parameter (detection branches is from belt sensor), the advantages such as applicability wide (loaded area and bearing capacity adjustable), cost low (power of motor is little, just can self-inspection parameter without the need to external detection instrument).
Claims (7)
1. a parallel Dual Drive emulation platform for simulated vehicle low-and high-frequency motion, it is characterized in that, described parallel Dual Drive emulation platform comprises output stage, posture adjustment platform and detection branches; Described output stage comprises moving platform (1), ball pivot (2), rectilinear movement executor (3) and universal hinge (4); Described posture adjustment platform comprises track base (10), fixed platform (7), slide block (5), servomotor (6), line slideway (9), ball-screw (8), pedestal (12) and static load balance device (11), and this static load balance device (11) comprises wire rope (14), fixed pulley A (15), pressing plate (16), two column (17), fixed pulley B (18), suspension ring (19), counterweight (20), Upright post base (21); The shape of described moving platform (1) is hexagon or rectangle, and its edge is evenly distributed with mounting hole; Described ball pivot (2) totally six, adjacent two are set to one group, and the upper free bearing of this ball pivot (2) is connected by the mounting hole of screw with moving platform (1); One end of described rectilinear movement executor (3) is connected with ball pivot (2), and the other end is connected with universal hinge (4); By axis, orthogonal and intersect at a point three revolute pairs are formed described ball pivot (2); Described universal hinge (4) is fixedly connected on slide block (5) upper surface, and by axis, orthogonal and intersect at a point two revolute pairs are formed for it; Described track base (10) totally six, adjacent two are set to one group, evenly be fixed on fixed platform (7), often organize that track base (10) center line is parallel to each other and perpendicular to fixed platform (7) corresponding side surface, two adjacent groups track base (10) centerlines is 120 °; The outside of described track base (10) is provided with servomotor (6), and upside is provided with two line slideways parallel to each other (9); Described ball-screw (8) is installed between two line slideways (9) of track base (10), its one end is connected with the output shaft of servomotor (6), and the other end is connected with track base (10) top end shaft bearing; The both sides of described slide block (5) are stuck on line slideway (9), be installed on ball-screw (8) by screw thread in the middle of it, its front end is connected with the one end of wire rope (14), and the other end of this wire rope (14) is walked around fixed pulley A (15), the fixed pulley B (18) be located on track base (10) and pressing plate (16) and is connected with the suspension ring (19) be located in counterweight (20); Described counterweight (20) both sides are provided with two column (17), to ensure that counterweight (20) vertically moves, this pair of column (17) two ends are separately fixed on pressing plate (16) and Upright post base (21); Described pressing plate (16) and Upright post base (21) are connected with track base (10) and pedestal (12) respectively by bolt mounting holes; Described counterweight (20) totally six, is made up of lead material, and its gross mass is the 90%-150% of output stage and vehicle equipment weight summation; Described pedestal (12) is provided with mounting hole, and it uses bolt to be connected with the fixed platform (7) of top; Described detection branches is adopted (13) and is used UPS kinematic chain structure, the detection branches ball pivot (22) on its top is installed on moving platform (1) lower surface center, the universal hinge of detection branches (31) of its bottom is installed on pedestal (12) upper surface center, and its moving sets is realized by the relative motion of detection branches expansion link (26) and support tube (27); Described detection branches ball pivot (22) is realized by three single-degree-of-freedom revolute pairs, and the central point of axis junction point and upper six ball pivots (2) of moving platform (1) is coplanar; The universal hinge of described detection branches (31) is realized by two single-degree-of-freedom revolute pairs, and axis junction point is positioned between fixed platform (7) and pedestal (12); The single dof mobility vice division chief sensor installation respectively of described detection branches, wherein, scrambler is installed at detection branches ball pivot (22) and the universal hinge of detection branches (31) place, and grating scale (28) is installed by mobile vice division chief; The precision of described detection branches ball pivot (22) and mobile vice division chief sensor rotate with moving platform (1) and vertical mobile required by accuracy of detection grade consistent; The precision of the universal hinge of described detection branches (31) place sensor moves horizontally required accuracy of detection height 2-3 grade than moving platform (1).
2. the parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion according to claim 1, it is characterized in that, described detection branches ball pivot (22) comprises scrambler A (23), scrambler B (24), scrambler C (25), free bearing (32) on ball pivot, ball pivot pre-loading screw (33), ball pivot end cap (34), ball pivot sensor installing plate (35), ball pivot joint spider (36), ball pivot angular contact bearing (37), ball pivot gland bonnet (38), free bearing (39) under ball pivot, its concrete assembling mode is: by free bearing (39) dead eye under detection branches expansion link (26) upper end insertion ball pivot, successively ball pivot gland bonnet (38) and ball pivot angular contact bearing (37) are loaded from upside and with detection branches expansion link (26) interference fit, ball pivot sensor installing plate (35) and ball pivot pre-loading screw (33) is used to be fixed and pretension above-mentioned part, finally scrambler C (25) is fixed on ball pivot sensor installing plate (35), by in free bearing (39) dead eye under ball pivot joint spider (36) insertion ball pivot, successively ball pivot gland bonnet (38), ball pivot angular contact bearing (37) to be loaded from outside ball pivot in free bearing (39) dead eye and to make bearing inner race and ball pivot joint spider (36) interference fit, use ball pivot end cap (34), ball pivot sensor installing plate (35) and ball pivot pre-loading screw (33) to be fixed and pretension, finally scrambler B (24) is fixed on ball pivot sensor installing plate (35), by in free bearing (32) dead eye on ball pivot joint spider (36) insertion ball pivot, successively ball pivot gland bonnet (38), ball pivot angular contact bearing (37) to be loaded from outside ball pivot in free bearing (32) dead eye and to make bearing inner race and ball pivot joint spider (36) interference fit, use ball pivot end cap (34), ball pivot sensor installing plate (35) and ball pivot pre-loading screw (33) to be fixed and pretension, finally scrambler A (24) is fixed on ball pivot sensor installing plate (35).
3. the parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion according to claim 1, it is characterized in that, the universal hinge of described detection branches (31) comprises scrambler D (29), scrambler E (30), free bearing (40) in universal hinge, universal hinge pre-loading screw (41), universal hinge end cap (42), universal hinge sensor installing plate (43), universal hinge angular contact bearing (44), universal hinge gland bonnet (45), universal hinge joint spider (46), free bearing (47) under universal hinge, its concrete assembling mode is: universal hinge joint spider (46) to be inserted in universal hinge in free bearing (40) dead eye, successively by universal hinge gland bonnet (45), universal hinge angular contact bearing (44) to load from outside universal hinge in free bearing (40) dead eye and makes bearing inner race and universal hinge joint spider (46) interference fit, use universal hinge end cap (42), universal hinge sensor installing plate (43) and universal hinge pre-loading screw (41) are fixed and pretension, finally scrambler D (29) is fixed on universal hinge sensor installing plate (43), universal hinge joint spider (46) to be inserted under universal hinge in free bearing (47) dead eye, successively universal hinge gland bonnet (45), universal hinge angular contact bearing (44) to be loaded from outside universal hinge in free bearing (47) dead eye and to make bearing inner race and universal hinge joint spider (46) interference fit, use universal hinge end cap (42), universal hinge sensor installing plate (43) and universal hinge pre-loading screw (41) to be fixed and pretension, finally scrambler E (29) is fixed on universal hinge sensor installing plate (43).
4. the parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion according to claim 1, it is characterized in that, described moving platform (1) adopts aviation aluminum alloy material to make, and its circumscribed circle diameter is 1.5-3.0m.
5. the parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion according to claim 1, it is characterized in that, described fixed platform (7) is hexagon, its circumscribed circle diameter is 2 times of moving platform (1) circumscribed circle diameter, and its minor face and long edge lengths ratio are 0.5.
6. the parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion according to claim 1, it is characterized in that, described pedestal (12) is truncated conical shape, and on its round platform, disc and lower disc diameter proportion are 0.4-0.8.
7. the parallel Dual Drive emulation platform of a kind of simulated vehicle low-and high-frequency motion according to claim 1, it is characterized in that, described fixed platform (7) and pedestal (12) all adopt carbon steel material to make.
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| CN113649506A (en) * | 2021-07-19 | 2021-11-16 | 武汉理工大学 | Heavy-load high-flexibility six-degree-of-freedom six-connecting-rod parallel driving space envelope forming equipment |
| CN114378779A (en) * | 2021-12-20 | 2022-04-22 | 江苏普旭科技股份有限公司 | Multi-degree-of-freedom motion platform capable of being controlled greatly in vertical direction and method |
| CN114378779B (en) * | 2021-12-20 | 2024-04-26 | 江苏普旭科技股份有限公司 | Multi-freedom-degree motion platform and method capable of being controlled greatly in vertical direction |
| CN114582194A (en) * | 2022-03-18 | 2022-06-03 | 中国人民解放军陆军装甲兵学院 | Improved electro-hydraulic system training platform |
| CN114582194B (en) * | 2022-03-18 | 2023-06-23 | 中国人民解放军陆军装甲兵学院 | Improved electrohydraulic system training platform |
| CN117053877A (en) * | 2023-10-13 | 2023-11-14 | 中国科学院长春光学精密机械与物理研究所 | Pretightening force loading and adjusting device and loading and adjusting method for axial load shafting end cover |
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