CN209912211U

CN209912211U - Three-axis three-dimensional motion simulation system

Info

Publication number: CN209912211U
Application number: CN201920119930.7U
Authority: CN
Inventors: 刘珈企
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-01-24
Filing date: 2019-01-24
Publication date: 2020-01-07
Anticipated expiration: 2029-01-24

Abstract

The utility model provides a three-dimensional motion simulation system of triaxial belongs to the training equipment field. The system comprises a three-axis turntable, wherein the three-axis turntable comprises a base, a rotating frame and a seat, and the rotating frame comprises an inner ring frame, a middle ring frame and an outer ring frame; the bottom center of the outer ring frame is arranged on the base and can rotate around the center axis of the outer ring frame; the middle ring frame is arranged on the outer ring frame through rotating shafts arranged at two ends of the middle ring frame, a connecting line of central axes of the rotating shafts at the two ends of the middle ring frame forms a horizontal axis, and the middle ring frame can rotate around the horizontal axis; the inner ring frame is mounted on the middle ring frame through rotating shafts arranged at two ends of the inner ring frame, a connecting line of central axes of the rotating shafts at the two ends of the inner ring frame forms a vertical axis which is vertically crossed with the horizontal axis, and the inner ring frame can rotate around the vertical axis. The utility model discloses can realize high accuracy position, speed control and various nimble training mode.

Description

Three-axis three-dimensional motion simulation system

Technical Field

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

Background

The earliest aircrafts need to be experimentally researched by a plurality of real objects before the last day, which not only causes a plurality of wastes of financial resources, material resources and manpower, but also the rules obtained by limited experiments are not very accurate, wherein, a great chance exists. With the increasing frequency of human aerospace activities, the requirements on the reliability and economy of equipment are higher and higher. Particularly, the continuous aerospace flight accidents prompt people to carry out profound reflexions on the past experimental means, the research on simulation test equipment is started, and the simulation rotary table is generated and developed under the background. After the seventies of the twentieth century, the development of computers, particularly digital computers, has provided a higher technological base for simulation techniques. The simulation turntable is applied to various links of development and test of aviation and aerospace equipment.

When the pilot flies in the air by maneuvering, the pilot is influenced by overload such as angular acceleration, Coriolis acceleration, vibration acceleration and the like in addition to continuous linear acceleration overload. These acceleration overloads severely affect pilot handling. For example, when the vertical overload of the pilot exceeds a certain value, the blood in the human body is totally concentrated in the lower body due to inertia, so that cerebral ischemia is caused, the pilot is faint, the airplane is out of control, and accidents are caused. This overload effect can be reduced by wearing anti-load clothing. Meanwhile, the human body also has certain overload resistance, and the overload resistance can be improved through acquired training.

At present, devices such as a swivel chair, a swivel ladder, a roller, a swing and the like are adopted for training related personnel, unidirectional rotary motion training can be carried out only, and the training effect is not comprehensive.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve the difficult problem that exists among the above-mentioned prior art, a triaxial three-dimensional motion simulation system is provided, provide controllable, quantifiable, the three-dimensional space attitude simulation that lasts, it is servo to realize the accurate position of three axis of rotation, speed motion control precision is higher, motion process acceleration is variable, different training modes such as unipolar, biax and triaxial have, and the rotary motion of each axle is more steady, can train improvement human being under test's space cognitive ability and orientation ability.

The utility model discloses a realize through following technical scheme:

a three-axis three-dimensional motion simulation system comprises a three-axis turntable, wherein the three-axis turntable comprises a base, a rotating frame and a seat, and the rotating frame comprises an inner ring frame, a middle ring frame and an outer ring frame;

the bottom center of the outer ring frame is arranged on the base and can rotate around the center axis of the outer ring frame;

the middle ring frame is arranged on the outer ring frame through rotating shafts arranged at two ends of the middle ring frame, a connecting line of central axes of the rotating shafts at the two ends of the middle ring frame forms a horizontal axis, and the middle ring frame can rotate around the horizontal axis;

the inner ring frame is arranged on the middle ring frame through rotating shafts arranged at two ends of the inner ring frame, a connecting line of central axes of the rotating shafts at the two ends of the inner ring frame forms a vertical axis which is vertically crossed with the horizontal axis, and the inner ring frame can rotate around the vertical axis;

the seat is mounted on the inner ring frame.

The central axis of the outer ring frame is vertical to the horizontal plane and is vertically intersected with the horizontal axis;

the outer ring frame is used for simulating azimuth motion, the middle ring frame is used for simulating pitching motion, and the inner ring frame is used for simulating rolling motion;

the inner ring frame, the middle ring frame and the outer ring frame can be driven by respective speed reduction driving shafting to realize rotation action;

the speed reduction driving shaft system of the outer ring frame is arranged in the inner cavity of the base;

the speed reduction driving shaft system of the middle ring frame is arranged in the inner cavity of the outer ring frame;

and the speed reduction driving shaft system of the inner ring frame is arranged in the inner cavity of the middle ring frame.

The outer ring frame is of a U-shaped structure and comprises two vertical arms and a horizontal bottom connecting arm connected with the bottoms of the two vertical arms; the opening of the U-shaped structure faces upwards, and the symmetry axis of the U-shaped structure is the central axis of the outer ring frame;

a rotary support bearing is arranged below the bottom connecting arm; a slip ring is arranged at the central position of the rotary support bearing;

the rotating part of the rotary support bearing is fixedly connected with the center position of the bottom connecting arm; the fixed part of the rotary support bearing is fixedly connected with the base;

the outer ring frame body is formed by welding steel frameworks, the steel frameworks are coated with thin steel plates, and the thin steel plates surround to form an inner cavity of the outer ring frame; the upper ends of the two vertical arms of the outer ring frame are provided with middle ring shaft holes, and rotating shafts at two ends of the middle ring frame are respectively arranged in the two middle ring shaft holes;

a speed reduction driving shaft system of the middle ring frame, a brake of the middle ring frame and a zero switch of the middle ring frame are arranged in an inner cavity of one vertical arm; a rotating shaft at one end of the middle ring frame penetrates through a middle ring shaft hole on the arm and then is connected with a speed reduction driving shaft system of the middle ring frame;

a slip ring is arranged on a rotating shaft of the middle ring frame arranged in the middle ring shaft hole of the other vertical arm;

the speed reduction driving shaft system of the outer ring frame comprises: the servo motor, the speed reducer, the coupling and the driving wheel; the servo motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a driving wheel through a coupler, and the driving wheel is connected with a rotating part of the rotary support bearing;

the brake of the outer ring frame is arranged on a wheel shaft of a driving wheel connected with the rotating part of the rotary supporting bearing.

The middle ring frame is of an O-shaped structure and comprises a left arm and a right arm which are parallel, and an upper arm and a lower arm which are parallel and vertical to the left arm and the right arm; the left arm, the upper arm, the right arm and the lower arm are sequentially connected and enclosed to form an O-shaped structure;

rotating shafts are respectively arranged in the middle positions of the left arm and the right arm;

the middle ring frame body is formed by welding steel frameworks, the steel frameworks are coated with thin steel plates, and the thin steel plates are enclosed to form an inner cavity of the middle ring frame;

the middle parts of the upper arm and the lower arm are respectively provided with an inner ring shaft hole; the rotating shafts at two ends of the inner ring frame are respectively arranged in the two inner ring shaft holes;

a speed reduction driving shaft system of the inner ring frame, a brake of the inner ring frame and a zero switch of the inner ring frame are arranged in the inner cavity of the upper arm; a rotating shaft at one end of the inner ring frame penetrates through an inner ring shaft hole on the upper arm and then is connected with a speed reduction driving shaft system of the inner ring frame;

a slip ring is arranged on a rotating shaft of the inner ring frame which is arranged in an inner ring shaft hole of the lower arm;

the speed reduction driving shaft system of the middle ring frame comprises: the servo motor, the speed reducer, the coupling, the driving wheel and the driven wheel; the servo motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a driving wheel through a coupler, and the driving wheel is meshed with a driven wheel; the driving wheel and the driven wheel both adopt spiral bevel gears, and the central axes of the driving wheel and the driven wheel are vertical;

one rotating shaft of the middle ring frame is connected with a driven wheel in a speed reduction driving shaft system of the middle ring frame, and the rotating shaft is a driving shaft of the middle ring frame;

the brake of the middle ring frame is arranged on the driving shaft of the middle ring frame.

The inner ring frame is of a U-shaped structure and comprises an upper connecting arm, a lower connecting arm and a side arm which connects the upper connecting arm and the lower connecting arm in parallel;

rotating shafts are respectively arranged at one ends of the upper connecting arm and the lower connecting arm, which are far away from the side arms;

the bottom of the seat is mounted on the lower connecting arm, and the backrest of the seat is mounted on the side wall.

The speed reduction driving shaft system of the inner ring frame comprises: the servo motor, the speed reducer, the coupling, the driving wheel and the driven wheel; the servo motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a driving wheel through a coupler, and the driving wheel is meshed with a driven wheel; the driving wheel and the driven wheel both adopt spiral bevel gears, and the central axes of the driving wheel and the driven wheel are vertical;

one rotating shaft of the inner ring frame is connected with a driven wheel in a speed reduction driving shaft system of the inner ring frame, and the rotating shaft is a driving shaft of the inner ring frame;

the brake of the inner ring frame is arranged on the driving shaft of the inner ring frame.

Preferably, the servo motor adopts an alternating current servo motor with a power-off band-type brake and an alternating current servo motor encoder; the slip ring is a slip ring special for an alternating current servo motor;

the three-axis three-dimensional motion simulation system comprises a control cabinet, a three-axis turntable and a three-axis control device, wherein the control cabinet is arranged on one side of the three-axis turntable and is connected with the three-axis turntable through a cable;

a supporting caster and a plurality of foot supports capable of adjusting the height are arranged at the bottom of the base;

preferably, the seat comprises a surrounding seat, armrests, a safety belt, a pressure bar and an instrument box;

the instrument box body is arranged below the surrounding seat; the armrests are arranged on two sides of the surrounding seat; the pressing bar is arranged at the upper part of a backrest surrounding the seat and can be lifted up and down;

the surrounding seat is integrally formed or is formed in a two-section mode;

the safety belt is arranged on the surrounding seat and comprises a five-point safety belt, a thigh safety belt and a shank safety belt, and the five-point safety belt is used for fixing the trunk and the arms of the exerciser;

the thigh safety belt is arranged at the position, corresponding to the thigh of the exerciser, of the surrounding seat;

the shank safety belt is arranged at the position, corresponding to the shank of the practicer, of the surrounding seat;

and a sensor is arranged in each buckle of the safety belt and used for detecting the fixing state of the safety belt.

The surrounding type headrest is arranged at the position, corresponding to the head of the practicer, of the surrounding seat and used for assisting in fixing the head movement and limiting the swing amplitude of the head in the training process.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a three-dimensional motion simulation system of triaxial can carry out three-dimensional training in three axial, and the three axis of rotation of automatic control moves according to predetermined speed and time accurately, can provide the independent accurate position of three axle simultaneously, realizes being followed the unipolar training of the specific pivot in space by the testing personnel, also can realize the fixed biax motion training of arbitrary axle. The utility model discloses have higher control and servo precision, improved the rotatory stationarity and the bearing capacity of each frame, and can realize high accuracy position, speed control and various nimble training mode to can provide functions such as physiological monitoring and training aassessment when the training, further improve the training effect, effectively strengthen space orientation ability and vestibule functional stability.

Drawings

Figure 1 is a perspective view of the system of the present invention;

FIG. 2 is a schematic diagram of the system of the present invention;

FIG. 3 is a flow chart of the system of the present invention;

FIG. 4 is a schematic view of the arrangement of the outer ring frame shafting in the system of the present invention;

FIG. 5 is a schematic diagram of a drive arrangement in the system of the present invention;

fig. 6 is a schematic diagram illustrating a structure of a deceleration driving shaft system in the system of the present invention;

FIG. 7 is a schematic view of the arrangement of the outer ring frame shafting in the system of the present invention;

FIG. 8 is a schematic view of a seat in the system of the present invention;

FIG. 9 is a block diagram illustrating the steps of a method of using the present invention;

figure 10 is a control schematic of the system of the present invention.

Detailed Description

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

the utility model discloses triaxial three-dimensional motion simulation system is the key equipment of ground flight physical simulation for various actions and gestures of simulation aircraft in the air, including driftage, roll and every single move, it is a signal of telecommunication to mechanical motion's conversion equipment in fact. High-precision sensors such as a gyroscope, a photoelectric encoder and the like are arranged on the rotary table, and electric signals of various attitudes of the aircraft in the air are converted into three-axis mechanical rotation of the rotary table, so that the flight state is simulated on the ground.

As shown in fig. 1, the system of the present invention comprises: three-axis revolving stage, electrical system and control system. The three-axis turntable mainly provides installation reference and rotary motion of a three-axis system of rolling, pitching and heading for the seat. The electric system mainly completes the functions of starting and stopping the rotary table, monitoring the rotary table, remotely controlling and the like, and mainly comprises a control console, an electric appliance cabinet and the like. The servo motor and the motion transmission part are arranged inside the three-axis rotary table, the servo driving part, the motion control part and the human-computer interaction computer are arranged in the control cabinet, the control cabinet is positioned on one side of the three-axis rotary table, and the servo driving part, the motion control part and the human-computer interaction computer are connected through cables.

When the three-axis rotary table works, the electric system provides power for the driving motor of the three-axis rotary table, so that the rotary table can drive the load to move as required, and corresponding movement is completed. And the control system outputs a control signal to the driving motor of the corresponding frame after being regulated by the control law according to the control command, so as to control the action of the motor. The rotary table is communicated with a computer in real time, the computer records angular position data of three frames of the rotary table (the angular position data are output through a high-precision photoelectric code disc of a motor and are obtained through calculation, which is the prior art and is not repeated here), the angular position data of each shaft in the test are processed, a motion curve is drawn, motion parameters of each shaft are monitored, safety evaluation is carried out in real time, control law operation of each shaft is carried out, and the rotary table is controlled to move correctly.

Specifically, the three-axis rotary table comprises a fixed base and a rotating frame, and the rotating frame comprises three independent frames: the inner ring frame represents roll, the middle ring frame represents pitch, and the outer ring frame represents yaw. The seats of the tested personnel are arranged on the inner ring frames, and the three frames act simultaneously to simulate the real action and posture of the pilot in a three-dimensional space.

The fixed base part is a structure for connecting the rotary frame of the rotary table and the ground, a shaft system of an outer ring frame of the rotary table and a driving device of the outer ring frame are arranged in the fixed base part, and a steel plate structure is adopted to increase the weight and play a role in stabilizing. The mobile arrangement mode can be adopted according to the actual situation of the site. The bottom of the fixed base is provided with a supporting caster and a plurality of anchor supports with adjustable heights, and the whole equipment can be pushed to move on a flat ground. After the equipment enters the arrangement place, the height of the anchor support is adjusted, so that the rotary table base is in a horizontal state and the support caster is separated from the rotary table base, and the self-weight stability of the table body is realized. The mobile arrangement mode does not damage the ground structure, and the arrangement place is flexible.

The outer ring frame is connected with the base, three shafts are all controlled by power, and free follow-up state shafts are omitted. The control cabinet of the operator is arranged independently relative to the rotating table body, the control cabinet and the rotating table body are connected through a cable, and all operations are completed through the control cabinet end.

The overall arrangement is as shown in fig. 2, the inner ring frame 301, the middle ring frame 302 and the outer ring frame 303 are driven by motors to realize positive and negative 360-degree rotation, the outer ring frame 303 realizes azimuth motion, the middle ring frame 302 realizes pitch motion, and the inner ring frame 301 realizes roll motion.

Particularly, the utility model discloses a three-axis revolving stage adopts the mode of adjacent axle quadrature, has realized U-O-U structural style.

The adjacent frames move in an orthogonal state, the outer ring frame is in a U shape, the middle ring frame is in a closed O shape, and the inner ring frame is in an inverted U shape. Thus, the inner ring frame performs a function of continuously rotating about a vertical axis, and the middle ring frame performs a function of continuously rotating about a horizontal axis.

Specifically, the outer ring frame comprises two vertical arms and a horizontal bottom connecting arm connected with the bottoms of the two vertical arms; the opening of the U-shaped structure faces upwards, and the symmetry axis of the U-shaped structure is the central axis of the outer ring frame; the outer ring frame structure can rotate 360 degrees continuously without limit, the center of gravity of the whole outer ring frame is reduced by adopting the U-shaped structure, the height of the frame base is reduced by adopting the rotary supporting bearing, and then the center of gravity of the whole mechanism is reduced, so that the rotation of each shaft is more stable, and the stability and the reliability of the system operation are improved. And a rotary slip ring is arranged at the central position of the rotary support bearing, and signals connected by the slip ring comprise signal wires of a servo system of the middle ring frame and the inner ring frame and signal wires required by the load of the inner ring frame. Servo system signal divide into power line and position sensor signal line, consequently the utility model discloses the special rotatory sliding ring of well selection multichannel servo motor ensures to rotate the in-process, and servo system signal's connection is reliable.

The middle ring frame is of an O-shaped structure and comprises a left arm and a right arm which are parallel, and an upper arm and a lower arm which are parallel and vertical to the left arm and the right arm; the left arm, the upper arm, the right arm and the lower arm are sequentially connected and enclosed to form an O-shaped structure; the middle ring frame is a closed O-shaped frame, and the whole structure is welded by adopting a steel skeleton and matched with a thin steel plate skin to form a cavity structure. And integral numerical control machining is carried out at the positions of the connecting shaft and the shaft for driving the inner ring frame, so that the structural precision of the frame is ensured. The frame construction adopts the components of a whole that can function independently mounting means, and major structure divide into frame and installation axle, and the installation axle part at both ends adopts CNC integrated processing, guarantees to install the axle precision. As shown in fig. 7, the system comprises an inner ring frame drive 701, a middle ring frame drive shaft 702, an inner ring frame 301, an inner ring frame slip ring 704, a middle ring frame driven shaft 705, a middle ring frame 302, an inner ring frame driven gear 707, an inner ring frame brake 708, and an inner ring frame null switch 709.

The inner ring frame is of a U-shaped structure and comprises an upper connecting arm, a lower connecting arm and a side arm which connects the upper connecting arm and the lower connecting arm in parallel. The shafting rotor of the inner ring frame 301 is an inner ring shaft, and the seat of the tested person is arranged in the shaft hole of the inner ring frame, so that the U-shaped structure of the inner ring frame can meet the standard seat for installing the body of a pilot.

From the above structure can be seen, the utility model discloses well all drive shafting and electrical apparatus parts are all installed in base and frame mechanism's cavity, can protect each drive shafting and electrical apparatus better like this, and make whole three-axis rotary table's outline be symmetrical structure, be favorable to accomplishing the rotary motion of each frame more steadily, the symmetry and level and smooth and pleasing to the eye of the appearance of whole device have been guaranteed to furthest simultaneously, ensure that the equipment appearance can not lead to the fact the injury to the user and by the tester, and can choose for use bright and fast, give other people and give comfortable visual effect.

As shown in fig. 8, the seat for the human subject includes: the test bed surrounds a seat, an armrest part, a multipoint safety belt, a pressure bar, an instrument box body and the like, provides good support and protection for a tested person in the training process, and simultaneously bears relevant test equipment for vestibule training. The chair for the tested person adopts an integrally designed surrounding chair, provides good support for the head, the back and the legs of the tested person, and accords with the ergonomic design. The seat is formed integrally or surrounded in two sections. The instrument box body is positioned at the bottommost part of the seat, the surrounding seat is arranged above the instrument box body, the armrest parts are arranged on two sides of the seat, and the pressing rod is arranged on the upper part of the backrest of the surrounding seat and can be lifted and put down and press the shoulders of a practicer. Pressing the thick stick to make for steel pipe outsourcing flexible material the utility model discloses in, surround the seat size and press thick stick size and need cooperate the design, consider simultaneously that pressing the thick stick and lift the motion angle under the state and arrange the space, select the design of pressing the thick stick of simple and easy structure. On the other hand, due to the size of the seat and the height of the tested person, the pressing bar is manufactured in a customized mode finally. According to the body data of the tested person, the mounting size of the seat is designed, so that the finished seat finally meets the requirement of the trained sitting of the tested person, and the comfortable and reliable support is provided for the body of the tested person. The chair is provided with a plurality of safety belts for supporting the tested person, particularly, the surrounding chair is provided with a five-point safety belt for fixing the trunk and the arms of the tested person, and the surrounding chair is also provided with a thigh safety belt and a shank safety belt for fixing the thigh and the shank at the position corresponding to the thigh and the shank of the practicer. A sensor is mounted in each safety belt buckle for detecting the fixing state of the safety belt.

The inside of the outer ring frame 303 is provided with components such as a drive of the middle ring frame, a slip ring, and a brake of the middle ring frame, and the inside of the whole outer ring frame is provided with components such as a driven wheel 401 connected with a drive shaft of the middle ring frame, a middle ring frame brake 402 connected with the drive shaft, a middle ring frame zero position switch 403, a middle ring drive motor 404, an outer ring frame zero position switch 405, a slewing support bearing 406, an outer ring frame 303, a middle ring frame slip ring 408, and a middle ring frame 302 as shown in fig. 4. The whole outer ring frame is welded by adopting a steel framework structure, is matched with a thin steel plate skin, and is integrally machined by adopting a CNC (computerized numerical control) technology at a shafting mounting part, so that the whole precision of the frame structure is ensured.

The outer ring frame 303 and the middle ring frame 302 are connected through rotating shafts at both ends of the middle ring frame, and a middle ring frame brake 402, a middle ring frame reduction gear train and a middle ring frame slip ring 408 are respectively arranged on the two rotating shafts. The middle ring frame driving device drives the middle ring frame 303 to move through a gear shaft system, and comprises a precision speed reducer, a coupler and an alternating current servo motor 404 with a power-off band brake.

The outer loop frame adopts slewing bearing and servo motor's drive structure, and its drive shafting includes: the servo motor, the speed reducer, the coupling and the driving wheel; the servo motor is connected with the speed reducer, an output shaft of the speed reducer is connected with the driving wheel through the coupler, the driving wheel is connected with the rotating part of the rotary supporting bearing, and the rotating part of the rotary supporting bearing is fixedly connected with the outer ring frame. The driving devices of the two frames of the middle ring frame and the inner ring frame are the driving devices shown in fig. 5 and 6, and each driving device comprises: the servo motor, the speed reducer, the coupling, the driving wheel and the driven wheel; the servo motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a driving wheel through a coupler, and the driving wheel is meshed with a driven wheel; the driving wheel and the driven wheel both adopt spiral bevel gears, and the central axes of the driving wheel and the driven wheel are vertical; one rotating shaft of the middle ring frame is connected with a driven wheel in a speed reduction driving shaft system of the middle ring frame, and the rotating shaft is a driving shaft of the middle ring frame; and one rotating shaft of the inner ring frame is connected with a driven wheel in a speed reduction driving shaft system of the inner ring frame, and the rotating shaft is a driving shaft of the inner ring frame. And after the driver receives the control signal, the servo motor is controlled to normally work. In the frame acceleration process, electric power is converted into frame kinetic potential energy, and in the frame normal deceleration stage, the driver recovers the frame system kinetic potential energy and consumes the frame system kinetic potential energy on the regenerative resistor in the form of electric energy consumption, so that the normal deceleration braking of the frame system is completed.

Meanwhile, a power-off band-type brake for emergency braking is arranged in the frame structure, the servo motor adopts a type with brake braking, the braking torque of the servo motor is amplified through the speed reducer under the condition of power-off or emergency braking, and the power-off band-type brake arranged on the combined shaft system jointly acts on the frame structure.

The slip ring is used for connecting the wires in the base with each servo motor and each sensor; cables required on the seat are connected with corresponding equipment in the base sequentially through the inner frame sliding ring, the middle frame cavity, the middle frame sliding ring, the outer frame cavity and the outer frame sliding ring, and the condition that the motors in other frames are connected with the cables is similar to the condition. Considering the volume of the slip ring and the actual design of the rotating shaft, the motor driving shaft system and the slip ring are respectively arranged on two sides of the frame.

The utility model discloses in because different frame axle load condition and structure yardstick difference also have the difference on the lectotype and the arrangement mode of stopper. The shafting of outer loop frame is the outermost layer of whole motion frame, and the moment of inertia that produces by self quality is the biggest in three frames, simultaneously and with the closed frame structure difference of well ring frame and inner ring frame, the outer loop frame only has an end face to support, therefore the stopper arranges differently with well ring frame and inner ring frame, specifically as follows: the brake is limited by the external dimension and the braking torque, and the external shaft system cannot be directly braked, so that the braking system is arranged on a wheel shaft of a driving wheel for driving a rotating part of the slewing support bearing, and the brakes of the middle ring frame and the inner ring frame are respectively arranged on a driving shaft of the middle ring frame and a driving shaft of the inner ring frame.

In the design process, the utility model discloses the triaxial revolving stage adopts modularization, standardized design, according to the general law of mechanical design global design and the characteristics of the three-dimensional motion simulation system of triaxial, at first confirms revolving stage technical parameter and functional requirement, then carries out the motion functional design, carries out revolving stage global design again, carries out revolving stage detailed design at last.

The utility model discloses the technical requirement that will reach as follows:

1. net load size: 135 (height) × 85 (width) × 80 (depth) cm.

2. Net load weight: 80 kg.

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

Middle ring: 180 DEG/s.

Outer ring: 180 DEG/s.

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

Middle ring: 6 °/s.

Outer ring: 6 °/s.

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

Middle ring: 60 °/s2

Outer ring: 60 °/s2

6. Three-axis corner precision: 1 degree

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

8. Three axis range of motion

(1) An inner ring: rotating continuously for 360 degrees;

(2) middle ring: rotating continuously for 360 degrees;

(3) outer ring: and 360 degrees of continuous rotation.

The rotary table is divided into a vertical type and a horizontal type according to the different positions of the azimuth shafting and the rolling shafting. The outer ring frame of the vertical turntable is an azimuth shaft system, and the inner ring frame is a rolling shaft system; the horizontal turntable is opposite to the vertical turntable, the outer ring frame is a rolling shaft system, and the inner ring frame is an azimuth shaft system. According to the utility model discloses the technical index of revolving stage design, interior outer ring frame corner scope is 360, so interior outer ring frame should be the rolling shafting, consequently chooses for use vertical revolving stage.

According to different driving devices, the rotary table can be divided into a hydraulic driving rotary table, an electric rotary table and an electro-hydraulic hybrid driving rotary table. The hydraulic drive has the defects of poor linearity, small rotation angle, poor low-speed performance, complex maintenance and the like. Not conform to the utility model discloses the required rotational speed scope, so select electric drive. To sum up, the utility model discloses choose vertical electric turntable for use.

In consideration of the heavy load and the large size, in order to reduce the inertia of the turntable as much as possible and improve the response speed of the turntable, the inner ring frame 301 is designed in a U shape. When reducing the inertia of zhonghuan frame 302 in the revolving stage as far as possible, in order to guarantee zhonghuan frame 302's rigidity, the utility model discloses design zhonghuan frame 302 for the O type structure with inner ring frame 301 (roll axis) concentricity, this kind of structure has advantages such as structural rigidity is high, the manufacturability is good, and can realize the inertia of turning that minimizes. Because this revolving stage overall structure is great, simultaneously in order to guarantee the correct installation of zhonghuan frame, the utility model discloses be split type thin wall case structure with the outer loop frame design, this structure can realize the biggest structural rigidity under the condition that reaches the minimum quality. In conclusion, the overall structure of the rotary table is in a vertical U-O-U structural form.

The detailed design process of the mechanical structure of the turntable is shown in fig. 3, and comprises the following steps: carrying out structural design according to the weight of a human body, calculating the torque of each part, judging whether the torque meets the requirement, if so, primarily selecting the motor, if not, carrying out structural design again, checking the torque of the motor after primarily selecting the motor, if so, finishing the design, and if not, reselecting the motor.

The shaft system of the outer ring frame is a rotating mechanism on the outermost layer of the rotary table and is connected with the base, the middle ring frame and the inner ring frame. The shafting of the outer ring frame needs to consider factors such as the height of the center of gravity of the whole structure, the structural overturning moment, the rotation precision, the driving mode and the practical use convenience, and finally, a rotary support bearing is selected as a support component of the shafting of the outer ring frame, so that the rotary support of the outer ring frame is realized. The rotary support bearing has the advantages of high structural strength, high rotation precision, long service life, compact vertical structure and the like. The rotary support bearing is directly arranged with the base, so that the space is saved in the vertical direction, the whole gravity center of the state is reduced, and the use convenience of the state is improved. The outer ring frame rotating mechanism is arranged on a rotary supporting bearing, a fixed part of the rotary supporting bearing is fixedly connected with the base, and a rotating part of the rotary supporting bearing is meshed with the servo motor and the speed reducer system to form a servo structure moving along the course direction. The slewing bearing that the system chose for use can bear very big moment of torsion, has very firm structural stability. The requirements of the system on stable support and rotation under the conditions of load and motion are met.

The utility model discloses a speed reducer combines the speed reduction drive mode drive of gear shafting, has reduced frame construction overall dimension, has reduced the demand of frame drive to the motor moment of torsion, has realized the compact design of drive joint. The schematic structural design diagram of the outer ring frame shaft system is shown in fig. 6, and the principle of the shaft system structure of the inner ring frame and the middle ring frame is the same as the driving mode principle shown in fig. 6, and the difference is that only one is horizontally arranged, and the other is vertically arranged. The reduction shafting gear adopts spiral bevel gear to constitute, has the characteristics of steady transmission, low noise and compact structure, and matches the rated speed of the system and the reduction ratio of the speed reducer, the utility model discloses a set of spiral bevel gear train of 2:1 reduction ratio. The utility model discloses a spiral bevel gear constitutes the last one-level of shafting speed reduction, has realized transmission torque's promotion and direction of drive's change, adopts the spiral bevel gear of big modulus moreover also to guarantee whole shafting driven intensity and driven steady for the rotation of each frame is more steady, and the noise that produces is littleer.

The utility model discloses the motor of chooseing for use is the alternating current motor who has alternating current servo motor encoder, and the sliding ring of chooseing for use is the special sliding ring of alternating current servo motor, has the shielded cable for alternating current servo motor encoder design, guarantees to rotate each shaft motor encoder signal stability of in-process.

The three-axis frame system comprises a speed operation mode and a position operation mode, three axes of the three-axis three-dimensional motion simulation system are directly driven by three servo motors respectively, the rotating speed of each axis is changed by changing the current of the motors, the maximum acceleration of the motors is realized by a peak current, and the starting and stopping of each motor and the current passing through each motor are controlled by received external signals, so that each frame of the rotary table can change the speed according to the signals. The motor adopts an incremental encoder as a position sensor, and in order to obtain the initial position of the frame, the zeroing operation of the frame position is required before the frame is powered on to enter a working state every time. The system defaults that the position relation of each frame structure in the figure 1 is a zero position state of the frame, namely an initial position of the system entering an operating state. The utility model discloses in adopt non-contact hall element as the return to zero switch of system. The Hall switch is arranged on the shaft system seat, the magnetic steel is arranged on a component with the largest radius of the circumference of the shaft system, and the secondary zero returning technology (namely, multiple induction and alignment and homing) is adopted to ensure that the zero returning precision meets the requirement of the system position precision.

The utility model discloses inertia in the system calculates as follows:

1. moment of inertia of inner ring frame

According to 80Kg of tested person, 120Kg of seat and 100Kg of inner ring frame, the radius is calculated according to the radius of an inscribed circle with the side length of 0.8m square. And calculating the rotational inertia of the Z rotating shaft by taking the mass of the three as a uniform cylinder:

2. middle ring frame moment of inertia

Under the condition that the conditions of the inner ring frame are not changed, the middle ring frame is simplified into a circular ring structure, the moment of inertia is calculated, the mass of the middle ring frame is 200kg, the radius of the middle ring is 0.8m, and the width of the middle ring is 0.15 m.

3. Outer ring frame moment of inertia

Under the condition that the mass of the middle ring frame and the mass of the inner ring frame are not changed, the result is maximized by considering two conditions that the middle ring frame and the outer ring frame are vertical and overlapped. The outer ring frame weighs 150Kg calculated by a semicircular arc with a radius of 1m and a width of 0.15 m.

The core of the control target of the three-axis frame system is the three-axis independent rotation rate, and in order to realize accurate rotation rate, the system adopts an alternating current servo motor as a power source and utilizes an encoder of the alternating current servo motor to realize accurate control of rate and position. Each motion shaft of the three-shaft simulation motion platform can realize unlimited continuous rotation, so that the upper limit and the lower limit of a rotation angle do not need to be set in the rotation process, and in the application occasions, the motor is matched with an incremental encoder to realize the feedback of the motion of the motor. The system position is reset to zero at the beginning of the power-on of the moving system, and the initial position of the frame is determined.

According to different load conditions of each shaft, 0.6KW, 1.0KW and 1.5KW alternating current servo motors are respectively selected to be used for driving the inner ring frame, the middle ring frame and the outer ring frame. The combination of an Anthragma 7 series servo motor and a driver is selected to drive the inner ring frame. For an inner ring frame shaft, a 0.6KW motor provides maximum driving torque not less than 191Nm for the inner ring frame, and the requirement of acceleration and deceleration movement of the inner ring frame is met. The inner ring frame adopts a 0.6KW motor, provides rated 1.91Nm torque, and is matched with FABR060 and a speed reduction shaft system to generate a speed reduction ratio of 100:1, and provides rated 191Nm driving torque: the middle ring frame is driven by a 1.0KW motor, and a rated 317Nm driving torque is provided through a speed reducer, so that the acceleration and deceleration requirements of the middle ring frame and the inner ring frame are met. The middle ring frame selects a 1.0KW three-phase alternating current servo motor to generate rated 3.18Nm torque, and the speed reduction ratio of 100:1 is generated by matching with a FANR090 speed reducer and a shafting, so that the rated 318Nm driving torque can be provided; the outer ring frame is driven by a 1.5KW motor, can provide rated drive torque of 475Nm, and can meet the requirements of the inner ring frame and the middle ring frame on the drive torque of the outer ring frame under the condition of different positions. A1.5 KW three-phase alternating current servo motor is selected as an outer ring frame, and finally, a rated driving torque of 490Nm can be realized through speed reduction.

The constant torque characteristic of the AC servo motor meets the requirement of the system on acceleration and deceleration performance. The alternating current servo motors have the same torque output under different rotating speeds, and can realize preset acceleration and deceleration. And a proper precision speed reducer is selected by combining the highest rotating speed required by the system and the constant rotating speed of the motor, so that the precise rotating speed and position control is realized. The bipolar precision speed reducer is matched with a gear train, and a large reduction ratio of 100:1 is realized on the premise of high-precision transmission.

The speed reducer with the same model has multiple flange installation sizes, is suitable for installation modes of different types, and is flexible in configuration. The high-precision speed reducer is precise in matching and small in positioning error. The utility model discloses in, select for use the motor closed loop mode, utilize the motor code wheel directly to realize the position closed loop promptly. And (3) installing a zero control switch of each shaft in the three-shaft frame system, resetting after the system is powered on every time, and determining the initial position of each shaft.

Two main factors are considered when the braking system is designed, firstly, the system can be stopped faster than normal deceleration braking under the emergency braking condition, and the safety of personnel and equipment is ensured; secondly, under the condition of emergency braking, the equipment cannot be braked too violently, so that the overload of personnel is overlarge. Brake force and starter size are taken into account synthetically, the utility model discloses in chooseed the power-off band-type brake stopper of having chooseed for use and installed on each drive shaft or shafting, realize the braking to the frame shafting under emergency. The brake is used for braking emergency braking to protect the safety of the tested personnel and equipment when the braking force of the motor disappears or the motor is subjected to overload protection. In emergency, a tested person and an operator can perform emergency braking operation on equipment as required, the brake comprises a motor built-in brake and a shafting brake, the motor brake and the shafting brake realize separation of a brake pad under the action of electromagnetic force in a normal working state, and braking is realized by spring force in a stopping and power-off state.

Electromagnetic braking ware is opened by electric signal control, and the outage state is automatic to be locked, loses the electric band-type brake stopper and in the automatic brake block that compresses tightly under the effect of spring force under the power of losing the electric state, accomplishes emergency braking, and emergency braking time is less than 0.13ms, the utility model discloses in according to frame system's actual size and braking force demand, choose tQEB1-40 type stopper for use, provide 40 Nm's slip braking torque for the system under the emergency braking condition. In an emergency, the electromagnetic brake can be operated by an operator or a tested person to brake. The braking force of the motor is not less than the maximum torque which can be provided by the motor, and the braking force which is not less than the peak torque of the motor can be generated by being converted into each moving shaft. The braking force provided by both the power-off brake and the motor brake will produce a braking acceleration no less than three times the maximum acceleration of the system.

The utility model discloses the control of three frame in the triaxial revolving stage is mutually independent, and the control system of revolving stage can adopt the control principle shown in figure 10. An industrial personal computer is used as an upper computer to realize the monitoring, detection and management of the system. The upper computer provides a human-computer interface of an operator, realizes on-line detection, safety protection and performance detection of the whole rotary table system, motion management and data processing of the system, and completes real-time control tasks of three channels, and is realized by adopting one industrial personal computer. The control of each channel is in parallel relation, and the physical structure of each channel control loop is the same. The speed feedback is calculated by the output of a high-precision photoelectric code disc of the motor. And the control computer outputs an instruction to the driving motor according to the real-time angular posture, so that the real-time position control is realized. The three-axis three-dimensional motion simulation system mainly controls the rotary table to roll, pitch and move along a course shafting according to the instruction of the PC machine and the instruction signal in real time, and simulates the change of an attitude angle.

The user control unit is an operation object directly faced by a user, and the main body of the control unit is a computer loaded with a user motion control program. The user completes the setting of the motion parameters through the motion control program and issues commands of motion execution, stop, zero return, advanced setting and the like. Meanwhile, the motion control program feeds back information such as the motion state and the command state of the system.

The control unit realizes the functions of man-machine interaction, motion control signal generation, motion closed-loop detection and the like, generates a motion signal for controlling the actuating mechanism according to the operation instruction and completes motion closed-loop control. The control unit is also the carrier of the motion control software.

The electric servo unit receives the motion command sent by the motion control unit, generates a power signal for driving the actuating mechanism to move and applies the power signal to the actuating mechanism of the motion unit. The electric servo unit comprises three-axis independent alternating current servo motor drivers, and each servo driver realizes motion instruction execution, motion state detection and full closed-loop control of the corresponding servo motor.

The safety core content in the system is to ensure the personal safety of the participants. And safety components are arranged in the system, so that the safety of tested personnel and equipment operators is ensured. The safety assembly comprises the following parts:

1. manual emergency brake

Emergency brake buttons are respectively arranged on the operating table and the seat of the tested person, and the operating person and the tested person can press the emergency brake buttons at any time to realize direct power-off parking and braking of the rotary table system.

2. Multiple seat belt securement

The seat of the tested person is provided with a plurality of safety belts aiming at different positions of the body, the trunk, the thighs, the shanks, the upper arms and the lower arms of the tested person are sufficiently fixed, and the condition that the limbs of the tested person leave the fixed point of the seat is ensured in the working process of the rotary table. And arranging an enclosing headrest at the head position to assist in fixing the head movement and limit the swing amplitude of the head during training.

3. Sitting posture state detection of tested person

Sensors are mounted on the seat for detecting the belt fastening state and the position of each part of the body, and the system automatically starts an emergency braking program when the belt is loose or the limbs leave the preset position. A sensor is arranged in the safety belt buckle to monitor the fastening state of the safety belt at any time.

4. Safety design of platform structure

Through the reasonable design of the table body structure, the potential personal safety threat in the movement process can be reduced. In the size design process of the turntable frame, the space allowance around the seat of the tested person is fully considered; and the gap of the orthogonal axis system is enlarged, and the potential danger is avoided by using space margin.

5. Control system overload protection

The servo motor system monitors the working condition of the motor in real time, and when the machine body cannot normally run due to machine body failure or component damage, the servo system can automatically cut off the energy supply of the motor, send out alarm information and enable the system to enter a power-off protection state.

6. Motion parameter ceiling setting

The maximum rotation speed and the maximum acceleration are set in the control system, and the system is prevented from overspeed dangerous situations from a hardware level.

After the frame system is powered on, the 'zero resetting' operation is required to be carried out, the initial position of the system is determined, and after software is started, the 'zero resetting' button is pressed to automatically complete the three-axis zero resetting operation under the condition of servo power supply of the frame system. The system enters an operable state after being reset to zero, and a proper working mode and binding motion parameters are selected. The system can automatically identify the reasonability of the motion parameters, and can ensure that the motion parameters are in a system set value range, the system automatically enters a motion state (at the moment, the 'execution' button is changed into a 'pause' button) by pressing the 'execution' button, and operators are not required to participate.

During the execution process, a 'stop' or 'pause' button can be pressed at any time to terminate or pause the training, and after the termination, the current training can be continued or new training can be started. After training is finished, a stop button system is pressed to stop movement. When the 'retraction' button is pressed, the three-axis frame system automatically returns to the initial position, and the tested person can leave the training equipment.

The utility model discloses the application method of system specifically is shown in fig. 9, include:

(1) starting a main power supply;

(2) starting a control computer;

(3) judging whether the personnel are in place and configuring all safety measures, if so, turning to the step (4), and if not, returning to the step (3);

(4) starting a system power supply;

(5) resetting the frame;

(6) inputting a motion instruction;

(7) the frame moves;

(8) judging whether the training is finished, if so, turning to the step (9), and if not, returning to the step (6);

(9) the rotary table returns to the initial position;

(10) cutting off the power supply;

(11) and (6) ending.

The step (7) further comprises:

(A1) judging whether sudden stop occurs, if so, turning to the step (A2), otherwise, returning to the step (A1);

(A2) cutting off a power supply of the system;

(A3) removing the fault;

(A4) and (5) judging whether the training is finished, if so, turning to the step (9), and if not, returning to the step (5).

The step (7) further comprises:

(B1) judging whether the safety belt is loosened, if so, turning to the step (B2), otherwise, returning to the step (B1);

(B2) cutting off a power supply of the system;

(B3) fastening the safety belt;

(B4) and (5) judging whether the training is finished, if so, turning to the step (9), and if not, returning to the step (5).

The utility model provides a three frame all adopts the servo motor drive, can realize the speed control and the position control of arbitrary frame, and every frame all can independently realize accurate constant speed operation in the rotational speed limit promptly, or accurate angular positioning, and then can realize single degree of freedom, two degrees of freedom or three free compound motions, also can realize the single degree of freedom rotation of space arbitrary direction.

The above technical solution is only an implementation manner of the present invention, and for those skilled in the art, based on the principle disclosed in the present invention, various modifications or variations can be easily made, and not limited to the structure described in the above specific embodiments of the present invention, so that the foregoing description is only preferred, and not restrictive.

Claims

1. A three-axis three-dimensional motion simulation system is characterized in that: the three-axis three-dimensional motion simulation system comprises a three-axis turntable, wherein the three-axis turntable comprises a base, a rotating frame and a seat, and the rotating frame comprises an inner ring frame, a middle ring frame and an outer ring frame;

the seat is mounted on the inner ring frame.

2. The three-axis three-dimensional motion simulation system of claim 1, wherein: the central axis of the outer ring frame is vertical to the horizontal plane and is vertically intersected with the horizontal axis;

the outer ring frame is used for simulating azimuth motion, the middle ring frame is used for simulating pitching motion, and the inner ring frame is used for simulating rolling motion.

3. The three-axis three-dimensional motion simulation system of claim 2, wherein: the inner ring frame, the middle ring frame and the outer ring frame can be driven by respective speed reduction driving shafting to realize rotation action;

4. The three-axis three-dimensional motion simulation system of claim 3, wherein: the outer ring frame is of a U-shaped structure and comprises two vertical arms and a horizontal bottom connecting arm connected with the bottoms of the two vertical arms; the opening of the U-shaped structure faces upwards, and the symmetry axis of the U-shaped structure is the central axis of the outer ring frame;

the speed reduction driving shaft system of the outer ring frame comprises: the servo motor, the speed reducer, the coupling and the driving wheel; the servo motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a driving wheel through a coupler, and the driving wheel is connected with a rotating part of the rotary support bearing; the brake of the outer ring frame is arranged on a wheel shaft of a driving wheel connected with the rotating part of the rotary supporting bearing.

5. The three-axis three-dimensional motion simulation system of claim 4, wherein: the middle ring frame is of an O-shaped structure and comprises a left arm and a right arm which are parallel, and an upper arm and a lower arm which are parallel and vertical to the left arm and the right arm; the left arm, the upper arm, the right arm and the lower arm are sequentially connected and enclosed to form an O-shaped structure;

one rotating shaft of the middle ring frame is connected with a driven wheel in a speed reduction driving shaft system of the middle ring frame, and the rotating shaft is a driving shaft of the middle ring frame; the brake of the middle ring frame is arranged on the driving shaft of the middle ring frame.

6. The three-axis three-dimensional motion simulation system of claim 5, wherein: the inner ring frame is of a U-shaped structure and comprises an upper connecting arm, a lower connecting arm and a side arm which connects the upper connecting arm and the lower connecting arm in parallel;

the bottom of the seat is arranged on the lower connecting arm, and the backrest of the seat is arranged on the side arm;

one rotating shaft of the inner ring frame is connected with a driven wheel in a speed reduction driving shaft system of the inner ring frame, and the rotating shaft is a driving shaft of the inner ring frame; the brake of the inner ring frame is arranged on the driving shaft of the inner ring frame.

7. The three-axis three-dimensional motion simulation system of claim 6, wherein: the servo motor adopts an alternating current servo motor with a power-off band-type brake and an alternating current servo motor encoder; the slip ring is a slip ring special for an alternating current servo motor.

8. The three-axis three-dimensional motion simulation system according to any one of claims 1 to 7, wherein: the three-axis three-dimensional motion simulation system comprises a control cabinet, wherein the control cabinet is arranged on one side of a three-axis turntable and is connected with the three-axis turntable through a cable.

9. The three-axis three-dimensional motion simulation system of claim 8, wherein: the bottom of base is provided with the supporting foot wheel and a plurality of lower margin support of adjusting height.

10. The three-axis three-dimensional motion simulation system of claim 9, wherein: the seat comprises a surrounding seat, armrests, a safety belt, a pressure bar and an instrument box body;

the surrounding seat is integrally formed or is formed in a two-section mode;

the buckles of the safety belts are internally provided with sensors for detecting the fixing state of the safety belts;

an enclosing headrest is arranged at the position of the head of the enclosing seat corresponding to the practicer.