CN216211644U - Two-rotation two-movement four-freedom-degree motion simulator - Google Patents
Two-rotation two-movement four-freedom-degree motion simulator Download PDFInfo
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- CN216211644U CN216211644U CN202122497326.8U CN202122497326U CN216211644U CN 216211644 U CN216211644 U CN 216211644U CN 202122497326 U CN202122497326 U CN 202122497326U CN 216211644 U CN216211644 U CN 216211644U
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Abstract
The present invention relates to the field of motion simulators. The motion simulator can realize the four-freedom-degree motion of two-rotation two-movement and has the advantages of high rigidity, large rated load, high rotation capacity, high reliability and low cost. The technical scheme is as follows: a two-rotation two-movement four-freedom motion simulator is characterized in that: comprises a base, a hinged platform and four branched kinematic chains arranged between the base and the hinged platform in parallel; the four branched kinematic chains have the same structure, and each branched kinematic chain comprises a first revolute pair, a revolute pair formed by a first rod piece and a second revolute pair which are sequentially connected between the base and the hinged platform; the articulated platform comprises a third rod piece, a third revolute pair, a movable platform for fixing the seat, a fourth revolute pair, a fourth rod piece, a fifth revolute pair and a fifth rod piece which are sequentially connected.
Description
Technical Field
The utility model relates to the field of motion simulators, in particular to a two-rotation two-movement four-degree-of-freedom motion simulator.
Background
The motion simulator is a simulation test device for researching the dynamic performance and reliability of airplanes, ships, astronavigation, vehicle-mounted equipment and the like, and is also a powerful means for carrying out flight simulation training, ship navigation simulation training and vehicle driving simulation training on corresponding pilots, crews and vehicle drivers. With the deep research at home and abroad, the application range of the motion simulator is continuously expanded, and the motion simulator has wide application in the fields of automobile manufacturing, aerospace, ships, robots, industry and civil entertainment.
The three-degree-of-freedom motion simulator has a simple structure, but has limited motion modes, so that the virtual reality sense of the motion simulator is greatly reduced; the six-degree-of-freedom motion simulator with higher experience and reliability has the defects of high price, small working space, large occupied space, difficult control and calculation and the like; in contrast, the four-degree-of-freedom motion simulator has the advantages of small motion limitation, small control difficulty and low cost. The existing four-degree-of-freedom motion simulator has poor rotation capability, is difficult to simulate certain motion conditions with large rotation, and needs to be improved.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the background technology and provide a two-rotation two-movement four-freedom-degree motion simulator, which can realize the two-rotation two-movement four-freedom-degree motion and has the advantages of high rigidity, large rated load, large rotation capacity, high reliability and low cost.
The technical scheme provided by the utility model is as follows:
a two-rotation two-movement four-freedom motion simulator is characterized in that: comprises a base, a hinged platform and four branched kinematic chains arranged between the base and the hinged platform in parallel;
the four branched kinematic chains have the same structure, and each branched kinematic chain comprises a first revolute pair, a revolute pair formed by a first rod piece and a second revolute pair which are sequentially connected between the base and the hinged platform;
the articulated platform comprises a third rod piece, a third revolute pair, a movable platform for fixing the seat, a fourth revolute pair, a fourth rod piece, a fifth revolute pair and a fifth rod piece which are connected in sequence; the third rod piece is connected with the second rotating pair in two adjacent branch kinematic chains; and the fifth rod piece is connected with the second rotating pairs in the remaining two branch kinematic chains.
In the four branched kinematic chains, the axes of all the first revolute pairs and the axes of all the second revolute pairs are all parallel to each other.
In each branched kinematic chain, the axis of the moving pair is perpendicular to the axes of the first rotating pair and the second rotating pair, and the axis of the moving pair is parallel to the axes of the first rod piece and the second rod piece.
The axes of the third revolute pair, the fourth revolute pair and the fifth revolute pair are parallel to each other and perpendicular to the axes of the first revolute pair and the second revolute pair.
In each branch kinematic chain, the first connecting rod and the second connecting rod are driven to move relatively by a hydraulic system.
The utility model has the beneficial effects that:
1) the two-rotation two-movement four-freedom-degree motion simulator provided by the utility model drives the first connecting rod and the second connecting rod in each branch motion chain to move relatively through the hydraulic system, so that the posture of the movable platform is changed, the posture of the seat is changed, the whole motion simulator can do ascending/descending motion, advancing/retreating motion, pitching motion, rolling motion or four superimposed mixed motions, the two-rotation two-movement four-freedom-degree motion is realized, and the rotation capacity of the motion simulator is improved.
2) The utility model adopts a hydraulic mode to drive the four branch kinematic chains, improves the rigidity and the bearing load of the simulator, has simple integral structure, low cost and high reliability, and is suitable for popularization and application.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of a single branched kinematic chain.
Fig. 3 is a perspective view of the articulated platform.
Reference numerals;
1. a first rotating pair; 2. a first bar member; 3. a second bar member; 4. a second revolute pair; 5. a third bar member; 6. a third revolute pair; 7. a movable platform; 8. a fourth revolute pair; 9. a fourth bar member; 10. a fifth revolute pair; 11. a fifth bar member; A. a base; B. a chair.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
The two-rotation two-movement four-degree-of-freedom motion simulator shown in fig. 1 comprises a base A, four branched motion chains, an articulated platform and a seat B. The four branched kinematic chains are arranged in parallel, one ends of the four branched kinematic chains are connected to the base, and the other ends of the four branched kinematic chains are connected with the hinged platform; the seat is fixed on the hinged platform.
As shown in fig. 1 and 2, the four branched kinematic chains have the same structure, and each branched kinematic chain includes a first revolute pair 1, a first rod 2, a second rod 3 and a second revolute pair 4 sequentially connected between the base and the articulated platform; the first rod piece and the second rod piece form a sliding pair (as can be seen from the figure, the first rod piece is a sliding sleeve, and the second rod piece is a sliding rod in sliding fit with the first rod piece). In the four branched kinematic chains, the axes of the first revolute pairs are parallel to each other, the axes of the second revolute pairs are parallel to each other, and the axes of the first revolute pairs and the axes of the second revolute pairs are also parallel to each other. In each branched kinematic chain, the axes of the sliding pairs are perpendicular to the axes of the first rotating pair and the second rotating pair and parallel to the axes of the first rod piece and the second rod piece. When the device works, the moving pair in each branch motion chain is used as an active motion pair to drive the whole motion simulator to carry out posture adjustment; preferably, the first link and the second link are driven by a hydraulic system (not shown in the figures) to move relatively, so as to improve the rigidity and load bearing capacity of the motion simulator.
As shown in fig. 1 and 3, the articulated platform includes a third rod 5, a third revolute pair 6, a moving platform 7 to which the seat is fixed, a fourth revolute pair 8, a fourth rod 9, a fifth revolute pair 10 and a fifth rod 11, which are connected in sequence; the third rod piece is connected with the second rotating pair in two adjacent branch kinematic chains; and the fifth rod piece is connected with the second rotating pairs in the remaining two branch kinematic chains. The axes of the third revolute pair, the fourth revolute pair and the fifth revolute pair are parallel to each other and perpendicular to the axes of the first revolute pair and the second revolute pair.
The working mode of the utility model is as follows:
when the device works, the hydraulic system drives the first rod piece and the second rod piece in the corresponding branch motion chain to move relatively, so that the posture of the movable platform is changed, the posture of the seat is further changed, the whole motion simulator can do ascending/descending motion, advancing/retreating motion, pitching motion, rolling motion or four kinds of superimposed mixed motion, and the four-degree-of-freedom motion of two-rotation and two-movement is realized.
Claims (5)
1. A two-rotation two-movement four-freedom motion simulator is characterized in that: comprises a base (A), a hinged platform and four branched kinematic chains arranged between the base and the hinged platform in parallel;
the four branched kinematic chains have the same structure, and each branched kinematic chain comprises a first revolute pair (1), a moving pair formed by a first rod piece (2) and a second rod piece (3) and a second revolute pair (4) which are sequentially connected between the base and the hinged platform;
the articulated platform comprises a third rod piece (5), a third revolute pair (6), a movable platform (7) for fixing a seat (B), a fourth revolute pair (8), a fourth rod piece (9), a fifth revolute pair (10) and a fifth rod piece (11) which are sequentially connected; the third rod piece is connected with the second rotating pair in two adjacent branch kinematic chains; and the fifth rod piece is connected with the second rotating pairs in the remaining two branch kinematic chains.
2. The two-turn two-move four-degree-of-freedom motion simulator of claim 1, wherein: in the four branched kinematic chains, the axes of all the first revolute pairs and the axes of all the second revolute pairs are all parallel to each other.
3. The two-turn two-move four-degree-of-freedom motion simulator of claim 2, wherein: in each branched kinematic chain, the axis of the moving pair is perpendicular to the axes of the first rotating pair and the second rotating pair, and the axis of the moving pair is parallel to the axes of the first rod piece and the second rod piece.
4. A two-turn two-move four-degree-of-freedom motion simulator as defined in claim 3, wherein: the axes of the third revolute pair, the fourth revolute pair and the fifth revolute pair are parallel to each other and perpendicular to the axes of the first revolute pair and the second revolute pair.
5. The two-turn two-move four-degree-of-freedom motion simulator of claim 4, wherein: in each branch kinematic chain, the first connecting rod and the second connecting rod are driven to move relatively by a hydraulic system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122497326.8U CN216211644U (en) | 2021-10-18 | 2021-10-18 | Two-rotation two-movement four-freedom-degree motion simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122497326.8U CN216211644U (en) | 2021-10-18 | 2021-10-18 | Two-rotation two-movement four-freedom-degree motion simulator |
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| CN216211644U true CN216211644U (en) | 2022-04-05 |
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| CN202122497326.8U Active CN216211644U (en) | 2021-10-18 | 2021-10-18 | Two-rotation two-movement four-freedom-degree motion simulator |
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2021
- 2021-10-18 CN CN202122497326.8U patent/CN216211644U/en active Active
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