CN103253385B - A kind of space six degree of freedom is controlled with weightless flight device - Google Patents

Abstract

A controlled and weightless simulation device with six degrees of freedom in space relates to a controlled and weightless simulation device, in particular to a controlled and weightless simulation device with six degrees of freedom in space. The invention aims to solve the problems of large volume, easy leakage of components, high maintenance cost and difficult control of the hydraulic system of the existing simulation device. The upper surface of the base of the present invention and the lower surface of the top ring are evenly arranged with six supporting columns, the vertical movement mechanism is installed on the upper surface of the base, the upper end of the vertical movement mechanism is connected with the middle part of the lower surface of the frame body, The plane parallel mechanism is installed on the upper surface of the frame body, and the pitching and yaw motion mechanism is installed on the upper end of the plane parallel mechanism. Three connecting rods are arranged on the edge of the frame body, and the ends of each connecting rod are respectively connected to a corresponding support. The outer wall of the column is slidably connected, and the ends of the ropes on each passive gravity balance block respectively go around a pulley on a corresponding support column and connect with the edge of the frame body. The invention is used for controlled and weightless simulation of six degrees of freedom in space.

Description

A controlled and weightless simulation device with six degrees of freedom in space

technical field

The invention relates to a controlled and weightless simulation device, in particular to a controlled and weightless simulation device with six degrees of freedom in space.

Background technique

At present, there are many schemes for the controlled platform with six degrees of freedom in space and the simulation platform for weightlessness with six degrees of freedom in space. A six-degree-of-freedom controlled platform in space is composed of six actuators, six universal hinges on the upper and lower sides, and two platforms on the upper and lower sides. The lower platform is fixed on the foundation. Movement, to complete the movement of the upper platform in six degrees of freedom in space, so that various space movement postures can be simulated. Can be widely used in various training simulators, such as flight simulators, ship simulators, naval helicopter take-off and landing simulation platforms, tank simulators, car driving simulators, train driving simulators, earthquake simulators, dynamic movies, entertainment equipment, etc. It can even be used in the docking of space spacecraft and the refueling docking of air tankers. However, the hydraulic system is bulky, its components are easy to leak, and its maintenance cost is high, which limits its development and application; the working principle of another space six-degree-of-freedom weightlessness simulation platform applied to the docking test bench is to use a computer to simulate the aircraft in space at zero gravity. relative movement. The measured data of contact force and torque are input into the control computer in real time through the force sensor. Through mathematical operations, determine the relative motion of the two aircraft under different initial conditions and mass characteristics of the aircraft. According to the calculation results, the servo actuator is controlled to drive the test bench, and its relative motion is simulated with six degrees of freedom, so as to realize the simulation test of the docking process under six degrees of freedom in space under weightlessness. However, this scheme requires high system precision, fast computer operation speed and difficult control.

Contents of the invention

In order to solve the problems of the hydraulic system of the existing simulation device with large volume, easy leakage of components, high maintenance cost and difficult control, the present invention further proposes a controlled and weightless simulation device with six degrees of freedom in space.

The technical scheme adopted by the present invention to solve the above-mentioned problems is: the present invention comprises a base, a top ring, a frame body, a vertical motion mechanism, a plane parallel mechanism, a pitch and yaw motion mechanism, three passive gravity balance weights and six support columns, The base and the top ring are arranged sequentially from bottom to top. Six support columns are evenly arranged between the upper surface of the base and the lower surface of the top ring. The vertical movement mechanism is installed on the upper surface of the base. The middle part of the lower surface of the body is connected, the plane parallel mechanism is installed on the upper surface of the frame body, the pitching and yaw motion mechanism is installed on the upper end of the plane parallel mechanism, and three connecting rods are arranged on the edge of the frame body, and the ends of each connecting rod are respectively Each is slidably connected to the outer side wall of a corresponding support column, and the ends of the ropes on each passive gravity balance block respectively go around the pulleys on the corresponding support column and connect with the edge of the frame body.

The beneficial effects of the present invention are: the present invention only needs to control the coupling and disengagement of the clutch to change the controlled and weightless state, which is easy to control; the present invention adopts the passive gravity balance block, which simply realizes the gravity balance, and the dynamic response is not high. It is sufficient to meet the requirements; the invention has small space volume, compact structure and low manufacturing cost, and the load of the plane parallel mechanism can reach 3500kg-5500kg.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention, Fig. 2 is a front view of the present invention, Fig. 3 is a sectional view along A-A in Fig. 2, and Fig. 4 is a schematic structural diagram of a pitch and yaw motion mechanism.

Detailed ways

Specific Embodiment 1: This embodiment is described in conjunction with Fig. 1 and Fig. 2. A space six-degree-of-freedom controlled and weightless simulation device described in this embodiment includes a base 1, a top ring 2, a frame body 3, a vertical movement mechanism, Planar parallel mechanism, pitching and yaw motion mechanism, three passive gravity balance weights 4 and six support columns 5, the base 1 and the top ring 2 are arranged in sequence from bottom to top, the upper surface of the base 1 and the lower surface of the top ring 2 Six support columns 5 are evenly distributed, the vertical movement mechanism is installed on the upper surface of the base 1, the upper end of the vertical movement mechanism is connected with the middle part of the lower surface of the frame body 3, and the plane parallel mechanism is installed on the upper surface of the frame body 3 , the pitching and yaw motion mechanism is installed on the upper end of the plane parallel mechanism, three connecting rods 3-1 are evenly arranged on the edge of the frame body 3, and the ends of each connecting rod 3-1 are respectively connected to the outer sides of a corresponding support column 5 The walls are slidingly connected, and the ends of the ropes 4-1 on each passive gravity balance weight 4 respectively go around the pulley 5-1 on the corresponding support column 5 and connect with the edge of the frame body 3.

Specific Embodiment 2: This embodiment is described in conjunction with FIG. 1 and FIG. 2. The vertical motion mechanism of a space six-degree-of-freedom controlled and weightless simulation device described in this embodiment includes a vertical servo motor 6 and a vertical reducer 7 , a vertical motor clutch 8, a vertical brake 9 and a vertical ball screw pair 10, the vertical servo motor 6 is fixedly installed in the middle of the upper surface of the base 1, and the output shaft of the vertical servo motor 6 passes through the vertical reducer 7 and The vertical motor clutch 8 is connected, the vertical motor clutch 8 is connected with the lower end of the vertical ball screw pair 10 through the vertical brake 9, and the upper end of the vertical ball screw pair 10 is connected with the middle part of the lower surface of the frame body 3 .

The technical effect of this embodiment is: the support of six supporting columns, the rigidity of the whole system is better, the sliding connection between the frame body 3 and the supporting columns improves the rigidity of the frame body 3 and provides a stable platform for the mechanism installed on it; the gravity balance weight 4. It is used to balance the gravity of the mechanism. It has a simple structure and is easy to adjust; the vertical movement mechanism can provide the required vertical power by adjusting the mass of the weight and the speed of the motor. It is small in size, light in weight, and easy to control

Other components and connections are the same as those in the first embodiment.

Specific Embodiment 3: This embodiment is described in conjunction with FIG. 3 . The planar parallel mechanism of a space six-degree-of-freedom controlled and weightless simulation device described in this embodiment includes a ring body 11, a disc body 12, and three radial drive motors. 13. Three radial drive clutches 14 and three radial drive screw pairs 15, the ring body 11 is set on the disc body 12, and the three radial drive motors 13 are partially arranged on the lower surface of the ring body 11, The output shaft of each radial drive motor 13 is respectively connected to one end of a radial drive screw pair 15 through a radial drive clutch 14, and the other end of each radial drive screw pair 15 is connected to the disc body 12. connection to the lower surface.

The technical effect of this embodiment is that the plane parallel mechanism is used to control the yaw direction, and the structure layout is compact. In the planar parallel mechanism, there is ball support between the ring body 11 and the disc body 12, which is flexible in translation and rotation, and has a strong load-bearing capacity.

Other components and connections are the same as those in the first embodiment.

Specific Embodiment 4: This embodiment is described in conjunction with FIG. 4 . The pitching and yaw motion mechanism of a space six-degree-of-freedom controlled and weightless simulation device described in this embodiment includes a weightless simulation table 16, a connecting column 20, and two pitching drives. Motor 17, two pitch drive clutches 18 and two pitch drive screw pairs 19, the lower surface of the weightlessness simulation table 16 is connected with the upper surface of the disc body 12 through the connecting column 20, and the two pitch drive motors 17 are evenly distributed on the disc body. On the upper surface of the body 12, the output shafts of each pitch drive motor 17 are respectively connected to the lower end of a pitch drive screw pair 19 through a pitch drive clutch 18, and the upper end of each pitch drive screw pair 19 is connected to the weightless simulation The lower surface of the platform 16 is connected.

The technical effect of this embodiment is: two pitching drive mechanisms, the other two function as driven supports, thus driving the pitching motions in the two vertical planes, improving the rigidity of the mechanism, and easy to realize control.

Other compositions and connections are the same as those in Embodiment 1 or Embodiment 3.

working principle

The present invention realizes the simulation of one degree of freedom in the up and down direction through the vertical motion mechanism. When the vertical motor clutch 8 is in the engaged state, the vertical servo motor 6 drives and transmits power to the vertical ball screw pair 10 through the vertical reducer 7 . The vertical ball screw pair 10 pushes the frame body 3 to move upward, and then pushes the weightlessness simulation platform 16 to move upward; when the vertical motor clutch 8 is in the disengaged state, the three passive gravity balance blocks 4 offset the gravity of the frame body 3 itself , which is equivalent to the weightlessness of the frame body 3 in the vertical direction, that is, the weightlessness simulation platform 16 loses weight in the vertical direction.

The present invention realizes the simulation of three degrees of freedom in radial rotation and radial movement through a planar parallel mechanism. When the three radial drive clutches 14 are in the engaged state, the three radial drive motors 13 pass through the three radial drive screw screws. The pair 15 drives the disc body 12 to rotate and move, thereby causing the weightlessness simulation platform 16 to rotate and move radially; when the three radial drive clutches 14 are in a disengaged state, the weightlessness simulation platform 16 is in a floating state.

The present invention realizes the simulation of the two degrees of freedom of the pitching of the weightlessness simulation platform 16 through the pitching motion mechanism, and realizes the pitching and yaw motion of the weightlessness simulation platform 16 by controlling the engagement and separation of two pitching drive clutches 18 .

Claims (3)

1. a space six degree of freedom is controlled with weightless flight device, it comprises base (1), apical ring (2), support body (3), vertical motion mechanism, plane parallel mechanism, pitching yawing rotation mechanism, three passive gravitational equilibrium blocks (4) and six pillar stiffeners (5), base (1), apical ring (2) sets gradually from the bottom to top, six pillar stiffeners (5) are laid with between the upper surface of base (1) and the lower surface of apical ring (2), vertical motion mechanism is arranged on the upper surface of base (1), the upper end of vertical motion mechanism is connected with the middle part of support body (3) lower surface, plane parallel mechanism is arranged on the upper surface of support body (3), pitching yawing rotation mechanism is arranged on the upper end of plane parallel mechanism, support body (3) edge is laid with three pipe links (3-1), lateral wall sliding block joint that is each and corresponding pillar stiffener (5) is distinguished in the end of each pipe link (3-1), the termination of the upper rope (4-1) of each passive gravitational equilibrium block (4) walks around the edge conjunction of the pulley (5-1) on a corresponding pillar stiffener (5) and support body (3) respectively, it is characterized in that: described vertical motion mechanism comprises vertical servomotor (6), vertical retarder (7), vertical electric motor clutch (8), vertical drg (9) and vertical ball screw assembly, (10), vertical servomotor (6) is fixedly mounted on the middle part of base (1) upper surface, the output shaft of vertical servomotor (6) is connected with vertical electric motor clutch (8) by vertical retarder (7), vertical electric motor clutch (8) is connected by the lower end of vertical drg (9) with vertical ball screw assembly, (10), the upper end of vertical ball screw assembly, (10) is connected with the middle part of support body (3) lower surface.

2. a kind of space six degree of freedom is controlled with weightless flight device according to claim 1, it is characterized in that: described plane parallel mechanism comprises torus (11), disk body (12), three radial drive motors (13), three radial drive power-transfer clutchs (14) and three radial drive lead screw pair (15), torus (11) is sleeved on disk body (12), three radial drive motor (13) local are arranged on the lower surface of torus (11), the output shaft of each radial drive motor (13) is respectively connected with one end of a radial drive lead screw pair (15) by a radial drive power-transfer clutch (14) respectively, the other end of each radial drive lead screw pair (15) is all connected with the lower surface of disk body (12).

3. a kind of space six degree of freedom is controlled with weightless flight device according to claim 1, it is characterized in that: described pitching yawing rotation mechanism comprises weightless flight platform (16), joint pin (20), two pitching drive motor (17), two pitching driving clutchs (18) and two pitching drive lead screw pair (19), the lower surface of weightless flight platform (16) is connected with the upper surface of disk body (12) by joint pin (20), on two uniform upper surfaces being arranged on disk body (12) of pitching drive motor (17), the output shaft of each pitching drive motor (17) respectively drives the lower end of lead screw pair (19) to be connected by a pitching driving clutch (18) with a pitching respectively, each pitching drives the upper end of lead screw pair (19) to be all connected with the lower surface of weightless flight platform (16).