CN107380488B - Nine degrees of freedom motion simulation system - Google Patents

Abstract

The invention provides a nine-degree-of-freedom motion simulation system, including a horizontal linear movement mechanism, a vertical linear movement mechanism, a longitudinal linear movement mechanism, a horizontal movement platform mechanism, a vertical movement platform mechanism, and a longitudinal movement platform mechanism. The linear moving mechanism is orthogonal, the horizontal moving platform mechanism moves linearly on the horizontal linear moving mechanism, the vertical moving platform mechanism moves linearly on the vertical linear moving mechanism, the vertical moving platform mechanism moves linearly on the longitudinal linear moving mechanism, and the vertical linear The moving mechanism is set on the horizontal moving platform mechanism, the tracking platform system is arranged on the vertical moving platform mechanism, and the target platform system is arranged on the vertical moving platform mechanism. The invention enables the system to achieve higher comprehensive pose accuracy; under the condition of satisfying the same nine-degree-of-freedom motion simulation system function, the manufacturing scale of system components is reduced, the manufacturing difficulty is reduced, and the feasibility and economy are improved.

Description

Nine degrees of freedom motion simulation system

technical field

The invention belongs to the technical field of aerospace motion simulation, and in particular relates to a nine-degree-of-freedom motion simulation system for semi-physical simulation tests of intersection and docking.

Background technique

The nine-degree-of-freedom motion simulation system is generally used to simulate the relative motion between two aircraft or spacecraft, verify the correctness and efficiency of the navigation guidance control algorithm, and calibrate the measurement accuracy of related sensors.

At present, the nine degrees of freedom in the aerospace field is the "6+3" degree of freedom distribution form, that is, one of the simulators only has the motion capability of three degrees of freedom in three-axis attitude, and the other simulator has three-axis attitude and three-axis Motion capability in six degrees of freedom in a straight line. This way of matching degrees of freedom tends to express more logically the simulation of the relative degrees of freedom of two bodies. However, when too many degrees of freedom are stacked on a simulator, more error terms will be introduced, making it difficult to achieve high relative pose accuracy.

Contents of the invention

In view of this, the present invention aims to propose a nine-degree-of-freedom motion simulation system to solve the problem of low precision of the existing nine-degree-of-freedom system. Manufacturing difficulty improves the feasibility and economy of the system.

In order to achieve the above object, technical solution of the present invention is achieved in that way:

A nine-degree-of-freedom motion simulation system, including a horizontal linear movement mechanism, a vertical linear movement mechanism, a longitudinal linear movement mechanism, a horizontal movement platform mechanism, a vertical movement platform mechanism, and a longitudinal movement platform mechanism. The linear movement mechanism in three directions is Cross, the horizontal moving platform mechanism moves linearly on the horizontal linear moving mechanism, the vertical moving platform mechanism moves linearly on the vertical linear moving mechanism, the vertical moving platform mechanism moves linearly on the longitudinal linear moving mechanism, and the vertical linear moving mechanism is set at On the horizontal mobile platform mechanism, there is a tracking platform system on the vertical mobile platform mechanism; on the vertical mobile platform mechanism, there is a target platform system;

Further, the tracking platform system includes a tracking platform base mechanism arranged on the vertical mobile platform mechanism. The tracking platform base mechanism is provided with a tracking platform outer ring frame that can rotate freely. The ring frame of the tracking platform is free to rotate, and the rotation axis of the ring frame of the tracking platform is perpendicular to the rotation axis of the outer ring frame of the tracking platform. The rotation axis of the inner ring, the rotation axis of the outer ring frame of the tracking platform, and the rotation axis of the middle ring frame of the tracking platform are vertical to each other in space;

Further, the target platform system includes a target platform heightening mechanism arranged on the longitudinal mobile platform mechanism, a target platform base mechanism arranged thereon, and a freely rotating target platform outer ring frame arranged on the target platform base mechanism. The target platform outer ring frame is provided with a target platform middle ring frame which can rotate freely, and a target platform load system is arranged on the target platform inner ring axis of the target platform middle ring frame;

The tracking platform part has rotational degrees of freedom in three directions, the linear movement system has translational degrees of freedom in three directions, and the target platform part has rotational degrees of freedom in three directions, that is, the entire system of the tracking platform has three rotational degrees of freedom and Two degrees of freedom in translation, three degrees of freedom in rotation and one degree of freedom in translation on the entire system of the target platform, the above is the so-called "5+4" free distribution method;

Further, the transverse linear movement mechanism includes a transverse guide rail assembly, the transverse guide rail assembly includes a transverse structure platform, a transverse screw support and a transverse lead screw, and the transverse movement platform mechanism includes a transverse lead screw nut, a transverse drive motor and a transverse movement platform; the transverse structure The platform is fixed on the foundation, the horizontal screw support is fixed on the horizontal structure platform, the horizontal screw is installed on the horizontal screw support, the horizontal driving motor is installed on the horizontal moving platform, and the horizontal screw nut is installed on the horizontal driving motor On, the horizontal screw nut cooperates with the horizontal screw to form a thread pair;

Further, it also includes a transverse slider and a transverse guide rail, the transverse guide rail is installed on the transverse structure platform, the transverse slider is installed on the transverse guide rail and can move linearly along the direction of the guide rail, and the transverse slider is fixedly installed on the transverse mobile platform;

Further, the vertical linear movement mechanism includes a vertical guide rail assembly, and the vertical guide rail assembly includes a vertical structure platform, a vertical drive motor, a drive pulley, a synchronous belt, a follower pulley, a bearing, a bearing support and a vertical wire The vertical moving platform mechanism includes a vertical moving platform and a vertical screw nut; the vertical structure platform is fixedly installed on the horizontal moving platform, and moves in the horizontal direction with the horizontal moving platform, and the vertical driving motor and the bearing support are fixed On the vertical structure platform; the driving pulley is fixed on the rotating shaft of the vertical driving motor, the follower pulley is fixed on the top of the vertical screw, the drive pulley and the follower pulley are connected by a synchronous belt, and the vertical wire The two ends of the rod are set in the bearing support through bearings, and the vertical screw nut is fixed on the vertical mobile platform, which is used to install the tracking system mechanism;

Further, it also includes a vertical guide rail and a vertical slider; the vertical guide rail is fixed on the vertical structure platform, the vertical slider is fixed on the vertical mobile platform, and the vertical slider is installed on the vertical guide rail, which can be moved along the Straight line movement in the direction of the vertical guide rail;

Further, the longitudinal linear movement mechanism includes a longitudinal structure platform, racks and longitudinal guide rails; the longitudinal movement platform mechanism includes a longitudinal movement platform, a reducer, a longitudinal drive motor, gears and a longitudinal slider; the longitudinal structure platform is fixed on the foundation, and can be The pouring method is fixed on the foundation, the rack and longitudinal guide rail are installed on the longitudinal structure platform, the reducer and the longitudinal slider are installed on the longitudinal moving platform, the longitudinal drive motor is installed at the input end of the reducer, and the gear is installed at the output end of the reducer. The longitudinal slider is installed on the guide rail and can move linearly along the direction of the longitudinal guide rail; when the longitudinal drive motor is energized and rotates, the motion is transmitted to the gear through the reducer, and the gear and the rack form a gear pair to push the longitudinal moving platform, the longitudinal slider, The reducer and the longitudinal drive motor move along the direction of the longitudinal guide rail;

Further, the tracking platform system includes a tracking turntable, and the tracking turntable includes a tracking platform base, a tracking platform outer ring motor, a tracking platform outer ring frame, a tracking platform outer ring bearing, a tracking platform middle ring motor, and a tracking system The middle ring shaft, the tracking platform middle ring bearing, the tracking platform middle ring frame, the tracking platform inner ring motor, the tracking platform inner ring bearing, the tracking platform inner ring shaft and the tracking platform load plate; the tracking platform base is fixed On the vertical mobile platform, it moves vertically together with the vertical mobile platform. The outer ring motor of the tracking platform and the outer ring bearing of the tracking platform are installed on the base of the tracking platform, and the outer ring frame of the tracking platform is set on the tracking platform. The rotor of the outer ring motor of the tracking system is located on the inner ring of the outer ring bearing of the tracking system. When the outer ring motor of the tracking system is energized and rotates, the frame of the outer ring of the tracking system is driven to rotate under the constraint of the outer ring bearing of the tracking system; The tracking platform central ring motor and the tracking platform central ring bearing are arranged on the tracking platform outer ring frame, the tracking platform central ring shaft is fixed on the rotor of the tracking platform central ring motor, and is located in the tracking platform central ring bearing inner ring The central ring frame of the tracking system is set on the central ring shaft of the tracking system. When the motor of the central ring of the tracking system is energized and rotates, the central ring shaft of the tracking system and the frame of the central ring of the tracking system are driven to rotate under the constraint of the bearing of the central ring of the tracking system; The inner ring motor and the inner ring bearing of the tracking system are set on the frame of the middle ring of the tracking system. The load plate of the track system is fixedly connected to the shaft of the inner ring of the track system. When the motor of the inner ring of the track system is energized and rotates, the shaft of the inner ring of the track system and the load plate of the track system are driven to rotate under the constraint of the bearing of the inner ring of the track system;

Further, the target platform system includes a target turntable, and the target turntable includes a target platform system base body, a target platform system outer ring motor, a target platform system outer ring frame body, a target platform system outer ring bearing, a target platform system middle ring motor, and a target platform system The middle ring shaft, the target platform middle ring bearing, the target platform middle ring frame, the target platform inner ring motor, the target platform inner ring bearing, the target platform inner ring shaft and the target platform load plate; the target platform seat is set on In the height-increasing structure, the base of the target platform and the height-increasing structure move together with the longitudinal mobile platform, the outer ring motor of the target platform and the bearing of the outer ring of the target platform are set on the base of the target platform, and the outer ring frame of the target platform is set on the The rotor of the target station outer ring motor is located on the inner ring of the target station outer ring bearing. When the target station outer ring motor is energized and rotates, the target station outer ring frame is driven to rotate under the constraint of the target station outer ring bearing; The motor of the target station’s central ring and the bearing of the target station’s central ring are installed on the frame of the outer ring of the target station. The frame is fixedly connected with the center ring shaft of the target station system. When the motor of the center ring of the target station system is energized and rotates, the center ring shaft of the target station system and the frame body of the center ring of the target station system are driven to rotate under the constraint of the center ring bearing of the target station system; the inner ring motor of the target station system and the bearing of the inner ring of the target system are installed on the frame of the middle ring of the target system, the shaft of the inner ring of the target system is set on the rotor of the motor rotor of the inner ring of the target system and is located in the inner ring of the bearing of the inner ring of the target system, the load plate of the target system is connected with the The shaft of the inner ring of the target system is fixedly connected. When the motor of the inner ring of the target system is energized and rotates, the shaft of the inner ring of the target system and the load plate of the target system are driven to rotate under the constraint of the bearing of the inner ring of the target system;

Compared with the prior art, the nine-degree-of-freedom motion simulation system of the present invention has the following advantages:

The present invention adopts a new form of freedom degree allocation scheme, which improves the system accuracy from the theoretical basis of error transmission, that is, the adopted "5+4" degree of freedom allocation form, compared with the existing "6+3" and other combinations The formed nine-degree-of-freedom structure is more scientific and reasonable, and the error is comprehensively matched through reasonable degree-of-freedom matching, so that the system can achieve higher comprehensive pose accuracy;

Under the condition of satisfying the function of the same nine-degree-of-freedom motion simulation system, the manufacturing scale of system components is reduced, the manufacturing difficulty is reduced, and the feasibility and economy are improved;

The overall structure of the invention is light in weight, can obtain higher motion speed and dynamic response ability, and greatly improves the simulation ability of the system.

Description of drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a schematic diagram of the mechanism motion of the nine-degree-of-freedom motion simulation system of the present invention;

Fig. 2 is a composition diagram of a nine-degree-of-freedom motion simulation system according to an embodiment of the present invention;

Fig. 3 is a cross-sectional view of the lateral linear movement mechanism described in the embodiment of the present invention;

Fig. 4 is a cross-sectional view of the vertical linear movement mechanism described in the embodiment of the present invention;

Fig. 5 is a cross-sectional view of the longitudinal linear movement mechanism described in the embodiment of the present invention;

Fig. 6 is a side sectional view of the tracking turntable according to the embodiment of the present invention;

Fig. 7 is a top sectional view of the tracking turntable according to the embodiment of the present invention;

Fig. 8 is a side sectional view of the target turntable according to the embodiment of the present invention;

Fig. 9 is a top sectional view of the target turntable according to the embodiment of the present invention;

Explanation of reference signs:

101-horizontal linear movement mechanism; 102-vertical linear movement mechanism; 103-longitudinal linear movement mechanism; 104-horizontal movement platform mechanism; 105-vertical movement platform mechanism; 106-longitudinal movement platform mechanism; 107-tracking platform base Mechanism; 108-tracking platform outer ring frame; 109-tracking platform central ring frame; 110-tracking platform inner ring shaft; 111-tracking platform load mechanism; 112-target platform heightening mechanism; 113-target platform base mechanism; 114-target 115-target platform middle ring frame; 116-target platform inner ring shaft; 117-target platform load system; 21-horizontal guide rail assembly; 22-vertical guide rail assembly; 23-longitudinal guide rail assembly; 24-tracking turntable ;25-heightening structure; 26-target turntable; 2101-horizontal structure platform; 2102-horizontal screw support; 2103-horizontal screw; 2104-horizontal screw nut; 2107-horizontal slider; 2108-horizontal guide rail; 2201-vertical structure platform; 2202-vertical drive motor; 2203-drive pulley; 2204-synchronous belt; Support; 2208-vertical guide rail; 2209-vertical slider; 2210-vertical mobile platform; 2211-vertical screw nut; 2212-vertical screw; 2301-longitudinal structure platform; 2302-rack; 2303 -Longitudinal mobile platform; 2304-reducer; 2305-longitudinal drive motor; 2306-gear; 2307-longitudinal guide rail; 2308-longitudinal slider; 2404-tracking the outer ring bearing of the platform; 2405-tracking the central ring motor of the platform; 2406-tracking the central ring shaft of the platform; 2407-tracking the central ring bearing of the platform; 2408-tracking the central ring frame of the platform; 2409-tracking platform inner ring motor; 2410-tracking platform inner ring bearing; 2411-tracking platform inner ring shaft; 2412-tracking platform load plate; 2601-target platform seat; 2602-target outer ring motor ;2603-The outer ring frame of the target platform; 2604-The outer ring bearing of the target platform; 2603-The outer ring frame of the target platform; 2605-The middle ring motor of the target platform; 2608-The target platform is the middle ring frame; 2609-The target platform is the inner ring motor; 2610-The target platform is the inner ring bearing; 2611-The target platform is the inner ring shaft; 2612-The target platform is the load plate.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention based on specific situations.

The present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in Figure 1, a nine-degree-of-freedom motion simulation system includes a horizontal linear movement mechanism 101, a vertical linear movement mechanism 102, a longitudinal linear movement mechanism 103, a horizontal movement platform mechanism 104, a vertical movement platform mechanism 105, and a longitudinal movement mechanism. Platform mechanism 106, the linear movement systems in three directions are perpendicular to each other, the horizontal movement platform mechanism 104 moves linearly on the horizontal linear movement mechanism 101, the vertical movement platform mechanism 105 moves linearly on the vertical linear movement mechanism 102, and the longitudinal movement platform mechanism 106 moves linearly on the vertical linear movement mechanism 103, and the vertical linear movement mechanism 103 is arranged on the horizontal movement platform mechanism 104, and the tracking platform base mechanism 107 is provided on the vertical movement platform mechanism 105, and the tracking platform base mechanism 107 The outer ring frame 108 of the tracking platform that can rotate freely is provided with the outer ring frame 109 of the tracking platform that can rotate freely on the outer ring frame 108 of the tracking platform, and the rotation axis of the ring frame 109 in the tracking platform is perpendicular to the outer ring frame 108 of the tracking platform Rotary axis, on the ring frame 109 in the tracking platform, be provided with the tracking platform loading mechanism 111 that can rotate freely, the tracking platform inner ring rotating shaft 110 of the tracking platform loading mechanism 111 and the rotating shaft of the tracking platform outer ring frame 108, the ring frame 109 in the tracking platform The axis of rotation is perpendicular to each other in space; on the longitudinal mobile platform mechanism 106, be provided with target platform heightening mechanism 112 and be arranged on the target platform base mechanism 113 and be arranged on the freely rotating target on the target platform base mechanism 113 The platform outer ring frame 114 is provided with a target platform middle ring frame 115 that can rotate freely on the target platform outer ring frame 114, and is provided with a target platform load system 117 on the target platform inner ring axis 116 of the target platform middle ring frame 115; The part has rotational degrees of freedom in three directions, the linear movement system has translational degrees of freedom in three directions, and the target platform part has rotational degrees of freedom in three directions, that is, the entire system of the tracking platform has three rotational degrees of freedom and two degrees of freedom. Translational degrees of freedom, there are three rotational degrees of freedom and one translational degree of freedom on the entire system of the target platform, the above is the so-called "5+4" free distribution method;

Detailed and specific distribution of degrees of freedom: the horizontal linear movement mechanism 101 and the longitudinal linear movement mechanism 103 are pre-embedded on the foundation, the two linear movement systems are on the horizontal plane, and the two linear movement systems are orthogonal;

Wherein, there is a horizontal moving platform mechanism 104 on the horizontal linear moving mechanism 101, which can move horizontally along the direction of the horizontal linear guide rail 101, and has a degree of freedom of linear movement;

Wherein, the vertical linear movement mechanism 102 is installed on the transverse movement platform mechanism 104, and moves together with the transverse movement platform, and the vertical linear movement mechanism 102 is orthogonal to the transverse linear movement mechanism 101 and the longitudinal linear movement mechanism 103 at the same time;

Wherein, there is a vertical moving platform mechanism 105 on the vertical linear moving mechanism 102, which can move vertically along the direction of the vertical linear guide rail 102, and has a degree of freedom of linear motion;

Wherein, the tracking platform base mechanism 107 is installed on the vertical mobile platform mechanism 105, and moves with the vertical mobile platform mechanism 105;

Among them, the tracking platform base mechanism 107 has a tracking platform outer ring frame 108, which can perform yaw rotation along the vertical axis relative to the tracking platform base mechanism 107, and has a degree of freedom of rotation;

Wherein, the outer ring frame 108 of the tracking platform has a central ring frame 109 on the tracking platform, which can be pitched and rotated along the horizontal axis relative to the outer ring frame 108 of the tracking platform, and has a degree of freedom of rotation;

Wherein, there is a tracking platform inner ring shaft 110 on the tracking platform ring frame 109, which can roll and rotate along the horizontal axis relative to the tracking platform ring frame 109, and has a degree of freedom of rotation;

Wherein, the tracking table load plate 111 is fixed on the inner ring shaft 110 of the tracking table, and moves together with the inner ring shaft of the tracking table;

There is a longitudinal moving platform mechanism 106 on the longitudinal linear movement mechanism 103, which can move horizontally along the direction of the longitudinal linear movement mechanism 103, and has a degree of freedom of linear movement;

Wherein, the heightening structure 112 of the target platform is fixed on the longitudinally movable platform, and moves together with the longitudinally movable platform mechanism 106;

Wherein, the target platform base 113 is fixed on the target platform heightening structure 112 and moves together with the target platform heightening structure 112 .

Wherein, there is a target platform outer ring frame 114 on the target platform base 113, which can carry out yaw rotation along the vertical axis relative to the target platform base 113, and has a degree of freedom of rotation;

Wherein, the target platform outer ring frame 114 has a target platform middle ring frame 115, which can pitch and rotate relative to the target platform outer ring frame 114 along the horizontal axis, and has a degree of freedom of rotation;

Wherein, there is an inner ring shaft 116 of the target platform on the ring frame 115 of the target platform, which can roll and rotate along the horizontal axis relative to the ring frame 115 of the target platform, and has a degree of freedom of rotation;

Wherein, the target stage load plate 117 is fixed on the inner ring shaft 116 of the target stage, and moves together with the inner ring shaft 116 of the target stage;

Shown in conjunction with Fig. 2, the specific structure of each part in the nine-degree-of-freedom motion simulation system applied by the present invention includes a transverse guide rail assembly 21, a vertical guide rail assembly 22, a longitudinal guide rail assembly 23, a tracking turntable 24, a heightening structure 25 and a target The turntable 26 and the horizontal guide rail assembly 21 are one of the specific manifestations of the horizontal linear movement mechanism 101, the vertical guide rail assembly 22 is one of the specific manifestations of the vertical linear movement mechanism 102, and the longitudinal guide rail assembly 23 is the vertical linear movement One of the specific manifestations of the mechanism 103, the tracking turntable 24 is the performance of the integrated mechanism of the tracking platform base mechanism 107, the tracking platform outer ring frame 108, the tracking platform central ring frame 109, the tracking platform inner ring rotating shaft 110 and the tracking platform load mechanism 111 One of the forms, the heightening structure 25 and the target platform 26 are the target platform heightening mechanism 112, the target platform base mechanism 113, the target platform outer ring frame 114, the target platform middle ring frame 115, the target platform inner ring shaft 116 and the target platform load system 117 One of the manifestations of integrated institutions;

Shown in conjunction with Fig. 3, transverse rail assembly 21 comprises transverse structure platform 2101, transverse lead screw support 2102, transverse lead screw 2103, transverse lead screw nut 2104, transverse drive motor 2105, transverse movement platform 2106, transverse slide block 2107 and transverse The guide rail 2108, the horizontal structure platform 2101 is fixed on the foundation, the horizontal structure platform can be fixed with the foundation by casting, the horizontal screw support 2102 is fixed on the horizontal structure platform 2101, and the horizontal screw 2103 is installed on the horizontal screw support 2102 , the transverse guide rail 2108 is installed on the transverse structure platform 2101, the transverse slider 2107 is installed on the transverse guide rail 2108 and can move linearly along the direction of the guide rail, the transverse slider 2107 is fixedly installed on the transverse moving platform 2106, and the transverse drive motor 2105 is installed on the transverse On the mobile platform 2106, the horizontal lead screw nut 2104 is installed on the horizontal drive motor 2105 and rotates with the motor rotor. At the same time, the horizontal lead screw nut 2104 cooperates with the horizontal lead screw 2103 to form a thread pair; The lead screw nut 2104 rotates thereupon, pushing the lateral moving platform 2106 and the lateral slider 2107 to move along the direction of the lateral guide rail 2108;

4, the vertical rail assembly 22 includes a vertical structure platform 2201, a vertical drive motor 2202, a driving pulley 2203, a synchronous belt 2204, a follower pulley 2205, a bearing 2206, a bearing support 2207, and a vertical rail 2208, vertical slide block 2209, vertical mobile platform 2210, vertical lead screw nut 2211 and vertical lead screw 2212; the vertical structure platform 2201 is fixedly installed on the horizontal mobile platform 2106, and moves laterally with the horizontal mobile platform 2106 , the vertical drive motor 2202, the bearing support 2207, and the vertical guide rail 2208 are all fixed on the vertical structure platform 2201; To the top of the lead screw 2212, the drive pulley 2203 and the follower pulley 2205 are connected through the timing belt 2204, the two ends of the vertical lead screw 2212 are arranged in the bearing support 2207 through the bearing 2206, the vertical slider 2209, the vertical wire The bar nut 2211 is fixed on the vertical mobile platform 2210, the vertical slider 2209 is installed on the vertical guide rail 2208, and can move linearly along the direction of the vertical guide rail, and the vertical mobile platform 2210 is used for installing the tracking system mechanism; the vertical drive When the motor 2202 is energized and rotates, the motion is transmitted to the vertical lead screw 2212 through the driving pulley 2203, the synchronous belt 2204 and the follower pulley 2205, and the vertical lead screw 2212 rotates under the constraints of the bearing 2206. Since the vertical lead screw 2212 and the The vertical lead screw nut 2211 forms a thread pair, and the vertical lead screw 2212 rotates to push the vertical mobile platform 2210, the vertical lead screw nut 2211 and the vertical slider 2209 to move along the direction of the vertical guide rail 2208;

5, the longitudinal linear movement mechanism 103 includes a longitudinal structure platform 2301, a rack 2302, a longitudinal movement platform 2303, a speed reducer 2304, a longitudinal drive motor 2305, a gear 2306, a longitudinal guide rail 2307 and a longitudinal slide block 2308; 2301 is fixed on the foundation, and can be fixed on the foundation by casting. The rack 2302 and the longitudinal guide rail 2307 are installed on the longitudinal structure platform 2301. The reducer 2304 and the longitudinal slider 2308 are installed on the longitudinal moving platform 2303. Installed at the input end of the reducer 2304, the gear 2306 is installed at the output end of the reducer 2304, the longitudinal slider 2308 is installed on the guide rail 2307, and can move linearly along the direction of the longitudinal guide rail; Transmission to the gear 2306, the gear 2306 and the rack 2302 form a gear pair to push the longitudinal moving platform 2303, the longitudinal slider 2308, the reducer 2304 and the longitudinal driving motor 2305 to move along the direction of the longitudinal guide rail 2302;

As shown in Figure 6 and Figure 7, the tracking turntable 24 includes a tracking platform base 2401, a tracking platform outer ring motor 2402, a tracking platform outer ring frame body 2403, a tracking platform outer ring bearing 2404, and a tracking platform middle ring motor 2405, tracking platform central ring shaft 2406, tracking platform central ring bearing 2407, tracking platform central ring frame body 2408, tracking platform inner ring motor 2409, tracking platform inner ring bearing 2410, tracking platform inner ring shaft 2411 and tracking platform It is a load plate 2412; the base body 2401 of the tracking platform is fixedly connected to the vertical mobile platform 2210, and moves vertically together with the vertical mobile platform 2210, and the outer ring motor 2402 of the tracking platform and the outer ring bearing 2404 of the tracking platform are installed on the On the tracking platform base body 2401, the tracking platform outer ring frame body 2403 is arranged on the rotor of the tracking platform outer ring motor 2402, and is located on the inner ring of the tracking platform outer ring bearing 2404, and the tracking platform outer ring motor 2402 is energized to rotate At this time, the outer ring frame 2403 of the tracking platform is driven to rotate under the constraint of the outer ring bearing 2404 of the tracking platform; the middle ring motor 2405 of the tracking platform and the middle ring bearing 2407 of the tracking platform are arranged on the outer ring frame 2403 of the tracking platform, and the tracking The central ring shaft 2406 of the tracking platform is fixedly connected to the rotor of the central ring motor 2405 of the tracking platform, and is located in the inner ring of the central ring bearing 2407 of the tracking platform. When the motor 2405 is energized and rotated, it drives the middle ring shaft 2406 of the tracking platform system and the middle ring frame body 2408 of the tracking platform system to rotate under the constraint of the middle ring bearing 2407 of the tracking platform system; the inner ring motor 2409 of the tracking platform system and the inner ring bearing 2410 of the tracking platform system are arranged on On the middle ring frame body 2408 of the tracking platform, the inner ring shaft 2411 of the tracking platform is installed on the rotor of the inner ring motor 2409 of the tracking platform, and is located in the inner ring of the inner ring bearing 2410 of the tracking platform, and the load plate 2412 of the tracking platform is fixed on the On the tracking platform inner ring shaft 2411, when the tracking platform inner ring motor 2409 is energized and rotates, the tracking platform inner ring shaft 2411 and the tracking platform load plate 2412 are driven to rotate under the constraint of the tracking platform inner ring bearing 2410;

As shown in Figure 8 and Figure 9, the target turntable 26 includes a target platform base 2601, a target platform outer ring motor 2602, a target platform outer ring frame body 2603, a target platform outer ring bearing 2604, and a target platform middle ring motor 2605, target station system center ring shaft 2606, target station system center ring bearing 2607, target station system center ring frame body 2608, target station system inner ring motor 2609, target station system inner ring bearing 2610, target station system inner ring shaft 2611 and target station The system load plate 2612; the target platform system seat body 2601 is arranged on the heightening structure 25, the target platform system system seat body 2601 and the heightening structure 25 move together with the longitudinal moving platform 2303, the target platform system outer ring motor 2602 and the target platform system outer ring bearing 2604 is set on the base of the target platform system 2601, the target platform system outer ring frame body 2603 is arranged on the rotor of the target platform system outer ring motor 2602 and is located on the inner ring of the target platform system outer ring bearing 2604, and the target platform system outer ring motor 2602 When energized and rotated, the outer ring frame body 2603 of the target station system is driven to rotate under the constraint of the outer ring bearing 2604 of the target station system; the middle ring motor 2605 of the target station system and the middle ring bearing 2607 of the target station system are installed on the outer ring frame body 2603 of the target station system , the target station system center ring shaft 2606 is installed on the target station system center ring motor 2605 rotor and is located in the target station system center ring bearing 2607 inner ring, the target station system center ring frame body 2608 is fixedly connected with the target station system center ring shaft 2606, and the target station system center ring motor When 2605 is energized and rotated, it drives the center ring shaft 2606 of the target station system and the center ring frame body 2608 of the target station system to rotate under the constraint of the target station system middle ring bearing 2607; the target station system inner ring motor 2609 and the target station system inner ring bearing 2610 are installed on the target station system. On the platform middle ring frame body 2608, the target platform inner ring shaft 2611 is arranged on the target platform inner ring motor 2609 rotor and is located at the target platform inner ring bearing 2610 inner ring, the target platform system load plate 2612 and the target platform inner ring The shaft 2611 is fixedly connected, and when the inner ring motor 2609 of the target system is energized to rotate, the inner ring shaft 2611 of the target system and the load plate 2612 of the target system are driven to rotate under the constraint of the inner ring bearing 2610 of the target system;

Under the condition of satisfying the function of the same nine-degree-of-freedom motion simulation system, the manufacturing scale of the system components is reduced, the manufacturing difficulty is reduced, and the feasibility and economy are improved; The system accuracy is improved, that is, the "5+4" degree of freedom distribution form is adopted, and the error is comprehensively matched through a reasonable combination, so that the system can achieve a higher comprehensive pose accuracy;

The overall structure of the invention is light in weight, can obtain higher motion speed and dynamic response ability, and greatly improves the simulation ability of the system.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (10)

1. A nine degree of freedom motion simulation system, characterized by: the device comprises a transverse linear moving mechanism (101), a vertical linear moving mechanism (102), a longitudinal linear moving mechanism (103) and a transverse moving platform mechanism (104), a vertical moving platform mechanism (105) and a longitudinal moving platform mechanism (106), wherein the linear moving mechanisms in three directions are orthogonal, the transverse moving platform mechanism (104) linearly moves on the transverse linear moving mechanism (101), the vertical moving platform mechanism (105) linearly moves on the vertical linear moving mechanism (102), the longitudinal moving platform mechanism (106) linearly moves on the longitudinal linear moving mechanism (103), the longitudinal linear moving mechanism (103) is arranged on the transverse moving platform mechanism (104), and a tracking platform system is arranged on the vertical moving platform mechanism (105); a longitudinally movable platform mechanism (106) is provided with a target table system.

2. The nine degree of freedom motion simulation system of claim 1 wherein: the tracking platform system comprises a tracking platform base mechanism (107) arranged on a vertical moving platform mechanism (105), a tracking platform outer ring frame (108) capable of rotating freely is arranged on the tracking platform base mechanism (107), a tracking platform middle ring frame (109) capable of rotating freely is arranged on the tracking platform outer ring frame (108), the rotating shaft of the tracking platform middle ring frame (109) is perpendicular to the rotating shaft of the tracking platform outer ring frame (108), a tracking platform load mechanism (111) capable of rotating freely is arranged on the tracking platform middle ring frame (109), and a tracking platform inner ring rotating shaft (110) of the tracking platform load mechanism (111) is perpendicular to the rotating shaft of the tracking platform outer ring frame (108) and the rotating shaft of the tracking platform middle ring frame (109) in space.

3. The nine degree of freedom motion simulation system of claim 1 wherein: the object table system comprises an object table heightening mechanism (112) arranged on a longitudinal moving platform mechanism (106), an object table base mechanism (113) arranged on the object table heightening mechanism and a freely rotating object table outer ring frame (114) arranged on the object table base mechanism (113), wherein the object table outer ring frame (114) is provided with an object table middle ring frame (115) capable of freely rotating, and the object table inner ring shaft (116) of the object table middle ring frame (115) is provided with an object table load system (117).

4. The nine degree of freedom motion simulation system of claim 1 wherein: the transverse linear moving mechanism (101) comprises a transverse guide rail assembly (21), the transverse guide rail assembly (21) comprises a transverse structural platform (2101), a transverse screw support (2102) and a transverse screw (2103), and the transverse moving platform mechanism (104) comprises a transverse screw nut (2104), a transverse driving motor (2105) and a transverse moving platform (2106); the transverse structure platform (2101) is fixed on a foundation, the transverse screw support (2102) is fixed on the transverse structure platform (2101), the transverse screw (2103) is installed on the transverse screw support (2102), the transverse driving motor (2105) is installed on the transverse moving platform (2106), the transverse screw nut (2104) is installed on the transverse driving motor (2105), and the transverse screw nut (2104) and the transverse screw (2103) are matched to form a screw pair.

5. The nine degree of freedom motion simulation system of claim 4 wherein: still include horizontal slider (2107) and horizontal guide rail (2108), horizontal guide rail (2108) are installed on horizontal structure platform (2101), and horizontal slider (2107) are installed on horizontal guide rail (2108) and can follow guide rail direction rectilinear movement, and horizontal slider (2107) fixed mounting is on horizontal moving platform (2106).

6. The nine degree of freedom motion simulation system of claim 1 wherein: the vertical linear moving mechanism (102) comprises a vertical guide rail assembly (22), wherein the vertical guide rail assembly (22) comprises a vertical structure platform (2201), a vertical driving motor (2202), a driving belt wheel (2203), a synchronous belt (2204), a follow-up belt wheel (2205), a bearing (2206), a bearing support (2207) and a vertical lead screw (2212); the vertical moving platform mechanism (105) comprises a vertical moving platform (2210) and a vertical lead screw nut (2211); the vertical structure platform (2201) is fixedly arranged on the transverse moving platform (2106), and moves transversely along with the transverse moving platform (2106), and the vertical driving motor (2202) and the bearing support (2207) are fixed on the vertical structure platform (2201); the driving belt wheel (2203) is fixed on the rotating shaft of the vertical driving motor (2202), the follow-up belt wheel (2205) is fixed on the top end of the vertical screw rod (2212), the driving belt wheel (2203) is connected with the follow-up belt wheel (2205) through a synchronous belt (2204), two ends of the vertical screw rod (2212) are arranged in the bearing support (2207) through bearings (2206), and the vertical screw rod nut (2211) is fixed on the vertical moving platform (2210).

7. The nine degree of freedom motion simulation system of claim 6 wherein: the vertical sliding block also comprises a vertical guide rail (2208) and a vertical sliding block (2209); the vertical guide rail (2208) is fixed on the vertical structure platform (2201), the vertical sliding block (2209) is fixed on the vertical moving platform (2210), and the vertical sliding block (2209) is installed on the vertical guide rail (2208) and can linearly move along the direction of the vertical guide rail (2208).

8. The nine degree of freedom motion simulation system of claim 1 wherein: the longitudinal linear movement mechanism (103) comprises a longitudinal structural platform (2301), a rack (2302) and a longitudinal guide rail (2307); the longitudinal moving platform mechanism (106) comprises a longitudinal moving platform (2303), a reducer (2304), a longitudinal driving motor (2305), a gear (2306) and a longitudinal sliding block (2308); the vertical structure platform (2301) is fixed on the foundation, the casting mode can be adopted to fix on the foundation, the rack (2302) and the vertical guide rail (2307) are installed on the vertical structure platform (2301), the speed reducer (2304) and the vertical sliding block (2308) are installed on the vertical moving platform (2303), the vertical driving motor (2305) is installed at the input end of the speed reducer (2304), the gear (2306) is installed at the output end of the speed reducer (2304), the vertical sliding block (2308) is installed on the vertical guide rail (2307) and can linearly move along the direction of the vertical guide rail (2307).

9. The nine degree of freedom motion simulation system of claim 1 wherein: the tracking table system comprises a tracking turntable (24), wherein the tracking turntable (24) comprises a tracking table base body (2401), a tracking table outer ring motor (2402), a tracking table outer ring frame body (2403), a tracking table outer ring bearing (2404), a tracking table middle ring motor (2405), a tracking table middle ring shaft (2406), a tracking table middle ring bearing (2407), a tracking table middle ring frame body (2408), a tracking table inner ring motor (2409), a tracking table inner ring bearing (2410), a tracking table inner ring shaft (2411) and a tracking table load disc (2412); the tracking table system base body (2401) is fixedly connected to the vertical moving platform (2210), moves along with the vertical moving platform (2210) in the vertical direction, the tracking table system outer ring motor (2402) and the tracking table system outer ring bearing (2404) are installed on the tracking table system base body (2401), and the tracking table system outer ring frame body (2403) is arranged on a rotor of the tracking table system outer ring motor (2402) and is positioned on an inner ring of the tracking table system outer ring bearing (2404); the tracking system middle ring motor (2405) and the tracking system middle ring bearing (2407) are arranged on the tracking system outer ring frame body (2403), the tracking system middle ring shaft (2406) is fixedly connected to the rotor of the tracking system middle ring motor (2405) and is positioned on the inner ring of the tracking system middle ring bearing (2407), and the tracking system middle ring frame body (2408) is arranged on the tracking system middle ring shaft (2406); the tracking table inner ring motor (2409) and the tracking table inner ring bearing (2410) are arranged on the tracking table middle ring frame body (2408), the tracking table inner ring shaft (2411) is arranged on the rotor of the tracking table inner ring motor (2409) and is positioned on the inner ring of the tracking table inner ring bearing (2410), and the tracking table load disc (2412) is fixedly connected on the tracking table inner ring shaft (2411).

10. The nine degree of freedom motion simulation system of claim 1 wherein: the target table system comprises a target turntable (26), wherein the target turntable (26) comprises a target table base body (2601), a target table outer ring motor (2602), a target table outer ring frame body (2603), a target table outer ring bearing (2604), a target table middle ring motor (2605), a target table middle ring shaft (2606), a target table middle ring bearing (2607), a target table middle ring frame body (2608), a target table inner ring motor (2609), a target table inner ring bearing (2610), a target table inner ring shaft (2611) and a target table load disc (2612); the target table system seat body (2601) is arranged on the heightening structure (25), the target table system seat body (2601) and the heightening structure (25) move together with the longitudinal moving platform (2303), the target table system outer ring motor (2602) and the target table system outer ring bearing (2604) are arranged on the target table system seat body (2601), and the target table system outer ring frame body (2603) is arranged on a rotor of the target table system outer ring motor (2602) and is positioned at an inner ring of the target table system outer ring bearing (2604); the target system middle ring motor (2605) and the target system middle ring bearing (2607) are installed on the target system outer ring frame body (2603), the target system middle ring shaft (2606) is installed on the target system middle ring motor (2605) rotor and is positioned on the inner ring of the target system middle ring bearing (2607), and the target system middle ring frame body (2608) is fixedly connected with the target system middle ring shaft (2606); the target-stage inner ring motor (2609) and the target-stage inner ring bearing (2610) are mounted on a target-stage middle ring frame body (2608), a target-stage inner ring shaft (2611) is arranged on a target-stage inner ring motor (2609) rotor and is positioned on the inner ring of the target-stage inner ring bearing (2610), and a target-stage load disc (2612) is fixedly connected with the target-stage inner ring shaft (2611).

Images