A five-degree-of-freedom continuous load simulation platform

Abstract

The present invention discloses a five-degree-of-freedom continuous load simulation platform, comprising a main drive system, a main rotating arm system, a vertical motion system and a multi-degree-of-freedom motion platform. The main drive system supports the main rotating arm system and drives it to rotate, providing an overload environment required for flight training. The vertical motion system is arranged on the main rotating arm system, and a multi-degree-of-freedom motion platform is arranged on the vertical motion system. The vertical motion system drives the multi-degree-of-freedom motion platform to perform up and down linear motion perpendicular to the main rotating arm system. The vertical motion system drives the multi-degree-of-freedom motion platform to perform vertical motion on the main rotating arm system, providing vertical motion required for flight training. The multi-degree-of-freedom motion platform has three degrees of freedom. The multi-degree-of-freedom motion platform, the vertical motion system and the main rotating arm system are combined to realize five-degree-of-freedom motion, making its motion simulation function more powerful, and being able to realize the simulation of a disorientation environment, thereby having the ability of disorientation and illusion training.

Description

Technical Field

[0001] The invention relates to the field of flight simulation, and in particular to a five-degree-of-freedom continuous load simulation platform. Background Art

[0002] Pilot training is a complex system. In order to meet the requirements of training efficiency, safety, economy, etc., different environmental simulation platforms have been developed for different training objectives, such as ground multi-degree-of-freedom simulation platforms for operation training, high-overload simulation platforms for endurance training, and low-overload multi-degree-of-freedom simulation platforms for orientation training.

[0003] A five-degree-of-freedom continuous load simulation platform can generate continuous overload, provide a load simulation environment close to the real aircraft, and realize overload training and spatial orientation disorder training for pilots. Compared with the four-degree-of-freedom manned centrifuge, it has one more degree of freedom, making the simulation environment closer to the real flying environment. At the same time, it can also provide a high-overload simulation environment for personnel selection, endurance training, etc. It can realize arbitrary posture changes in a continuous load environment, and is particularly suitable for spatial orientation disorder training.

[0004] Spatial disorientation is defined as the inability of a pilot to correctly perceive his or her position, movement, and attitude relative to the Earth's reference coordinate system or the aircraft's coordinate system formed by the vertical line of gravity. This often leads to pilots' misperceptions. Spatial disorientation is a major aviation medical problem that currently poses a serious threat to flight safety, and is characterized by universality and high risk.

[0005] Conduct spatial disorientation training, that is, use simulators to create an environment prone to spatial disorientation, and demonstrate principles and phenomena to train pilots, spatial disorientation scenarios and awareness, methods to overcome spatial obstacles, and autonomous control training for humans in the loop.

[0006] Although there are many forms of existing simulation platforms, they are basically platforms designed for certain application requirements. Since they cannot provide higher loads, they cannot be used in flight simulation training. At the same time, most of the existing simulation platforms are four-degree-of-freedom simulation platforms, which have the disadvantage of insufficient degrees of freedom and cannot provide a real load simulation environment closer to the aircraft, which makes the simulation range of the directional obstacle environment smaller, resulting in a small application surface and unable to meet the simulation requirements of complex environments. The existing simulation platforms also have six-degree-of-freedom load platforms, but the six-degree-of-freedom load platforms are too large, resulting in the drive system being unable to provide greater power, resulting in the six-degree-of-freedom load platform being unable to provide higher loads and failing to achieve a real training environment. Therefore, it is very necessary to design a simulation platform with multiple degrees of freedom and capable of providing higher loads. Summary of the invention

[0007] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a five-degree-of-freedom continuous load simulation platform to achieve motion simulation with multiple adjustable postures. At the same time, the simulation platform provides continuous and controllable high overload and rapid overload change environment simulation.

[0008] The object of the present invention is achieved through the following technical solutions: a five-degree-of-freedom continuous load simulation platform, comprising a multi-degree-of-freedom motion platform, a vertical motion system, a main rotating arm system and a main drive system, wherein the main drive system supports the main rotating arm system and drives it to rotate, the vertical motion system is arranged on the main rotating arm system, the multi-degree-of-freedom motion platform is arranged on the vertical motion system, and the vertical motion system drives the multi-degree-of-freedom motion platform to perform vertical linear motion vertically to the main rotating arm system;

[0009] The multi-degree-of-freedom motion platform includes a roll frame system, a yaw frame system and a cockpit, the cockpit is arranged in the yaw frame system and rotates around a connection point with the yaw frame system, the yaw frame system is arranged in the roll frame system and rotates around a connection point with the roll frame system, the rotation center of the cockpit is perpendicular to the rotation center of the yaw frame system, the roll frame system is arranged on the vertical motion system and rotates around a connection point with the vertical motion system, and the rotation center of the roll frame system is perpendicular to the rotation center of the yaw frame system.

[0010] Furthermore, the main drive system includes a base, a main motor and a main transmission shaft support, the main motor is arranged in the base, the main transmission shaft support is arranged on the top of the base, the main transmission shaft support is connected with a main shaft through a bearing, a main shaft mounting hole is arranged on the base, one end of the main shaft is placed in the main shaft mounting hole and connected to the output shaft of the main motor, the other end of the main shaft is rotatably connected to the main rotating arm system, a bearing system is arranged in the main shaft mounting hole, and the main shaft is rotatably connected to the base through the bearing system.

[0011] Furthermore, the main rotating arm system includes a centrifugal platform and a counterweight, one end of the centrifugal platform is rotatably mounted on the main shaft through a bearing, a simulation cavity is opened on the top of the centrifugal platform, the vertical motion system is arranged in the simulation cavity, and the counterweight is arranged at one end of the centrifugal platform close to the main shaft.

[0012] Furthermore, vertical motion grooves are vertically opened on both side walls of the simulation cavity, and the two vertical motion grooves are symmetrically arranged. The vertical motion system is arranged in the two vertical motion grooves, and the vertical motion system includes a base, a guide rod and a linear drive system. The base is slidably arranged in the vertical motion groove, and a guide seat is fixed on the side of the base close to the vertical motion groove. Two guide rods are provided, and both guide rods can be slidably passed through the guide seat and the two ends are respectively fixed to the top and bottom of the vertical motion groove. The linear drive system is arranged at the bottom of the simulation cavity, and the linear drive system is connected to the bottom of the base.

[0013] Furthermore, the rolling frame system includes a rolling frame, a rolling motor, a driving shaft and a rolling frame driven shaft. The rolling frame is a ring-shaped symmetrical structure. The driving shaft and the rolling frame driven shaft are respectively fixed at two ends of the outer side of the rolling frame. The driving shaft and the rolling frame driven shaft are both arranged on the symmetry center line of the rolling frame. The ends of the driving shaft and the rolling frame driven shaft away from the rolling frame are respectively rotatably arranged in the two bases. The rolling motor is fixed in the base with the driving shaft, and the output shaft of the rolling motor is connected to the driving shaft.

[0014] Furthermore, the yaw frame system includes a yaw frame, a yaw motor, a yaw shaft and a yaw driven shaft. The yaw frame is a ring-shaped symmetrical structure. The yaw shaft and the yaw driven shaft are respectively fixed at two ends of the outer side of the yaw frame. The yaw shaft and the yaw driven shaft are both arranged on the symmetry center line of the yaw frame. One end of the yaw shaft and the yaw driven shaft away from the yaw frame are rotatably connected to the roll frame. The yaw shaft passes through the roll frame and is connected to the output shaft of the yaw motor. The yaw motor is fixed on the roll frame.

[0015] Furthermore, the cockpit includes a cabin body, a pitch motor, a pitch shaft and a pitch driven shaft, the cabin body is a cubic structure, the pitch shaft and the pitch driven shaft are respectively fixed at two ends of the cabin body, the pitch shaft and the pitch driven shaft are both arranged on the symmetry center line of the cabin body, the pitch shaft and the pitch driven shaft are rotatably connected to the yaw frame at one end away from the cabin body, the pitch shaft passes through the yaw frame and is connected to the output shaft of the pitch motor, and the pitch motor is fixed on the yaw frame.

[0016] Furthermore, the bearing system includes a first thrust bearing, a ball bearing, a third angular contact bearing and a bearing sleeve, the bearing sleeve is installed in the main shaft mounting hole of the base, and the first thrust bearing, ball bearing and third angular contact bearing are all arranged in the bearing sleeve.

[0017] The beneficial effects of the present invention are:

[0018] 1. The main drive system of the present invention drives the main rotating arm system to generate continuous centrifugal overload acceleration; the main rotating arm system drives the roll frame system to generate roll angular motion relative to the trainee pilot; the vertical motion system drives the roll frame system to generate linear motion perpendicular to the main rotating arm system; the roll frame system drives the yaw frame system to generate yaw angular motion relative to the trainee pilot; the yaw frame system drives the cockpit to generate pitch angular motion relative to the trainee pilot, and the trainee pilot sits in the cockpit, subjected to centrifugal overload acceleration and four spatial attitude angular motions, to achieve motion simulation with multiple adjustable attitudes, while providing continuous and controllable high overload and rapid overload change environment simulation, broadening the simulation capability of the simulation platform and making the simulation environment closer to the real flight environment.

[0019] 2. The cockpit, roll frame system and yaw frame system of the present invention are all designed to be axisymmetric structures. At the same time, the main rotating arm system is counterweighted to achieve force balance and couple balance, which can reduce the overturning moment and arm bending moment borne by the main rotating arm system and the multi-degree-of-freedom motion platform system, reduce the vertical deformation of the centrifugal platform, and reduce the vibration of the system.

[0020] 3. A five-degree-of-freedom continuous load simulation platform, which perfectly combines a multi-degree-of-freedom motion platform with a continuous load centrifugal platform, and provides a continuous and controllable high overload and rapid overload change environment simulation for a motion simulation platform that can achieve multiple adjustable postures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of a five-degree-of-freedom continuous load simulation platform of the present invention;

[0022] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0023] Figure 3 This is a schematic diagram of the structure of a centrifugal platform in a five-degree-of-freedom continuous load simulation platform of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of a multi-degree-of-freedom motion platform in a five-degree-of-freedom continuous load simulation platform of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of a rolling frame system in a five-degree-of-freedom continuous load simulation platform of the present invention;

[0026] Figure 6 It is a schematic diagram of a yaw frame system and a cockpit mechanism in a five-degree-of-freedom continuous load simulation platform of the present invention;

[0027] Figure 7 for Figure 6 Enlarged view of point C in the middle;

[0028] Figure 8 for Figure 6 Enlarged view of point B in the middle;

[0029] In the figure, 1-main drive system, 2-main rotating arm system, 3-vertical motion system, 4-multi-degree-of-freedom motion platform, 11-base, 12-main motor, 13-main transmission shaft support, 14-main shaft, 21-centrifugal platform, 22-counterweight, 23-simulation cavity, 31-base, 32-guide rod, 33-vertical motion slot, 34-guide seat, 41-roll frame system, 42-yaw frame system, 43-cockpit, 411-roll frame, 412-roll motor, 413-drive shaft, 414-roll frame driven shaft, 421-yaw frame, 422-yaw motor, 423-yaw shaft, 424-yaw driven shaft, 431-cabin, 432-pitch motor, 433-pitch shaft, 434-pitch driven shaft. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0031] like Figures 1 to 8 As shown, a five-degree-of-freedom continuous load simulation platform includes a multi-degree-of-freedom motion platform 4, a vertical motion system 3, a main rotating arm system 2 and a main driving system 1. The main driving system 1 supports the main rotating arm system 2 and drives it to rotate. The main driving system 1 drives the main rotating arm system 2 to rotate in a controlled manner on the horizontal plane at a certain angular velocity and angular acceleration to provide an overload environment required for flight training. The vertical motion system 3 is arranged on the main rotating arm system 2. A multi-degree-of-freedom motion platform 4 is arranged on the vertical motion system 3. The vertical motion system 3 drives the multi-degree-of-freedom motion platform 4 to do up and down linear motion perpendicular to the main rotating arm system 2. The vertical motion system 3 drives the multi-degree-of-freedom motion platform 4 to do vertical motion on the main rotating arm system 2 to provide vertical motion required for flight training. The multi-degree-of-freedom motion platform 4 has three degrees of freedom. The multi-degree-of-freedom motion platform 4, the vertical motion system 3 and the main rotating arm system 2 are combined to realize five-degree-of-freedom motion, making its motion simulation function more powerful, and can realize the simulation of the disorientation environment, thereby having the ability of disorientation and illusion training.

[0032] like Figure 4As shown, the multi-degree-of-freedom motion platform 4 includes a roll frame system 41, a yaw frame system 42 and a cockpit 43. The cockpit 44 is arranged in the yaw frame system 42 and rotates around the connection point with the yaw frame system 42 to provide the pitch motion required for flight training. The yaw frame system 42 is arranged in the roll frame system 41 and rotates around the connection point with the roll frame system 42. The rotation center of the cockpit 44 is perpendicular to the rotation center of the yaw frame system 42 to provide the yaw motion required for flight training. The roll frame system 41 is arranged on the vertical motion system 3 and rotates around the connection point with the vertical motion system 3. The rotation center of the roll frame system 41 is perpendicular to the rotation center of the yaw frame system 42 to provide the rolling motion required for flight training.

[0033] In this solution, the main drive system 1 supports the main rotating arm system 2 and provides the power for the main rotating arm system 2 to rotate on the horizontal plane, thereby driving the multi-degree-of-freedom motion platform 4 to perform rotational motion, and then driving the cabin 43 on the multi-degree-of-freedom motion platform 4 to perform rotational motion, which serves as the first degree of freedom of the cabin 43. The vertical motion system 3 provides the multi-degree-of-freedom motion platform 4 with linear motion perpendicular to the main rotating arm system 2, thereby driving the cabin 43 to perform linear motion, which serves as the second degree of freedom of the cabin 43. While the main rotating arm system 2 provides the multi-degree-of-freedom motion platform 4 with overload rotation, the vertical motion system 3 can simultaneously provide the multi-degree-of-freedom motion platform 4 with up and down linear motion, and the roll frame system 41 provides roll when rotating. Movement, the rotation centerline of the roll frame system 41 is horizontal, the roll frame system 41 drives the yaw frame system 42 and the cockpit 43 thereon to perform roll movement, which serves as the third degree of freedom of the cockpit 43, the yaw frame system 42 rotates in the roll frame system 41 to provide yaw movement, the rotation center of the yaw frame system 42 is perpendicular to the rotation center of the roll frame system 41, which is in the vertical direction, the yaw frame system 42 drives the cockpit 43 to perform yaw movement at the same time, which serves as the fourth degree of freedom of the cockpit 43, the cockpit 43 rotates in the yaw frame system 42 to provide pitch movement, the rotation center of the cockpit 44 is perpendicular to the rotation center of the yaw frame system 42, which is in the horizontal direction, which serves as the fifth degree of freedom of the cockpit 43. The trainees in the cockpit 43 have five motion states, namely overload rotation, linear motion in the vertical direction, roll motion, yaw motion and pitch motion. The cockpit 43 can have a simulation environment of one of the motion states, or a simulation environment of a combination of any two motion states, or a simulation environment of a combination of more than two motion states, thereby providing a variety of training simulation environments. In actual use, a suitable combination can be selected according to the intensity and mode of training, so as to achieve an environmental simulation that is closer to actual flight. At the same time, it can also provide a high overload simulation environment for personnel selection, endurance training, etc.

[0034] The main drive system 1 includes a base 11, a main motor 12 and a main transmission shaft support 13. The main motor 12 is arranged in the base 11. The main transmission shaft support 13 is arranged on the top of the base 11. The main transmission shaft support 13 is connected with a main shaft 14 through a bearing. The base 11 is provided with a main shaft 14 mounting hole. One end of the main shaft 14 is placed in the main shaft 14 mounting hole and connected to the output shaft of the main motor 12. The other end of the main shaft 14 is rotatably connected with the main rotating arm system 2. A bearing system is arranged in the main shaft 14 mounting hole. The main shaft 14 is rotatably connected to the base 11 through the bearing system. The main motor 12 drives the main shaft 14 to rotate, so that the main shaft 14 drives the main rotating arm system 2 to rotate. The main motor 12 drives the main rotating arm system 2 to rotate in a controlled manner on the horizontal plane at a certain angular velocity and angular acceleration, so that the multi-degree-of-freedom motion platform 4 on the main rotating arm system 2 has a certain overload environment. The stability of the movement of the main shaft 14 is ensured by the bearing system. The previous single turntable composite load-bearing can be changed to a bearing group load-bearing composed of conventional bearings, which can reduce the bearing cost and facilitate the subsequent product scale expansion.

[0035] Furthermore, the bearing system includes a first thrust bearing, a ball bearing, a third angular contact bearing and a bearing sleeve, and the bearing sleeve is installed in the main shaft 14 mounting hole of the base 11, and the first thrust bearing, the ball bearing and the third angular contact bearing are all arranged in the bearing sleeve. In this scheme, the bearing sleeve is positioned through the stopper and fixed in the main shaft 14 mounting hole of the base 11 by screws. The main shaft 14 passes through the first thrust bearing, the ball bearing and the third angular contact bearing and is rotatably connected with the bearing sleeve. The outer ring of the third angular contact bearing is free, and the inner ring is positioned by the shaft shoulder and the shaft sleeve respectively, so as to ensure that the third angular contact bearing does not bear the axial force, and the axial force is only borne by the first thrust bearing. The bearing system can bear the axial force, radial force and bending moment, and the difficulty of bearing installation can be reduced by the bearing sleeve.

[0036] like Figure 1 and Figure 3 As shown, the main rotating arm system 2 includes a centrifugal platform 21 and a counterweight 22. One end of the centrifugal platform 21 is rotatably sleeved on the main shaft 14 through a bearing. A simulation cavity 23 is provided on the top of the centrifugal platform 21. The vertical motion system 3 is arranged in the simulation cavity 23. The counterweight 22 is arranged at one end of the centrifugal platform 21 close to the main shaft 14. The centrifugal platform 21 is an axisymmetric structure. The counterweight 22 is installed at one end of the centrifugal platform 21. The center of gravity of the centrifugal platform is adjusted to ensure that the main shaft 14 is connected to the center of gravity of the centrifugal platform 21. The counterweight 22 rotates with the centrifugal platform 21 to achieve the static balance of the system and reduce the system vibration caused by imbalance. At the same time, the simulation cavity 23 is also symmetrically arranged about the axis of the centrifugal platform 21 to ensure the stability of the multi-free motion platform 4 in the simulation cavity 23, reduce the vibration of the centrifugal platform 21, make the operation of the simulation platform more stable, and reduce the damage caused by vibration.

[0037] like Figure 2 As shown, vertical motion grooves 33 are vertically opened on both side walls of the simulation chamber 23, and the two vertical motion grooves 33 are symmetrically arranged. A vertical motion system 3 is arranged in each of the two vertical motion grooves 33. The vertical motion system 3 includes a base 31, a guide rod 32 and a linear drive system. The base 31 is slidably arranged in the vertical motion groove 33, and a guide seat 34 is fixed on one side of the base 31 close to the vertical motion groove 33. There are two guide rods 32, and both guide rods 32 can be slidably penetrated in the guide seat 34 and the two ends are respectively fixed to the top and the bottom of the vertical motion groove 33. A linear drive system is arranged at the bottom of the simulation chamber 23, and the linear drive system is connected to the bottom of the base 31. In this solution, the linear drive system drives the base 31 to move up and down along the guide rod 32, and the moving direction is the vertical direction (i.e., vertical to the centrifugal platform 21), thereby providing a linear motion of the simulation environment, and the linear motion of the simulation environment is made more stable through the guiding effect of the guide rod 32.

[0038] like Figures 5 to 8 As shown, the rolling frame system 41 includes a rolling frame 411, a rolling motor 412, a driving shaft 413 and a rolling frame driven shaft 414. The rolling frame 411 is a ring-shaped symmetrical structure. The driving shaft 413 and the rolling frame driven shaft 414 are respectively fixed at the two ends of the outer side of the rolling frame 411. The driving shaft 413 and the rolling frame driven shaft 414 are both arranged on the symmetric center line of the rolling frame 411. The driving shaft 413 and the rolling frame driven shaft 414 are respectively rotatably arranged in two bases 31 at one end away from the rolling frame 411. The rolling motor 412 is fixed in the base 31 provided with the driving shaft 413, and the output shaft of the rolling motor 412 is connected to the driving shaft 413. In this solution, the rolling motor 412 drives the driving shaft 413 to rotate, thereby driving the rolling frame 411 to rotate around the connection point with the base 31, providing a rolling motion for flight training. The rolling frame 411 is a ring-shaped symmetrical structure, and the driving shaft 413 and the rolling frame driven shaft 414 are both arranged on the symmetrical center line of the rolling frame 411, so that the rolling motion of the rolling frame system 41 on the base 31 is more stable and the vibration of the system is reduced.

[0039] The yaw frame system 42 includes a yaw frame 421, a yaw motor 422, a yaw shaft 423 and a yaw driven shaft 424. The yaw frame 421 is a ring-shaped symmetrical structure. The yaw shaft 423 and the yaw driven shaft 424 are respectively fixed at two ends of the outer side of the yaw frame 421. The yaw shaft 423 and the yaw driven shaft 424 are both arranged on the symmetry center line of the yaw frame 421. One end of the yaw shaft 423 and the yaw driven shaft 424 away from the yaw frame 421 is rotatably connected to the roll frame 411. The yaw shaft 423 passes through the roll frame 411 and is connected to the output shaft of the yaw motor 422. The yaw motor 422 is fixed on the roll frame 411. In this solution, the yaw motor 422 drives the yaw frame 421 to rotate in the roll frame 411 to provide the yaw motion required for flight training. The yaw frame 421 is a ring-shaped symmetrical structure. The yaw shaft 423 and the yaw driven shaft 424 are both arranged on the symmetric center line of the yaw frame 421, so that the rotation of the yaw frame system 42 in the roll frame 411 is more stable, and the vibration of the system is reduced. When the roll frame system 41 performs a roll motion, it drives the yaw frame system 42 and the cockpit 43 to perform a roll motion together. When the yaw frame system 42 performs a yaw motion, it drives the cockpit 43 to perform a yaw motion together. Therefore, in addition to performing a single roll motion and a yaw motion, the cockpit 43 can also perform a roll motion and a yaw motion at the same time, which increases the types of simulation environments, makes the simulation environment closer to the real environment, and makes the intensity of flight training higher and the training effect better.

[0040] The cockpit 43 includes a cabin body 431, a pitch motor 432, a pitch shaft 433 and a pitch driven shaft 434. The cabin body 431 is a cubic structure. The pitch shaft 433 and the pitch driven shaft 434 are respectively fixed on both ends of the cabin body 431. The pitch shaft 433 and the pitch driven shaft 434 are both arranged on the symmetric center line of the cabin body. The ends of the pitch shaft 433 and the pitch driven shaft 434 away from the cabin body 431 are rotatably connected to the yaw frame 421. The pitch shaft 433 passes through the yaw frame 421 and is connected to the output shaft of the pitch motor 432. The pitch motor 432 is fixed on the yaw frame 421. In this solution, the pitch motor 432 drives the cockpit 431 to rotate, providing the pitch motion required for flight training. The cabin 431 is a cubic structure, and the pitch rotation axis 433 and the pitch driven axis 434 are both arranged at the center of both ends of the cabin 431. At the same time, the pitch rotation axis 433 and the pitch driven axis 434 are both arranged on the symmetric center line of the cabin, ensuring the stability of the cabin 431 movement and reducing the vibration of the system. Since the simulation platform is a large-scale equipment, and the simulation platform used for flight training requires a large load, the simulation platform will generate a large vibration during operation. The rotation axis of the roll frame system 41, the rotation axis of the deflection frame system 42 and the rotation axis of the cockpit 43 in the multi-degree-of-freedom motion platform 4 of the present invention intersect at one point, and are respectively located on the X-axis, Y-axis and Z-axis to be perpendicular to each other, which greatly reduces the vibration generated by the operation of the multi-degree-of-freedom motion platform 4. At the same time, the counterweight 22 adjusts the center of gravity of the centrifugal platform 21, thereby reducing the vibration of the entire system.

[0041] In summary, the present invention provides a five-degree-of-freedom load simulation platform, which greatly improves the simulation capability of the platform compared to a four-degree-of-freedom platform, and can simulate a variety of more complex actual flight environments. As for a six-degree-of-freedom platform, due to its large size, it cannot provide the overload environment required for flight. Therefore, a five-degree-of-freedom load simulation platform is more suitable for enhanced flight simulation training.

[0042] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A five-degree-of-freedom continuous load simulation platform, characterized in that: The invention comprises a multi-degree-of-freedom motion platform (4), a vertical motion system (3), a main rotating arm system (2) and a main drive system (1), wherein the main drive system (1) supports the main rotating arm system (2) and drives the main rotating arm system (2) to rotate, the vertical motion system (3) is arranged on the main rotating arm system (2), the multi-degree-of-freedom motion platform (4) is arranged on the vertical motion system (3), and the vertical motion system (3) drives the multi-degree-of-freedom motion platform (4) to perform vertical linear motion perpendicular to the main rotating arm system (2); The multi-degree-of-freedom motion platform (4) comprises a roll frame system (41), a yaw frame system (42) and a cockpit (43); the cockpit (43) is arranged in the yaw frame system (42) and rotates around a connection point with the yaw frame system (42); the yaw frame system (42) is arranged in the roll frame system (41) and rotates around a connection point with the roll frame system (42); the rotation center of the cockpit (43) is perpendicular to the rotation center of the yaw frame system (42); the roll frame system (41) is arranged on the vertical motion system (3) and rotates around a connection point with the vertical motion system (3); the rotation center of the roll frame system (41) is perpendicular to the rotation center of the yaw frame system (42); The main drive system (1) comprises a base (11), a main motor (12) and a main transmission shaft support (13); the main motor (12) is arranged in the base (11); the main transmission shaft support (13) is arranged on the top of the base (11); a main shaft (14) is connected to the main transmission shaft support (13) via a bearing; a main shaft (14) mounting hole is arranged on the base (11); one end of the main shaft (14) is placed in the main shaft (14) mounting hole and is connected to the output shaft of the main motor (12); the other end of the main shaft (14) is rotatably connected to the main rotating arm system (2); a bearing system is arranged in the main shaft (14) mounting hole; the main shaft (14) is rotatably connected to the base (11) via the bearing system; The bearing system comprises a first thrust bearing, a ball bearing, a third angular contact bearing and a bearing sleeve, wherein the bearing sleeve is mounted in a mounting hole of a main shaft (14) of the base (11), and the first thrust bearing, the ball bearing and the third angular contact bearing are all arranged in the bearing sleeve; The main rotating arm system (2) comprises a centrifugal platform (21) and a counterweight (22); one end of the centrifugal platform (21) is rotatably sleeved on the main shaft (14) via a bearing; a simulation cavity (23) is provided at the top of the centrifugal platform (21); the vertical motion system (3) is arranged in the simulation cavity (23); and the counterweight (22) is arranged at one end of the centrifugal platform (21) close to the main shaft (14); Vertical motion grooves (33) are vertically opened on both side walls of the simulation cavity (23), the two vertical motion grooves (33) are symmetrically arranged, the vertical motion system (3) is arranged in the two vertical motion grooves (33), the vertical motion system (3) comprises a base (31), a guide rod (32) and a linear drive system, the base (31) is slidably arranged in the vertical motion groove (33), a guide seat (34) is fixed on one side of the base (31) close to the vertical motion groove (33), two guide rods (32) are provided, both of the two guide rods (32) are slidably inserted into the guide seat (34) and the two ends are respectively fixed to the top and the bottom of the vertical motion groove (33), the linear drive system is arranged at the bottom of the simulation cavity (23), and the linear drive system is connected to the bottom of the base (31); The rolling frame system (41) comprises a rolling frame (411), a rolling motor (412), a driving shaft (413) and a rolling frame driven shaft (414); the rolling frame (411) is a ring-shaped symmetrical structure; the driving shaft (413) and the rolling frame driven shaft (414) are respectively fixed at two ends of the outer side of the rolling frame (411); the driving shaft (413) and the rolling frame driven shaft (414) are both arranged on the symmetry center line of the rolling frame (411); the ends of the driving shaft (413) and the rolling frame driven shaft (414) away from the rolling frame (411) are respectively rotatably arranged in the two bases (31); the rolling motor (412) is fixed in the base (31) provided with the driving shaft (413); and the output shaft of the rolling motor (412) is connected to the driving shaft (413); The yaw frame system (42) comprises a yaw frame (421), a yaw motor (422), a yaw shaft (423) and a yaw driven shaft (424); the yaw frame (421) is a ring-shaped symmetrical structure; the yaw shaft (423) and the yaw driven shaft (424) are respectively fixed at two ends of the outer side of the yaw frame (421); the yaw shaft (423) and the yaw driven shaft (424) are both arranged on a symmetric center line of the yaw frame (421); the ends of the yaw shaft (423) and the yaw driven shaft (424) away from the yaw frame (421) are both rotatably connected to the roll frame (411); the yaw shaft (423) passes through the roll frame (411) and is connected to the output shaft of the yaw motor (422); and the yaw motor (422) is fixed to the roll frame (411); The cockpit (43) comprises a cabin body (431), a pitch motor (432), a pitch rotation shaft (433) and a pitch driven shaft (434); the cabin body (431) is a cubic structure; the pitch rotation shaft (433) and the pitch driven shaft (434) are respectively fixed at two ends of the cabin body (431); the pitch rotation shaft (433) and the pitch driven shaft (434) are both arranged on a symmetric center line of the cabin body; the ends of the pitch rotation shaft (433) and the pitch driven shaft (434) away from the cabin body (431) are both rotatably connected to the yaw frame (421); the pitch rotation shaft (433) passes through the yaw frame (421) and is connected to an output shaft of the pitch motor (432); and the pitch motor (432) is fixed to the yaw frame (421).

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