A simulated driving motion device and a simulated driving system including the same

Abstract

The present invention discloses a simulated driving motion device and a simulated driving system including the same, belonging to the technical field of driving training equipment. The simulated driving motion device includes: at least three bidirectional rotation driving devices, which are circumferentially spaced apart; at least three swing arms corresponding to the bidirectional rotation driving devices one by one, and the lower ends of the swing arms are respectively connected to the rotation output shafts of the bidirectional rotation driving devices; at least three universal rods corresponding to the swing arms one by one, and the lower ends of the universal rods are respectively ball-jointed to the extension ends of the swing arms; an action platform, which is connected to at least three rotating seats, and the free ends of the universal rods are respectively rotationally connected to the action platform, and the action platform can perform six-degree-of-freedom motion under the action of at least three bidirectional rotation driving devices driving the swing arms and the universal rods. The simulated driving motion device of the present invention has a simple structure and is convenient for debugging and maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of driving training equipment, and in particular to a simulated driving motion device and a simulated driving system including the same. Background Art

[0002] At present, the popularity rate of motor vehicles is getting higher and higher, and the mastery and proficiency of safe driving and driving skills have received great attention from society. In order to improve the driving skills of a large number of driving trainees, simulated driving systems have been developed in the prior art. The simulated driving system is provided with functions for simulating tilting and vibration in the front-back, left-right, up-down, and tilting directions during the driving of a vehicle, which can enable trainees to obtain a more realistic actual road driving experience and is of great significance for improving the driving practice effect and learning efficiency. However, in the existing simulated driving system, as the core part of the simulated driving system, the existing simulated driving motion device mainly drives to achieve tilting and vibration in multiple directions through the linear motion of an electric cylinder or through the rotation of a cam, resulting in the problems of relatively complex structure, high manufacturing cost, large debugging and maintenance intensity, and poor simulation effect of the existing simulated driving motion device, directly affecting the driving training efficiency of trainees. Therefore, there is an urgent need for a simulated driving motion device with a simple structure and easy to debug and maintain. Summary of the Invention

[0003] An object of the present invention is to overcome at least one of the above-mentioned deficiencies of the prior art, and provide a simulated driving motion device with a simple structure and easy to debug and maintain. In addition, a simulated driving system is also provided.

[0004] The technical solution for the present invention to solve the above technical problems is as follows: A simulated driving motion device, comprising:

[0005] At least three bidirectional rotation driving devices, which are circumferentially spaced apart. Each of the at least three bidirectional rotation driving devices is provided with a rotation output shaft;

[0006] At least three swing arms, which are respectively provided corresponding to the bidirectional rotation driving devices. The lower ends of the swing arms are respectively connected to the rotation output shafts of the bidirectional rotation driving devices, and the upper ends of the swing arms extend upward to form extension ends;

[0007] At least three universal rods, which are respectively provided corresponding to the swing arms. The lower ends of the universal rods are respectively ball-jointed to the extension ends of the swing arms, and the upper ends of the universal rods extend upward to form free ends;

[0008] The motion platform is connected to at least three of the universal rods. The free ends of the universal rods are respectively rotatably connected to the motion platform. The motion platform can perform six-degree-of-freedom motion under the action of at least three of the bidirectional rotation drive devices driving the swing arms and the universal rods to move.

[0009] The beneficial effects of the present invention are as follows: In the simulated driving motion device of this embodiment, there is a bidirectional rotation drive device. The swing arm can swing under the drive of the bidirectional rotation drive device. The universal rod is ball-jointed to the swing arm, and the universal rod can rotate relative to the swing arm to form a ball-joint pair. The motion platform is rotatably installed on the universal rod, and the motion platform can rotate relative to the universal rod. And in this embodiment, there are at least three bidirectional rotation drive devices. The upper ends of at least three bidirectional rotation drive devices are respectively connected to swing arms, and universal rods are ball-jointed on the swing arms. The motion platform is installed on at least three universal rods, and the motion platform is supported by at least three universal rods to ensure reliable support for the motion platform. Further, at least three bidirectional rotation drive devices respectively drive the swing arms to swing, thereby driving the universal rods to adjust their postures adaptively, so that the motion platform performs six-degree-of-freedom motion and realizes tilting and vibration in directions such as front-back, left-right, up-down, and inclination. When the simulated driving motion device of this embodiment is used in a simulated driving system, it can enable the simulated driving system to meet the simulated driving requirements, provide an intuitive simulated driving experience for trainees, and the swing arm can be controlled to be at different swing angles by controlling the rotation angle of the bidirectional rotation drive device, and the universal rod adjusts its posture adaptively. Compared with the linear motion drive of an electric cylinder and the rotation drive of a cam, the rotation angle of the bidirectional rotation drive device is easy to control. The bidirectional rotation drive device can drive the swing arm to swing forward and backward, and controlling the rotation angles of at least three bidirectional rotation drive devices can drive the motion platform, which can enrich the driving simulation states and motion details, facilitate debugging of the simulated driving motion device, and the structure of the simulated driving motion device in this embodiment is simple, easy to disassemble, install and maintain, which is beneficial to mass implementation and installation of the simulated driving system to meet the driving practice requirements.

[0010] In addition, on the basis of the above technical solutions, the present invention can also be improved as follows and can also have the following additional technical features.

[0011] According to an embodiment of the present invention, the simulated driving motion device further includes:

[0012] Rotating seats, at least three of which are provided corresponding to the universal rods one by one. The rotating seats are respectively rotatably installed on the free ends of the universal rods, and the motion platform is installed on at least three of the rotating seats.

[0013] In this embodiment, a rotating seat is installed on the universal rod, and the action platform is installed on at least three rotating seats. The action platform is supported by at least three rotating seats, which ensures that the action platform has reliable support and facilitates the universal rod to be rotatably connected with the action platform through the rotating seat.

[0014] According to one embodiment of the present invention, the driving action simulation device further includes:

[0015] At least three vibration reduction mechanisms are provided corresponding to the rotating seats one by one, and the at least three vibration reduction mechanisms are respectively vertically installed between the rotating seat and the action platform.

[0016] In this embodiment, a vibration reduction mechanism is vertically installed between the rotating seat and the action platform. The vibration reduction mechanism can buffer the vibration received by the action platform to achieve vibration reduction, which is beneficial to improving the effect of simulated driving of the simulated driving action device and providing students with a more intuitive simulated driving experience.

[0017] According to one embodiment of the present invention, the driving action simulation device further includes:

[0018] A support base, on which at least three of the bidirectional rotation drive devices are installed at circumferential intervals.

[0019] In this embodiment, by providing a support base, it is convenient to install at least three bidirectional rotation drive devices on the support base at circumferential intervals, which is beneficial to fix the support base, thereby facilitating the movement and installation of the simulated driving action device at the driving practice site.

[0020] According to one embodiment of the present invention, the driving action simulation device further includes:

[0021] There are at least three reducers corresponding to the bidirectional rotation drive device, and the at least three reducers are respectively connected to the rotation output shaft of the bidirectional rotation drive device, and the swing arm is connected to the output shaft of the reducer.

[0022] In this embodiment, a reducer is connected to the rotating output shaft of the bidirectional rotating drive device, and the swing arm is connected to the output shaft of the reducer. The reducer can transmit the output torque of the rotating output shaft of the bidirectional rotating drive device and can also match the output speed of the rotating output shaft, reduce the speed and increase the torque, increase the rotational torque of the swing arm, improve the driving ability of the simulated driving action device, and alleviate the instability of the rotation of the bidirectional rotating drive device and the motion interference caused by environmental factors.

[0023] According to an embodiment of the present invention, the bidirectional rotation driving device is a bidirectional rotation motor. In this embodiment, the bidirectional rotation driving device is a bidirectional rotation motor, which can drive the swing arm to swing forward and backward, enriching the driving simulation states and action details of the driving simulation action device and facilitating control.

[0024] According to an embodiment of the present invention, there are three bidirectional rotation driving devices, three swing arms corresponding to the bidirectional rotation driving devices one by one, and three universal rods corresponding to the swing arms one by one. In this embodiment, there are three bidirectional rotation driving devices, three swing arms and three universal rods. The action platform is installed on the three universal rods. While the action platform can obtain reliable support, the number of bidirectional rotation driving devices, swing arms and universal rods is small, the structure of the driving simulation action device is relatively simple, the manufacturing cost of the driving simulation action device can be reduced, and it is beneficial to disassemble, assemble and maintain the driving simulation action device.

[0025] According to an embodiment of the present invention, the three bidirectional rotation driving devices are circumferentially equidistantly spaced and the three bidirectional rotation driving devices are respectively installed at the three vertices of an equilateral triangle or an isosceles triangle, and the three swing arms are circumferentially equidistantly spaced. In this embodiment, the three bidirectional rotation driving devices are circumferentially equidistantly spaced and the three bidirectional rotation driving devices are respectively installed at the three vertices of an equilateral triangle or an isosceles triangle, making the three bidirectional rotation driving devices axially symmetrically arranged in position, which is beneficial to improving the stability of the action platform installed on the universal rod.

[0026] According to an embodiment of the present invention, the swing arm has an L-shaped structure. The swing arm includes a first connection section, a second connection section and an arc transition connection section connected between the first connection section and the second connection section. The rotation output shaft of the bidirectional rotation driving device is connected to the first connection section, and the universal rod is ball-jointed to the upper end of the second connection section. In this embodiment, the swing arm has an L-shaped structure, and there is an arc transition connection section between the first connection section and the second connection section. The rotation output shaft of the bidirectional rotation driving device is connected to the first connection section. When the swing arm bears pressure, the pressure deviates from the rotation center, which is convenient for the swing arm to swing under the drive of the bidirectional rotation driving device.

[0027] In addition, a driving simulation system provided in this embodiment includes:

[0028] The above-mentioned driving simulation action device;

[0029] A control system, the bidirectional rotation driving device is electrically connected to the control system;

[0030] A driving seat, installed above the action platform;

[0031] A driving operating system is installed above the motion platform.

[0032] The simulation driving system in the present embodiment is provided with the above-mentioned simulation driving action device. Under the control of the control system, the bidirectional rotation drive device can enable the simulation driving system to meet the simulation driving needs and provide students with an intuitive simulation driving experience. The swing arm can be controlled at different swing angles by controlling the rotation angle of the bidirectional rotation drive device, and the universal rod can adaptively adjust the posture; the rotation angle of the bidirectional rotation drive device is easy to control relative to the electric cylinder for linear motion and cam rotation for driving. The bidirectional rotation drive device can drive the swing arm to swing in forward and reverse directions. Controlling the rotation angle of at least three of the bidirectional rotation drive devices to realize the driving action platform can enrich the driving simulation state and action details, and facilitate the debugging of the simulation driving action device. The simulation driving action device in the present embodiment has a simple structure, is easy to disassemble and maintain, and is conducive to the large-scale implementation of the simulation driving system to meet the driving practice needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 A schematic diagram of the structure of a driving action simulation device according to an embodiment of the present invention;

[0035] Figure 2 for Figure 1 Front view after straightening;

[0036] Figure 3 for Figure 2 Right view of;

[0037] Figure 4 for Figure 2 Top view of the .

[0038] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0039] 1. Support base, 2. Bidirectional rotating motor, 3. Swing arm, 4. Ball joint seat, 5. Universal rod, 6. Rotating seat, 7. Shock absorber, 8. Action platform, 9. Controller, 20. Reducer, 30. Weight reduction groove, 40. Bolt 1, 50. Ball joint head, 60. Support shaft, 70. Bolt 2, 71. Bolt 3, 201. Output shaft. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0041] To be able to more clearly understand the above objectives, features and advantages of the present invention, the following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of this application and the features in the embodiments can be combined with each other.

[0042] Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0043] This embodiment provides a simulated driving motion device, as Figures 1 to 4 shown, including:

[0044] Three bidirectional rotation driving devices, which are circumferentially spaced. Each bidirectional rotation driving device is provided with a rotation output shaft.

[0045] Three swing arms 3, which are provided corresponding to the bidirectional rotation driving devices one by one. The lower ends of the swing arms 3 are respectively connected to the rotation output shafts of the bidirectional rotation driving devices and can rotate respectively under the drive of the bidirectional rotation driving devices. The upper ends of the swing arms 3 extend upward to form extension ends.

[0046] Three universal rods 5, which are provided corresponding to the swing arms 3 one by one. The lower ends of the universal rods 5 are respectively ball-joint connected to the extension ends of the swing arms 3. The upper ends of the universal rods 5 extend upward to form free ends.

[0047] An action platform 8, which is connected to the three universal rods 5. The free ends of the universal rods 5 are respectively rotationally connected to the action platform 8. The action platform 8 can perform six-degree-of-freedom motion under the action of the three bidirectional rotation driving devices driving the swing arms 3 and the universal rods 5.

[0048] In this embodiment, as Figures 1 to 4As shown in the figure, a two-way rotation driving device is provided in the simulated driving motion device. The swing arm 3 can swing under the drive of the two-way rotation driving device. The universal rod 5 is ball-joint connected to the swing arm 3. The universal rod 5 can rotate relative to the swing arm 3 to form a ball-joint pair. The motion platform 8 is rotatably installed on the universal rod 5. The motion platform 8 can rotate relative to the universal rod 5. And there are three two-way rotation driving devices. There are three swing arms 3 corresponding to the two-way rotation driving devices one by one. There are three universal rods 5 corresponding to the swing arms 3 one by one. In this embodiment, there are three two-way rotation driving devices, three swing arms 3 and three universal rods 5. The motion platform 8 is installed on the three universal rods 5. While the motion platform 8 can obtain reliable support, the number of the two-way rotation driving devices, the swing arms 3 and the universal rods 5 is small. The structure of the simulated driving motion device is relatively simple, which can reduce the manufacturing cost of the simulated driving motion device and is conducive to the disassembly, assembly and maintenance of the simulated driving motion device. Further, the three two-way rotation driving devices respectively drive the swing arms 3 to swing, and then drive the universal rods 5 to adjust their postures adaptively. Then the motion platform 8 makes six-degree-of-freedom motions and realizes tilting and vibrating in the directions of front-back, left-right, up-down, inclination, etc. When the simulated driving motion device in this embodiment is used in a simulated driving system, the simulated driving system can meet the simulated driving requirements, provide intuitive simulated driving feelings for trainees, and the swing angle of the swing arm 3 can be controlled by controlling the rotation angle of the two-way rotation driving device, and the universal rod 5 adjusts its posture adaptively. Compared with the linear motion of the electric cylinder for driving and the rotation of the cam for driving, the rotation angle of the two-way rotation driving device is easy to control. The two-way rotation driving device can drive the swing arm 3 to swing forward and backward, and by controlling the rotation angles of the three two-way rotation driving devices to drive the motion platform 8, it can enrich the driving simulation states and action details, facilitate the debugging of the simulated driving motion device, and the structure of the simulated driving motion device in this embodiment is simple, easy to disassemble, assemble and maintain, which is conducive to mass implementation and installation of the simulated driving system to meet the driving practice requirements. It should be noted that in this embodiment Figures 1 to 4 The structure diagram of the illustrated simulated driving motion device only shows the structure diagram of one state of the simulated driving motion device. Other states of the simulated driving motion device are obtained by changing on the basis of Figures 1 to 4 the illustration. No further illustration is given in this embodiment. Further, the simulated driving motion device in this embodiment is specifically used for the locomotive and rolling stock simulated driving system, simulating the vehicle driving vibration, giving a realistic driving vibration effect to motor vehicle drivers, and providing intuitive vehicle practice feelings for trainees. Further, the simulated driving motion in this embodiment is not limited to the locomotive and rolling stock simulated driving system, and can also be used in the simulated driving systems of other devices with tilting and vibrating actions.

[0049] Further, the two-way rotation driving device in this embodiment may be provided with four or more, correspondingly, the swing arms 3 and the universal rods 5 are provided with four or more corresponding to the two-way rotation driving device.

[0050] In this embodiment, as Figures 1 to 3 shown, a ball hinge seat 4 is provided at the upper end of the swing arm 3, and a ball hinge head 50 is provided at the lower end of the universal rod 5. The ball hinge head 50 is ball-hinged to the ball hinge seat 4. In this embodiment, a ball hinge seat 4 is provided at the upper end of the swing arm 3, and the ball hinge head 50 at the lower end of the universal rod 5 is ball-hinged to the inside of the ball hinge seat 4, which is convenient for ball-hinging the universal rod 5 to the swing arm 3. Further, an installation plane is provided at the upper end of the swing arm 3 in this embodiment, and the ball hinge seat 4 is installed on the installation plane at the upper end of the swing arm 3 through a plurality of bolts 40; the ball hinge head 50 and the ball hinge seat 4 in this embodiment are ball-hinged to form a ball joint. The ball hinge head 50 and the ball hinge seat 4 are formed by alloy steel with smooth wear resistance and impact resistance, and the surface finish between the ball hinge head 50 and the ball hinge seat 4 is above Ra0.4, which is convenient for the universal rod 5 to rotate 360° reliably relative to the ball hinge seat 4; further, the universal rod 5 and the swing arm 3 can also be ball-hinged through other ball hinge connection structures.

[0051] In this embodiment, as Figure 1 and Figure 4 shown, the action platform 8 has a rectangular frame structure, and a support beam is connected to the middle of the action platform 8. The action platform 8 in this embodiment can also be designed into other structures according to needs.

[0052] An embodiment of the present invention, as Figures 1 to 4 shown, the simulated driving action device further includes: a rotating seat 6, three of which are provided corresponding to the universal rods 5 one by one. The rotating seats 6 are respectively rotatably installed on the free ends of the universal rods 5, and the action platform 8 is installed on the three rotating seats 6. In this embodiment, by installing the rotating seats 6 on the universal rods 5 and installing the action platform 8 on the three rotating seats 6, the action platform 8 is supported by the three rotating seats 6, ensuring reliable support for the action platform 8 and facilitating the rotational connection between the universal rod 5 and the action platform 8 through the rotating seats 6.

[0053] In this embodiment, as Figure 1 and Figure 4 shown, two support feet are provided on the rotating seat 6. The rotating seat 6 is rotatably installed on the upper end of the universal rod 5 through a support shaft 60. The support shaft 60 passes through the universal rod 5 and passes through the two support feet. Snap rings are respectively provided at both ends of the support shaft 60 and limited by limit pins to rotatably install the rotating seat 6 on the upper end of the universal rod 5. In addition, the rotating seat 6 in this embodiment can also be designed into other structures.

[0054] An embodiment of the present invention, as Figures 1 to 4As shown in the figure, the simulated driving motion device further includes: a shock absorption mechanism. There are three shock absorption mechanisms corresponding to the rotating seats 6 one by one, and the three shock absorption mechanisms are vertically installed between the rotating seats 6 and the motion platform 8 respectively. In this embodiment, by vertically installing a shock absorption mechanism between the rotating seat 6 and the motion platform 8, the shock absorption mechanism can buffer the vibration received by the motion platform 8 to achieve shock absorption, which is beneficial to improving the simulation effect of the simulated driving motion device and providing a more intuitive simulated driving experience for trainees. Further, the shock absorption mechanism in this embodiment is specifically a shock absorber 7. The lower end of the shock absorber 7 is provided with a mounting seat, and the mounting seat is installed on the upper end of the rotating seat 6 through a plurality of bolts II 70. The upper end of the shock absorber 7 is fixedly connected to the motion platform 8 through a plurality of bolts III 71. Other applicable shock absorption devices can also be used as the shock absorption mechanism in this embodiment; further, there can be four or more two-way rotation driving devices in this embodiment. Correspondingly, there are four or more swing arms 3, universal rods 5, rotating seats 6 and shock absorption mechanisms corresponding to the two-way rotation driving devices.

[0055] An embodiment of the present invention, as Figures 1 to 4 shown, the simulated driving motion device further includes: a support base 1. Three two-way rotation driving devices are circumferentially and spacedly installed on the support base 1. In this embodiment, by providing the support base 1, it is convenient to circumferentially and spacedly install the three two-way rotation driving devices on the support base 1, which is beneficial to fixing the support base 1 and then facilitating the movement and installation of the simulated driving motion device at the driving practice site. Further, there can be four or more two-way rotation driving devices in this embodiment, and the four or more two-way rotation driving devices are circumferentially and spacedly installed on the support base 1. There are various installation methods for the plurality of two-way rotation driving devices, and there are also various swinging methods for the swing arm 3.

[0056] In this embodiment, as Figures 1 to 4 shown, the support base 1 in this embodiment has a regular hexagonal plate-like structure, and a Y-shaped support plate is provided inside the support base 1. The three two-way rotation driving devices are sequentially installed on the Y-shaped support plate. Further, the support base 1 in this embodiment can also have various structures.

[0057] An embodiment of the present invention, as Figure 1 、 Figure 4As shown, the simulated driving action device also includes: a reducer 20, at least three of which are provided in a one-to-one correspondence with the bidirectional rotation drive device, and at least three reducers are respectively connected to the rotating output shaft of the bidirectional rotation drive device, and the swing arm 3 is connected to the output shaft 201 of the reducer 20. In this embodiment, the reducer 20 is connected to the rotating output shaft of the bidirectional rotation drive device, and the swing arm 3 is connected to the output shaft 201 of the reducer 20. The reducer 20 can transmit the output torque of the rotating output shaft of the bidirectional rotation drive device, and at the same time can match the output speed of the rotating output shaft, reduce the speed and increase the torque, increase the rotational torque of the swing arm 3, improve the driving ability of the simulated driving action device, and can also alleviate the instability of the rotation of the bidirectional rotation drive device and the motion interference caused by environmental factors. Further, the reducer 20 in this embodiment adopts a planetary reducer 20 with a large reduction ratio and compact structure, and uses the flexible rotation of gears and meshing transmission to transmit torque.

[0058] In one embodiment of the present invention, the bidirectional rotation driving device is a bidirectional rotation motor 2. In this embodiment, the bidirectional rotation driving device is a bidirectional rotation motor 2, and the bidirectional rotation motor 2 can drive the swing arm 3 to swing in the forward and reverse directions, enriching the driving simulation state and action details of the driving action simulation device and facilitating control. Furthermore, the three bidirectional rotation motors 2 in this embodiment are controlled by a motor linkage control algorithm, and the bidirectional rotation driving device in this embodiment can also use other bidirectional rotation driving devices.

[0059] In one embodiment of the present invention, a high-precision encoder is respectively provided in the bidirectional rotating motor 2. In this embodiment, the rotation speed, angle and direction of the rotating output shaft 201 of the bidirectional rotating motor 2 are monitored by the high-precision encoder. The high-precision encoder is arranged around the circumference of the rotating output shaft 201. The high-precision encoder is electrically connected to the control system, which is conducive to improving the accuracy of the simulated driving action device, thereby ensuring the accuracy of the control of the simulated driving system equipped with the simulated driving action device in this embodiment. Furthermore, a power-off brake is also provided in the bidirectional rotating motor 2 in this embodiment, which is convenient for braking the bidirectional rotating motor 2 by the power-off brake, which is conducive to ensuring the safety of the simulated driving system equipped with the simulated driving action device in this embodiment. It should be noted that the high-precision encoder and the power-off brake in this embodiment are not shown in the figure. In addition, the specific installation method of the high-precision encoder and the power-off brake can also refer to the prior art, which will not be repeated here.

[0060] One embodiment of the present invention, as Figure 1 , Figure 4 As shown, three bidirectional rotation drive devices are arranged at equal intervals in the circumferential direction and are respectively installed on three vertices of an equilateral triangle or an isosceles triangle, and three swing arms 3 are arranged at equal intervals in the circumferential direction.

[0061] In this embodiment, as Figure 1 , Figure 4 shown, three bidirectional rotation drive devices are circumferentially equidistantly spaced and the three bidirectional rotation drive devices are respectively installed at the three vertices of an equilateral triangle or an isosceles triangle, such that the three bidirectional rotation drive devices are axially symmetrically arranged in position, which is beneficial to improving the stability of the motion platform 8 installed on the universal rod 5; further, the rotation directions of the three swing arms 3 in this embodiment are parallel to the trisecting radial lines passing through the center of the above-mentioned equilateral triangle or isosceles triangle.

[0062] An embodiment of the present invention, as Figure 1 and Figure 4 shown, the swing arm 3 has an L-shaped structure. The swing arm 3 includes a first connection section, a second connection section, and an arc transition connection section connected between the first connection section and the second connection section. The rotation output shaft of the bidirectional rotation drive device is connected to the first connection section, and the universal rod 5 is ball-jointed to the upper end of the second connection section.

[0063] In this embodiment, as Figure 1 and Figure 4 shown, the swing arm 3 has an L-shaped structure. There is an arc transition connection section between the first connection section and the second connection section. The rotation output shaft of the bidirectional rotation drive device is connected to the first connection section. When the swing arm 3 is under pressure, the pressure deviates from the rotation center, facilitating the swing of the swing arm 3 driven by the bidirectional rotation drive device. The swing arm 3 in this embodiment can also be designed into other structures as long as it is convenient to swing driven by the bidirectional rotation drive device. Further, in order to ensure the durability of the swing arm 3 in this embodiment, the swing arm 3 of this embodiment is processed and formed by using a forging alloy with high strength and small deformation; further, in order to reduce the weight of the swing arm 3 in this embodiment, weight reduction grooves 30 are respectively provided on both sides of the swing arm 3.

[0064] In addition, a simulation driving system provided in this embodiment includes:

[0065] The above-mentioned simulation driving motion device;

[0066] A control system, and the bidirectional rotation drive device is electrically connected to the control system;

[0067] A driving seat, installed above the motion platform 8;

[0068] A driving operation system, installed above the motion platform 8.

[0069] In this embodiment, the above-mentioned simulated driving action device is provided in the simulated driving system. Under the control of the control system, the bidirectional rotation driving device can enable the simulated driving system to meet the simulated driving requirements, provide intuitive simulated driving experience for trainees, and control the swing arm 3 to be at different swing angles by controlling the rotation angle of the bidirectional rotation driving device, and the universal rod 5 adjusts its posture adaptively. Compared with the linear motion of the electric cylinder for driving and the rotation of the cam for driving, the rotation angle of the bidirectional rotation driving device is convenient to control. The bidirectional rotation driving device can drive the swing arm 3 to swing forward and backward, and control the rotation angles of at least three bidirectional rotation driving devices to drive the action platform 8, which can enrich the driving simulation states and action details, facilitate the debugging of the simulated driving action device, and the structure of the simulated driving action device in this embodiment is simple, convenient for disassembly, installation and maintenance, which is beneficial to the large-scale implementation of the installation of the simulated driving system to meet the driving practice requirements. Further, in this embodiment, a controller 9 is provided in the middle of the support base 1, the control system is arranged in the controller 9, and the bidirectional rotation driving device is electrically connected to the control system through a cable. In addition, the control system in this embodiment adopts the PID control algorithm for control. Under the control of the control system, the bidirectional rotation driving device rotates at different angles to control the swing arm 3 to be at different swing angles, and the universal rod 5 adjusts its posture adaptively, so that the action platform 8 makes six-degree-of-freedom motion and realizes tilting and vibration in the front-back, left-right, up-down, and inclination directions. Further, the specific simulation process of the simulated driving system in this embodiment can refer to the simulated driving system in the prior art, and will not be elaborated here.

[0070] In this embodiment, the simulated driving system in this embodiment is specifically a locomotive and rolling stock simulated driving system, and can also be used for the simulated driving systems of other devices with tilting and vibration actions. Before installing the simulated driving system in this embodiment at the training site, it can be fixed by drilling holes in the on-site ground or by using a base. After installing the simulated driving system, connect the power supply line and conduct debugging and inspection. After ensuring that there is no error, first rotate the bidirectional rotation motor 2 slowly to drive the action platform 8 to vibrate. After a period of slow vibration running-in, it can be operated according to the simulated teaching subjects. Further, the action platform 8 in this embodiment is provided with a structural installation interface for facilitating the installation of a driving seat, a driving operation system, a display, etc. on the action platform 8. In addition, the action platform 8 in this embodiment can also be provided with a function expansion interface and a quick assembly interface to facilitate the upgrade and transformation of the simulated driving system. It should be noted that the driving seat and the driving operation system in this embodiment can both refer to the prior art, and in addition, the driving seat and the driving operation system are not illustrated in this embodiment.

[0071] In addition, except for the technical solutions disclosed in this embodiment, for other structures and working principles of the speed reducer 20, control system, PID control algorithm, driving operation system, and simulation driving system in the present invention, reference can be made to the conventional technical solutions in this technical field. However, these conventional technical solutions are not the focus of the present invention, and thus will not be elaborated herein in detail.

[0072] In the present invention, the term "a plurality of" refers to two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "coupled" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0073] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0074] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0075] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A driving action simulation device, It is characterized in that include: There are at least three bidirectional rotation drive devices, which are arranged at intervals in the circumferential direction, and each of the bidirectional rotation drive devices is provided with a rotation output shaft; At least three swing arms are provided corresponding to the two-way rotation drive device, the lower ends of the swing arms are respectively connected to the rotation output shafts of the two-way rotation drive device, and the upper ends of the swing arms extend upward to form extension ends; At least three universal rods are provided corresponding to the swing arms, the lower ends of the universal rods are respectively connected to the extended ends of the swing arms by ball joints, and the upper ends of the universal rods extend upward to form free ends; An action platform connected to at least three of the universal rods, wherein the free ends of the universal rods are respectively rotatably connected to the action platform, and the action platform can perform six-degree-of-freedom motion when at least three of the bidirectional rotation drive devices drive the swing arm and the universal rod to move; There are at least three rotating seats corresponding to the universal rods, the rotating seats are rotatably mounted on the free ends of the universal rods, and the action platform is mounted on at least three rotating seats; At least three vibration reduction mechanisms are provided corresponding to the rotating seats, and at least three vibration reduction mechanisms are respectively vertically installed between the rotating seats and the action platform; The swing arm is in an L-shaped structure, and comprises a first connecting section, a second connecting section, and an arc transition connecting section connected between the first connecting section and the second connecting section, the rotating output shaft of the bidirectional rotating driving device is connected to the first connecting section, and the universal rod ball joint is connected to the upper end of the second connecting section; A support base, on which at least three of the bidirectional rotation drive devices are installed at circumferential intervals.

2. The driving action simulation device according to claim 1, It is characterized in that Also includes: There are at least three reducers corresponding to the bidirectional rotation drive device, and the at least three reducers are respectively connected to the rotation output shaft of the bidirectional rotation drive device, and the swing arm is connected to the output shaft of the reducer.

3. The driving simulation device according to any one of claims 1 to 2, It is characterized in that The bidirectional rotation driving device is a bidirectional rotation motor.

4. The driving simulation device according to any one of claims 1 to 2, It is characterized in that The two-way rotation driving devices are provided in three, and the three swing arms are provided in a one-to-one correspondence with the two-way rotation driving devices, and the three universal rods are provided in a one-to-one correspondence with the swing arms.

5. The driving action simulation device according to claim 4, It is characterized in that The three bidirectional rotation drive devices are arranged at equal intervals in the circumferential direction and are respectively installed on the three vertices of an equilateral triangle or an isosceles triangle, and the three swing arms are arranged at equal intervals in the circumferential direction.

6. A driving simulation system, It is characterized in that include: The driving action simulation device according to any one of claims 1 to 5 above; A control system, wherein the bidirectional rotation drive device is electrically connected to the control system; A driving seat, installed above the action platform; The driving operation system is installed above the action platform.

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