Adjusting pad for improving rapid rotation effect of guide rod of multi-degree-of-freedom motion platform

Abstract

The application provides an adjusting pad for improving the rapid self-rotation effect of a guide rod of a multi-degree-of-freedom motion platform, each upper and lower end of an electric cylinder of the platform is hinged to an upper and lower platform through a vertical hooke joint, and the adjusting pad is between the vertical hooke joint and the upper platform; the bottom of the adjusting pad is horizontal and fixed to the bottom of the upper platform, the mounting surface of the adjusting pad has a predetermined angle; the adjusting pads are distributed in groups and a double-inclined-surface pad is integrally designed for each group of adjusting pads, the double-inclined-surface pad has two inclined surfaces arranged oppositely and is centrally symmetrically distributed, and the bottom surface of a bearing seat of the vertical hooke joint is mounted at the center of the inclined surfaces; the center of the double-inclined-surface pad has a platform buffer area, and the two inclined surfaces are respectively located on the two sides of the platform buffer area. The application improves the adaptability of the platform to the small-angle composite attitude angle swing effect by adding the inclined-surface pad, reduces the self-rotation effect of the guide rod in the composite attitude angle swing process, and avoids the structural damage caused by the rapid self-rotation of the guide rod.

Description

[0001] This application is a divisional application of the invention patent application filed by the applicant on December 29, 2021, with application number 2021116424649 and invention title "A Six-Degree-of-Freedom Motion Platform for Improving the Self-Rotation Effect of a Guide Rod". Technical Field

[0002] This invention relates to the field of multi-degree-of-freedom motion platform technology, and more specifically to an adjustment pad for improving the rapid rotation effect of the guide rod in a multi-degree-of-freedom motion platform. Background Technology

[0003] Multi-degree-of-freedom motion platforms are widely used in driving simulation, especially vehicle driving simulation (armored vehicles, tanks, etc.) and flight simulation. A closed-loop simulation system based on a six-degree-of-freedom motion platform can be created, simulating a human-vehicle-road system. Figure 1 The typical driving simulation control system shown mainly includes a visual simulation display system, an acoustic simulation feedback system, a haptic simulation feedback system, and a dynamic model of the driving object. In flight simulation, a control load simulation system is also designed to simulate force feedback. The driving simulation system uses hardware-in-the-loop simulation for training simulation, performance analysis, and evaluation, accurately simulating driving maneuvers and obtaining the driving feel of real vehicles and aircraft, which is of great significance for personnel training and evaluation.

[0004] These driving simulation systems typically employ electric cylinders to design multi-degree-of-freedom motion systems, providing haptic feedback to the driver. Controls such as the cockpit, accelerator pedal, steering wheel, and gearshift lever are mounted on the upper platform of a six-degree-of-freedom platform. A typical structure of a six-degree-of-freedom platform is as follows: Figure 2 , 3 As shown, multiple electric cylinders are arranged between the upper platform and the lower platform. The crank at the end of the electric cylinder is hinged to the upper platform through a vertical Hooke hinge, and the bottom of the electric cylinder is also hinged to the vertical Hooke hinge on the lower platform. The multi-degree-of-freedom motion between the upper and lower platforms is achieved through the extension and retraction linear motion of the electric cylinder.

[0005] However, during actual platform movement, the vertical Hooke's joint generates a guide rod rotation effect during compound attitude angle movements. In actual operation, because the guide rod and the Hooke's joint axis cannot rotate rapidly enough, the Hooke's joint is damaged. Figure 4 , 5 The rotational angular velocity of the Hooke hinge axis during a 25° compound swing motion with a period of 4s was tested. During the compound attitude angle motion, the rapid rotation of the guide rod of the six-degree-of-freedom platform with a vertical Hooke hinge caused structural damage.

[0006] like Figure 6 The image shows the actual effect of Hooke's hinge plastic bending failure caused by the guide rod's rotation effect.

[0007] Existing technical documents:

[0008] Patent Document 1: CN211479367U Armored Vehicle Dynamic Simulation Motion Platform

[0009] Patent Document 2: CN110107599A A Hooke Hinge Structure for an Electric Six-DOF Motion Platform

[0010] Thesis: Xie Xiao: Development of a Six-DOF Driving Simulation System Based on Virtual Reality Summary of the Invention

[0011] The purpose of this invention is to address the structural damage and interference problems that occur when a vertical Hooke joint is used to connect an electric cylinder to the upper and lower platforms in a multi-degree-of-freedom motion platform. This invention provides an adjusting pad to improve the rapid rotation effect of the guide rod in a multi-degree-of-freedom motion platform, thereby reducing the structural damage to the Hooke joint caused by the guide rod rotation effect.

[0012] According to a first aspect of the present invention, an adjusting pad is provided for improving the rapid rotation effect of the guide rod of a multi-degree-of-freedom motion platform. The multi-degree-of-freedom motion platform includes a plurality of electric cylinders, the upper and lower ends of each electric cylinder being hinged to an upper platform and a lower platform respectively via a first vertical Hooke hinge and a second Hooke hinge. The adjusting pad is disposed between the first vertical Hooke hinge and the upper platform.

[0013] The bottom of the adjusting pad is horizontal and fixedly connected to the bottom of the upper platform. The mounting surface of the adjusting pad has a predetermined angle, which is in the range of 25° to 45°.

[0014] The adjusting pads are arranged in a parallel design and distributed in groups. Each group of adjusting pads is designed as a single unit to form a double-sloping pad with two oppositely arranged slopes that are centrally symmetrically distributed. The bottom surface of the bearing seat of the first vertical Hooke hinge is installed at the center of the slope.

[0015] The double-sloping pad has a platform buffer zone at its center, with the two slopes located on either side of the platform buffer zone.

[0016] By setting up double inclined plane pads, the guide rod rotation effect of the six-degree-of-freedom motion platform during the compound attitude angle swing process is reduced.

[0017] As an optional embodiment, the angle of the mounting surface of the adjusting pad is set to 30°.

[0018] As an optional embodiment, the width of the platform buffer zone satisfies the following condition: the horizontal distance between the bottom surfaces of the bearing seats of the two first vertical Hooke hinges mounted on the double inclined pad is at least greater than 1.2Lp to 1.5Lp, where Lp represents the width of the platform buffer zone.

[0019] As an optional embodiment, the bottom surface of the double-sloped pad has a length of 15cm, a width of 5cm, and a maximum height of 3.5cm to 4cm.

[0020] The width of the platform buffer zone is 2cm to 3cm, and the height of the platform buffer zone is 1cm to 1.5cm.

[0021] The significant beneficial effects of the adjusting pad proposed in this invention for improving the rapid rotation effect of the guide rod in a multi-degree-of-freedom motion platform, based on the technical solution of this invention, are as follows:

[0022] In the design of the parallel multi-degree-of-freedom motion platform of the present invention, the addition of inclined plane blocks improves the adaptability of the multi-degree-of-freedom platform to small-angle compound attitude angle swaying, reduces the self-rotation effect of the guide rod during compound attitude angle swaying, and the larger the angle of the block, the more obvious the effect, thereby reducing the structural damage caused by the rapid self-rotation of the guide rod during the compound attitude angle motion of the original vertical Hooke hinge. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the architecture of a typical driving simulation system.

[0024] Figure 2-3 This is a schematic diagram of a parallel six-degree-of-freedom motion platform using a vertical Hooke joint in the prior art.

[0025] Figure 4 yes Figure 2 A schematic diagram of the vertical Hooke hinge on the upper platform of the parallel six-degree-of-freedom motion platform and the guide rod hinge of the electric cylinder.

[0026] Figure 5 It is adopted Figure 2-4 A schematic diagram of the test results of the rotational angular velocity of the Hooke hinge shaft during a 25° compound swing motion with a test period of 4s on a multi-degree-of-freedom platform.

[0027] Figure 6 This is an actual diagram illustrating the plastic bending failure of a vertical Hooke's hinge caused by the rotation effect of the guide rod.

[0028] Figure 7 This is a structural diagram of a parallel six-degree-of-freedom motion platform employing inclined plane adjustment pads, as an exemplary embodiment of the present invention.

[0029] Figure 8 yes Figure 7A schematic diagram of the hinge structure between the vertical Hooke hinge and the electric cylinder guide rod after the adjustment pad is used in the embodiment.

[0030] Figure 9 Yes Figure 7-8 The schematic diagram shows the test results of the vertical Hooke hinge axis rotation angular velocity during a 25° compound swing motion with a test cycle of 4s on the parallel six-degree-of-freedom motion platform of the embodiment shown. Detailed Implementation

[0031] To better understand the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.

[0032] Various aspects of the invention are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily intended to encompass all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed herein are not limited to any particular implementation. Furthermore, some aspects of the invention disclosed may be used alone or in any suitable combination with other aspects of the invention disclosed.

[0033] Combination Figure 7-8 As shown, a six-degree-of-freedom motion platform for improving the self-rotation effect of the guide rod, proposed according to an exemplary embodiment of the present invention, includes an upper platform 10, a lower platform 20, an electric cylinder 30, a vertical Hooke hinge, and an adjusting pad 50.

[0034] Multiple electric cylinders 30 are arranged between the upper platform 10 and the lower platform 20 to form a parallel multi-degree-of-freedom motion platform structure design.

[0035] Combination Figure 7 The electric cylinder 30 has a cylinder body 31 and a guide rod 32 that can move linearly and telescopically along the axis of the cylinder body. A first crank 33 is provided at the end of the guide rod. A second crank 34 is provided at the bottom of the cylinder body. Optionally, the electric cylinder 30 is a high-precision, high-load-capacity electric cylinder from Panasonic, Japan, or an electric cylinder from Thomson.

[0036] Combination Figure 7 , 8 As shown, vertical Hooke hinges are respectively set at both ends of an electric cylinder. That is, a vertical Hooke hinge is set corresponding to each electric cylinder, and each electric cylinder 30 is equipped with two vertical Hooke hinges, namely the first vertical Hooke hinge 41 and the second vertical Hooke hinge 42, which are respectively set at the bottom of the upper platform 10 and the upper surface of the lower platform 20.

[0037] Combination Figure 7 , 8In an embodiment of the present invention, an adjustment pad 50 is added to each electric cylinder, and the first vertical Hooke hinge 41 corresponding to the electric cylinder 30 is fixed to the upper platform 10 by the adjustment pad 50.

[0038] Combination Figure 8 The adjusting pad 50 is constructed as a pad with a triangular cross section. The bottom is horizontal and fixedly connected to the upper platform. The mounting surface of the adjusting pad, i.e. the inclined surface, has a predetermined angle. The bearing seat bottom surface of the first vertical Hooke hinge 41 is fixed on the mounting surface. The rotating shaft of the first vertical Hooke hinge 41 is connected to the first crank 33 of the guide rod 32 via a pin to achieve a rotary connection.

[0039] In embodiments of the present invention, the vertical Hooke hinge can adopt the existing structural design of the vertical Hooke hinge, consisting of a bearing housing and a rotating shaft supported by the bearing housing.

[0040] Combination Figure 2 As shown, the bearing seat bottom of the second vertical Hooke hinge 42 is fixed on the lower platform 20, and the rotating shaft of the second vertical Hooke hinge is hinged to the second crank 34 at the bottom of the cylinder block.

[0041] In an optional embodiment, the slope angle of the mounting surface of the aforementioned adjusting pad 50 is set between 25° and 45°. Preferably, a 30° slope is used.

[0042] In a preferred embodiment, the adjusting pads at the bottom of the upper platform 10 are arranged in parallel and distributed in groups. Each group of adjusting pads is integrated to form a double-sloping pad structure, i.e., two adjusting pads 50 are arranged in a group with two opposite slopes, each slope having an angle of 30° and being centrally symmetrically distributed. The bearing seat bottom surface of the first vertical Hooke hinge 41 is installed at the center of the slope.

[0043] Preferably, both inclined surfaces of the double-inclined pad have the same inclination angle, preferably 30°.

[0044] The double-sloping pad has a platform buffer zone at its center, with the two slopes located on either side of the platform buffer zone.

[0045] To further illustrate exemplary embodiments of the present invention, in conjunction with Figure 9 As shown, a simulation was performed on a six-degree-of-freedom parallel motion platform with double inclined plane blocks applied according to the present invention. During a 25° compound swing motion with a test period of 4s, the following was observed: Figure 7 , 8The test results of the rotation angular velocity of the vertical Hooke hinge shaft in the optimized design show that the rotation angular velocity of the vertical Hooke hinge shaft is significantly improved. During the motion, the rotation angular velocity of each vertical Hooke hinge shaft is relatively stable, and there are no sudden changes or large inflection points. This avoids structural damage caused by rapid rotation and improves the stability and lifespan of the six-degree-of-freedom motion platform.

[0046] As a preferred example, the width Lp of the platform buffer zone satisfies the following condition: the horizontal distance L0 between the bottom surfaces of the bearing seats of the two first vertical Hooke hinges mounted on the double inclined pad is at least greater than 1.2Lp to 1.5Lp, thereby reducing and avoiding interference.

[0047] In an embodiment of the present invention, the bottom surface of the double-sloped pad has a length of 15cm, a width of 5cm, and a maximum height of 3.5cm to 4cm. The width of the platform buffer zone is 2cm to 3cm, and the height of the platform buffer zone is 1cm to 1.5cm.

[0048] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. An adjusting pad for improving the rapid rotation effect of a guide rod in a multi-degree-of-freedom motion platform, characterized in that, The multi-degree-of-freedom motion platform includes multiple electric cylinders. The upper and lower ends of each electric cylinder are respectively connected to the upper platform and the lower platform through a first vertical Hooke hinge and a second Hooke hinge. The adjusting pad is set between the first vertical Hooke hinge and the upper platform. The bottom of the adjusting pad is horizontal and fixedly connected to the bottom of the upper platform; the mounting surface of the adjusting pad has a predetermined angle, ranging from 25° to 45°. The adjusting pads are arranged in a parallel configuration and distributed in groups. Each group of adjusting pads is designed as a single unit to form a double-sloping pad with two opposing slopes. Both slopes on a group of adjusting pads face the center of the group and are centrally symmetrical. The bottom surface of the bearing seat of the first vertical Hooke hinge is mounted at the center of the slope. The center of the double-sloping pad has a platform buffer zone, with two slopes located on both sides of the platform buffer zone; the width of the platform buffer zone satisfies the following condition: the horizontal distance between the bottom surfaces of the bearing seats of the two first vertical Hooke hinges mounted on the double-sloping pad is at least greater than 1.2Lp to 1.5Lp, where Lp represents the width of the platform buffer zone; By setting up double inclined plane pads, the guide rod rotation effect of the six-degree-of-freedom motion platform during the compound attitude angle swing process is reduced.

2. The adjusting pad for improving the rapid rotation effect of the guide rod in a multi-degree-of-freedom motion platform according to claim 1, characterized in that, The angle of the mounting surface of the adjusting pad is set to 30°.

3. The adjusting pad for improving the rapid rotation effect of the guide rod in a multi-degree-of-freedom motion platform according to claim 1, characterized in that, The bottom surface of the double-sloped pad has a length of 15cm, a width of 5cm, and a maximum height of 3.5cm to 4cm. The width of the platform buffer is 2cm to 3cm, and the height of the platform buffer is 1cm to 1.5cm.

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