Redundant drive six-degree-of-freedom parallel mechanism with continuously rotating moving platform

Abstract

The application discloses a kind of redundant drive six degrees of freedom parallel mechanism of dynamic platform continuous 360 degree rotation, including static platform, the slider car group of sliding is arranged in the static platform, the slider car in the slider car group is connected with dynamic platform by support chain, and the dynamic platform is circular.The static platform in the application is composed of two roller coaster track type ring tracks orthogonally, and the slider car can rotate along the ring track of static platform, and the motion cooperation of four linear drive support chains and four slider cars can realize the continuous roll and pitch angle 0-360 degrees of dynamic platform, increase the attitude workspace of mechanism, so as to meet the requirements of fighter aircraft maneuverability simulation.The application controls six degrees of freedom of mechanism by four support chains, reduces the number of support chains, and the structure is simple, and the mechanism adopts redundant drive, one support chain is redundant drive support chain, and the motion characteristics are not affected after removing the support chain, and the redundant drive support chain can improve the carrying capacity of mechanism.

Description

Technical Field

[0001] This invention belongs to the field of parallel mechanism technology, specifically relating to a redundant six-degree-of-freedom parallel mechanism with a moving platform that can rotate continuously 360 degrees. Background Technology

[0002] A six-degree-of-freedom parallel mechanism has six degrees of freedom, which can simulate the arbitrary motion of a rigid body. Therefore, it is used in various motion simulators, such as car simulators, tank simulators, ship simulators, and flight simulators. Among them, flight simulators are hardware-in-the-loop simulation devices that simulate the aerial motion and attitude of aircraft and provide pilots with simulated dynamic sensations.

[0003] The motion parameters and performance of jet fighters differ significantly from those of civil aircraft. Jet fighters have a pitch angle range of 0-360 degrees and a roll angle of up to 360 degrees, and are capable of continuous roll maneuvers. A review of existing technologies reveals that most current six-degree-of-freedom parallel flight simulators cannot meet the motion simulation requirements of fighter jets because the inherent geometric properties of the flight simulator's mechanical body limit the platform's range of motion, thus restricting the simulated motion range.

[0004] Chinese patent CN216596600U uses the Stewart platform as the main mechanism of the flight simulator. However, the maximum range of attitude angle of the Stewart platform is only ±35 degrees, which can only achieve limited pitch, roll and yaw movements.

[0005] The mechanical structure used in Chinese patent CN103150939B has a larger attitude rotation range than the Stewart platform, but it cannot generate a 360-degree attitude rotation.

[0006] The mechanical structure used in Chinese patent CN111331580B allows the moving platform to flip, but its pitch angle is limited.

[0007] None of the aforementioned patents can meet the requirements for simulating the maneuverability of fighter jets, producing realistic fighter jet flight attitudes and movements, thus affecting the actual effectiveness of flight training. Therefore, it is of great significance to research a six-degree-of-freedom parallel mechanism with a larger attitude angle range that can achieve continuous full rotation of the moving platform. Summary of the Invention

[0008] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a redundant drive six-degree-of-freedom parallel mechanism with a moving platform that can rotate continuously 360 degrees.

[0009] The technical solution of the present invention is: a redundant drive six-degree-of-freedom parallel mechanism with a moving platform that can rotate continuously 360 degrees, including a static platform, wherein a sliding slider assembly is provided in the static platform, and the slider in the slider assembly is connected to the moving platform through a branch chain, wherein the moving platform is circular.

[0010] Furthermore, the static platform includes a first static platform ring and a second static platform ring, which are orthogonally fixed, and a wheel guide structure is provided in the first static platform ring and the second static platform ring.

[0011] Furthermore, the slider cars are arranged in pairs, including a first slider car H1, a second slider car H2, a third slider car H3, and a fourth slider car H4. The first slider car H1 and the third slider car H3 slide along the first static platform ring, and the first slider car H1 and the third slider car H3 drive the driving platform to rotate around the first static platform ring.

[0012] Furthermore, the second slider car H2 and the fourth slider car H4 slide along the second static platform ring, and the second slider car H2 and the fourth slider car H4 drive the moving platform to rotate around the second static platform ring.

[0013] Furthermore, the branches include a first branch L1, a second branch L2, a third branch L3, and a fourth branch L4, all of which have the same structure.

[0014] Furthermore, the first branch L1 includes a first rotary joint R1, a first prismatic joint P1, a first ball joint S1, and a first ball joint mounting seat S2. The first rotary joint R1 at one end of the first branch L1 is connected to the sliding block, and the first ball joint mounting seat S2 at the other end of the first branch L1 is connected to the moving platform.

[0015] Furthermore, the other end of the first rotary joint R1 is connected to the first prismatic joint P1, the other end of the first prismatic joint P1 is connected to the first ball joint S1, and the other end of the first ball joint S1 is connected to the first ball joint mounting base S2.

[0016] Furthermore, the first slider car H1 includes a slider car body, and slider wheel sets are provided on both sides of the slider car body, and the slider wheel sets slide along the wheel set guide structure.

[0017] Furthermore, a connecting hole is formed in the body of the slider car, through which it is connected to the first rotating joint R1.

[0018] Furthermore, the hinge points of the first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 with the moving platform are distributed in an irregular quadrilateral shape.

[0019] The beneficial effects of this invention are as follows:

[0020] In this invention, the static platform is composed of two orthogonal roller coaster-style circular tracks. The slider cars can rotate around the entire circumference of the static platform's circular tracks. Through the coordinated movement of four linear drive chains and four slider cars, the dynamic platform can achieve continuous rolling and pitch angles of 0-360 degrees, increasing the mechanism's attitude working space and enabling it to meet the requirements of fighter jet maneuverability simulation.

[0021] This invention uses four branches to control the six degrees of freedom of the mechanism, reducing the number of branches and making the structure simpler. In addition, the mechanism adopts redundant drive, with one branch being a redundant drive branch. Removing this branch will not affect the motion characteristics, but adding a redundant drive branch can improve the load-bearing capacity of the mechanism, increase the stability and stiffness of the mechanism, and reduce the singular configuration of the mechanism. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the first sliding block carriage in this invention;

[0024] Figure 3 This is a schematic diagram of the structure of the first branch in this invention;

[0025] in:

[0026] 1 static platform 2 dynamic platform

[0027] 3. Slider wheel assembly; 4. Slider car body

[0028] L1 First branch L2 Second branch

[0029] L3 Third branch L4 Fourth branch

[0030] R1 First revolute joint; P1 First prismatic joint

[0031] S1 First ball joint; S2 First ball joint mounting base

[0032] H1 First sliding car; H2 Second sliding car

[0033] H3 is the third sliding block car, and H4 is the fourth sliding block car. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0035] like Figures 1 to 3As shown, the redundant drive six-degree-of-freedom parallel mechanism with a moving platform that can rotate continuously 360 degrees includes a static platform 1, in which a sliding slider assembly is provided. The slider in the slider assembly is connected to the moving platform 2 via a branch chain. The moving platform 2 is circular.

[0036] The static platform 1 includes a first static platform ring and a second static platform ring, which are orthogonally fixed. A wheel guide structure is provided in the first static platform ring and the second static platform ring.

[0037] The slider cars are arranged in pairs, including a first slider car H1, a second slider car H2, a third slider car H3, and a fourth slider car H4. The first slider car H1 and the third slider car H3 slide along the first static platform ring, and the first slider car H1 and the third slider car H3 drive the driving platform 2 to rotate around the first static platform ring.

[0038] The second slider carriage H2 and the fourth slider carriage H4 slide along the second stationary platform ring, and the second slider carriage H2 and the fourth slider carriage H4 drive the moving platform 2 to rotate around the second stationary platform ring.

[0039] The branches include a first branch L1, a second branch L2, a third branch L3, and a fourth branch L4, all of which have the same structure.

[0040] The first branch L1 includes a first rotary joint R1, a first prismatic joint P1, a first ball joint S1, and a first ball joint mounting seat S2. The first rotary joint R1 at one end of the first branch L1 is connected to the sliding trolley, and the first ball joint mounting seat S2 at the other end of the first branch L1 is connected to the moving platform 2.

[0041] The other end of the first rotary joint R1 is connected to the first prismatic joint P1, the other end of the first prismatic joint P1 is connected to the first ball joint S1, and the other end of the first ball joint S1 is connected to the first ball joint mounting base S2.

[0042] The first slider carriage H1 includes a slider carriage body 4, and slider wheel sets 3 are provided on both sides of the slider carriage body 4. The slider wheel sets 3 slide along the wheel set guide structure.

[0043] A connecting hole is formed in the body 4 of the slider car, and it is connected to the first rotating pair R1 through the connecting hole.

[0044] The hinge points of the first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 with the moving platform 2 are distributed in an irregular quadrilateral shape.

[0045] Specifically, the moving platform 2 is located within the space enclosed by the static platform 1.

[0046] Specifically, the first static platform ring and the second static platform ring in the static platform 1 are two intersecting rings. The wheel guide structure in the first static platform ring and the second static platform ring is two parallel tracks set on both sides. The outline diameter of the tracks is smaller than that of the first static platform ring and the second static platform ring.

[0047] Specifically, the tracks at the intersection points of the first static platform ring and the second static platform ring are cut off, so that the tracks will not interfere with the movement of the slider car.

[0048] Correspondingly, the slider wheel assembly 3 slides along the track, as... Figure 2 As shown, each slider car includes four sets of slider wheel groups 3, which are symmetrically arranged on the left and right sides. Each set of slider wheel groups 3 consists of a main wheel, a side wheel, and a bottom wheel. The main wheel, side wheel, and bottom wheel form a U-shaped structure, which fits onto the track, thereby enabling the slider wheel group 3 to slide along the track.

[0049] The main wheel and the bottom wheel are in the same plane and their axes are parallel. The side wheel provides lateral restraint on the track to prevent it from detaching from the track. Four sets of slider wheel sets 3 hold the track of the stationary platform, allowing the slider cars to move on the track of the stationary platform 1. The first slider car H1 and the third slider car H3 are distributed on the ring track of the first stationary platform, and the second slider car H2 and the fourth slider car H4 are distributed on the ring track of the second stationary platform.

[0050] Specifically, the axis of the first rotating joint R1, which is connected to the first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 and the corresponding sliding block, is in the same direction as the tangent of the track where the sliding block is located.

[0051] Specifically, the moving platform 2 is circular, and the hinge points of the first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 on the moving platform 2 are distributed in an irregular quadrilateral shape to avoid the occurrence of singular configurations in the mechanism.

[0052] The hinge points of the first branch L1 and the third branch L3 on the moving platform 2 are located at both ends of a diameter of the moving platform 2. The hinge points of the second branch L2 and the fourth branch L4 on the moving platform 2 are located on both sides of the straight line formed by the line connecting the hinge points of the first branch L1 and the third branch L3 on the moving platform 2, and the hinge points of the second branch L2 and the fourth branch L4 on the moving platform 2 are not symmetrical about the straight line connecting the hinge points of the first branch L1 and the third branch L3 on the moving platform 2.

[0053] The first branch L1, the second branch L2, the third branch L3, the fourth branch L4, and the first sliding block H1, the second sliding block H2, the third sliding block H3, and the fourth sliding block H4 coordinate their movements to achieve six degrees of freedom of motion of the moving platform 2.

[0054] like Figure 1 As shown, the first sliding block H1, the second sliding block H2, the third sliding block H3, and the fourth sliding block H4 have the same structure. Figure 2 As shown, the first slider car H1 includes a slider wheel set 3 and a slider car body 4. The spacing of the slider wheel set 3 is consistent with the track spacing of the first stationary platform ring, so that the slider wheel set 3 of the first slider car H1 can slide along the track of the first stationary platform ring.

[0055] like Figure 3 As shown, the first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 have the same structure. The first branch L1 includes a first rotating joint R1, a first sliding joint P1, a first ball joint S1, and a first ball joint mounting base S2.

[0056] The first sliding joint P1 is arranged between the first rotary joint R1 and the first ball joint S1. One end of the first ball joint mounting base S2 is connected to the first ball joint S1, and the other end is connected to the moving platform 2. It is responsible for adjusting the installation position and angle of the first ball joint S1 on the moving platform 2.

[0057] In terms of drive configuration, four first prismatic joints P1 from the first branch L1, second branch L2, third branch L3, and fourth branch L4, as well as the first sliding block H1, second sliding block H2, third sliding block H3, and fourth sliding block H4, are selected as the active kinematic joints of the mechanism. Through their coordinated movement, the six-degree-of-freedom motion of the moving platform 2 is realized.

[0058] Meanwhile, the first slider car H1, the second slider car H2, the third slider car H3, and the fourth slider car H4 can rotate a full circle on the track of the static platform 1. Through the coordinated movement of the four drive chains and the first slider car H1, the second slider car H2, the third slider car H3, and the fourth slider car H4, the moving platform 2 can continuously roll and pitch.

[0059] The technical solution, working principle, and beneficial effects of the present invention have been described in detail above. Any changes, modifications, substitutions, and variations made to the present invention without departing from its principles and spirit shall fall within the scope of the claims of the present invention.

Claims

1. A redundant six-degree-of-freedom parallel mechanism with a moving platform capable of continuous 360-degree rotation, comprising a static platform (1), characterized in that: The static platform (1) is provided with a sliding block car group, and the block cars in the block car group are connected to the moving platform (2) through a branch chain. The moving platform (2) is circular. The static platform (1) includes a first static platform ring and a second static platform ring. The first static platform ring and the second static platform ring are orthogonally fixed, and a wheel group guide structure is provided in the first static platform ring and the second static platform ring. The slider cars are grouped in pairs, including the first slider car H1, the second slider car H2, the third slider car H3, and the fourth slider car H4. The first slider car H1 and the third slider car H3 slide along the first static platform ring. The first slider car H1 and the third slider car H3 can drive the driving platform (2) to rotate around the first static platform ring. The second sliding block H2 and the fourth sliding block H4 slide along the second static platform ring, and the second sliding block H2 and the fourth sliding block H4 can drive the moving platform (2) to rotate around the second static platform ring; The branch includes a first branch L1, a second branch L2, a third branch L3, and a fourth branch L4, and the first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 have the same structure. The first branch L1 includes a first rotary joint R1, a first prismatic joint P1, a first ball joint S1, and a first ball joint mounting seat S2. The first rotary joint R1 at one end of the first branch L1 is connected to the sliding block, and the first ball joint mounting seat S2 at the other end of the first branch L1 is connected to the moving platform (2). The other end of the first rotary joint R1 is connected to the first prismatic joint P1, the other end of the first prismatic joint P1 is connected to the first ball joint S1, and the other end of the first ball joint S1 is connected to the first ball joint mounting base S2.

2. The redundant drive six-degree-of-freedom parallel mechanism with a continuously 360-degree rotating moving platform according to claim 1, characterized in that: The first slider car H1 includes a slider car body (4), and slider wheel sets (3) are provided on both sides of the slider car body (4). The slider wheel sets (3) slide along the wheel set guide structure.

3. The redundant drive six-degree-of-freedom parallel mechanism with a continuously 360-degree-of-freedom rotating moving platform according to claim 2, characterized in that: A connecting hole is formed in the body (4) of the slider car, and it is connected to the first rotating pair R1 through the connecting hole.

4. The redundant drive six-degree-of-freedom parallel mechanism with a continuously 360-degree rotating moving platform according to claim 1, characterized in that: The hinge points of the first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 with the moving platform (2) are distributed in an irregular quadrilateral shape.

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