Simulation test bench for controlling marine bumping environment based on virtual reality technology

Abstract

The invention discloses a simulation test bench for controlling a sea bumping environment based on a virtual reality technology, and relates to the technical field of motion simulation. A virtual reality technology-based simulation test bench for controlling a marine bumpy environment is formed by combining a six-degree-of-freedom first holder mechanism and a six-degree-of-freedom second holder mechanism, the first holder mechanism comprises a first lower table and a first upper table, and six uniformly arranged first electric cylinders are movably hinged between the first lower table and the first upper table through universal shafts; a first controller installed on the first lower table is arranged on the side of each first electric cylinder, the second holder mechanism comprises a second lower table and a second upper table, and six evenly-distributed second electric cylinders are movably hinged between the second lower table and the second upper table through universal shafts; the side of each second electric cylinder is provided with a second controller installed on the second lower bench, and the simulation test bench for controlling the marine bumping environment based on the virtual reality technology has the advantage that the universality of detection and use equipment is improved.

Description

Technical Field

[0001] The invention relates to the technical field of motion simulation, in particular to a simulation test platform for controlling marine turbulence environment based on virtual reality technology. Background Art

[0002] The motion posture of a ship is a multi-degree-of-freedom external vibration disturbance motion system. This disturbance will have an uncertain impact on the dynamic characteristics and control performance of the equipment on board, especially in typical motion postures such as large-angle swing, high-speed lifting and lowering, high-frequency deck vibration, and turbulence of the ship. The disturbance and impact on the equipment carried inside are extremely large, especially having a significant and serious impact on surgical treatment. Therefore, it is very necessary to fully and realistically simulate the typical motion posture of the ship in a land-based environment and reproduce the actual working environment of the shipborne equipment for the development and use of the equipment. The development of trauma treatment surgical equipment under the simulation of the marine environment and the simulation of the real use environment are particularly important for the development of marine medical equipment.

[0003] The patent with the publication number CN116086744A discloses a multi-purpose lifting vibration and swaying test bench, including a moving platform, a cross beam assembly, a swaying bracket, a swaying driving rod group, a fixed platform, a vertical guide mechanism, a guide fixing plate, and a vertical driving rod group; the moving platform, the cross beam assembly, the swaying bracket, and the swaying driving rod group are connected to form a swaying motion mechanism; the fixed platform, the vertical guide mechanism, the guide fixing plate, and the vertical driving rod group are connected to form a lifting vibration driving mechanism; the swaying motion mechanism is connected to the lifting vibration driving mechanism and is located above the lifting vibration driving mechanism; the center line of the moving platform, the cross beam assembly, the swaying bracket, and the fixed platform is perpendicular to the fixed platform. The separation design and cascade combination structure of the vertical lifting vibration mechanism and the large-angle swaying mechanism are adopted, which can simulate the large-angle swaying of the ship, the high-speed lifting of the ship, the high-frequency vibration of the deck, and the vibration of the vehicle. Through the linkage of the mechanism, it can also comprehensively simulate the motions such as the wave spectrum, the road spectrum, and the bumps, and has both the ship-borne and vehicle-borne motion posture simulation functions, and has strong versatility.

[0004] The use of the above-mentioned technical solution can only simulate the turbulence environment in a positive direction, and then upgrade the anti-turbulence performance of the actual research and development equipment. Although a variety of anti-interference performance structures can be designed between the same equipment, the anti-turbulence structures need to be designed separately for a variety of equipment, which reduces the versatility of use between different equipment. Therefore, there is an urgent need for a simulation test bench for controlling marine turbulence environment based on virtual reality technology to solve the problems mentioned in the above-mentioned technology. Summary of the invention

[0005] The purpose of the present invention is to provide a test bench for controlling marine turbulence environment based on virtual reality technology to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a test bench for controlling marine turbulence environment simulation based on virtual reality technology, which is composed of a first pan-tilt mechanism and a second pan-tilt mechanism with six degrees of freedom; The first pan / tilt mechanism comprises a first lower platform and a first upper platform, six evenly arranged first electric cylinders are movably hinged between the first lower platform and the first upper platform via a universal shaft, and a first controller installed on the first lower platform is disposed on the side of each first electric cylinder; The second pan-tilt mechanism comprises a second lower platform and a second upper platform, six evenly arranged second electric cylinders are movably hinged between the second lower platform and the second upper platform via a universal shaft, and a second controller mounted on the second lower platform is disposed on the side of each second electric cylinder; A heading assembly for detecting the shaking angles of the second upper platform in three axes is installed on the lower side of the second upper platform; A platform mechanism is arranged above the second pan-tilt mechanism, and the platform mechanism comprises a platform which is fixedly connected to the second upper platform, and a fence assembly is installed on the platform.

[0007] As a preferred technical solution of the present invention, fixed leg assemblies are evenly arranged on the outer side of the first lower platform, and each of the fixed leg assemblies includes a fixed foot fixedly connected to the first lower platform, and a first screw is threadedly inserted into the outer end of the fixed foot.

[0008] A bottom support mechanism is arranged below the first pan / tilt mechanism. The bottom support mechanism comprises a bottom support. First screw holes adapted to be screwed with first screws are evenly arranged on the outer side of the surface of the bottom support.

[0009] As a preferred technical solution of the present invention, the attitude and heading assembly includes a central control equipped with a BW-AH300 attitude and heading system, and arms are evenly and equidistantly fixedly connected to the outside of the central control, the outer ends of the arms are embedded in and fixedly connected to a second upper platform, and sensors are installed inside the outer ends of the arms, a first wiring is fixedly connected between the sensor and the central control, and a second wiring is fixedly connected between the sensor and the second lower platform.

[0010] As a preferred technical solution of the present invention, the first upper stage and the second lower stage are aligned with each other; A docking mechanism for docking is provided between the first pan-tilt mechanism and the second pan-tilt mechanism, the docking mechanism comprising a docking ring fixedly connected to the first upper platform, the lower surface of the docking ring is flush with the lower surface of the first upper platform, the upper surface of the docking ring is flush with the upper surface of the second lower platform, the outer arc surface of the docking ring fits the inner arc surfaces of the first upper platform and the second lower platform, and the surface of the docking ring is evenly provided with second screw holes; The docking mechanism also includes a buckle assembly fixedly connected to the second lower platform, the buckle assembly includes a buckle plate attached to the second lower platform, the outer end of the buckle plate is hinged to the outer arc surface of the second lower platform through a rotating shaft, the inner end of the buckle plate is provided with a sliding card adapted to slide buckle on the inner side of the docking ring, an inverted second screw is threadedly inserted on the sliding card, the second screw is adapted to be screwed in the second screw hole, the end of the second screw flush with the buckle plate is fixedly connected to a movable plate of the sliding buckle plate, and a drawstring is fixedly connected between the movable plate and the buckle plate; The second screw is identical to the first screw.

[0011] As a preferred technical solution of the present invention, a groove is provided in the middle of the upper surface of the platform, a button is fixedly installed in the middle of the lower inner wall of the groove, and spring grooves are provided at the four corners of the lower inner wall of the groove; The slot has a built-in pressure plate adapted for insertion, and the four corners of the lower surface of the pressure plate are respectively fixedly connected with springs, and the lower end of the spring corresponds to the spring slot; The four sides of the upper end of the slot are respectively extended with card slots opened on the platform; The four sides of the upper end of the slot are respectively hinged with baffles adapted to fit the slot through torsion springs.

[0012] The fence assembly includes corner bars fixedly inserted into the four corners of the surface of the platform, and the upper ends of the corner bars are fixedly connected to a spherical shell with a built-in wire winder; A first guardrail is arranged between two adjacent corner bars, a second guardrail is arranged below the first guardrail, and a guardrail penetrating the platform is evenly and evenly fixedly connected between the first guardrail and the second guardrail; The two ends of the first guardrail are respectively fixedly connected with connecting blocks that fit the corner rods, and the upper surface of the connecting block is fixedly connected with a pull rope, and the free end of the pull rope is correspondingly inserted into the ball shell and wound around the winder inside it.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) A test bench for controlling marine turbulence based on virtual reality technology. The detection equipment on the platform mechanism itself may not be equipped with anti-turbulence performance, but the anti-roll effect of the equipment when used with the second pan-tilt mechanism is detected, thereby improving the versatility of the detection and use equipment.

[0014] (2) A test bench for controlling sea turbulence based on virtual reality technology, which simulates a variety of adjustments of the first electric cylinder and the second electric cylinder, thereby realizing a variety of turbulence conditions. The first pan-tilt mechanism can also be used to adjust the height, thereby improving its test flexibility.

[0015] (3) A test bench for controlling sea turbulence environment simulation based on virtual reality technology. The first pan-tilt mechanism and the second pan-tilt mechanism can be easily and quickly disassembled and assembled by unscrewing the second screw and pulling out the flap, thereby facilitating the installation and transportation of the test bench.

[0016] (4) A test bench for controlling sea turbulence based on virtual reality technology, wherein a second screw is screwed into a first screw hole to form a new device for controlling turbulence, which can be directly used with matching equipment at sea, thereby improving the utilization rate of the test bench itself.

[0017] (5) A test bench for controlling a turbulence environment at sea based on virtual reality technology. The test bench is composed of a first pan-tilt mechanism and a second pan-tilt mechanism. On the one hand, it can positively detect the anti-turbulence performance of the device itself. On the other hand, it can reversely detect the anti-turbulence performance of the device when used in conjunction with the test bench, thereby improving the detection performance of the test bench and diversifying the use functions of the test bench.

[0018] (6) A test bench for controlling sea turbulence based on virtual reality technology, which is convenient for placing and removing equipment, and also convenient for experimenters to enter and exit, thus improving the preparation efficiency of the test bench experiment.

[0019] (7) A test bench for controlling sea turbulence based on virtual reality technology. The equipment is transferred to a pressure plate, which squeezes a button under the gravity of the equipment and simultaneously activates a built-in winder in the ball shell to drive the railing upward. When the equipment is placed in the slot, the fence assembly automatically rises for protection, thereby improving the safety of the test bench. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the first state of the structure of the present invention; Figure 2 It is a schematic diagram of the second state of the structure of the present invention; Figure 3 It is a schematic diagram of the bottom support mechanism of the present invention; Figure 4 It is a schematic diagram of the first pan / tilt mechanism of the present invention; Figure 5 is a schematic diagram of a second pan / tilt mechanism of the present invention; Figure 6 It is a schematic diagram of the heading attitude assembly of the present invention; Figure 7 It is a schematic diagram of the docking mechanism of the present invention; Figure 8 It is a schematic diagram of the position of the docking mechanism of the present invention; Fig. 9 It is a schematic diagram of the buckle assembly of the present invention; Fig.10 It is a schematic diagram of the platform structure of the present invention; Fig.11 It is a schematic diagram of the platform of the present invention; Fig.12 It is a schematic diagram of the baffle of the present invention; Fig.13 It is a schematic diagram of the fence assembly of the present invention.

[0021] In the figure: 1, bottom support mechanism; 101, bottom support; 102, first screw hole; 2, first pan-tilt mechanism; 201, first lower platform; 202, first upper platform; 203, first electric cylinder; 204, first controller; 205, fixed foot; 206, first screw; 3, second pan-tilt mechanism; 301, second lower platform; 302, second upper platform; 303, second electric cylinder; 304, second controller; 305, central control; 306, support arm; 307, sensor; 308, first connection; 309, second connection; 4. Docking mechanism; 401. Docking ring; 402. Second screw hole; 403. Buckle plate; 404. Slide card; 405. Second screw; 406. Flip plate; 407. Pull belt; 5. Platform mechanism; 501. Platform; 502. Slot; 503. Slot; 504. Button; 505. Spring slot; 506. Pressure plate; 507. Spring; 508. Baffle; 509. Angle rod; 510. Ball shell; 511. First guardrail; 512. Second guardrail; 513. Railing; 514. Connecting block; 515. Pull rope. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Example: See Figure 1 , Figure 2 , Figure 4 , Figure 5 , Fig.10 A test bench for controlling a turbulent marine environment based on virtual reality technology, which is composed of a first pan-tilt mechanism 2 and a second pan-tilt mechanism 3 with six degrees of freedom. The first pan-tilt mechanism 2 is used to generate a required and controllable motion waveform, and the second pan-tilt mechanism 3 is used to achieve stability in a turbulent environment; The first pan-tilt mechanism 2 includes a first lower platform 201 and a first upper platform 202. Six evenly arranged first electric cylinders 203 are movably hinged between the first lower platform 201 and the first upper platform 202 through a universal shaft. A first controller 204 installed on the first lower platform 201 is provided on the side of each first electric cylinder 203. The first controller 204 is used to control the movement of the first electric cylinder 203. The Ethernet first receives the control command of the first pan-tilt mechanism 2 into the first controller 204. The command is input into the control circuit of the first pan-tilt mechanism 2, and the first pan-tilt mechanism 2 moves with a certain waveform. The second pan-tilt mechanism 3 includes a second lower platform 301 and a second upper platform 302. Six evenly arranged second electric cylinders 303 are movably hinged between the second lower platform 301 and the second upper platform 302 through a universal shaft. A second controller 304 installed on the second lower platform 301 is provided on the side of each second electric cylinder 303. The second controller 304 is used to control the movement of the second electric cylinder 303. The lower side of the second upper platform 302 is equipped with a heading assembly for detecting the shaking angles of the second upper platform 302 in three axes; A platform mechanism 5 is arranged above the second pan-tilt mechanism 3, and the platform mechanism 5 includes a platform 501 which is fixedly connected to the second upper platform 302, a fence assembly is installed on the platform 501, and a lifting platform is installed on the ground. After a person enters, the lifting platform automatically rises to the required position, and the person can enter the platform 501.

[0024] See also Figure 1 , Figure 3 , Figure 4 The outer side of the first lower platform 201 is evenly arranged with fixed foot assemblies, each of which includes a fixed foot 205 fixedly connected to the first lower platform 201, and the outer end of the fixed foot 205 is threadedly inserted with a first screw 206.

[0025] A base support mechanism 1 is disposed below the first pan / tilt mechanism 2 . The base support mechanism 1 includes a base support 101 . First screw holes 102 that are adapted to be screwed with the first screws 206 are evenly formed on the outer surface of the base support 101 .

[0026] See also Figure 5 , Figure 6The attitude assembly includes a central control 305 equipped with a BW-AH300 attitude system, and arms 306 are evenly and evenly fixedly connected to the outside of the central control 305. The outer end of the arm 306 is embedded in the second upper platform 302, and a sensor 307 is installed inside the outer end of the arm 306. A first connection 308 is fixedly connected between the sensor 307 and the central control 305, and a second connection 309 is fixedly connected between the sensor 307 and the second lower platform 301; the BW-AH300 attitude system measures the shaking angles of the second upper platform 302 in three axes, and then through the second pan-tilt mechanism 3 The inverse solution is decomposed into six deviation correction displacement instructions of the second electric cylinder 303, which are then controlled by the second connection 309 to control the second controller 304, so that the six second electric cylinders 303 achieve different offsets, so that the second upper platform 302 returns to the center (that is, the deviation is corrected by using its own digital closed-loop system), and the second upper platform 302 is maintained near the neutral position as much as possible to play a role in reducing the shaking; the BW-AH300 attitude system is placed flat on the bottom of the second upper platform 302 of the second pan-tilt mechanism 3 along the X, Y, and Z axes, as the angle signal of the digital closed-loop system for the deviation correction angle of the second upper platform 302. The three shaking angle values ​​of the second upper platform 302 are sent to the first controller 204 of the first pan-tilt mechanism 2 through Ethernet communication to obtain real-time motion. If the first pan-tilt mechanism 2 deflects, the second pan-tilt mechanism 3 will deflect in the opposite direction. This is because the angle signal detected by the BW-AH300 attitude and heading system is inversely solved by the software built into the second pan-tilt mechanism 3 to give the displacement action signal of the six second electric cylinders 303 of the second pan-tilt mechanism 3, so that the six second electric cylinders 303 produce different reverse displacements, thereby restoring the second pan-tilt mechanism 3 to its original state. In this way, the action of the first pan-tilt mechanism 2 (similar to the swing of a ship) will not affect or slightly affect the action of the second pan-tilt mechanism 3.

[0027] See also Figure 7 , Figure 8 , Fig. 9 , the first upper stage 202 and the second lower stage 301 are aligned with each other; A docking mechanism 4 for docking is provided between the first pan-tilt mechanism 2 and the second pan-tilt mechanism 3. The docking mechanism 4 includes a docking ring 401 fixedly connected to the first upper platform 202. The lower surface of the docking ring 401 is flush with the lower surface of the first upper platform 202. The upper surface of the docking ring 401 is flush with the upper surface of the second lower platform 301. The outer arc surface of the docking ring 401 fits the inner arc surface of the first upper platform 202 and the second lower platform 301. The surface of the docking ring 401 is evenly provided with second screw holes 402. The docking mechanism 4 also includes a buckle assembly fixedly connected to the second lower platform 301, the buckle assembly includes a buckle plate 403 fitted with the second lower platform 301, the outer end of the buckle plate 403 and the outer arc surface of the second lower platform 301 are movably hinged through a rotating shaft, the inner end of the buckle plate 403 is provided with a sliding card 404 adapted to slide buckle on the inner side of the docking ring 401, an inverted second screw 405 is threadedly inserted on the sliding card 404, the second screw 405 is adapted to be screwed in the second screw hole 402, the second screw 405 is flush with the end of the buckle plate 403 and fixedly connected with a movable plate 406 of the sliding buckle plate 403, and a drawstring 407 is fixedly connected between the movable plate 406 and the buckle plate 403; The second screw 405 is the same as the first screw 206 .

[0028] See also Fig.10 , Fig.11 , Fig.12 , Fig.13 A slot 502 is provided in the middle of the upper surface of the platform 501, a button 504 is fixedly installed in the middle of the lower inner wall of the slot 502, and spring slots 505 are provided at the four corners of the lower inner wall of the slot 502; The slot 502 has a built-in pressure plate 506 adapted for insertion. The four corners of the lower surface of the pressure plate 506 are fixedly connected with springs 507. The lower end of the spring 507 corresponds to the spring slot 505. Initially, the pressure plate 506 does not contact the button 504. The four sides of the upper end of the slot 502 are extended with slots 503 opened on the platform 501; The four sides of the upper end of the slot 502 are respectively hinged with baffles 508 adapted to fit the slot 503 through torsion springs. Initially, the baffles 508 are in contact with the pressure plate 506.

[0029] The fence assembly includes corner rods 509 fixedly inserted into the four corners of the surface of the platform 501, and the upper end of the corner rods 509 is fixedly connected to a ball shell 510 with a built-in winder. When the button 504 is pressed, the built-in winder in the ball shell 510 starts the winding program, and when the button 504 is released, the built-in winder in the ball shell 510 is disabled; A first guardrail 511 is provided between two adjacent corner bars 509. Initially, the first guardrail 511 is in contact with the upper surface of the platform 501. A second guardrail 512 is provided below the first guardrail 511. A guardrail 513 penetrating the platform 501 is evenly and equidistantly fixedly connected between the first guardrail 511 and the second guardrail 512. The two ends of the first guardrail 511 are respectively fixedly connected with connecting blocks 514 that fit the corner rods 509, and the upper surface of the connecting blocks 514 is fixedly connected with a pull rope 515. The free end of the pull rope 515 is correspondingly inserted into the ball shell 510 and wound around the winder therein.

[0030] The working principle of the present invention is as follows: The equipment to be tested (for medical equipment, such as a medical operating table) is placed on the platform 501, and the first pan-tilt mechanism 2 and the second pan-tilt mechanism 3 are used to simulate the bumpy environment at sea, so as to test whether the equipment meets the requirements for offshore operation. At the same time, the personnel using the equipment can be placed on the platform 501 to test whether the equipment can be used normally. The equipment tested above is a device that has been equipped with anti-bumping performance (forward detection).

[0031] After the device is placed on the platform mechanism 5, the movement of the first electric cylinder 203 is controlled by the first controller 204 to simulate the bumpy environment at sea. At this time, the BW-AH300 attitude and heading system built into the central control 305 can measure the shaking angles of the three axes of the second platform 302, and then decompose them into six deviation correction displacement instructions of the second electric cylinders 303 through the inverse solution of the second pan-tilt mechanism 3. This instruction then controls the second controller 304 through the second connection 309, so that the six second electric cylinders 303 achieve different offsets, so that the second platform 302 returns to the center (that is, it is corrected by using its own digital closed-loop system), that is, the platform mechanism 5 returns to the center, which plays a role in reducing the shaking. Therefore, the detection equipment on the platform mechanism 5 itself does not need to be equipped with anti-bumping performance, but instead detects the anti-shake effect of the equipment when it is adapted to the use of the second pan-tilt mechanism 3, so as to improve the versatility of the detection and use equipment.

[0032] The first pan-tilt mechanism 2 and the second pan-tilt mechanism 3 are detachably docked through the docking mechanism 4. After the second screw 405 is unscrewed, the buckle assembly can slide along the docking ring 401, that is, the second pan-tilt mechanism 3 and the first pan-tilt mechanism 2 can be rotated and adjusted for alignment, so that the alignment of the first electric cylinder 203 and the second electric cylinder 303 can be adjusted, and then a variety of adjustment combinations of the first electric cylinder 203 and the second electric cylinder 303 can be simulated, so as to achieve a variety of bumpy conditions. In addition, the first pan-tilt mechanism 2 can also be used to adjust the height, thereby improving its testing flexibility.

[0033] By unscrewing the second screw 405 and pulling out the flap 406 , the first pan-tilt mechanism 2 and the second pan-tilt mechanism 3 can be simply and quickly disassembled and assembled, which facilitates the installation and transportation of the test bench.

[0034] By placing a device without anti-bumping performance on the platform mechanism 5, when it is detected that the matching anti-bumping performance of the device and the second pan-tilt mechanism 3 is qualified, the second pan-tilt mechanism 3 can be removed from the first pan-tilt mechanism 2, and the buckle assembly can be flipped through the movable hinge of the buckle plate 403 and the second lower platform 301, and then the second screw 405 can be screwed into the first screw hole 102, so as to combine into a new device for controlling bumps and directly apply it to the use of matching equipment at sea, thereby improving the utilization rate of the test bench itself.

[0035] Through the splicing of the first pan-tilt mechanism 2 and the second pan-tilt mechanism 3, the test bench can, on the one hand, positively detect the anti-bumping performance of the device itself, and on the other hand, reversely detect the anti-bumping performance of the device when used with the test bench, thereby improving the detection performance of the test bench and diversifying the use functions of the test bench.

[0036] When no equipment is placed on or removed from the platform 501, the pressure on the button 504 is released, thereby rendering the built-in winder in the spherical shell 510 ineffective. Under the action of gravity, the first guardrail 511 pulls out the pull rope 515, and the railing 513 slides down as a whole, thereby releasing the enclosure function of the fence assembly, making it easier to place and remove equipment, as well as facilitating the entry and exit of experimenters, thereby improving the preparation efficiency of the test bench experiment.

[0037] After the device to be tested is placed on the platform 501, the baffle 508 is moved to snap it into the slot 503, so that the pressure plate 506 is opened, and the device is moved onto the pressure plate 506. The pressure plate 506 squeezes the button 504 under the action of the gravity of the device, and at the same time, the built-in winder in the ball shell 510 is started to drive the railing 513 to move upward. When the device is placed in the slot 502, the fence assembly automatically rises for protection, thereby improving the working safety of the test bench.

[0038] When the experiment is completed and the device is removed, the button 504 is released and the fence assembly automatically moves down, thereby improving the automation performance of the laboratory bench during the experiment and improving the efficiency of the detection work.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A test bench for controlling a turbulent marine environment based on virtual reality technology, the test bench comprising a first pan-tilt mechanism (2) and a second pan-tilt mechanism (3) with six degrees of freedom; The first pan-tilt mechanism (2) comprises a first lower platform (201) and a first upper platform (202); six evenly arranged first electric cylinders (203) are movably hinged between the first lower platform (201) and the first upper platform (202) via a universal shaft; and a first controller (204) mounted on the first lower platform (201) is provided on the side of each of the first electric cylinders (203); Features: The second pan-tilt mechanism (3) comprises a second lower platform (301) and a second upper platform (302), six evenly arranged second electric cylinders (303) are movably hinged between the second lower platform (301) and the second upper platform (302) via a universal shaft, and a second controller (304) mounted on the second lower platform (301) is provided on the side of each second electric cylinder (303); A heading component for detecting the shaking angles of the second upper platform (302) in three axes is installed on the lower side of the second upper platform (302); A platform mechanism (5) is arranged above the second pan-tilt mechanism (3), and the platform mechanism (5) comprises a platform (501) which is fixedly connected to the second upper platform (302), and a fence assembly is installed on the platform (501).

2. According to claim 1, a virtual reality technology-based test bench for controlling marine turbulence environment simulation, characterized in that: Fixed foot assemblies are evenly arranged on the outside of the first lower platform (201), and each of the fixed foot assemblies comprises a fixed foot (205) fixedly connected to the first lower platform (201), and a first screw (206) is threadedly inserted into the outer end of the fixed foot (205).

3. The virtual reality technology-based test bench for controlling sea turbulence environment according to claim 2 is characterized by: A base support mechanism (1) is provided below the first pan / tilt mechanism (2), the base support mechanism (1) comprising a base support (101), and first screw holes (102) adapted to be screwed with first screws (206) are evenly arranged on the outer side of the surface of the base support (101).

4. According to claim 1, a virtual reality technology-based test bench for controlling marine turbulence environment simulation, characterized in that: The heading and attitude assembly comprises a central control (305) equipped with a BW-AH300 heading and attitude system, the outer side of the central control (305) is evenly and equidistantly fixedly connected with a support arm (306), the outer end of the support arm (306) is embedded in and fixedly connected to a second upper platform (302), a sensor (307) is installed inside the outer end of the support arm (306), a first wiring (308) is fixedly connected between the sensor (307) and the central control (305), and a second wiring (309) is fixedly connected between the sensor (307) and the second lower platform (301).

5. The virtual reality technology-based test bench for controlling sea turbulence environment according to claim 2 is characterized by: The first upper platform (202) and the second lower platform (301) are aligned and attached to each other; A docking mechanism (4) for docking is provided between the first pan-tilt mechanism (2) and the second pan-tilt mechanism (3), the docking mechanism (4) comprising a docking ring (401) fixedly connected to the first upper platform (202), the lower surface of the docking ring (401) being flush with the lower surface of the first upper platform (202), the upper surface of the docking ring (401) being flush with the upper surface of the second lower platform (301), the outer arc surface of the docking ring (401) being in contact with the inner arc surfaces of the first upper platform (202) and the second lower platform (301), and the surface of the docking ring (401) being evenly provided with second screw holes (402); The docking mechanism (4) also includes a buckle assembly fixedly connected to the second lower platform (301), the buckle assembly includes a buckle plate (403) fitted with the second lower platform (301), the outer end of the buckle plate (403) and the outer arc surface of the second lower platform (301) are movably hinged via a rotating shaft, the inner end of the buckle plate (403) is provided with a sliding card (404) adapted to slide on the inner side of the docking ring (401), an inverted second screw (405) is threadedly inserted on the sliding card (404), the second screw (405) is adapted to be screwed into the second screw hole (402), the second screw (405) is flush with the end of the buckle plate (403) and is fixedly connected to a movable plate (406) of the sliding buckle plate (403), and a drawstring (407) is fixedly connected between the movable plate (406) and the buckle plate (403); The second screw (405) is the same as the first screw (206).

6. The virtual reality technology-based test bench for controlling sea turbulence environment according to claim 1 is characterized by: A groove (502) is provided in the middle of the upper surface of the platform (501), a button (504) is fixedly installed in the middle of the lower inner wall of the groove (502), and spring grooves (505) are provided at the four corners of the lower inner wall of the groove (502); The groove (502) has a built-in plug-in pressure plate (506), and the four corners of the lower surface of the pressure plate (506) are respectively fixedly connected with springs (507), and the lower end of the spring (507) corresponds to the plug-in spring groove (505); The four sides of the upper end of the slot (502) are respectively extended with slots (503) opened on the platform (501); The four sides of the upper end of the slot (502) are respectively hingedly connected with baffles (508) adapted to fit the slot (503) through torsion springs.

7. The virtual reality technology-based test bench for controlling sea turbulence environment according to claim 6 is characterized by: The fence assembly comprises corner rods (509) fixedly inserted into the four corners of the surface of the platform (501), and the upper ends of the corner rods (509) are fixedly connected to a spherical shell (510) with a built-in wire winder; A first guardrail (511) is arranged between two adjacent corner bars (509), a second guardrail (512) is arranged below the first guardrail (511), and a guardrail (513) penetrating the platform (501) is evenly and equidistantly fixedly connected between the first guardrail (511) and the second guardrail (512); Both ends of the first guardrail (511) are respectively fixedly connected to connecting blocks (514) that fit the corner rods (509), and the upper surface of the connecting block (514) is fixedly connected to a pull rope (515), and the free end of the pull rope (515) is correspondingly inserted into the ball shell (510) and wound around a wire winder therein.

Images