Three-degree-of-freedom vibration seat based on phase difference control

Abstract

The invention discloses a three-degree-of-freedom vibration seat based on phase difference control, and belongs to the technical field of vibration simulation, the three-degree-of-freedom vibration seat comprises a mounting plane, a sliding rail assembly is arranged above the mounting plane, a vibration base is arranged above the sliding rail assembly, a seat suite is arranged above the vibration base, and the seat suite is arranged above the vibration base. The vibration base comprises a first driving module, a second driving module, a third driving module and a spring vibration cylinder. According to the three-degree-of-freedom vibration seat based on phase difference control, decoupling of three-degree-of-freedom motion is achieved by orthogonally arranging the driving modules, conducting phase control through the pendulum bob and controlling the rotating speed of the motor, and therefore independent closed-loop adjustment of vibration amplitudes and vibration frequencies of the seat in different directions is achieved; and the simulation effect of the vibration seat on a multi-degree-of-freedom vibration scene is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vibration simulation, in particular to a three-degree-of-freedom vibration seat based on phase difference control. BACKGROUND

[0002] Vibration simulation technology is the core of simulation training and entertainment, evolving from simple vibration massage to multi-degree-of-freedom motion simulation. In the early stage, eccentric motors were used, with single vibration direction and low precision. Later, hydraulic and electric servo technologies were used, and multi-degree-of-freedom seats became the preferred choice for high-level simulators. In recent years, the scene of vibration simulation relying on audio decoding and servo control has been enriched, vehicle seat vibration isolation has been optimized, and comfort has been improved.

[0003] The existing scheme has insufficient multi-degree-of-freedom motion decoupling capability, making it difficult to achieve independent control of each motion dimension, and prone to interference between dimensions. There is no coordinated control strategy and method for three-degree-of-freedom vibration, affecting the overall simulation effect, and the control method relies mainly on open-loop control, lacking real-time feedback mechanism of sensors, and unable to dynamically adjust parameters according to the actual vibration state, resulting in poor control precision and stability.

[0004] Therefore, there is an urgent need for a vibration seat that can achieve independent closed-loop control of each motion dimension. SUMMARY

[0005] The purpose of the present application is to provide a three-degree-of-freedom vibration seat based on phase difference control, by arranging the drive modules orthogonally, using a pendulum for phase control, and controlling the motor speed to achieve decoupling of three-degree-of-freedom motion, thereby achieving independent closed-loop adjustment of the vibration amplitude and frequency in different directions of the seat, and improving the simulation effect of the vibration seat on multi-degree-of-freedom vibration scenes.

[0006] To achieve the above purpose, the present application provides a three-degree-of-freedom vibration seat based on phase difference control, comprising a mounting plane, a slide rail assembly is arranged above the mounting plane, a vibration base is arranged above the slide rail assembly, and a seat set is arranged above the vibration base. The vibration base comprises drive module one, drive module two, drive module three, a spring vibration cylinder, an upper top plate, and a lower bottom plate. The drive module one, drive module two, and drive module three are arranged orthogonally. The drive module one, drive module two, and drive module three each comprise a motor, a pendulum, and a double-sleeve rotor assembly.

[0007] Preferably, the upper end of the spring vibration cylinder is connected to the upper top plate, the lower end of the spring vibration cylinder is connected to the lower bottom plate, the drive module one, drive module two, and drive module three are arranged on the lower surface of the upper top plate, and a fence is arranged outside the spring vibration cylinder.

[0008] Preferably, each of the drive module one, drive module two, and drive module three includes four motors, four pendulums, and two sets of double-shaft rotor assemblies. The motors in drive module two are all horizontally placed and arranged in two rows and two columns. The motors in drive module one are all horizontally placed and arranged in two rows and two columns. The motors in drive module three are vertically placed and arranged in a straight line. Drive module one and drive module two are provided with module housing one, and drive module three is provided with module housing two. Module housing one and module housing two are provided with housing holes.

[0009] Preferably, the dual-shaft rotor assembly is disposed on the first module housing and the second module housing, and the motors in the first drive module, the second drive module, and the third drive module are connected to the dual-shaft rotor assembly.

[0010] Preferably, the dual-shaft rotor assembly includes a driven wheel one, a driven wheel two, a drive wheel one, a drive wheel two, an outer pendulum, an inner pendulum, a pendulum shaft, a bearing, a bushing, and a sliding pad. The drive wheel one and the drive wheel two are respectively connected to the motor. The drive wheel one meshes with the driven wheel one, and the drive wheel two meshes with the driven wheel two.

[0011] Preferably, the shaft passes through the driven wheel one, driven wheel two, inner pendulum, and outer pendulum in sequence, and bearings are provided on both sides of the pendulum shaft, with the bearings disposed on the outer casing hole.

[0012] Preferably, a bushing is provided on the pendulum shaft, the driven wheel one and the outer pendulum are mounted on the pendulum shaft by a round-head key, and the driven wheel two and the inner pendulum are mounted on the bushing by the round-head key.

[0013] Preferably, a sliding pad is provided between the inner pendulum and the outer pendulum, a sliding pad is provided between the outer pendulum and the bearing, a sliding pad is provided between the driven wheel one and the driven wheel two, and a sliding pad is provided between the driven wheel one and the bearing.

[0014] Preferably, the spring vibration cylinder includes an outer cylinder, mounting bolts, preload bolts, a helical spring, a rubber bushing, a top cover, and a vibration shaft. The preload bolts are disposed inside the outer cylinder, and a helical spring is disposed above the preload bolts. A boss is disposed at the lower end of the vibration shaft, and the lower surface of the boss contacts the upper end of the helical spring.

[0015] Preferably, the rubber bushing is provided on the outer side of the upper end of the vibration shaft, the top cover is provided on the top of the outer cylinder, the top cover is located above the rubber bushing, the mounting bolt is located at the bottom of the outer cylinder, and the mounting bolt has a through hole.

[0016] Therefore, the three-degree-of-freedom vibration seat based on phase difference control adopts the above-mentioned three-degree-of-freedom vibration seat based on phase difference control, orthogonally arranges the driving modules, controls the phase by using the pendulum, and controls the rotating speed of the motor, so that the decoupling of the three-degree-of-freedom motion is realized, the independent closed-loop adjustment of the vibration amplitude and the vibration frequency in different directions of the seat is realized, and the simulation effect of the vibration seat on the multi-degree-of-freedom vibration scene is improved.

[0017] The technical solutions of the present application will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a whole structure schematic diagram of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 2 is a vibration base structure schematic diagram of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 3 is a driving module structure schematic diagram of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 4 is a driving module one and driving module two structure schematic diagram of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 5 is an internal structure schematic diagram of the driving module one and the driving module two of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 6 is a driving module three structure schematic diagram of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 7 is a double-sleeve shaft rotor assembly structure schematic diagram of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 8 is an internal structure schematic diagram of a double-sleeve shaft rotor assembly of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 9 is a spring vibration cylinder structure schematic diagram of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application; Figure 10 is an internal structure schematic diagram of a spring vibration cylinder of an embodiment of the three-degree-of-freedom vibration seat based on phase difference control of the present application.

[0019] REFERENCE NUMERALS 1. Mounting plane; 2. Slide rail assembly; 3. Vibration base; 4. Seat kit; 5. Top plate; 6. Bottom plate; 7. Drive module one; 8. Drive module two; 9. Spring vibrating cylinder; 10. Enclosure; 11. Motor; 12. Double-shaft rotor assembly; 13. Module housing one; 14. Drive wheel one; 15. Drive wheel two; 16. Driven wheel one; 17. Driven wheel two; 18. Inner pendulum; 19. Outer pendulum; 20. Bearing; 21. Pendulum shaft; 22. Sliding pad; 23. Bushing; 24. Outer cylinder; 25. Mounting bolt; 26. Preload bolt; 27. Helical spring; 28. Vibration shaft; 29. ​​Rubber bushing; 30. Top cover; 31. Module housing two. Detailed Implementation

[0020] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] Example 1 This invention provides a three-degree-of-freedom vibration seat based on phase difference control, such as... Figure 1 As shown, the system includes an installation plane 1, above which is a slide rail assembly 2. The slide rail assembly 2 is a manually adjustable double-rail sliding adjustment component, consisting of two sliders and two sets of rails. The sliders and rails are connected by sliding pairs. The sliders are fixed to the lower base plate 6 of the vibration base 3 by bolts. Above the vibration base 3 is a seat kit 4, which consists of a seat cushion, a backrest, and structural components. The seat cushion of the seat kit 4 is fixed to the upper top plate 5 of the vibration base 3 through its structural components.

[0023] like Figure 2As shown in the figure, the vibration base 3 comprises a drive module one 7, a drive module two 8, a drive module three, a spring vibration cylinder 9, a fence 10, an upper top plate 5, a lower bottom plate 6, the drive module one 7, the drive module two 8 and the drive module three are orthogonally distributed, the drive module one 7, the drive module two 8 and the drive module three each comprise a motor 11, a pendulum, and a double-sleeve shaft rotor assembly 12, and the fence 10 is arranged outside the spring vibration cylinder 9.

[0024] As shown in the figure, Figure 3 the upper end of the spring vibration cylinder 9 is connected to the upper top plate 5 through bolts, the lower end of the spring vibration cylinder 9 is connected to the lower bottom plate 6 through bolts, the drive module one 7, the drive module two 8 and the drive module three are arranged on the lower surface of the upper top plate 5, and there is a certain gap between the drive module one 7, the drive module two 8, the drive module three and the upper surface of the lower bottom plate 6, so as to ensure that the drive module has sufficient movement space during vibration.

[0025] As shown in the figure, Figure 4 , Figure 5 the drive module one 7, the drive module two 8 and the drive module three each comprise four motors 11, four pendulums and two double-sleeve shaft rotor assemblies 12, the motors 11 in the drive module two 8 are horizontally placed, and the four motors 11 are arranged in a two-row two-column manner; as shown in the figure, Figure 6 the motors 11 in the drive module three are vertically placed, and the four motors 11 are arranged in a linear manner, the drive module one 7 and the drive module two 8 are provided with a module shell one 13, the drive module three is provided with a module shell two 31, and the module shell one 13 and the module shell two 31 are provided with shell holes.

[0026] The double-sleeve shaft rotor assembly 12 is arranged on the module shell one 13 and the module shell two 31, and the motors 11 in the drive module one 7, the drive module two 8 and the drive module three are connected to the double-sleeve shaft rotor assembly 12.

[0027] As shown in the figure, Figure 7 , Figure 8 the double-sleeve shaft rotor assembly 12 comprises a driven wheel one 16, a driven wheel two 17, a drive wheel one 14, a drive wheel two 15, an outer pendulum 19, an inner pendulum 18, a pendulum shaft 21, a shaft sleeve 23, a sliding pad 22 and a bearing 20, the drive wheel one 14 and the drive wheel two 15 are respectively connected to the motor 11, the drive wheel one 14 engages the driven wheel one 16, and the drive wheel two 15 engages the driven wheel two 17. The pendulum shaft 21 passes through the driven wheel one 16, the driven wheel two 17, the inner pendulum 18 and the outer pendulum 19 in sequence, bearings 20 are arranged on both sides of the pendulum shaft 21, and the bearings 20 are arranged in the shell holes.

[0028] The pendulum shaft 21 is provided with a shaft sleeve 23, the pendulum shaft 21 and the shaft sleeve 23 can rotate relative to each other, the inner diameter of the shaft sleeve 23 and the outer diameter of the pendulum shaft 21 are different by 1-2 silk, and the two are coated with lubricating grease to reduce the friction generated by relative rotation, the driven wheel one 16 and the outer pendulum 19 are arranged on the pendulum shaft 21 through a round head key, the driven wheel two 17 and the inner pendulum 18 are arranged on the shaft sleeve 23 through a round head key. The driving wheel one 14 and the driving wheel two 15 are respectively connected with the driving shafts of the upper and lower motors 11 through round head keys and bolts.

[0029] The inner pendulum 18 and the outer pendulum 19 are provided with a sliding pad 22, the outer pendulum 19 and the bearing 20 are provided with a sliding pad 22, the driven wheel one 16 and the driven wheel two 17 are provided with a sliding pad 22, the driven wheel one 16 and the bearing 20 are provided with a sliding pad 22, and the sliding pad 22 reduces the extrusion and friction between adjacent coaxial moving parts during rotation.

[0030] Under the driving of the corresponding motor 11, the driving wheel one 14 and the driven wheel one 16 can transmit the rotation of the motor 11 to the pendulum shaft 21 to drive the outer pendulum 19, the driving wheel two 15 and the driven wheel two 17 can transmit the rotation of the motor 11 to the shaft sleeve 23 to drive the inner pendulum 18, and the driving of the inner pendulum 18 and the outer pendulum 19 is independent of each other.

[0031] In the Cartesian coordinate system, the phase difference and turning direction of the inner pendulum 18 and the outer pendulum 19 installed on the double sleeve shaft rotor assembly 12 and the rotation speed of the two double sleeve shaft rotor assemblies 12 are adjusted to realize independent adjustment of single-axis vibration and vibration amplitude and frequency, and the specific process is as follows: Single-axis vibration: the degrees of freedom of vibration are decoupled, the two groups of pendulums in the same driving module are mirror arranged and the rotation directions are opposite, which ensures that the driving module only generates vibration in the single-axis direction, and there is no vibration in the other axis direction due to the mirror feature of the pendulum position; Frequency adjustment: under the premise of keeping the rotation speeds of the two double sleeve shaft rotor assemblies 12 synchronous, the rotation speed of the rotor is adjusted to realize the adjustment of the vibration frequency; Amplitude adjustment: under the premise of keeping the mirror arrangement of the two coaxial pendulums, the phase difference of the two coaxial pendulums is adjusted at the same time, the range is 0°-180°, the centrifugal force generated by each group of pendulums is adjusted, and the purpose of adjusting the vibration amplitude is achieved, when switching between the two amplitudes, the switching time is equal to the phase difference adjustment time of the two coaxial pendulums.

[0032] As Figure 9 , Figure 10As shown, the spring vibration cylinder 9 comprises an outer cylinder 24, a mounting bolt 25, a pre-tightening bolt 26, a spiral spring 27, a rubber bushing 29, a top cover 30 and a vibration shaft 28, the pre-tightening bolt 26 is mounted in the inner part of the outer cylinder 24 through thread cooperation, and the bolt can be screwed in or out of the inner part of the outer cylinder 24 through the hexagonal hole, thereby adjusting the height of the pre-tightening bolt 26 in the inner part of the outer cylinder 24.

[0033] The lower end of the vibration shaft 28 penetrates into the spiral spring 27, and the lower end part has a boss, the lower surface of the boss is in contact with the upper end of the spiral spring 27, the upper end of the vibration shaft 28 is inserted into the hole of the rubber bushing 29, and the upper surface of the boss of the vibration shaft 28 is aligned with the lower surface of the rubber bushing 29; the rubber bushing 29 is placed in the outer cylinder 24, and the upper surface of the rubber bushing 29 is about 20 mm higher than the outer cylinder 24.

[0034] The top cover 30 is connected with the upper part of the outer cylinder 24 through thread, and the top cover 30 can prevent the rubber bushing 29 from being separated from the outer cylinder 24 after being screwed; the mounting bolt 25 is mounted at the bottom of the outer cylinder 24 through thread, and a through hole is formed at the bottom of the bolt, which can facilitate the insertion of the hexagonal wrench into the pre-tightening bolt 26 to adjust the height of the spiral spring 27, and also can be used as a mounting hole when the spring vibration cylinder 9 is installed.

[0035] In the vertical direction, the load acting on the spiral spring 27 is offset by the deformation of the spiral spring 27, thereby providing a vibration balance point for the vibration base 3 in the direction, thereby reducing the demand for driving force in the direction of vibration and reducing the performance requirements of the driving components such as the motor 11; in the horizontal direction, the rubber bushing 29 provides a movement space for the vibration in the plane due to its elasticity.

[0036] Therefore, the three-degree-of-freedom vibration seat based on phase difference control is adopted, the driving modules are orthogonally arranged, the phase control is realized by using the pendulum, and the decoupling of three-degree-of-freedom motion is realized by controlling the motor speed, thereby realizing the independent closed-loop adjustment of the vibration amplitude and vibration frequency in different directions of the seat, and improving the simulation effect of the vibration seat on the multi-degree-of-freedom vibration scene.

[0037] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application but not to limit them, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can still be modified or replaced by equivalents, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A three-degree-of-freedom vibration seat based on phase difference control, characterized by: Including the installation plane, the installation plane is provided with a slide rail assembly, the slide rail assembly is provided with a vibration base, the vibration base is provided with a seat kit, the vibration base contains drive module one, drive module two, drive module three, spring vibration cylinder, upper top plate, lower bottom plate, the drive module one, drive module two, drive module three is orthogonal distribution, the drive module one, drive module two, drive module three all contain motor, pendulum, double sleeve shaft rotor assembly.

2. The three-degree-of-freedom vibration seat based on phase difference control according to claim 1, characterized in that: The upper end of the spring vibration cylinder is connected with the upper top plate, the lower end of the spring vibration cylinder is connected with the lower bottom plate, the drive module one, drive module two, drive module three are arranged on the lower surface of the upper top plate, the outer side of the spring vibration cylinder is provided with a fence.

3. The three-degree-of-freedom vibration seat based on phase difference control according to claim 1, characterized in that: The drive module one, drive module two, drive module three each contains four motors, four pendulums, two groups of double sleeve shaft rotor assemblies, the motors in the drive module two are all horizontally placed, four motors are arranged in two rows and two columns, the motors in the drive module one are all horizontally placed, four motors are arranged in two rows and two columns, the motors in the drive module three are vertically placed, four motors are arranged in a linear type, the drive module one, drive module two are provided with module shell one, the drive module three is provided with module shell two, the module shell one, module shell two are provided with shell holes.

4. The three-degree-of-freedom vibration seat based on phase difference control according to claim 3, characterized in that: The double sleeve shaft rotor assembly is arranged on the module shell one and the module shell two, and the motor in the drive module one, drive module two and drive module three is connected with the double sleeve shaft rotor assembly.

5. The three-degree-of-freedom vibration seat based on phase difference control according to claim 4, characterized in that: The double sleeve shaft rotor assembly contains driven wheel one, driven wheel two, drive wheel one, drive wheel two, outer pendulum, inner pendulum, pendulum shaft, shaft sleeve, bearing and sliding pad, the drive wheel one and the drive wheel two are connected with the motor respectively, the drive wheel one is engaged with the driven wheel one, and the drive wheel two is engaged with the driven wheel two.

6. The three-degree-of-freedom vibration seat based on phase difference control according to claim 5, characterized in that: The pendulum shaft sequentially penetrates the driven wheel one, the driven wheel two, the inner pendulum and the outer pendulum, and bearings are arranged on the two sides of the pendulum shaft.

7. The three-degree-of-freedom vibration seat based on phase difference control according to claim 6, characterized in that: The pendulum shaft is provided with a shaft sleeve, the driven wheel one and the outer pendulum are arranged on the pendulum shaft through a round head key, the driven wheel two and the inner pendulum are arranged on the shaft sleeve through the round head key.

8. The three-degree-of-freedom vibration seat based on phase difference control according to claim 7, characterized in that: The inner pendulum and the outer pendulum are provided with a sliding pad, the outer pendulum and the bearing are provided with the sliding pad, the driven wheel one and the driven wheel two are provided with the sliding pad, and the driven wheel one and the bearing are provided with the sliding pad.

9. The three-degree-of-freedom vibration seat based on phase difference control according to claim 1, characterized in that: The spring vibration cylinder contains an outer cylinder, mounting bolts, pre-tightening bolts, spiral springs, rubber shaft sleeves, a top cover and a vibration shaft, the pre-tightening bolts are arranged inside the outer cylinder, the pre-tightening bolts are provided with spiral springs thereon, the lower end of the vibration shaft is provided with a boss, and the lower surface of the boss is in contact with the upper end of the spiral spring.

10. The three-degree-of-freedom vibration seat based on phase difference control according to claim 9, characterized in that: The outer side of the upper end of the vibration shaft is provided with the rubber shaft sleeve, the top of the outer cylinder is provided with the top cover, the top cover is arranged above the rubber shaft sleeve, the mounting bolts are arranged at the bottom of the outer cylinder, and the mounting bolts are provided with through holes.

Images