A driving simulation device based on a six-axis crank linkage mechanism

Abstract

The application discloses a driving simulation device based on a six-axis crank connecting rod mechanism and relates to the technical field of driving simulation devices.The driving simulation device comprises a base, the base is in a regular hexagon structure, control motors are installed on the inner side of the base, the control motors are distributed in a circle, the number of the control motors is six, two control motors form a group, output ends of the control motors are provided with lower connecting rods, one end of each lower connecting rod is hingedly connected with an upper connecting rod, and two adjacent lower connecting rods are symmetrically arranged; and a supporting table is arranged above the base.Six control motors arranged in pairs can work based on the control motors, the lower connecting rods and the upper connecting rods are matched, the posture of the supporting table is adjusted, preferably, the hinge connection mode of the upper connecting rod and the supporting table can adopt a universal joint, when the lower connecting rods of different groups are controlled to rotate different angles, the supporting table can be inclined in different directions and at different angles, the flexibility is high, and the simulation driving is better.

Description

Technical Field

[0001] This invention relates to the field of driving simulation device technology, and in particular to a driving simulation device based on a six-axis crank-connecting rod mechanism. Background Technology

[0002] Driving simulators are devices used to simulate the real driving experience of a vehicle. They are widely used in driver training, driving behavior research, entertainment simulation, and vehicle engineering research and development. By simulating the movement and control feedback of a vehicle under various road conditions, weather, and traffic environments, users can master driving skills, evaluate driving behavior, or conduct product verification in a safe, controllable, and repeatable environment. They have significant advantages such as high safety, controllable cost, and flexible scenarios.

[0003] Existing driving simulation devices can be mainly divided into two categories based on their motion simulation methods: fixed-base type and motion platform type. Fixed-base simulators have a simple structure and low cost, but their cockpit platform is completely fixed, and they can only simulate driving sensations through visual, auditory, and force feedback, lacking realistic haptic feedback, resulting in limited immersion and training effectiveness. Some current driving simulation devices have the following shortcomings: It can usually only achieve pitch and roll, or even only provide a single-axis "bumping" effect, with a serious lack of freedom of motion, and cannot simulate complex dynamics such as lateral acceleration, braking pitch and acceleration pitch occurring simultaneously.

[0004] Simple structures based on crank-slider or linear motors may provide displacement in a single direction, but they often suffer from problems such as unsmooth motion, severe coupling between axes, low control precision, and difficulty in coordinating to form complex spatial postures. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a driving simulation device based on a six-axis crank-connecting rod mechanism.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A driving simulation device based on a six-axis crank-connecting rod mechanism includes a base with a regular hexagonal structure. Six control motors are installed on the inner side of the base, arranged in a circular pattern, and are paired up to form a group. A lower connecting rod is installed at the output end of each control motor, with one end of the lower connecting rod hinged to an upper connecting rod. Adjacent lower connecting rods are symmetrically arranged. A platform is positioned above the base, and a bracket is installed at the bottom of the platform. The top of the upper connecting rod is hinged to the bracket of the platform. A driving control mechanism is installed on the top of the platform.

[0007] As a preferred embodiment of the present invention: the driving operation mechanism includes a platform, which is mounted on top of a support, and a seat is mounted on the platform; a pedal assembly is mounted at the front end of the platform, and a steering wheel assembly is mounted above the platform.

[0008] As a preferred embodiment of the present invention: the pedal assembly includes a connecting frame, which is installed at the front end of the platform. A movable seat is installed inside the connecting frame, and the same footboard is installed on the two movable seats. A pedal is provided on the footboard.

[0009] As a preferred embodiment of the present invention: the movable seat is slidably installed in the connecting frame, a guide post is fixed on one side of the connecting frame, a side plate is slidably connected to the outside of the guide post, the side plate and the guide post are connected by a guide post spring, a first protruding tooth is provided on the side of the side plate near the movable seat, and a second protruding tooth is provided on the side of the movable seat. Under the action of the guide post spring, the first protruding tooth and the second protruding tooth mesh with each other; the connecting frame is provided with a separation component for controlling the separation of the side plate and the movable seat.

[0010] As a preferred embodiment of the present invention: the separation component includes a slide block, a connecting frame having a slide groove, the slide block being slidably connected to the slide groove, and the slide block and the inner wall of the slide groove being connected by a spring, a pusher being slidably connected to one end of the slide block in a transverse direction perpendicular to the slide groove, rollers being installed on the top of the connecting frame and the side plate, and one end of the pusher having a V-shaped structure, the pusher passing between two rollers when the slide block moves along the slide groove.

[0011] As a preferred embodiment of the present invention, the two movable seats are connected by a connecting plate, and a U-shaped bracket is provided on the connecting plate.

[0012] As a preferred embodiment of the present invention, the steering wheel assembly includes a connecting arm, a mounting bracket is mounted on the connecting arm, and a steering wheel is disposed on the mounting bracket.

[0013] As a preferred embodiment of the present invention: the mounting bracket is rotatably mounted on the connecting arm via a shaft, a sleeve is provided on one side of the connecting arm, the shaft of the mounting bracket rotates within the sleeve, and a fixing knob for fixing the shaft of the mounting bracket is threadedly connected to one side of the sleeve.

[0014] As a preferred embodiment of the present invention, a support frame is fixed to the bottom of the base.

[0015] As a preferred embodiment of the present invention: a tilt detection component is installed at the bottom of the base, the tilt detection component includes a detection chamber, the top of the detection chamber is installed at the bottom of the base through a mounting head, the detection chamber has an ellipsoidal structure, a movable ball is provided inside the detection chamber, an annular protrusion is provided on the outer side of the bottom of the detection chamber, and two conductive strips are provided on the inner side of the annular protrusion. The two conductive strips are connected to the same detection circuit. When the movable ball rolls into the annular protrusion, it can simultaneously contact the two conductive strips and conduct the circuit between the two conductive strips.

[0016] The beneficial effects of this invention are as follows: 1. This invention, by setting up six control motors in pairs, enables the lower and upper connecting rods to work together to adjust the posture of the platform. Preferably, the upper connecting rod and the platform are hinged by a universal joint. When the connecting rods rotate at different angles under the control of different groups of platforms, the platform can tilt in different directions and at different angles, which is highly flexible and allows for better simulated driving.

[0017] 2. This invention, by setting up a movable seat, side plate, and separation component, allows users to step on the slide seat and use a pusher to push the rollers on the side plate to one side. During this process, the pusher is blocked by the rollers on the connecting frame and slides laterally on the slide seat, increasing the stroke until the first and second convex teeth are completely separated. The user then inserts their other foot between the U-shaped bracket and the connecting plate and adjusts the position of the pusher by pushing or pulling, ultimately achieving the purpose of adjusting the pedal position. This allows for rapid adjustment without the need for hand operation.

[0018] 3. By setting up a tilt detection component, when the base tilts to a certain extent, the movable ball can roll into the annular protrusion, simultaneously contact the two conductive strips, and conduct the circuit between the two conductive strips. The control module controls the structure to reset in time, preventing the device from tipping over and ensuring safety. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a driving simulation device based on a six-axis crank-connecting rod mechanism proposed in this invention; Figure 2 This is a schematic diagram of the driving simulation device based on a six-axis crank-connecting rod mechanism proposed in this invention from another angle. Figure 3 This is a schematic diagram of the pedal assembly of a driving simulation device based on a six-axis crank-connecting rod mechanism proposed in this invention. Figure 4 This is a schematic diagram of the side plate and moving seat of a driving simulation device based on a six-axis crank-connecting rod mechanism proposed in this invention. Figure 5 This is a schematic diagram of the base and support of a driving simulation device based on a six-axis crank-connecting rod mechanism proposed in this invention. Figure 6 This is a cross-sectional structural schematic diagram of the testing chamber of a driving simulation device based on a six-axis crank-connecting rod mechanism proposed in this invention.

[0020] In the diagram: 1-Base; 2-Upper connecting rod; 3-Lower connecting rod; 4-Guide column; 5-Pedal; 6-Mounting bracket; 7-Steering wheel; 8-Fixing knob; 9-Connecting arm; 10-Seat; 11-Platform; 12-Support frame; 13-Step; 14-Connecting frame; 15-Guide column spring; 16-U-shaped bracket; 17-Slide seat; 18-Push frame; 19-Moving seat; 20-Side plate; 21-First convex tooth; 22-Second convex tooth; 23-Roller; 24-Slide groove; 25-Detection chamber; 26-Platform; 27-Control motor; 28-Conductive strip; 29-Moving ball; 30-Annular protrusion; 31-Mounting head. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] Example 1: A driving simulation device based on a six-axis crank-connecting rod mechanism, such as Figure 1-6 As shown, the system includes a base 1, which has a regular hexagonal structure. Six control motors 27 are installed on the inner side of the base 1, arranged in a circular pattern. The six control motors 27 are grouped in pairs. A lower connecting rod 3 is installed at the output end of each control motor 27. One end of the lower connecting rod 3 is hinged to an upper connecting rod 2, and adjacent lower connecting rods 3 are symmetrically arranged. A support platform 26 is provided above the base 1, and a bracket is provided at the bottom of the support platform 26. The top of the upper connecting rod 2 is hinged to the bracket of the support platform 26. A driving control mechanism is installed on the top of the support platform 26. By setting up six control motors 27 in pairs, the lower connecting rod 3 and the upper connecting rod 2 can be coordinated to adjust the posture of the support platform 26. Preferably, the hinge between the upper connecting rod 2 and the support platform 26 can be a universal joint. When the connecting rod 3 rotates at different angles under the control of different groups of support platforms 26, the support platform 26 can tilt at a certain angle. Assuming that the six control motors 27 are numbered A1, A2, A3, A4, A5, and A6 in sequence, when A1 and A2 are in one group, A3 and A4 are in another group, and A5 and A6 are in another group, the groups work together to achieve tilting in a certain direction. If A6 and A1 are in one group, A2 and A3 are in another group, and A4 and A5 are in another group, the groups work together to achieve tilting in the outward direction, which is highly flexible and better for simulated driving.

[0024] like Figure 1 , Figure 2 As shown, the driving operation mechanism includes a platform 11, which is mounted on the top of the support 26, and a seat 10 is mounted on the platform 11; a pedal assembly is mounted at the front end of the platform 11, and a steering wheel assembly is mounted on the top of the platform 11.

[0025] For ease of use; such as Figure 3 As shown, the pedal assembly includes a connecting frame 14, which is installed at the front end of the platform 11. A movable seat 19 is installed inside the connecting frame 14, and the same foot platform 13 is installed on the two movable seats 19. A pedal 5 is provided on the foot platform 13.

[0026] To facilitate adjustment of the pedal assembly position; such as Figure 3 , Figure 4 As shown, the movable seat 19 is slidably installed in the connecting frame 14. A guide post 4 is fixed on one side of the connecting frame 14, and a side plate 20 is slidably connected to the outside of the guide post 4. The side plate 20 and the guide post 4 are connected by a guide post spring 15. A first protruding tooth 21 is provided on the side of the side plate 20 near the movable seat 19, and a second protruding tooth 22 is provided on the side of the movable seat 19. Under the action of the guide post spring 15, the first protruding tooth 21 and the second protruding tooth 22 mesh. A separation component for controlling the separation of the side plate 20 and the movable seat 19 is provided on the connecting frame 14.

[0027] To facilitate adjustment of the pedal assembly position; such as Figure 3 , Figure 4 As shown, the separation assembly includes a slide block 17, a sliding groove 24 is provided on the connecting frame 14, the slide block 17 is slidably connected in the sliding groove 24, and the slide block 17 and the inner wall of the sliding groove 24 are connected by a spring. A pusher 18 is slidably connected to one end of the slide block 17, and its sliding direction is perpendicular to the sliding groove 24. Rollers 23 are installed on the top of the connecting frame 14 and the side plate 20. One end of the pusher 18 has a V-shaped structure. When the slide block 17 moves along the sliding groove 24, the pusher 18 passes between two rollers 23.

[0028] To facilitate adjustment of the pedal assembly position; such as Figure 3 , Figure 4 As shown, the two movable seats 19 are connected by a connecting plate, and a U-shaped bracket 16 is provided on the connecting plate; By setting up the movable seat 19, side plate 20 and separation component, according to actual needs, by stepping on the slide seat 17, the rollers 23 on the side plate 20 can be pushed to one side by the push frame 18. During the process, the push frame 18 is blocked by the rollers 23 on the connecting frame 14 and slides laterally on the slide seat 17, increasing the movement stroke until the first tooth 21 and the second tooth 22 are completely separated. The user puts his other foot between the U-shaped bracket 16 and the connecting plate and adjusts the position of the push frame 18 by pushing or pulling, and finally achieves the purpose of adjusting the position of the pedal 5. Quick adjustment can be achieved without hand operation.

[0029] For ease of use; such as Figure 1 , Figure 2 As shown, the steering wheel assembly includes a connecting arm 9, a mounting bracket 6 is mounted on the connecting arm 9, and a steering wheel 7 is mounted on the mounting bracket 6.

[0030] To facilitate adjustment of the steering wheel assembly position; such as Figure 1 , Figure 2 As shown, the mounting bracket 6 is rotatably mounted on the connecting arm 9 via a shaft. A sleeve is provided on one side of the connecting arm 9, and the shaft of the mounting bracket 6 rotates inside the sleeve. A fixing knob 8 for fixing the shaft of the mounting bracket 6 is threadedly connected to one side of the sleeve.

[0031] In practical applications, each control motor 27 can operate based on a preset program to tilt structures such as the support platform 26, achieving the purpose of driving simulation; it can also transmit operation signals to the control module based on the operation of the pedal 5 and steering wheel 7, and the control module controls the operation of each control motor 27 based on the signals, such as: Responsive Simulation Mode: When the driver operates the steering wheel and pedals, sensors send operation signals (steering angle, accelerator / brake depth) to the control module. Instead of directly driving the motors, the control module first inputs these operation parameters into a built-in high-precision vehicle dynamics model. This model, combined with the current virtual vehicle state (speed, road adhesion coefficient, etc.), calculates in real-time the dynamic response the vehicle should produce (such as body roll during sharp turns, nose-up effect during acceleration, and nose-dive effect during braking). Subsequently, this dynamic response data is used as the target pose, and through the aforementioned kinematic calculations, it drives six motors to coordinate their movements, causing the center console, seat, steering wheel, and pedals to synchronously generate realistic force and tactile feedback.

[0032] Preset program-driven mode: When simulating specific driving scenarios (such as driving over bumpy roads or jumping over ramps), the control module can directly call or receive a six-degree-of-freedom motion data stream from the host computer (simulation software). This data stream directly contains the posture instructions that the platform needs to change over time. The control module also drives the motor after inverse kinematics calculation, allowing the driver to experience a specific motion trajectory defined by the program. In addition, other commonly used control schemes can be adopted, which will not be elaborated here.

[0033] In this invention, the six motors (A1-A6) are divided into three groups of force couples. For example, when grouped as (A1,A2), (A3,A4), and (A5,A6), the two motors in the same group rotate synchronously in the same direction, driving the platform to pitch or roll around a specific axis. By changing the grouping method (e.g., to (A6,A1), (A2,A3), and (A4,A5)), the "pair" relationship of the actuators in the mechanism is changed, thereby optimizing the lever arm. This allows for more efficient and flexible synthesis of tilt motion vectors in different directions, significantly reducing motion coupling and improving the flexibility and accuracy of attitude simulation.

[0034] Example 2: A driving simulation device based on a six-axis crank-connecting rod mechanism, such as Figure 1 As shown, in order to improve structural stability, this embodiment makes the following improvements based on embodiment 1: a support frame 12 is fixed to the bottom of the base 1.

[0035] To avoid excessive structural tilting; such as Figure 5 , Figure 6 As shown, a tilt detection component is installed at the bottom of the base 1. The tilt detection component includes a detection chamber 25. The top of the detection chamber 25 is installed at the bottom of the base 1 through a mounting head 31. The detection chamber 25 has an ellipsoidal structure. A movable ball 29 is provided inside the detection chamber 25. An annular protrusion 30 is provided on the outer side of the bottom of the detection chamber 25. Two conductive strips 28 are provided on the inner side of the annular protrusion 30. The two conductive strips 28 are connected to the same detection circuit. When the movable ball 29 rolls into the annular protrusion 30, it can simultaneously contact the two conductive strips 28 and conduct the circuit between the two conductive strips 28. By setting up a tilt detection component, when the base 1 tilts to a certain extent, the movable ball 29 can roll into the annular protrusion 30, simultaneously contacting the two conductive strips 28 and connecting the circuit between the two conductive strips 28. The control module controls the structure to reset in time, preventing the device from tipping over and ensuring safety.

[0036] For the parts not disclosed in detail in this invention, such as necessary control modules, specific control methods, signal transmission methods, power supply methods, etc., those skilled in the art can ensure the smooth implementation of the solution of this invention based on common sense, normal thinking logic and existing technology.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A driving simulation device based on a six-axis crank-connecting rod mechanism, characterized in that, Includes a base (1), which has a regular hexagonal structure. A control motor (27) is installed on the inner side of the base (1). The control motors (27) are distributed in a circle. There are six control motors (27), and the six control motors (27) are arranged in pairs. A lower connecting rod (3) is installed at the output end of the control motor (27). An upper connecting rod (2) is hinged to one end of the lower connecting rod (3). Two adjacent lower connecting rods (3) are symmetrically arranged. A support platform (26) is provided above the base (1). A bracket is provided at the bottom of the support platform (26). The top of the upper connecting rod (2) is hinged to the bracket of the support platform (26). A driving operation mechanism is installed on the top of the support platform (26).

2. The driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 1, characterized in that, The driving control mechanism includes a platform (11), which is mounted on top of a support (26), and a seat (10) is mounted on the platform (11); a pedal assembly is mounted at the front end of the platform (11), and a steering wheel assembly is mounted above the platform (11).

3. A driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 2, characterized in that, The pedal assembly includes a connecting frame (14), which is installed at the front end of the platform (11). A movable seat (19) is installed inside the connecting frame (14), and the same foot platform (13) is installed on the two movable seats (19). A pedal (5) is provided on the foot platform (13).

4. A driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 3, characterized in that, The movable seat (19) is slidably installed in the connecting frame (14). A guide post (4) is fixed on one side of the connecting frame (14). A side plate (20) is slidably connected to the outside of the guide post (4). The side plate (20) and the guide post (4) are connected by a guide post spring (15). A first tooth (21) is provided on the side of the side plate (20) near the movable seat (19). A second tooth (22) is provided on the side of the movable seat (19). Under the action of the guide post spring (15), the first tooth (21) and the second tooth (22) mesh. A separation component for controlling the separation of the side plate (20) and the movable seat (19) is provided on the connecting frame (14).

5. A driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 4, characterized in that, The separation assembly includes a slide (17), a connecting frame (14) with a groove (24) provided on it, the slide (17) is slidably connected in the groove (24), and the inner wall of the slide (17) and the groove (24) are connected by a spring. One end of the slide (17) is slidably connected to a pusher (18), and its sliding direction is perpendicular to the groove (24). The connecting frame (14) and the top of the side plate (20) are both equipped with rollers (23). One end of the pusher (18) has a V-shaped structure. When the slide (17) moves along the groove (24), the pusher (18) passes between two rollers (23).

6. A driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 4, characterized in that, The two movable seats (19) are connected by a connecting plate, and a U-shaped bracket (16) is provided on the connecting plate.

7. A driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 2, characterized in that, The steering wheel assembly includes a connecting arm (9), a mounting bracket (6) is mounted on the connecting arm (9), and a steering wheel (7) is mounted on the mounting bracket (6).

8. A driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 7, characterized in that, The mounting bracket (6) is rotatably mounted on the connecting arm (9) via a shaft. A sleeve is provided on one side of the connecting arm (9), and the shaft of the mounting bracket (6) rotates inside the sleeve. A fixing knob (8) for fixing the shaft of the mounting bracket (6) is threadedly connected to one side of the sleeve.

9. A driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 1, characterized in that, The base (1) has a support frame (12) fixed at its bottom.

10. A driving simulation device based on a six-axis crank-connecting rod mechanism according to claim 9, characterized in that, The base (1) is equipped with an inclined detection component at its bottom. The inclined detection component includes a detection chamber (25). The top of the detection chamber (25) is installed on the bottom of the base (1) through a mounting head (31). The detection chamber (25) has an ellipsoidal structure. A movable ball (29) is provided inside the detection chamber (25). An annular protrusion (30) is provided on the outer side of the bottom of the detection chamber (25). Two conductive strips (28) are provided on the inner side of the annular protrusion (30). The two conductive strips (28) are connected to the same detection circuit. When the movable ball (29) rolls into the annular protrusion (30), it can contact the two conductive strips (28) at the same time and conduct the circuit between the two conductive strips (28).

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