Simulated compound motion platform for preventing damage to a visor pod line

Abstract

The present application belongs to the technical field of vehicle dynamics simulation test equipment, and particularly relates to a simulation composite motion platform for preventing pipeline damage of a visual cabin, which sets a reference axis on a fixed base and a comparison axis on an air-floating sliding platform, acquires an included angle between the two axes by using a posture detection module, and keeps the included angle within a preset included angle threshold by using a displacement driving module, so as to realize active closed-loop control of visual cabin yaw and prevent pipeline abrasion caused by reciprocating rotation of the visual cabin; the yaw and translation functions are separated by using an independent yaw rotation mechanism, so as to improve the rotation stroke of the simulation cabin; and accurate tension control is realized by using four-rope redundant driving and cooperating with dynamic end tension detection. The present application has the advantages of pipeline abrasion resistance of the visual cabin, control decoupling, and high safety.

Description

Technical Field

[0001] This invention belongs to the technical field of vehicle dynamics simulation test equipment, and particularly relates to a simulation composite motion platform for preventing damage to the visual cabin pipeline. Background Technology

[0002] Vehicle dynamics simulation platforms are widely used for operation training, dynamics research, human-machine interaction, and pilot behavior testing of vehicles such as road vehicles, rail vehicles, fixed-wing aircraft, rotary-wing aircraft, helicopters, electric vertical takeoff and landing aircraft, and ships. These platforms typically provide operators with motion cues corresponding to vehicle acceleration, braking, turning, sideslip, pitch, roll, and heading changes through motion mechanisms. They are integrated with a visual cabin, projection equipment or LED screen, control devices, and dynamics simulation models to form a complete testing system.

[0003] Existing simulation platforms generally employ Stewart parallel mechanisms to achieve six degrees of freedom motion, which features compact structure, high load-bearing capacity, fast response speed, and high attitude control accuracy. However, their motion range is limited by factors such as the stroke of electric or hydraulic cylinders, hinge point arrangement, and singular configuration of the mechanism, making it difficult to achieve long-duration large-stroke displacements and large-angle yaws. To expand the motion indication range, existing technologies typically add large-stroke translational or rotary mechanisms below the Stewart platform, such as using rope-driven mechanisms. These mechanisms have advantages such as smaller moving parts mass, flexible structural arrangement, large planar stroke, and the ability to fix the drive device, and are therefore used for the large-stroke translation and yaw extension of simulation platforms.

[0004] However, when using a rope-driven mechanism to extend the displacement range and rotation angle of the visual cabin, the visual cabin is connected to large-diameter ventilation ducts and cables. This part of the structure is prone to torsion, bending and fatigue damage when rotating with the visual cabin as a whole. The same set of ropes simultaneously bears translation and yaw, which leads to complex kinematic and control coupling.

[0005] Therefore, there is an urgent need for a simulation composite motion platform that can prevent damage to the visual cabin pipelines to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a simulation composite motion platform that prevents damage to the visualization cabin pipeline, thereby solving the above-mentioned problems.

[0007] To achieve the above objectives, the present invention provides the following solution: A simulation composite motion platform for preventing damage to the visualization cabin's piping includes: A viewing cabin connected to a ventilation tube and wiring harness; An air-floating sliding platform is fixed to the bottom of the visual cabin, and an upper parallel motion mechanism is connected to the air-floating sliding platform. A simulation cockpit is connected to the upper parallel motion mechanism. A fixed base, wherein the air-floating sliding platform is configured to move horizontally on the fixed base; The displacement drive module is connected to the air-floating sliding platform via a transmission. A reference axis is provided on the fixed base, and a comparison axis is provided on the air-floating sliding platform; It also includes an attitude detection module, which is used to obtain the angle between the comparison axis and the reference axis, wherein the attitude detection module is provided with an angle threshold. When the visual cabin is stationary, the reference axis coincides with or is parallel to the comparison axis. When the visual cabin is in a displacement state, the attitude detection module acquires the value of the included angle in real time, and the displacement driving module makes the value of the included angle within the included angle threshold.

[0008] Optionally, an independent yaw mechanism is also provided; The independent yaw mechanism is located between the air-float sliding platform and the upper parallel motion mechanism. or The independent yaw mechanism is located between the upper parallel motion mechanism and the simulated cockpit; The independent yaw mechanism is used to increase the yaw travel of the simulated cockpit.

[0009] Optionally, the displacement drive module includes a bottom rope-driven translation mechanism, the fixed end of which is fixedly connected to the fixed base, and the movable end of which is fixed to the air-floating sliding platform.

[0010] Optionally, the bottom rope-driven translation mechanism includes four rope drive units arranged around the fixed base, the fixed end of the rope drive unit being fixedly connected to the fixed base, and the rope end of the rope drive unit being fixed to the air-floating sliding platform.

[0011] Optionally, the ropes of the four rope drive units are located in the same horizontal plane, and the ropes of the four rope drive units do not cross each other.

[0012] Optionally, two rope drive units form a group and are connected to one side of the air-floating sliding platform, while two rope drive units in another group are connected to the other side of the air-floating sliding platform, with the ropes of the two rope drive units in the same group arranged in a cross configuration.

[0013] Optionally, after the rope of the rope drive unit passes through the fixed rope exit point provided on the fixed base, it is fixedly connected to the anchoring node provided on the air-floating sliding platform. The rope drive unit is equipped with a tensioning structure and a moving end tension detection component.

[0014] Optionally, the moving end tension detection assembly includes a tension sensor disposed between the rope and the anchoring node.

[0015] Optionally, the attitude detection module includes a global absolute pose detection device or a local displacement measurement device for acquiring displacement data; It also includes a yaw angle detection device for obtaining yaw angle velocity and yaw angle acceleration.

[0016] Optionally, the global absolute pose detection device includes a motion capture system, a laser positioning system, or a visual positioning system; The local displacement measuring device includes a grating ruler.

[0017] Compared with the prior art, the present invention has the following advantages and technical effects: This invention provides a simulation composite motion platform for preventing damage to the visualization cabin's pipelines. By setting a reference axis on a fixed base and a comparison axis on an air-floating sliding platform, and using an attitude detection module to obtain the angle between the two in real time, the platform achieves active closed-loop control of the visualization cabin's yaw state when the visualization cabin is in a displacement state. This effectively prevents pipeline wear caused by excessive yaw and significantly improves the platform's operational safety. The independent yaw and rotation mechanism separates the yaw and translation functions, increasing the simulation cabin's rotation stroke and simplifying the control logic. The four-rope redundant drive configuration, combined with the moving-end tension detection component, improves the real-time performance and accuracy of tension control, preventing rope loss or overload. Two rope arrangements—single-layer coplanar non-crossing and grouped crossing—can respectively adapt to the needs of simplified control and large yaw correction torque, offering the advantage of flexible adaptation to different working conditions. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a structural layout diagram of the present invention, including the viewing cabin; Figure 2 This is a structural layout diagram of the present invention without the viewing cabin; Figure 3 This is a top view of the four-rope single-layer coplanar non-intersecting arrangement of the present invention; Figure 4 This is a top view of the four-rope double-layer cross near-tangential arrangement of the present invention; Figure 5 This is a layered diagram showing the near-tangential height of the four-rope double-layer cross structure of the present invention; Figure 6 This is a partial view of the independent anchoring node and the moving end tension sensor of the present invention; Figure 7 This is a schematic diagram of the structure of the independent yaw mechanism mounted on top of the present invention; The components include: 1. Visual cabin; 2. Ventilation pipe and wiring harness; 3. Air-bearing sliding platform; 4. Bottom rope-driven translation mechanism; 5. Fixed base; 6. Upper parallel motion mechanism; 7. Simulation cockpit; 8. Independent yaw and turn mechanism; and 9. Tension sensor. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figures 1 to 7 This invention discloses a simulation composite motion platform for preventing damage to the visualization cabin pipelines, comprising: Visual cabin 1 is connected to a ventilation tube and wiring harness 2; The air-floating sliding platform 3 is fixed to the bottom of the visual cabin 1. An upper parallel motion mechanism 6 is connected to the air-floating sliding platform 3, and a simulation cabin 7 is connected to the upper parallel motion mechanism 6. The fixed base 5 and the air-floating sliding platform 3 are configured to move horizontally on the fixed base 5; The displacement drive module is connected to the air-floating sliding platform 3 via a transmission. Among them, a reference axis is provided on the fixed base 5, and a comparison axis is provided on the air-floating sliding platform 3; It also includes an attitude detection module, which is used to obtain the angle between the comparison axis and the reference axis. The attitude detection module has an angle threshold. When the visual cabin 1 is stationary, the reference axis coincides with or is parallel to the comparison axis. When the visual cabin 1 is in a displacement state, the attitude detection module obtains the value of the included angle in real time, and the displacement driving module makes the value of the included angle within the included angle threshold.

[0022] The viewing cabin 1 is fixed to the bottom of the air-bearing sliding platform 3, which moves horizontally on the fixed base 5. The fixed base 5 has a reference axis, and the air-bearing sliding platform 3 has a comparison axis. When the viewing cabin 1 is stationary, the reference axis and the comparison axis coincide or are parallel. When the viewing cabin 1 is in a displacement state, the attitude detection module acquires the angle between the comparison axis and the reference axis in real time and compares it with an internally preset angle threshold. When the angle exceeds the threshold, the displacement drive module adjusts the attitude of the air-bearing sliding platform 3 to bring the angle back within the threshold range. This setup uses the angle between the two sets of axes on the fixed base 5 and the air-bearing sliding platform 3 as a characteristic quantity representing the platform's yaw state. The attitude detection module uses real-time closed-loop monitoring to limit the yaw angle within a preset safety threshold. This effectively prevents the ventilation pipe and wiring harness from twisting, bending, and fatigue damage due to excessive yaw during the displacement of the viewing cabin 1, improving the platform's operational safety.

[0023] As an optional implementation, an independent yaw mechanism 8 is also provided; Among them, the independent yaw rotation mechanism 8 is located between the air-float sliding platform 3 and the upper parallel motion mechanism 6; or The independent yaw mechanism 8 is located between the upper parallel motion mechanism 6 and the simulated cockpit 7; The independent yaw mechanism 8 is used to increase the yaw stroke of the simulation cockpit 7.

[0024] The independent yaw mechanism 8 is located between the air-floating sliding platform 3 and the upper parallel motion mechanism 6, or between the upper parallel motion mechanism 6 and the simulation cockpit 7. When it is necessary to change the heading of the simulation cockpit 7, the independent yaw mechanism 8 independently drives the simulation cockpit 7 to rotate around the vertical axis. By separating the large-range yaw function from the lower translation mechanism and having the independent yaw mechanism 8 handle it exclusively, the rotation stroke of the simulation cockpit 7 is increased, the yaw motion and translation motion are decoupled, and the control logic is simplified.

[0025] As an optional implementation, the displacement drive module includes a bottom rope-driven translation mechanism 4, the fixed end of which is fixedly connected to the fixed base 5, and the movable end of which is fixed to the air-floating sliding platform 3.

[0026] The displacement drive module includes a bottom-level rope-driven translation mechanism 4, whose fixed end is fixedly connected to a fixed base 5, and whose movable end is fixed to an air-floating sliding platform 3. The air-floating sliding platform 3 is horizontally displaced by the raising and lowering of the rope. Utilizing the advantages of rope drive in terms of lightweight and large stroke, the platform is driven to translate in a plane through the coordinated raising and lowering of the rope, thereby achieving a large-stroke horizontal displacement.

[0027] As an optional implementation, the bottom rope-driven translation mechanism 4 includes four rope drive units arranged around the fixed base 5. The fixed end of the rope drive unit is fixed to the fixed base 5, and the rope end of the rope drive unit is fixed to the air-floating sliding platform 3.

[0028] As an alternative implementation, the ropes of the four rope drive units are located in the same horizontal plane, and the ropes of the four rope drive units do not cross each other.

[0029] As an optional implementation, two rope drive units form a group and are connected to one side of the air-floating sliding platform 3, while two rope drive units in another group are connected to the other side of the air-floating sliding platform 3, with the ropes of the two rope drive units in the same group arranged in a cross configuration.

[0030] The ropes of the four rope drive units are located in the same horizontal plane and do not cross each other. They are connected and fixed at the rope exit points and anchoring nodes in the same circumferential sequence, forming a single-layer coplanar non-crossing arrangement. When a grouped crossing scheme is adopted, the ropes that intersect by projection are located at different height layers, forming a non-coplanar crossing arrangement.

[0031] The single-layer coplanar non-intersecting arrangement makes the rope geometry the simplest and the control model concise.

[0032] The grouped, crisscrossed arrangement brings the direction of the rope tension closer to the tangent of the anchorage circle of the air-floating sliding platform 3. This configuration allows for a larger yaw correction moment with relatively low rope tension, improving yaw control capability.

[0033] As an optional implementation, the rope of the rope drive unit passes through the fixed rope outlet point set on the fixed base 5 and is fixedly connected to the anchoring node set on the air-floating sliding platform 3. The rope drive unit is equipped with a tensioning structure and a moving end tension detection component.

[0034] After passing through the fixed exit point on the fixed base 5, the rope is fixedly connected to the anchoring node on the air-floating sliding platform 3. The rope drive unit is equipped with a tensioning structure to adjust the rope tension, and the moving end tension detection component detects the actual tension value at the anchoring end in real time.

[0035] As an alternative implementation method, The moving end tension detection assembly includes a tension sensor 9, which is disposed between the rope and the anchoring node.

[0036] As an optional implementation, the attitude detection module includes a global absolute pose detection device or a local displacement measurement device for acquiring displacement data; It also includes a yaw angle detection device for obtaining yaw angle velocity and yaw angle acceleration.

[0037] The attitude detection module acquires displacement data through a global absolute pose detection device or a local displacement measurement device, and the yaw angle detection device acquires yaw angular velocity and yaw angular acceleration. By combining displacement detection with angular motion detection, the platform's attitude is perceived in all dimensions. This provides complete state feedback for closed-loop control, enabling comprehensive real-time detection of the platform's attitude.

[0038] As an alternative implementation, the global absolute pose detection device includes a motion capture system, a laser positioning system, or a visual positioning system; The local displacement measuring device includes an optical grating ruler.

[0039] The present invention includes a visual cabin 1, a fixed base 5, an air-floating sliding platform 3, a bottom rope-driven translation mechanism 4, an upper parallel motion mechanism 6, an independent yaw and rotation mechanism 8, and a simulation cockpit 7.

[0040] The visual cabin 1 is fixedly connected to the load-bearing structure of the air-floating sliding platform 3, and moves X and Y along with the air-floating sliding platform 3.

[0041] The visual cabin 1 is fixedly installed with the projection equipment and its main ventilation, power supply, air supply and signal pipelines, and does not rotate with the simulation cabin 7. The power supply, control and sensing cables required by the simulation cabin 7 are connected via drag chains, flexible cables, slip rings, wireless communication or a combination thereof.

[0042] The bottom-level rope-driven translation mechanism 4 includes four rope-driven units.

[0043] The fixed base 5 has four fixed rope outlet points, and the air-floating sliding platform 3 has four independent anchoring nodes. The rope of the rope drive unit extends from the fixed rope outlet points and is fixed to the anchoring nodes of the air-floating sliding platform 3.

[0044] The four traction ropes are directly connected to the fixed rope exit point and the corresponding anchoring node, without a central winding disc or winding groove.

[0045] "The four-rope system is used to drive the air-floating sliding platform 3 to move in the plane, and corrects the yaw of the air-floating sliding platform 3 through yaw dynamic feedback."

[0046] The redundant tension distribution of the four ropes is used to improve the ability to maintain positive tension under boundary and variable load conditions. The specific feasible range is determined through tension analysis.

[0047] There are two possible arrangements for the rope working layer: 1. Single-layer coplanar non-intersecting optimal solution Four fixed rope exit points are set around the fixed base 5, and four anchoring points are set circumferentially along the connecting parts of the air-floating sliding platform 3 and connected in the same order. The four ropes do not cross within the same working plane. The controller performs redundant tension distribution based on the X and Y positions, yaw rate, yaw angle, and tension constraints, prioritizing the suppression of yaw dynamics.

[0048] The working plane of the rope is preferably close to the height of the combined center of gravity under the rated load of the platform in order to reduce additional pitch and roll moments.

[0049] The scheme has a simple structure and control relationship, and the rope yaw correction arm is relatively small, making it suitable for working conditions where the main objective is to suppress undesirable yaw angle displacement.

[0050] 2. Double-layer intersecting near-tangential alternative scheme The four ropes are connected in a near-tangential, intersecting manner in the planar projection, with the intersecting ropes located at two different height levels. The anchor points are close to the tangent points of each fixed rope exit point relative to the anchor circle, and the four ropes generate two yaw correction moments in opposite directions. The upper and lower levels are symmetrically arranged at the height of the combined center of gravity of the rated load of the platform to reduce additional pitch and roll moments.

[0051] When a single-layer, non-intersecting arrangement cannot provide sufficient yaw correction moment, ropes are allowed to intersect in the planar projection, with the intersecting ropes positioned at different height layers to avoid actual contact. Anchor points can be located at the tangent or approximately tangent point of the fixed rope exit point relative to the platform anchorage circle to obtain a larger yaw correction moment per unit tension.

[0052] The upper and lower working layers are preferably arranged symmetrically with respect to the combined center of gravity of the platform's rated load. The controller simultaneously constrains the X and Y driving forces, yaw correction torque, and the additional pitch and roll moments generated by the traction forces of the upper and lower layers.

[0053] It also includes a bottom-level pose detection component and a moving-end tension detection component.

[0054] The traction rope only has unidirectional tensile bearing capacity and cannot provide reverse pressure constraint. Relying solely on geometric arrangement cannot offset the parasitic yaw at the bottom layer caused by installation deviation, cable dragging, and air buoyancy disturbance. Therefore, the system is equipped with a yaw detection and dynamic control module consisting of a bottom layer posture detection component and a moving end tension detection component.

[0055] A preset initial reference pose is established between the fixed base 5 and the air-bearing sliding platform 3. The initial reference pose includes at least the planar reference position and the yaw reference direction of the air-bearing sliding platform 3.

[0056] The attitude detection module includes global absolute pose detection devices such as motion capture system, laser positioning system, and visual positioning system, or local displacement measurement devices such as grating ruler, to determine whether the air-floating sliding platform 3 has reached the initial reference pose.

[0057] The yaw angle detection device set on the underlying platform aims to suppress undesirable yaw angular velocity and yaw acceleration. The yaw angle is limited to the allowable range and is not required to return to zero in real time.

[0058] The yaw angle detection device includes a gyroscope.

[0059] The controller employs high-frequency angular velocity damping control and low-frequency angle range control. When the yaw angle is within the allowable range, the yaw rate is suppressed primarily based on the IMU gyroscope output; when the yaw angle exceeds the allowable range, low-speed recovery is implemented using global pose detection results. The controller limits the correction angular acceleration, the rate of change of correction torque, and the rate of change of cable tension to avoid generating obvious undesirable motion cues during correction actions.

[0060] When the attitude detection module confirms that the air-bearing sliding platform 3 has reached the initial reference pose, the control system uses the yaw reference value corresponding to this pose to complete the initial calibration of the yaw zero point of the inertial measurement unit. After the platform leaves the initial reference pose, the inertial measurement unit continuously acquires platform angular velocity and attitude change information at high frequency; the control system continuously integrates the high-frequency data from the inertial measurement unit with the low-frequency absolute observation information provided by the global pose detection, estimates and compensates for IMU integral drift online, and achieves real-time optimal estimation of the yaw angle of the underlying platform.

[0061] Based on the error between the estimated bottom yaw angle and the target zero position, the control system synchronously adjusts the rope length position commands of each rope drive unit and carries out multi-rope redundant tension equalization distribution to keep the yaw angle of the bottom platform within the preset range.

[0062] The underlying rope-driven mechanism does not actively utilize rope differential to generate a large-range yaw motion for simulated attitude reproduction. Instead, it can only generate a small-range corrective torque through rope length difference or tension difference to resist parasitic deflection caused by external disturbances.

[0063] If the attitude detection module signal is lost, the IMU data is abnormal, or the platform runs to the workspace boundary and the single rope tension is lower than the minimum pretension threshold, the controller will automatically reduce the yaw correction output amplitude and retain only the weak angular velocity damping to prioritize ensuring the rope is tensioned throughout the entire process and the mechanism is safe to operate.

[0064] An independent tension sensor 9 is installed between each rope and the anchoring node of the moving platform. The tension sensor 9 can be a tension-type, tension-compression type, or pin-type force measuring element, and its force axis is preferably substantially coincident with the axis of the corresponding rope. The tension signal is used for pretension control, tension equalization, motion correction, untension alarm, and overload protection.

[0065] Placing the sensor at the anchoring end of the moving platform helps reduce the influence of transmission backlash, drum friction, transmission chain elasticity, and inertia on the measurement results, thereby improving the real-time performance and accuracy of tension measurement.

[0066] The upper parallel motion mechanism 6 is driven by multiple electric cylinders or other linear actuators, providing operators with short-stroke motion prompts such as lifting, pitching, tilting, small translation, and yaw.

[0067] The preferred mechanism is a Stewart parallel mechanism, but other forms of multi-degree-of-freedom parallel mechanisms may also be used.

[0068] The independent yaw rotation mechanism 8 achieves simulated large-range yaw without relying on the differential winding and unwinding of the bottom rope. It can be equipped with a servo motor in conjunction with a slewing bearing, gear, gear ring, worm gear, synchronous belt, or direct drive structure.

[0069] In the top-mounted configuration, the independent yaw mechanism 8 is positioned above the upper-level parallel motion mechanism 6 and only supports the simulated cockpit 7. Its rotation axis is the local rotation axis of the cockpit relative to the parallel mechanism; when global heading motion relative to the fixed base 5 is required, the control system performs coordinate transformation and compound motion compensation based on the real-time attitude of the parallel mechanism.

[0070] In the lower-mounted scheme, the independent yaw rotation mechanism 8 is set between the air-floating sliding platform 3 and the upper parallel motion mechanism 6, supporting the overall rotation of the upper parallel motion mechanism 6 and the simulation cockpit 7. Its rotation axis can be set as a vertical axis relative to the fixed base 5.

[0071] When the appropriate conductive slip ring and signal slip ring are configured and the mechanical structure and safety conditions are met, the rotary mechanism can achieve continuous rotation; finite angle reciprocating rotation can be achieved by using flexible cable allowance, guide structure and mechanical and software limits.

[0072] The simulated cockpit 7 includes a human-supported seat, instruments, human-machine interface devices, and control components.

[0073] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0074] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A simulation composite motion platform for preventing damage to the visual cabin pipelines, characterized in that, include: A viewing cabin (1) connected to a ventilation tube and wiring harness (2); An air-floating sliding platform (3) is fixed to the bottom of the visual cabin (1). An upper parallel motion mechanism (6) is connected to the air-floating sliding platform (3), and a simulation cabin (7) is connected to the upper parallel motion mechanism (6). The fixed base (5) is configured to allow horizontal displacement of the air-floating sliding platform (3) on the fixed base (5); The displacement drive module is connected to the air-floating sliding platform (3) via a transmission. A reference axis is provided on the fixed base (5), and a comparison axis is provided on the air-floating sliding platform (3); It also includes an attitude detection module, which is used to obtain the angle between the comparison axis and the reference axis, wherein the attitude detection module is provided with an angle threshold. When the viewing cabin (1) is in a static state, the reference axis coincides with or is parallel to the comparison axis; When the visual cabin (1) is in a displacement state, the attitude detection module obtains the value of the included angle in real time, and makes the value of the included angle within the included angle threshold through the displacement driving module.

2. The simulation composite motion platform for preventing damage to the visual cabin pipelines according to claim 1, characterized in that, It also has an independent yaw and turning mechanism (8); The independent yaw mechanism (8) is located between the air-floating sliding platform (3) and the upper parallel motion mechanism (6); or The independent yaw mechanism (8) is located between the upper parallel motion mechanism (6) and the simulated cockpit (7); The independent yaw mechanism (8) is used to increase the yaw stroke of the simulated cockpit (7).

3. The simulation composite motion platform for preventing damage to the visual cabin pipelines according to claim 1, characterized in that, The displacement drive module includes a bottom rope drive translation mechanism (4), the fixed end of which is fixedly connected to the fixed base (5), and the movable end of which is fixed to the air-floating sliding platform (3).

4. The simulation composite motion platform for preventing damage to the visual cabin pipelines according to claim 3, characterized in that, The bottom rope-driven translation mechanism (4) includes four rope drive units arranged around the fixed base (5). The fixed end of the rope drive unit is fixed to the fixed base (5), and the rope end of the rope drive unit is fixed to the air-floating sliding platform (3).

5. A simulation composite motion platform for preventing damage to visual cabin pipelines according to claim 4, characterized in that, The ropes of the four rope drive units are located in the same horizontal plane and do not cross each other.

6. A simulation composite motion platform for preventing damage to visual cabin pipelines according to claim 4, characterized in that, Two rope drive units form a group and are connected to one side of the air-floating sliding platform (3). Two rope drive units in another group are connected to the other side of the air-floating sliding platform (3). The ropes of the two rope drive units in the same group are arranged crosswise.

7. A simulation composite motion platform for preventing damage to visual cabin pipelines according to claim 4, characterized in that, After the rope of the rope drive unit passes through the fixed rope outlet point set on the fixed base (5), it is fixedly connected to the anchoring node set on the air-floating sliding platform (3). The rope drive unit is equipped with a tensioning structure and a moving end tension detection component.

8. A simulation composite motion platform for preventing damage to visual cabin pipelines according to claim 7, characterized in that, The moving end tension detection component includes a tension sensor (9), which is disposed between the rope and the anchoring node.

9. A simulation composite motion platform for preventing damage to visual cabin pipelines according to claim 1, characterized in that, The attitude detection module includes a global absolute pose detection device or a local displacement measurement device for acquiring displacement data. It also includes a yaw angle detection device for obtaining yaw angle velocity and yaw angle acceleration.

10. A simulation composite motion platform for preventing damage to visual cabin pipelines according to claim 9, characterized in that, The global absolute pose detection device includes a motion capture system, a laser positioning system, or a visual positioning system; The local displacement measuring device includes a grating ruler.

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