Five-degree-of-freedom centrifugal machine
By designing a centrifuge with five degrees of freedom, more complex simulation of the composite acceleration environment is achieved, and the problem of difficulty in effectively simulating high G-value conditions in the prior art is solved, providing more appropriate and practical experimental data and a safer experimental environment.
Patent Information
- Application Number
- CN202421651568.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-12
- Publication Date
- 2025-05-13
- Estimated Expiration
- 2034-07-12
AI Technical Summary
The prior art is difficult to effectively simulate the composite acceleration environment, which makes it difficult to obtain human experimental data under high G-value conditions and has great physical harm to the experimental personnel. The existing animal centrifuge cannot meet the precision mechanical instrument needs of aerospace medicine.
A five-degree of freedom centrifuge is designed, with three-axis rotation and two-axis movement degrees of freedom, including a support rotating device, a multi-degree of freedom rotating arm device and a cabin, and the simulation of complex acceleration is achieved through a multi-axis rotation mechanism, a lifting mechanism and a translation mechanism.
A more complex simulation of the composite acceleration environment is achieved, close to the actual acceleration environment of aerospace, providing researchers with more appropriate and practical experimental data, and reducing physical harm to the experimental personnel.
Smart Images
Figure CN222866239U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of centrifugal testing, in particular to a five-degree-of-freedom centrifuge. Background Art
[0002] With the vigorous development of my country's aerospace industry in recent years and the completion of my country's space station, my country's aerospace industry has entered a new stage. With the selection of pilots and aerospace personnel and the increasing number of training tasks under high-G conditions, when the human body is under high-G conditions for a long time, it may cause problems such as loss of consciousness and severe dizziness in the trainees, which may seriously endanger the life safety of the trainees and lead to the failure of the flight mission. In addition, through experimental research on the human body under high-G conditions, it is difficult to obtain physiological data and research materials after the experiment, and it will cause great harm to the body of the experimenters.
[0003] Therefore, animals are used to replace humans in centrifugal experiments to study the adaptive changes of the physiological system of animals under compound acceleration conditions, and to provide reliable data for the study of the adaptation of various physiological systems of the human body to various compound acceleration physiological training. At the same time, with the development of related technologies in the field of life sciences and the cross-disciplinary integration, animal centrifuges have gradually evolved into precision mechanical instruments for aerospace medicine. It is of great significance for conducting physiological research on biological organisms under complex acceleration conditions in aviation. Utility Model Content
[0004] In view of this, the utility model is directed to a five-degree-of-freedom centrifuge, which can not only rotate around three axes, but also move in horizontal and vertical directions and has a compact structure.
[0005] In order to achieve the above-mentioned purpose, the technical solution created by the utility model is implemented as follows:
[0006] A five-degree-of-freedom centrifuge comprises: a supporting rotary device, a multi-degree-of-freedom rotating arm device and a cabin body, wherein the multi-degree-of-freedom rotating arm device is supported on the supporting rotary device and driven to rotate by the supporting rotary device, and the supporting rotary device is configured to drive the multi-degree-of-freedom rotating arm device to perform a rotary motion.
[0007] The multi-degree-of-freedom rotating arm device comprises a rotating arm, a moving frame, a multi-axis rotating mechanism, a lifting mechanism and a translation mechanism.
[0008] The moving frame comprises a base and a pair of supporting ear seats installed on both sides of the base. There are two lifting mechanisms, and each lifting mechanism is correspondingly arranged in one supporting ear seat.
[0009] The cabin is connected to a multi-axis rotating mechanism for carrying the animal to be tested; the two ends of the multi-axis rotating mechanism are respectively connected to a lifting mechanism, and the cabin is driven to move up and down through the lifting mechanism; the multi-axis rotating mechanism is configured to drive the cabin to perform pitch and roll movements. The translation mechanism is connected to the moving frame and is used to drive the cabin to move along the axis of the rotating arm.
[0010] Furthermore, the multi-axis rotation mechanism includes a roll assembly, a first pitch assembly and a second pitch assembly, and the first pitch assembly and the second pitch assembly are respectively connected to two ends of the roll assembly.
[0011] The multi-axis rotation mechanism comprises a rolling assembly, a first pitch assembly and a second pitch assembly, wherein the first pitch assembly and the second pitch assembly are respectively connected to two ends of the rolling assembly.
[0012] The roll assembly includes a roll motor, a roll bracket, a roll shaft, a roll driven shaft, a roll motor flange, a first photoelectric slip ring, a first encoder and a first encoder flange.
[0013] The roll motor is fixed to a side wall of the roll bracket through a roll motor flange, and the roll shaft is connected to the roll motor; the roll driven shaft is arranged on the other side wall of the roll bracket opposite to the roll motor; the grating scale of the first encoder is arranged on the outer circumference of the roll driven shaft, and the reading head of the first encoder is fixed to the roll bracket through the first encoder flange.
[0014] The roll motor and the roll driven shaft are both located on the symmetrical center line of the length of the roll bracket; the roll driven shaft is a hollow shaft, and the first photoelectric slip ring is arranged in the roll driven shaft to ensure that the roll driven shaft transmits data or signals during rotation.
[0015] The cabin body is connected to the roll shaft and the roll driven shaft respectively, and the roll motor drives the cabin body to roll for movement.
[0016] Furthermore, the first pitch assembly includes a pitch motor, a pitch shaft, a first pitch bracket and a first mounting flange, the pitch motor is connected to the first pitch bracket via the first mounting flange, and the pitch shaft is connected to the pitch motor.
[0017] The second pitch assembly includes a pitch driven shaft, a second pitch bracket, a second encoder, a second encoder flange and a second photoelectric slip ring.
[0018] The pitch driven shaft is arranged at the center of the second pitch bracket, the grating scale of the second encoder is arranged on the outer circumference of the pitch driven shaft, and the reading head of the second encoder is fixed to the second pitch bracket through the second encoder flange. The pitch driven shaft is a hollow shaft, and the second photoelectric slip ring is arranged in the pitch driven shaft to ensure that the pitch driven shaft can transmit data or signals during rotation.
[0019] One end of the roll bracket is connected to the pitch shaft, and the other end of the roll bracket is connected to the pitch driven shaft. The first pitch assembly drives the roll assembly to perform pitch motion through the pitch shaft.
[0020] Furthermore, each lifting mechanism includes a lifting motor, a lifting screw, a pair of lifting guide rails and a nut connector.
[0021] One end of the lifting screw is connected to the output shaft of the lifting motor through the first coupling, and the other end of the lifting screw is connected to the supporting ear seat through the first bearing seat; the nut of the lifting screw is connected to the nut connecting piece respectively, and the two nut connecting pieces are connected to the first pitch bracket and the second pitch bracket respectively.
[0022] Each pair of lifting guide rails is respectively arranged on two sides of the supporting ear seat close to the multi-axis rotation mechanism; the sliders of the two pairs of lifting guide rails are respectively connected with the first pitch bracket and the second pitch bracket.
[0023] Furthermore, the translation mechanism includes a translation motor, a translation screw, a second bearing seat, a pair of first translation guide rails and a pair of second translation guide rails.
[0024] The translation motor and the second bearing seat are arranged on the rotating arm.
[0025] One end of the translation screw is connected to the output shaft of the translation motor through the second coupling, and the other end of the translation screw is connected to the second bearing seat; the base is connected to the nut of the translation screw.
[0026] A pair of first translation guide rails are arranged on the rotating arm, and the translation motor is located between the pair of first translation guide rails; and the base is connected with the sliders of the pair of first translation guide rails.
[0027] A pair of second translation guide rails are arranged on the rotating arm through a bracket, and each supporting ear seat is connected to a slider of a corresponding second translation guide rail through a connecting seat; the plane where the second translation guide rail is located is higher than the plane where the first translation guide rail is located.
[0028] The translation motor drives the translation lead screw to rotate, thereby driving the moving frame to move on the first translation guide rail and the second translation guide rail.
[0029] Furthermore, the supporting rotating device includes a bottom fixing seat, a supporting seat, a main driving motor, a third photoelectric slip ring and a main shaft, the supporting seat is fixed on the top of the bottom fixing seat; the main driving motor is connected to the supporting seat and is located in the bottom fixing seat; one end of the main shaft is connected to the output shaft of the main driving motor through a main coupling, and the other end of the main shaft passes through the third photoelectric slip ring and is connected to the multi-degree-of-freedom swing arm device; the moving end of the third photoelectric slip ring is mounted on the main shaft, and the fixed end of the third photoelectric slip ring is connected to the supporting seat.
[0030] Furthermore, a counterweight is provided at one end of the rotating arm close to the supporting rotating device.
[0031] Compared with the prior art, the invention can achieve the following beneficial effects:
[0032] 1) It has three-axis rotation and two-axis movement degrees of freedom, and the whole machine is highly integrated and compact.
[0033] 2) The composite acceleration that can be simulated is more complex and closer to the actual acceleration environment in aerospace, which is more conducive to simulating the actual environment and providing researchers with more practical experimental data. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:
[0035] Figure 1 It is a structural schematic diagram of a five-degree-of-freedom centrifuge provided according to an embodiment of the utility model;
[0036] Figure 2 It is a structural schematic diagram of the assembly of the moving frame and the multi-axis rotating mechanism provided according to an embodiment of the utility model;
[0037] Figure 3 It is a structural schematic diagram of a mobile frame provided according to an embodiment of the utility model;
[0038] Figure 4 It is a structural schematic diagram of a multi-axis rotation mechanism provided according to an embodiment of the utility model;
[0039] Figure 5 It is an axonometric view of the roll motor direction of the roll assembly provided according to an embodiment of the utility model;
[0040] Figure 6 It is an axonometric view of the first encoder direction of the roll assembly provided according to an embodiment of the utility model;
[0041] Figure 7 is a structural schematic diagram of a second pitch assembly provided according to an embodiment of the utility model;
[0042] Figure 8 is a schematic structural diagram of a side of the connection between the second pitch assembly and the roll assembly provided in an embodiment of the present invention;
[0043] Fig. 9 It is a structural schematic diagram of a lifting mechanism provided according to an embodiment of the utility model;
[0044] Fig.10It is a structural schematic diagram of a translation mechanism and a rotating arm provided according to an embodiment of the utility model;
[0045] Fig.11 It is a structural schematic diagram of a supporting rotating device provided according to an embodiment of the utility model.
[0046] The reference numerals include: 1, support and rotation device; 11, bottom fixed seat; 111, bottom plate; 112, support plate; 113, top plate; 12, support seat; 121, connecting plate; 122, support beam; 123, mounting plate; 13, main drive motor; 14, main shaft; 15, main shaft coupling; 16, third photoelectric slip ring; 2, multi-degree-of-freedom rotating arm device; 21, rotating arm; 22, moving frame; 221, base; 222, supporting ear seat; 23, multi-axis rotation mechanism; 231, roll assembly; 2311, roll motor; 2312, roll bracket; 2313, roll shaft; 2314, roll driven shaft; 2315, roll motor flange; 2316, first photoelectric slip ring; 2317, first encoder; 2318, first encoder flange; 2319, connecting hole; 232, first pitch assembly; 2 321, pitch motor; 2322, pitch shaft; 2323, first pitch bracket; 2324, first mounting flange; 233, second pitch assembly; 2331, pitch driven shaft; 2332, second pitch bracket; 2333, second encoder; 2334, second encoder flange; 2335, second photoelectric slip ring; 24, lifting mechanism; 241, lifting motor; 242, lifting screw; 24 3. Lifting guide rail; 244. Nut connector; 245. First coupling; 246. First bearing seat; 247. Nut; 248. Third bearing seat; 25. Translation mechanism; 251. Translation motor; 252. Translation screw; 253. Second bearing seat; 254. First translation guide rail; 255. Second translation guide rail; 256. Second coupling; 257. Bracket; 258. Connecting seat; 3. Cabin body. DETAILED DESCRIPTION
[0047] In order to make the purpose, technical solution and advantages of the utility model creation more clear, the utility model creation is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model creation and do not constitute a limitation of the utility model creation.
[0048] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0049] In the description of the invention of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention of the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention of the utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of the present utility model, unless otherwise specified, "multiple" means two or more.
[0050] In the description of the invention of the utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of the utility model can be understood according to specific circumstances.
[0051] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.
[0052] like Figure 1 As shown, a five-degree-of-freedom centrifuge provided by an embodiment of the utility model includes: a supporting rotating device 1 and a multi-degree-of-freedom rotating arm device 2, wherein the supporting rotating device 1 supports the multi-degree-of-freedom rotating arm device 2, and the supporting rotating device 1 is configured to drive the multi-degree-of-freedom rotating arm device 2 to rotate around the axis of the supporting rotating device 1.
[0053] The multi-degree-of-freedom rotating arm device 2 includes a rotating arm 21 , a moving frame 22 , a multi-axis rotating mechanism 23 , a lifting mechanism 24 and a translation mechanism 25 .
[0054] like Figure 2 , Figure 3As shown, the moving frame 22 includes a base 221 and a pair of supporting ears 222 installed on both sides of the base. There are two lifting mechanisms 24, each of which is correspondingly arranged on a supporting ear 222, and the two ends of the multi-axis rotation mechanism 23 are respectively connected to a lifting mechanism 24; the multi-axis rotation mechanism 23 is provided with a cabin 3, and the cabin 3 is used to carry the animal under test; the multi-axis rotation mechanism 23 is configured to drive the cabin 3 to perform pitch and roll movements. The translation mechanism 25 drives the moving frame 22 to move along the axis direction of the rotating arm 21, thereby driving the lifting mechanism 24 and the multi-axis rotation mechanism 23 to move.
[0055] In this embodiment, the lower surface of the multi-degree-of-freedom swing arm device 2 is wrapped with a skin. The skin structure is a layer of metal plate covered on the longitudinal and transverse ribs of the space frame to form a joint action system. The skin can withstand in-plane tension, compression and shear stress, and achieve the effect of spatial force.
[0056] like Figure 4-Figure 8 As shown, the multi-axis rotation mechanism 23 includes a roll assembly 231, a first pitch assembly 232 and a second pitch assembly 233, and the first pitch assembly 232 and the second pitch assembly 233 are respectively connected to two ends of the roll assembly 231;
[0057] The roll assembly 231 includes a roll motor 2311, a roll bracket 2312, a roll shaft 2313, a roll driven shaft 2314, a roll motor flange 2315, a first photoelectric slip ring 2316, a first encoder 2317 and a first encoder flange 2318;
[0058] The roll motor 2311 is fixed to one of the two opposite side walls of the roll bracket 2312 through the roll motor flange 2315, and the first encoder 2317 is fixed to the other of the two opposite side walls of the roll bracket 2312 through the first encoder flange 2318; the roll motor 2311 and the encoder are both located on the symmetrical center line of the length of the roll bracket 2312;
[0059] The roll motor 2311 is fixed to one side wall of the roll bracket 2312 via the roll motor flange 2315, and the roll shaft 2313 is connected to the roll motor 2311; the roll driven shaft 2314 is arranged on the other side wall of the roll bracket 2312 opposite to the roll motor 2311; the grating scale of the first encoder 2317 is arranged on the outer circumference of the roll driven shaft 2314, and the reading head of the first encoder 2317 is fixed to the roll bracket 2312 via the first encoder flange 2318;
[0060] The roll motor 2311 and the roll driven shaft 2314 are both located on the symmetrical center line of the length of the roll bracket 2312;
[0061] The roll driven shaft 2314 is a hollow shaft, and the first photoelectric slip ring 2316 is disposed in the roll driven shaft 2314 to ensure that the roll driven shaft 2314 transmits data or signals during the rotation process;
[0062] The cabin body 3 is connected to the roll shaft 2313 and the roll driven shaft 2314 respectively, and the roll motor 2311 drives the cabin body 3 to roll.
[0063] In this embodiment, the roll bracket 2312 is a rectangular frame, and connecting holes 2319 for connecting with the pitch axis 2322 and the pitch driven axis 2331, the roll axis 2313 and the roll driven axis 2314 and the connecting holes 2319 are respectively provided on the two side surfaces of the rectangular frame arranged along the length direction.
[0064] The first pitch assembly 232 includes a pitch motor 2321, a pitch shaft 2322, a first pitch bracket 2323 and a first mounting flange 2324; the pitch motor 2321 is connected to the first pitch bracket 2323 via the first mounting flange 2324, and the pitch shaft 2322 is connected to the output end of the pitch motor 2321; the second pitch assembly 233 includes a pitch driven shaft 2331, a second pitch bracket 2332, a second encoder 2333, a second encoder flange 2334 and a second photoelectric slip ring 2335.
[0065] The pitch driven shaft 2331 is arranged at the center position of the second pitch bracket 2332 , the grating scale of the second encoder 2333 is arranged on the outer circumference of the pitch driven shaft 2331 , and the reading head of the second encoder 2333 is fixed to the second pitch bracket 2332 through the second encoder flange 2334 .
[0066] The pitch driven shaft 2331 is a hollow shaft, and the second photoelectric slip ring is arranged in the pitch driven shaft 2331 to ensure that the pitch driven shaft 2331 can transmit data or signals during the rotation process.
[0067] One end of the roll bracket 2312 is connected to the pitch shaft 2322 , and the other end of the roll bracket 2312 is connected to the pitch driven shaft 2331 . The first pitch assembly 232 drives the roll assembly 231 to perform pitch motion via the pitch shaft 2322 .
[0068] In this embodiment, the pitch motor 2321 is a hollow rotor motor, and the pitch shaft 2322 is connected to the hollow shaft of the hollow rotor motor. The first pitch bracket 2323 and the second pitch bracket 2332 are in a square shape, and a through hole is provided at the center of the first pitch bracket 2323 and the second pitch bracket 2332. The pitch shaft 2322 is connected to the first pitch bracket 2323 through a bearing, and the pitch driven shaft 2331 is connected to the second pitch bracket 2332 through a bearing; thus, the pitch shaft 2322 and the pitch driven shaft 2331 rotate in the first pitch bracket 2323 and the second pitch bracket 2332.
[0069] like Fig. 9 As shown, each lifting mechanism 24 includes a lifting motor 241 , a lifting screw 242 , a pair of lifting guide rails 243 and a nut connector 244 .
[0070] One end of the lifting screw 242 is connected to the output shaft of the lifting motor 241 through the first coupling 245, and the other end of the lifting screw 242 is connected to the support ear seat 222 through the first bearing seat 246; the nut 247 of each lifting screw 242 is respectively connected to one end of a nut connector 244, and the two nut connectors 244 are respectively connected to the first pitch bracket 2323 and the second pitch bracket 2332. Each pair of lifting guide rails 243 is respectively arranged on both sides of the support ear seat 222 close to the multi-axis rotation mechanism 23; wherein, the slides of the two pairs of lifting guide rails 243 are respectively connected to the first pitch bracket 232 and the second pitch bracket 233.
[0071] In this embodiment, the lifting screw 242 is also provided with a third bearing seat 248 near the first coupling 245 to ensure that the lifting screw 242 can rotate stably during operation, and at the same time plays a positioning role to ensure the relative position relationship between the screw of the lifting screw 242 and the nut 247.
[0072] like Fig.10 As shown, the translation mechanism 25 includes a translation motor 251, a translation screw 252, a second bearing seat 253, a pair of first translation guide rails 254 and a pair of second translation guide rails 255; the translation motor 251 and the second bearing seat 253 are arranged on the rotating arm 21;
[0073] One end of the translation screw 252 is connected to the output shaft of the translation motor 251 through the second coupling 256, and the other end of the translation screw 252 is connected to the second bearing seat 253; the base 221 is connected to the nut of the translation screw 252;
[0074] A pair of first translation rails 254 are disposed on the rotating arm 21 , the translation motor 251 is located between the pair of first translation rails 254 , and the base 221 is connected to the sliders of the pair of first translation rails 254 .
[0075] A pair of second translation guide rails 255 are arranged on the rotating arm 21 through a pair of brackets 257, and the plane where the second translation guide rails 255 are located is higher than the plane where the first translation guide rails 254 are located; the outer side of each support ear seat 222 is connected to the slider corresponding to a second translation guide rail 255 through a connecting seat 258;
[0076] The translation motor 251 drives the translation lead screw 252 to rotate, thereby driving the moving frame 22 to move on the first translation guide rail 254 and the second translation guide rail 255 .
[0077] like Fig.11 As shown, the supporting rotating device 1 includes a bottom fixing seat 11, a supporting seat 12, a main driving motor 13, a third photoelectric slip ring 16 and a main shaft 14. The supporting seat 13 is fixed on the top of the bottom fixing seat 11; the main driving motor 13 is arranged in the bottom fixing seat 11, and the mounting portion of the main driving motor 13 is connected to the supporting seat 12; one end of the main shaft 14 is connected to the output shaft of the main driving motor 13 through a main coupling 15, and the other end of the main shaft 14 passes through the third photoelectric slip ring 16 and is connected to the multi-degree-of-freedom swing arm device 2; the moving end of the third photoelectric slip ring 16 is sleeved on the main shaft 14, and the fixed end of the third photoelectric slip ring 16 is connected to the supporting seat 12.
[0078] In this embodiment, the main shaft 14 is a hollow shaft, which is convenient for routing signal lines. The bottom fixing seat 11 includes a bottom plate 111, a support plate 112 and a top plate 113; the support plate 112 is located between the bottom plate 111 and the top plate 113, and the support plate 112 is in an inclined state. There are four support plates 112, which are respectively connected to the four sides of the bottom plate 111 and the top plate 113, and the area of the bottom plate 111 is larger than the area of the top plate 113.
[0079] The support seat 12 includes a connecting plate 121, a supporting beam 122 and a mounting plate 123, wherein the size of the connecting plate 121 is equal to that of the top plate 113, the supporting beam 122 is located between the connecting plate 121 and the mounting plate 123, a connecting hole is provided at the center of the mounting plate, a bearing is installed in the connecting hole, and the main shaft 14 passes through the bearing to be connected to the rotating arm 21 connected to the multi-degree-of-freedom swing arm device 2.
[0080] In the present invention, the first photoelectric slip ring 2316 outputs a signal to the second photoelectric slip ring 2335, and the second photoelectric slip ring 2335 transmits its own signal and the signal of the first photoelectric slip ring 2316 to the third photoelectric slip ring 16. Finally, the third photoelectric slip ring 16 outputs its own signal and the signals of the second photoelectric slip ring 2335 and the first photoelectric slip ring 2316 to the control system.
[0081] The working process of the five-degree-of-freedom centrifuge is described in conjunction with the accompanying drawings. The main drive motor 13 drives the main shaft 14 to rotate, and then drives the multi-degree-of-freedom arm device 2 to rotate around the main shaft 14 along the horizontal ground. The multi-axis rotation mechanism 23 drives the cabin body 3 to pitch or roll under the drive of the pitch motor 2321 or the roll motor 2311. The lifting motor 241 drives the cabin body 3 to move up and down vertically on the ground, and the translation motor 251 drives the cabin body 3 to move back and forth along the horizontal plane. The five-degree-of-freedom centrifuge of the utility model realizes the three-axis rotation of the cabin body, which can rotate, roll, and pitch along the horizontal ground. At the same time, it also has two-axis movement, which can move up and down vertically on the ground and move back and forth along the horizontal plane.
[0082] A centrifugal test method, implemented based on the above-mentioned five-degree-of-freedom centrifuge, comprises the following steps:
[0083] S1. Install a camera in the cabin to observe the behavior and status of the animal to be tested during the experiment.
[0084] S2. Place a pressure sensor, an electrocardiogram sensor, and an infrared sensor on the body of the animal to be tested.
[0085] S3. The animal to be tested is placed in the cabin, and the five-degree-of-freedom centrifuge is started to perform rotation, lifting, translation, pitching and rolling motions in sequence. The pressure sensor, the electrocardiogram sensor and the infrared sensor record the physiological data of the animal to be tested in real time.
[0086] S4. Compare and analyze the physiological data in step S3 with the physiological data of the animal to be tested before the experiment to evaluate the impact of the compound acceleration environment generated by the five-degree-of-freedom centrifuge on the physiological state of the animal.
[0087] Furthermore, in step S3, the acceleration of horizontal rotation is greater than or equal to 15G; the acceleration of rolling rotation is greater than or equal to 2G; the acceleration of pitch motion is greater than or equal to 2G; the lifting speed of lifting motion is greater than or equal to 5mm / s; and the moving speed of translation motion is greater than or equal to 5mm / s.
[0088] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.
[0089] The above specific implementations do not constitute a limitation on the protection scope of the present utility model. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.
Claims
1. A five-degree-of-freedom centrifuge, characterized in that: include: A support rotating device (1), a multi-degree-of-freedom rotating arm device (2) and a cabin (3), wherein the multi-degree-of-freedom rotating arm device (2) is supported on the support rotating device (1) and driven by the support rotating device (1) to rotate, and the support rotating device (1) is configured to drive the multi-degree-of-freedom rotating arm device (2) to perform a rotating motion; The multi-degree-of-freedom rotating arm device (2) comprises a rotating arm (21), a moving frame (22), a multi-axis rotating mechanism (23), a lifting mechanism (24) and a translation mechanism (25); The moving frame (22) comprises a base (221) and a pair of supporting ear seats (222) installed on both sides of the base (221); The number of the lifting mechanisms (24) is two, and each lifting mechanism (24) is correspondingly arranged in one of the supporting ear seats (222); The cabin (3) is connected to the multi-axis rotation mechanism (23) and is used to carry the animal to be tested; the two ends of the multi-axis rotation mechanism (23) are respectively connected to a lifting mechanism (24), and the cabin (3) is driven to perform lifting movement via the lifting mechanism (24); The multi-axis rotation mechanism (23) is configured to drive the cabin (3) to perform pitching and rolling movements; The translation mechanism (25) is connected to the moving frame (22) and is used to drive the cabin (3) to move along the axial direction of the rotating arm (21).
2. The five-degree-of-freedom centrifuge according to claim 1, characterized in that: The multi-axis rotation mechanism (23) comprises a rolling assembly (231), a first pitch assembly (232) and a second pitch assembly (233), wherein the first pitch assembly (232) and the second pitch assembly (233) are respectively connected to two ends of the rolling assembly (231); The roll assembly (231) comprises a roll motor (2311), a roll bracket (2312), a roll shaft (2313), a roll driven shaft (2314), a roll motor flange (2315), a first photoelectric slip ring (2316), a first encoder (2317), and a first encoder flange (2318); The roll motor (2311) is fixed to a side wall of the roll bracket (2312) via the roll motor flange (2315), and the roll shaft (2313) is connected to the roll motor (2311); the roll driven shaft (2314) is arranged on the other side wall of the roll bracket (2312) opposite to the roll motor (2311); the grating scale of the first encoder (2317) is arranged on the outer circumference of the roll driven shaft (2314), and the reading head of the first encoder (2317) is fixed to the roll bracket (2312) via the first encoder flange (2318); The roll motor (2311) and the roll driven shaft (2314) are both located on a symmetrical center line of the length of the roll bracket (2312); The roll driven shaft (2314) is a hollow shaft, and the first photoelectric slip ring (2316) is arranged in the roll driven shaft (2314) to ensure that the roll driven shaft (2314) transmits data or signals during rotation; The cabin body (3) is respectively connected to the roll rotation shaft (2313) and the roll driven shaft (2314), and the roll motor (2311) drives the cabin body (3) to roll for movement.
3. The five-degree-of-freedom centrifuge according to claim 2, characterized in that: The first pitch assembly (232) comprises a pitch motor (2321), a pitch rotation shaft (2322), a first pitch bracket (2323) and a first mounting flange (2324); the pitch motor (2321) is connected to the first pitch bracket (2323) via the first mounting flange (2324); and the pitch rotation shaft (2322) is connected to the pitch motor (2321); The second pitch component (233) comprises a pitch driven shaft (2331), a second pitch bracket (2332), a second encoder (2333), a second encoder flange (2334) and a second photoelectric slip ring (2335); The pitch driven shaft (2331) is arranged at the center position of the second pitch bracket (2332), the grating scale of the second encoder (2333) is arranged on the outer circumference of the pitch driven shaft (2331), and the reading head of the second encoder (2333) is fixed to the second pitch bracket (2332) via the second encoder flange (2334); The pitch driven shaft (2331) is a hollow shaft, and the second photoelectric slip ring is arranged in the pitch driven shaft (2331) to ensure that the pitch driven shaft (2331) can transmit data or signals during rotation; One end of the rolling bracket (2312) is connected to the pitch rotation shaft (2322), and the other end of the rolling bracket (2312) is connected to the pitch driven shaft (2331); the first pitch component (232) drives the rolling component (231) to perform pitch movement via the pitch rotation shaft (2322).
4. The five-degree-of-freedom centrifuge according to claim 3, characterized in that: Each lifting mechanism (24) comprises a lifting motor (241), a lifting screw (242), a pair of lifting guide rails (243) and a nut connector (244); One end of the lifting screw (242) is connected to the output shaft of the lifting motor (241) via a first coupling (245), and the other end of the lifting screw (242) is connected to the supporting ear seat (222) via a first bearing seat (246); the nut of the lifting screw (242) is respectively connected to the nut connecting piece (244), and the two nut connecting pieces (244) are respectively connected to the first pitch bracket (2323) and the second pitch bracket (2332); Each of the pair of lifting guide rails (243) is respectively arranged on two sides of the support ear seat (222) close to the multi-axis rotation mechanism (23); the sliders of the two pairs of lifting guide rails (243) are respectively connected to the first pitch bracket (2323) and the second pitch bracket (2332).
5. The five-degree-of-freedom centrifuge according to claim 1, characterized in that: The translation mechanism (25) comprises a translation motor (251), a translation lead screw (252), a second bearing seat (253), a pair of first translation guide rails (254), and a pair of second translation guide rails (255); The translation motor (251) and the second bearing seat (253) are arranged on the rotating arm (21); One end of the translation screw (252) is connected to the output shaft of the translation motor (251) via a second coupling (256), and the other end of the translation screw (252) is connected to the second bearing seat (253); the base (221) is connected to the nut of the translation screw (252); The pair of first translation guide rails (254) are arranged on the rotating arm (21); the translation motor (251) is located between the pair of first translation guide rails (254); the base (221) is connected to the sliders of the pair of first translation guide rails (254); The pair of second translation guide rails (255) are arranged on the rotating arm (21) via a bracket (257); each of the support ear seats (222) is connected to a slider of a corresponding second translation guide rail (255) via a connecting seat (258); the plane where the second translation guide rail (255) is located is higher than the plane where the first translation guide rail (254) is located; The translation motor (251) drives the translation lead screw (252) to rotate, thereby driving the moving frame (22) to move on the first translation guide rail (254) and the second translation guide rail (255).
6. The five-degree-of-freedom centrifuge according to claim 1, characterized in that: The support rotation device (1) comprises a bottom fixing seat (11), a support seat (12), a main drive motor (13), a third photoelectric slip ring (16) and a main shaft (14); the support seat (12) is fixed on the top of the bottom fixing seat (11); the main drive motor (13) is connected to the support seat (12) and is located in the bottom fixing seat (11); one end of the main shaft (14) is connected to the output shaft of the main drive motor (13) through a main coupling (15), and the other end of the main shaft (14) passes through the third photoelectric slip ring (16) and is connected to the multi-degree-of-freedom swing arm device (2); the moving end of the third photoelectric slip ring (16) is sleeved on the main shaft (14), and the fixed end of the third photoelectric slip ring (16) is connected to the support seat (12).
7. The five-degree-of-freedom centrifuge according to claim 1, characterized in that: A counterweight is also provided at one end of the rotating arm (21) away from the multi-degree-of-freedom rotating arm device (2).