Multi-degree-of-freedom tank attitude analog simulation platform

Abstract

The utility model discloses a multi-degree-of-freedom tank attitude simulation platform, which relates to the field of motion simulation platforms and comprises a six-degree-of-freedom lower platform, a two-degree-of-freedom upper platform and a cabin assembly. Wherein the two-degree-of-freedom upper platform comprises an upper platform frame connected to the six-degree-of-freedom lower platform, a horizontal rotating assembly installed on the upper platform frame and a turret pitching mechanism connected to the horizontal rotating assembly, and the cabin assembly comprises a simulation gun barrel connected to the turret pitching mechanism and a simulation shell arranged on the outer side of the simulation gun barrel. By arranging the six-degree-of-freedom lower platform and the two-degree-of-freedom upper platform, different driving postures of a tank can be simulated, horizontal rotation of a tank turret and pitching of the turret can be achieved, and eight-degree-of-freedom joint simulation of tank movement and turret movement can be achieved through cooperative coupling of the six-degree-of-freedom lower platform and the two-degree-of-freedom upper platform, so that multi-terrain simulation is supported, the authenticity of simulation is improved, and the simulation efficiency is improved. And better simulation experience is provided for the user.

Description

A multi-degree-of-freedom tank attitude simulation platform Technical Field

[0001] This utility model relates to the field of motion simulation platforms, specifically to a multi-degree-of-freedom tank attitude simulation platform. Background Technology

[0002] Tank attitude simulation platform is a virtual simulation platform used to simulate the movement attitude, dynamic characteristics, and crew experience of tanks in various terrains. These platforms are usually built in entertainment venues to provide military enthusiasts with more realistic entertainment activities.

[0003] Currently, most commercially available simulation platforms of this type utilize general-purpose pitch platforms and require VR headsets. These general-purpose platforms offer low simulation realism, simulate a limited range of postures, and fail to accurately reflect the real-time correlation between actual terrain undulations and tank posture, thus negatively impacting the user experience. Summary of the Invention

[0004] Purpose of the utility model: This utility model aims to address the above-mentioned shortcomings by providing a multi-degree-of-freedom tank attitude simulation platform to solve the problems existing in the prior art.

[0005] Technical solution: A multi-degree-of-freedom tank attitude simulation platform, comprising a six-degree-of-freedom lower platform, a two-degree-of-freedom upper platform, and a hull assembly.

[0006] The dual-degree-of-freedom upper platform includes an upper platform frame connected to the six-degree-of-freedom lower platform, a horizontal rotation component mounted on the upper platform frame, and a turret elevation mechanism connected to the horizontal rotation component. The hull assembly includes a simulated gun barrel connected to the turret elevation mechanism and a simulated shell disposed outside the simulated gun barrel.

[0007] The horizontal rotation assembly includes a support frame mounted on the upper platform frame, and a hollow turntable mounted on the support frame for driving the hull assembly to perform horizontal rotation. The turret elevation mechanism includes a rotating tray connected to the hollow turntable, an elevation bracket mounted on the rotating tray, a rotating shaft rotatably mounted on the elevation bracket, and a connecting frame mounted at the end of the rotating shaft and connected to the simulated gun barrel for driving the simulated gun barrel to perform elevation movement.

[0008] In a further embodiment, the six-degree-of-freedom lower platform includes a lower platform frame, a Hooke hinge, a direct-drive electric cylinder, and a U-shaped hinge.

[0009] The Hooke hinge and the U-shaped hinge are respectively arranged in three sets. The three sets of Hooke hinges and the three sets of U-shaped hinges are installed alternately on the lower platform frame and the upper platform frame. There are six U-shaped hinges. The six U-shaped hinges are respectively installed between the three sets of Hooke hinges and the three sets of U-shaped hinges, and are used to drive the cabin assembly to perform six degrees of freedom of movement.

[0010] In a further embodiment, a lower electrical box is provided on the lower platform frame. The lower electrical box includes a cover, a fan installed inside the cover, and a cable tray, a wire mesh port, an indicator light, an emergency stop button, an aviation connector, and a circuit breaker installed on the fan.

[0011] In a further embodiment, the two-degree-of-freedom upper platform also includes an outer frame mounted on the upper platform frame and disposed outside the horizontal rotation component for protecting the corresponding component.

[0012] In a further embodiment, an upper electrical control box is installed on the upper platform frame to control the operation of the corresponding components.

[0013] In a further embodiment, the horizontal rotation assembly further includes a first servo motor and a speed reducer.

[0014] The first servo motor is located inside the support frame, and the reducer is connected between the first servo motor and the support frame to cooperate with the first servo motor to drive the hollow turntable to move.

[0015] In a further embodiment, the turret elevation mechanism also includes a second servo motor and a coupling.

[0016] The second servo motor is located on one side of the pitch support, and the coupling is connected between the second servo motor and the rotating shaft to cooperate with the second servo motor to drive the rotating shaft to move.

[0017] Beneficial effects: This utility model discloses a multi-degree-of-freedom tank attitude simulation platform. By setting a six-degree-of-freedom lower platform and a two-degree-of-freedom upper platform, it can simulate different tank driving postures, realize the horizontal rotation and pitch of the tank turret. Through the synergistic coupling of the two, it can realize the joint simulation of eight degrees of freedom of tank motion and turret motion, thereby supporting multi-terrain simulation, such as mountains, swamps, and highways, improving the realism of the simulation and giving users a better simulation experience. Attached Figure Description

[0018] Figure 1 is a schematic diagram of the overall structure of this utility model.

[0019] Figure 2 is a schematic diagram of the six-degree-of-freedom platform of this utility model.

[0020] Figure 3 is a structural schematic diagram of the lower electrical box of this utility model.

[0021] Figure 4 is a schematic diagram of the bottom structure of the lower platform frame of this utility model.

[0022] Figure 5 is a schematic diagram of the structure of the dual-degree-of-freedom upper platform of this utility model.

[0023] Figure 6 is a three-dimensional structural diagram of the horizontal rotation component and the turret elevation component of this utility model.

[0024] Figure 7 is a side view of the horizontal rotation assembly and turret elevation assembly of this utility model.

[0025] Figure 8 is a cross-sectional view of the turret elevation assembly of this utility model.

[0026] The attached figures are labeled as follows: 1. Six-DOF lower platform; 101. Lower platform frame; 102. Hooke hinge; 103. Direct-drive electric cylinder; 104. U-shaped hinge; 2. Lower electrical box; 201. Cover; 202. Fan; 203. Cable tray frame; 204. Wire mesh port; 205. Indicator light; 206. Emergency stop button; 207. Navigation port; 208. Circuit breaker; 3. Two-DOF upper platform; 301. Upper platform frame; 30 2. Outer frame; 4. Hull assembly; 401. Simulated shell; 402. Simulated gun barrel; 5. Upper electrical box; 6. Horizontal rotation assembly; 601. Support frame; 602. First servo motor; 603. Reducer; 604. Hollow turntable; 7. Turret elevation mechanism; 701. Rotating tray; 702. Elevation bracket; 703. Second servo motor; 704. Coupling; 705. Rotating shaft; 706. Connecting frame. Detailed Implementation

[0027] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0028] The applicant believes that existing tank attitude simulation platforms have problems such as limited simulation effects, such as simulating too few tank attitudes, failing to reflect the real-time correlation between actual terrain undulations and tank attitudes, which can easily lead to a disconnect between the simulated scene and the real battlefield, affecting the experience of simulation personnel.

[0029] To this end, the applicant proposes a multi-degree-of-freedom tank attitude simulation platform, as shown in Figures 1-8, which includes a six-degree-of-freedom lower platform 1, a lower electrical box 2, a two-degree-of-freedom upper platform 3, a hull assembly 4, and an upper electrical box 5.

[0030] In this application, the six-degree-of-freedom lower platform 1 is used to drive the entire platform to perform six-degree-of-freedom motion. The lower electrical box 2 is set on the six-degree-of-freedom lower platform 1 and is used to cooperate with the corresponding control system to control the movement of the six-degree-of-freedom lower platform 1. The two-degree-of-freedom upper platform 3 is installed on the six-degree-of-freedom lower platform 1 and includes a horizontal rotation component 6 and a turret pitching mechanism 7, which are used to realize the horizontal rotation and pitching of the tank turret. The upper electrical box 5 is installed on the two-degree-of-freedom upper platform 3 and is used to cooperate with the corresponding control system to control the corresponding components to work.

[0031] In addition, the hull assembly 4 includes a simulated gun barrel 402 connected to the turret elevation mechanism 7, and a simulated shell 401 set outside the simulated gun barrel 402 for simulating a tank turret, etc. The two-degree-of-freedom upper platform 3 also includes an upper platform frame 301 connected to the six-degree-of-freedom lower platform 1, and an outer frame 302 installed on the upper platform frame 301 and set outside the horizontal rotation component 6. The outer frame 302 is used to protect the corresponding components, etc. The upper electrical box 5 is installed on the upper platform frame 301, the horizontal rotation component 6 is installed on the upper platform frame 301, and the turret elevation mechanism 7 is connected to the horizontal rotation component 6.

[0032] Specifically, as shown in Figures 1-4, the six-degree-of-freedom lower platform 1 mainly includes a lower platform frame 101, a Hooke hinge 102, a direct-drive electric cylinder 103, and a U-shaped hinge 104.

[0033] Among them, three sets of Hooke hinges 102 and U-shaped hinges 104 are respectively provided. The three sets of Hooke hinges 102 and the three sets of U-shaped hinges 104 are respectively installed on the lower platform frame 101 and the upper platform frame 301. There are six U-shaped hinges 104. The six U-shaped hinges 104 are respectively installed between the three sets of Hooke hinges 102 and the three sets of U-shaped hinges 104, which are used to drive the cabin assembly 4 to perform six degrees of freedom of movement. The lower electrical box 2 is set on the lower platform frame 101. The lower electrical box 2 includes a cover 201, a fan 202 installed in the cover 201, and a cable tray 203, a mesh port 204, an indicator light 205, an emergency stop button 206, a flight port 207, and an air switch 208 installed on the fan 202.

[0034] In this application, the lower platform is mainly composed of components such as direct-drive electric cylinders 103, Hooke hinges 102, lower platform frame 101, and lower electrical box 2. The tank's driving posture simulation is achieved through the coordinated control of the extension and retraction of multiple direct-drive electric cylinders 103 to realize various postures. That is, through three sets of Hooke hinges 102 and U-shaped hinges 104, in conjunction with six U-shaped hinges 104 and other components, multiple actions such as forward tilting, backward tilting, rolling, forward movement, backward movement, side movement, and yaw can be realized, realizing the simulation of various postures of tank driving, thereby better simulating the different movement modes of tanks under terrain undulations and other conditions in real conditions, and improving the experience of simulator users. At the same time, each direct-drive electric cylinder 103 is equipped with a Lego precision displacement sensor at its end, forming a closed-loop control with servo motors, which can ensure the accuracy of movement.

[0035] As shown in Figures 5-8, the horizontal rotation assembly 6 includes a support frame 601, a first servo motor 602, a reducer 603, and a hollow turntable 604. The turret pitching mechanism 7 includes a rotating tray 701, a pitching bracket 702, a second servo motor 703, a coupling 704, a rotating shaft 705, and a connecting frame 706.

[0036] Among them, the support frame 601 is installed on the upper platform frame 301, the hollow turntable 604 is installed on the support frame 601, and is used to drive the cabin assembly 4 to perform horizontal rotation. The rotating tray 701 is connected to the hollow turntable 604, the pitch support 702 is installed on the rotating tray 701, the rotating shaft 705 is rotatably set on the pitch support 702, and the connecting frame 706 is installed at the end of the rotating shaft 705 and connected to the simulated gun barrel 402, and is used to drive the simulated gun barrel 402 to perform pitch movement.

[0037] In this application, the upper platform mainly consists of a two-degree-of-freedom upper platform 3, a hull assembly 4, and an upper electrical box 5, including a tank hull, a horizontal rotation assembly 6, a turret elevation mechanism 7, and anti-aircraft tank sheet metal, etc. The turret elevation mechanism 7 mainly consists of a rotating tray 701, a rotating shaft 705, an elevation bracket 702, a coupling 704, a deep groove ball bearing, a key, and a motor connecting seat, etc. The motor connecting seat is located outside the coupling 704 and is mounted on the elevation bracket 702 for connecting the motor.

[0038] In addition, the first servo motor 602 is located inside the support frame 601, and the reducer 603 is connected between the first servo motor 602 and the support frame 601 to cooperate with the first servo motor 602 to drive the hollow turntable 604 to move. The second servo motor 703 is located on one side of the pitch support 702, and the coupling 704 is connected between the second servo motor 703 and the rotating shaft 705 to cooperate with the second servo motor 703 to drive the rotating shaft 705 to move.

[0039] In this application, the dual-degree-of-freedom upper platform 3 can realize the horizontal rotation and pitch of the tank turret. The horizontal rotation component 6 can realize the 360° rotation of the tank turret through the hollow turntable 604, the reducer 603 and the first servo motor 602. The turret pitch mechanism 7 realizes the pitch movement of the simulated gun barrel 402 through the second servo motor 703, the coupling 704 and the rotating shaft 705. At the same time, the horizontal rotation component 6 and the turret pitch mechanism 7 can realize two degrees of freedom of movement. Through the coordinated coupling of the parallel mechanism of the six-degree-of-freedom lower platform 1 and the serial mechanism of the dual-degree-of-freedom upper platform 3, the eight-degree-of-freedom joint simulation of tank movement and turret movement can be realized. Furthermore, through the coordinated control of the multi-degree-of-freedom electric cylinder and the servo motor, the platform simulation of this application is closer to the real effect and improves the user experience.

[0040] In addition to the aforementioned technical issues, traditional simulation platforms also suffer from problems such as dynamic response and safety deficiencies. For example, the step response time of existing platforms is generally >1.5s, making it difficult to simulate sudden maneuvers such as instantaneous attitude changes during emergency obstacle avoidance. However, through the integration technology of the hollow turntable 604 in this application, radial runout ≤0.01mm can be achieved, ensuring the stability of 360° continuous rotation. The hollow aperture φ100mm design supports cable conduit layout and avoids motion interference. At the same time, through the group control of high-precision direct-drive electric cylinders 103, i.e., the direct drive of six direct-drive electric cylinders 103, the stroke control accuracy can be ≤0.1mm. Furthermore, based on the synchronous control technology of EtherCAT bus, millisecond-level response of six electric cylinders and two servo motors, i.e., 6+2 mode, can be achieved, realizing more realistic tank simulation and providing more realistic entertainment activities for military enthusiasts.

[0041] The horizontal rotation component 6 is implemented as follows: the first servo motor 602 drives the reducer 603 and the hollow turntable 604 to rotate, and the hollow turntable 604 drives the rotating tray 701 to rotate, thus driving the cabin assembly 4 to rotate horizontally. The rotation speed, acceleration and angle parameters can be adjusted by adjusting the driver.

[0042] The process of turret elevation mechanism 7: The second servo motor 703 drives the coupling 704, rotating shaft 705, bearing, connecting frame 706, and simulated gun barrel 402 to rotate, thereby realizing the elevation movement of simulated gun barrel 402.

[0043] Simultaneous movement of eight axes: Two servo motors and six electric cylinders communicate with the main control module through a bus protocol, and allocate motor commands in real time based on the inverse kinematics algorithm to simulate complex scene motion.

[0044] By setting up the aforementioned components, the platform can support all-terrain simulation, such as mountains, swamps, and highways, thereby enhancing the realism of simulation training. The lightweight design of two servo motors and six electric cylinders can reduce energy consumption by more than 30%. It is highly expandable and can be adapted to simulate different models of tanks or armored vehicles.

[0045] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and detail may be made to the present invention without departing from the spirit and scope of the appended claims.

Claims

1. A multi-degree-of-freedom tank attitude simulation platform, characterized in that, include: Platform with six degrees of freedom; The dual-degree-of-freedom upper platform includes an upper platform frame connected to the six-degree-of-freedom lower platform, a horizontal rotation component mounted on the upper platform frame, and a turret elevation mechanism connected to the horizontal rotation component; the hull assembly includes a simulated gun barrel connected to the turret elevation mechanism, and a simulated shell disposed outside the simulated gun barrel; the horizontal rotation component includes a support frame mounted on the upper platform frame, and a hollow turntable mounted on the support frame for driving the hull assembly to perform horizontal rotational movement; the turret elevation mechanism includes a rotating tray connected to the hollow turntable, an elevation bracket mounted on the rotating tray, a rotating shaft rotatably disposed on the elevation bracket, and a connecting frame mounted at the end of the rotating shaft and connected to the simulated gun barrel for driving the simulated gun barrel to perform elevation movement.

2. The multi-degree-of-freedom tank attitude simulation platform according to claim 1, characterized in that: The six-degree-of-freedom lower platform includes a lower platform frame, Hooke hinges, direct-drive electric cylinders, and U-shaped hinges. Three sets of Hooke hinges and U-shaped hinges are correspondingly and alternately installed on the lower platform frame and the upper platform frame. Six U-shaped hinges are provided, correspondingly installed between the three sets of Hooke hinges and the three sets of U-shaped hinges, used to drive the cabin assembly to perform six-degree-of-freedom motion.

3. The multi-degree-of-freedom tank attitude simulation platform according to claim 2, characterized in that: The lower platform frame is provided with a lower electrical box, which includes a cover, a fan installed inside the cover, and a cable tray, a wire mesh port, an indicator light, an emergency stop button, an aviation connector, and a circuit breaker installed on the fan.

4. The multi-degree-of-freedom tank attitude simulation platform according to claim 1, characterized in that: The dual-degree-of-freedom upper platform also includes an outer frame mounted on the upper platform frame and disposed outside the horizontal rotation component for the protection of the corresponding component.

5. The multi-degree-of-freedom tank attitude simulation platform according to claim 1, characterized in that: An upper electrical control box is installed on the upper platform frame to control the operation of the corresponding components.

6. The multi-degree-of-freedom tank attitude simulation platform according to claim 1, characterized in that: The horizontal rotation assembly further includes a first servo motor and a reducer; the first servo motor is disposed inside the support frame; the reducer is connected between the first servo motor and the support frame, and is used to cooperate with the first servo motor to drive the hollow turntable to move.

7. The multi-degree-of-freedom tank attitude simulation platform according to claim 1, characterized in that: The turret elevation mechanism also includes a second servo motor and a coupling; the second servo motor is located on one side of the elevation support; the coupling is connected between the second servo motor and the rotating shaft, and is used to cooperate with the second servo motor to drive the rotating shaft to move.

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