CN104637361B - Light-load simulation platform - Google Patents
Light-load simulation platform Download PDFInfo
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- CN104637361B CN104637361B CN201310567458.0A CN201310567458A CN104637361B CN 104637361 B CN104637361 B CN 104637361B CN 201310567458 A CN201310567458 A CN 201310567458A CN 104637361 B CN104637361 B CN 104637361B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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Abstract
The invention relates to the technical field of driving simulators and provides a light-load simulation platform. The light-load simulation platform comprises a stationary platform, a moving platform, a main drive component, a first drive component, a second drive component, a first connecting rod, a second connecting rod, a first connecting component and a second connecting component. The moving platform is arranged over the stationary platform; one ends of the first drive component and the second drive component are movably connected to the stationary platform, and the other ends of the first drive component and the second drive component are movably connected to the moving platform; one ends of the first connecting rod and the second connecting rod are movably connected to the stationary platform, and the other ends of the first connecting rod and the second connecting rod are movably connected to the moving platform; the drive components and the connecting rods are connected through slide pairs formed by the first connecting component and the second connecting component; one end of the main drive component is movably connected with the stationary platform, and the other end of the main drive component is movably connected to the second connecting rod. The functions of a simulator can be realized by three hydraulic cylinders and one motor, and elution along a Z-axis is omitted.
Description
Technical field
The present invention relates to driving simulator technical field is and in particular to a kind of underloading analog platform.
Background technology
Driving simulator is that a kind of correct drive simulating of energy manipulates the action of vehicle, obtains half material object of real vehicle driving sensation
Analogue system, it combines multiple advanced technologies such as hydraulic technique, computer technology, three-dimensional real-time animation technology, network technology
High-tech product.By simulator, various forms of operation trainings can be carried out to driver.The characteristic of simulator determines it
There is advantages below：1）Safety is good；2）Repdocutbility is good；3）Economy is high；4）Be conducive to the research and development of relevant device.Therefore, drive
Sail simulator to be usually used to replace real equipment training the maneuvering capability to real equipment for the operator, and research and development correlation sets
Standby, its application is more and more universal.
According to purpose classification, driving simulator can be divided into training type driving simulator and developing driving simulator.Training
Type driving simulator is mainly used in driver training it is also possible to emulate to microcosmic traffic system, and the control to driver
Characteristic is studied.Developing driving simulator is under the technical supports such as electronics, hydraulic pressure, control, closes from " people-machine-environment "
The overall performance of loop systems sets out, and carries out simulation study using computer to dynamic property, control stability, braking ability etc. and opens
The experimental assembly sent out.
External more early to the research and development of driving simulator, driving simulator is as driving training instrument in developed country
Generally use already.Early in 1970 just by law formal provision, car steering training school must be provided with vapour for Japanese government
Car driving simulator；The U.S. then just has more than 500 car steering training schools in last century the mid-1970s and is equipped with automobile
Driving simulator；Most of European countries have also formulated the regulation carrying out driving training using automobile driving simulator in succession.?
Some developed countries, or even police office is also adopted by driving training simulator to check the skilled operation degree of driver and to accident
Prevention ability.German Benz Co. successfully have developed the developing driving simulator of six degree of freedom in 1985 in Berlin, and success
Apply in the new-product development of seriation fast car, its performance represents the highest of automobile driving simulator technology at that time
Level.1989, Volkswagen have updated computer system and the visual system of original driving simulator, is used in combination
In the development of new product.1989, General Motors Overseas Corporation started development type driving simulator, so far more
Newly arrive second filial generation product, its performance occupies first place in the world.At the beginning of 1993, Ford Motor Company of the U.S. starts independent research and development
Type driving simulator.U.S.'s Iowa vehicle center put into 13,000,000 dollars and is used for developing driving simulation system in 1993
System, increases by 30,000,000 dollars in 1996 again and is improved by TRW Ltd. (US) One Space Park, Redondo Beach CA 90278 U.S.A., the country as research highway and Vehicular system grinds
Study carefully a base part, be referred to as " national advanced automobile driving simulator（NDAS）”.
The domestic research to driving simulator is started late, and experienced unrestrained from Introduced From Abroad product to independent research
Long evolution.It is the point source flat projection formula emulator introducing Czech at the beginning, the road on road disk in this emulator
It is the flat-scene described with pen；Then introduced the passive type automobile emulator of the U.S..20 century 70s, China is
Point source, rotating disk electromechanical automobile simulator through independent development.The nineties, with computer technology and figure, image technique
Development, domestic independent development in succession goes out the higher active real-time bus driving simulator of simulation accuracy.Armored force engineering
Institute, Software New Technology National Key Laboratory of Nanjing University, Kunming University of Science and Technology's traffic integrated simulation experiment room, Zhejiang University are first
Enter to manufacture Graduate School of Engineering etc. in terms of simulator research and development, all achieve very big achievement.
At present simulator semi-matter simulating system platform adopts STEWART structure mostly, using six hydraulic jacks or
Electric cylinder etc. is driven.Although technology is more ripe, wash out due to needing to use in this special dimension of simulator
Filtering algorithm, current washout filter algorithm is either classical, optimum or adaptive, has its respective shortcoming,
Reduce feeling of immersion and sense of reality, be the focus of continuous research but solution very well all the time.
In consideration of it, overcoming the defect existing for above-mentioned prior art to be the art problem demanding prompt solution.
Content of the invention
The technical problem to be solved in the present invention is to provide that a kind of structure is simple, be easy to the underloading that controls, driving element is few
Analog platform.
The present invention adopts the following technical scheme that：
A kind of underloading analog platform, including silent flatform（1）, moving platform（4）, main transmission assembly, the first transmission component, second
Transmission component, first connecting rod（61）, second connecting rod（62）, the first coupling assembly, the second coupling assembly；
Described moving platform（4）It is arranged at silent flatform（1）Top；
One end of described first transmission component and the second transmission component and described silent flatform（1）Active link, described first
The other end of transmission component and the second transmission component and described moving platform（4）Active link；
Described first connecting rod（61）And second connecting rod（62）One end and described silent flatform（1）Active link, described first
Connecting rod（61）And second connecting rod（62）The other end and described moving platform（4）Active link；
One end of described first coupling assembly is fixed on described first transmission component, described first coupling assembly another
End is fixed on described first connecting rod（61）On, described first coupling assembly is in the first transmission component and first connecting rod（61）Between shape
Become a sliding pair；
One end of described second coupling assembly is fixed on described second transmission component, described second coupling assembly another
End is fixed on described second connecting rod（62）On, described second coupling assembly is in the second transmission component and second connecting rod（62）Between shape
Become a sliding pair；
Described silent flatform（1）, the first transmission component, the second transmission component, first connecting rod（61）And second connecting rod（62）Shape
Become space four-linkses structure；
One end of described main transmission assembly and described silent flatform（1）Active link, the other end of described main transmission assembly with
Described second connecting rod（62）Active link.
Further, described main transmission assembly is master cylinder（8）, described master cylinder（8）According to described underloading analog platform
The direction setting that simulation is advanced；
Described first transmission component and the second transmission component are side stay oil cylinder（3）, described two side stay oil cylinders（3）According to
The road width direction setting that described underloading analog platform simulation is advanced.
Further, described two side stay oil cylinders（3）Cylinder barrel bottom respectively pass through two ball hinged supports（2）Quiet with described
Platform（1）Form typed ball bearing pair, described two side stay oil cylinders（3）Tailpiece of the piston rod respectively pass through two ball hinged supports（2）With described
Moving platform（4）Form typed ball bearing pair；
Described first connecting rod（61）And second connecting rod（62）Lower end respectively pass through two connecting rod link seats（10）With described
Silent flatform（1）Form rotary pair, described first connecting rod（61）And second connecting rod（62）Upper end respectively pass through two ball hinged supports
（2）With described moving platform（4）Form typed ball bearing pair.
Further, described first coupling assembly is by slide bar（14）And sliding chute rod（12）Composition, described slide bar（14）Pass through
Slide bar hinge seat（15）With side stay oil cylinder（3）Hinged formation rotary pair, described sliding chute rod（12）By sliding chute rod hinge seat（11）
With described first connecting rod（61）Hinged formation rotary pair, slide bar（14）Through sliding chute rod（12）Inclined hole formed sliding pair；
Described second coupling assembly is by slide bar（14）And sliding chute rod（12）Composition, described slide bar（14）By slide bar hinge seat
（15）With another side stay oil cylinder（3）Hinged formation rotary pair, described sliding chute rod（12）By sliding chute rod hinge seat（11）With institute
State second connecting rod（62）Hinged formation rotary pair, slide bar（14）Through sliding chute rod（12）Inclined hole formed sliding pair.
Further, described master cylinder（8）Cylinder barrel bottom pass through master cylinder hang cylinder barrel seat（9）With described silent flatform（1）Hinge
Connect formation rotary pair, described master cylinder（8）Tailpiece of the piston rod pass through main oil cylinder piston pole socket（7）With described second connecting rod（62）Hinge
Connect formation rotary pair.
Further, on the direction that the simulation of described underloading analog platform is advanced, described first connecting rod（61）Before being arranged at
End, described second connecting rod（62）It is arranged at rear end, described master cylinder（8）According to the side advanced with the simulation of described underloading analog platform
Arrange in an acute angle.
Further, on the direction that the simulation of described underloading analog platform is advanced, described first connecting rod（61）After being arranged at
End, described second connecting rod（62）It is arranged at front end, described master cylinder（8）According to the side advanced with the simulation of described underloading analog platform
Arrange in an obtuse angle.
Further, described two side stay oil cylinders（3）It is reserved with certain elongation in initial position, to side stay oil cylinder
（3）The retraction of tailpiece of the piston rod leave surplus；
Described master cylinder（8）The master cylinder in original state（8）The stroke of piston rod account for the half of total kilometres, and head office
Journey larger to meet moving platform（4）The maximum angle of pitch require.
Further, described underloading analog platform also includes single-revolution platform（5）, described rotary table（5）Revolution is installed on dynamic
Platform（4）On, described rotary table（5）Be fixedly connected on moving platform（4）On motor and RV retarder system（13）Output
Axle is connected.
Further, when the sports equipment of described underloading analog platform simulation turns to, motor and RV retarder system（13）
Action makes rotary table（5）Moving platform relatively（4）Revolution；
Described rotary table（5）The whole drive simulation passenger cabin of upper placement or driver seat.
Compared with prior art, the invention has the advantages that：
1st, only with three hydraulic jacks and a motor as the driving source i.e. function of achievable simulator；
2nd, turning round along Z axis, rotary table can unlimited angle rotary, can only turn round with respect to traditional analog platform
For limit low-angle, have the advantages that to avoid washing out along Z axis, using the teaching of the invention it is possible to provide more real feeling of immersion.
Brief description
Fig. 1 is the three dimensional structure diagram of the underloading analog platform of the embodiment of the present invention.
Fig. 2 is the front view of the underloading analog platform of the embodiment of the present invention.
Fig. 3 is the left view of the underloading analog platform of the embodiment of the present invention.
Description of reference numerals：
1st, silent flatform, 2, ball hinged support,
3rd, side stay oil cylinder, 4, moving platform,
5th, rotary table, 61, first connecting rod,
62nd, second connecting rod, 7, main oil cylinder piston pole socket,
8th, master cylinder, 9, master cylinder hang cylinder barrel seat,
10th, connecting rod link seat, 11, sliding chute rod hinge seat,
12nd, sliding chute rod, 13, motor and RV retarder system,
14th, slide bar, 15, slide bar hinge seat.
Specific embodiment
For energy saving, the quantity of deceleration executive component, adhere to and " reduce driving element, play mechanical mechanism
Transmission agency " theory, the present invention proposes a kind of new underloading analog platform, can simulation accelerated, deceleration, pitching, inclination and
The various kinestates such as driftage, can apply completely in the middle of various simulators.Its structure is simple, is easy to control, driving element
Few, washout filter algorithm is avoided on gyratory directions.The underloading analog platform that the present invention provides is applied to various cars, light vapor
The action simulating device of car, ship and naval vessels etc., can be used as the HWIL simulation analog platform of above-mentioned simulator.
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
Hereinafter, if no special instructions, the direction that in Fig. 1, X-direction is advanced for the simulation of underloading analog platform, Y-direction is light
Carry the road width direction that analog platform simulation is advanced.
As shown in Figure 1-Figure 3, the present invention provides a kind of underloading analog platform, including silent flatform 1, moving platform 4, main transmission group
Part, the first transmission component, the second transmission component, first connecting rod 61, second connecting rod 62, the first coupling assembly, the second coupling assembly.
Moving platform 4 is arranged above silent flatform 1.Wherein, main transmission assembly is master cylinder 8, and master cylinder 8 is simulated according to underloading analog platform
The direction setting advanced；First transmission component and the second transmission component are side stay oil cylinder 3, and two side stay oil cylinders 3 are according to underloading
The road width direction setting that analog platform simulation is advanced.
One end of first transmission component and the second transmission component and silent flatform 1 active link, the first transmission component and second
The other end of transmission component and moving platform 4 active link；One end of first connecting rod 61 and second connecting rod 62 and silent flatform 1 activity chain
Connect, the other end of first connecting rod 61 and second connecting rod 62 and moving platform 4 active link.In a preferred embodiment, on silent flatform 1
Two identical ball hinged supports 2 of welding and two identical connecting rod link seats 10, the lower surface of moving platform 4 welds four identicals
Ball hinged support 2, the cylinder barrel bottom of two side stay oil cylinders 3 is passed through two ball hinged supports 2 and silent flatform 1 respectively and is formed typed ball bearing pair, and two
The tailpiece of the piston rod of individual side stay oil cylinder 3 passes through two ball hinged supports 2 respectively and forms typed ball bearing pair with moving platform 4；First connecting rod 61 and
The lower end of two connecting rods 62 is passed through two connecting rod link seats 10 respectively and is formed rotary pair with silent flatform 1, and first connecting rod 61 and second connects
The upper end of bar 62 is passed through two ball hinged supports 2 respectively and is formed typed ball bearing pair with moving platform 4.
One end of first coupling assembly is fixed on a side stay oil cylinder 3, and the other end of the first coupling assembly is fixed on
On one connecting rod 61, the first coupling assembly forms a sliding pair between this side stay oil cylinder 3 and first connecting rod 61；Second coupling assembly
One end be fixed on another side stay oil cylinder 3, the other end of the second coupling assembly is fixed on second connecting rod 62, the second connection group
Part forms a sliding pair between this side stay oil cylinder 3 and second connecting rod 62.In a preferred embodiment, two identical side stay oil
Slide bar hinge seat 15 is respectively welded on the cylinder barrel of cylinder 3, two identical first connecting rods 61 and second connecting rod 62 weld sliding chute rod
Hinge seat 11.Two side stay oil cylinders 3 are formed by slide bar 14 and sliding chute rod 12, each slide bar 14 pass through slide bar hinge seat 15 and its
In the hinged formation rotary pair of a side stay oil cylinder 3, each sliding chute rod 12 pass through sliding chute rod hinge seat 11 respectively with first connecting rod 61 and
The hinged formation rotary pair of second connecting rod 62, slide bar 14 passes through the inclined hole of sliding chute rod 12 to form sliding pair.
On the basis of said structure design, 1, two side stay oil cylinders 3 of silent flatform, first connecting rod 61 and second connecting rod 62 shape
Become space four-linkses structure.
One end of master cylinder 8 and silent flatform 1 active link, the other end of master cylinder 8 and second connecting rod 62 active link.?
In one preferred embodiment, main oil cylinder piston pole socket 7 is welded on second connecting rod 62, and master cylinder hang cylinder barrel seat 9 is welded on silent flatform 1
On, master cylinder hang cylinder barrel seat 9 and the hinged formation rotary pair of silent flatform 1, the piston rod of master cylinder 8 are passed through in the cylinder barrel bottom of master cylinder 8
End is by main oil cylinder piston pole socket 7 and the hinged formation rotary pair of second connecting rod 62.
In the present embodiment, on the direction that the simulation of underloading analog platform is advanced, first connecting rod 61 is arranged at front end, and second even
Bar 62 is arranged at rear end, and master cylinder 8 is in an acute angle setting according to the direction advanced with the simulation of underloading analog platform.In other enforcements
In example, can also be that first connecting rod 61 is arranged at rear end, and second connecting rod 62 sets on the direction that the simulation of underloading analog platform is advanced
It is placed in front end, master cylinder 8 is in an obtuse angle setting according to the direction advanced with the simulation of underloading analog platform.
Two side stay oil cylinders 3 are reserved with certain elongation, to the retraction of the tailpiece of the piston rod of side stay oil cylinder 3 in initial position
Leave surplus；Master cylinder 8 stroke of the piston rod of master cylinder 8 in original state accounts for the half of total kilometres, and total kilometres are larger
Required with the maximum angle of pitch meeting moving platform 4.
Additionally, rotary table 5 is also equipped with moving platform 4, rotary table 5 and the motor being fixedly connected on moving platform 4 and RV
The output shaft of retarder system 13 is connected so that rotary table 5 can relatively rotate on moving platform 4.Underloading analog platform is simulated
Sports equipment when turning to, motor and RV retarder system 13 action make rotary table 5 moving platform 4 relatively turn round；Can on rotary table 5
Place whole drive simulation passenger cabin or only place driver seat.
The new underloading analog platform that the present invention provides, only with three hydraulic jacks and a motor as driving source be
The function of achievable simulator, significantly reduces cost, and mechanism is simple, compact, has safety and convenience.
Operation principle：
The underloading analog platform that the present invention provides, is capable of the acceleration of simulating vehicle, naval vessels etc., decelerations, pitching, inclination, inclined
The various kinestates such as boat.The operation principle of this underloading analog platform taking simulating vehicle motion is as a example described below.
As shown in Figure 1-Figure 3, when the vehicle accelerates, two identical side stay oil cylinders 3 keep initial length constant（Just
Existing certain elongation during the beginning, gives back to contracting and leaves surplus）, its effect is identical with first connecting rod 61 and second connecting rod 62, now quiet
1, two side stay oil cylinders 3 of platform, first connecting rod 61, second connecting rod 62 and moving platform 4 form space four-linkses structure.By connecting rod
The kinematic pair of hinge seat 10 and master cylinder hang cylinder barrel seat 9 limits, and this space four-linkses structure can only be flat along moving of two connecting rods
Face carries out plane motion（Namely can only the move in plane shown in X-direction）.
Master cylinder 8 quick acting and elongation less so that acceleration of motion that moving platform 4 produces forward account for leading, and
Face upward angular acceleration very little, therefore human pilot feels and accelerating, the process reason of deceleration is identical, only needs master cylinder 8 quick
Action and amount of recovery is less.
Need when vehicle driving up or descending to simulate the process of pitching.When master cylinder 8 has larger elongation, moving platform 4 is in
The attitude faced upward, elongation is bigger, and the elevation angle is then bigger；On the contrary, when master cylinder 8 has larger amount of recovery, moving platform 4 is in nutation
Attitude, amount of recovery is bigger, and the angle of depression is then bigger.Therefore the requirement to master cylinder 8 is that the stroke of piston rod during original state has accounted for always
The half of stroke, and total kilometres are larger, meet the requirement of the maximum angle of pitch of moving platform 4.
If vehicle travels on the road have certain slope sidewards, analog platform needs the state that simulation rolls.
Now master cylinder 8 is failure to actuate, and two identical side stay oil cylinders 3 extend simultaneously or bounce back.By structural analyses, move flat
Platform 4 can only be rotated as gyroaxis using it with the line of first connecting rod 61, two ball pivot centers of second connecting rod 62, reaches
The purpose of two-way inclination.Now, slide bar 14 can correspondingly in sliding chute rod 12 slide, play mechanism do not suppress extremely, guide effect.
During Vehicular turn, motor and RV retarder system 13 action, so that rotary table 5 moving platform 4 relatively is turned round.Rotary table 5
It is a switching part, whole simulation cabin can be placed thereon it is also possible to only connect driver seat, no matter which kind of mode can be felt
The sense of reality being turned to.When placing whole drive simulation passenger cabin, rotary table 5 can unlimited angle rotary, with respect to transmission
Analog platform, Z axis gyratory directions avoid washout filter algorithm, simplify control strategy.
The specific embodiment of present invention described above, does not constitute limiting the scope of the present invention.Any basis
Various other corresponding change and deformation that the technology design of the present invention is made, should be included in the guarantor of the claims in the present invention
In the range of shield.
Claims (10)
1. a kind of underloading analog platform, including silent flatform (1), moving platform (4), described moving platform (4) is arranged on silent flatform (1)
Square it is characterised in that described platform also includes：Main transmission assembly, the first transmission component, the second transmission component, first connecting rod
(61), second connecting rod (62), the first coupling assembly, the second coupling assembly；
One end of described first transmission component and the second transmission component and described silent flatform (1) active link, described first transmission
The other end of assembly and the second transmission component and described moving platform (4) active link；
One end of described first connecting rod (61) and second connecting rod (62) and described silent flatform (1) active link, described first connecting rod
(61) and second connecting rod (62) the other end and described moving platform (4) active link；
One end of described first coupling assembly is fixed on described first transmission component, and the other end of described first coupling assembly is solid
It is scheduled on described first connecting rod (61), described first coupling assembly forms one between the first transmission component and first connecting rod (61)
Sliding pair；
One end of described second coupling assembly is fixed on described second transmission component, and the other end of described second coupling assembly is solid
It is scheduled on described second connecting rod (62), described second coupling assembly forms one between the second transmission component and second connecting rod (62)
Sliding pair；
Described silent flatform (1), the first transmission component, the second transmission component, first connecting rod (61) and second connecting rod (62) form empty
Between four-bar linkage structure；
One end of described main transmission assembly and described silent flatform (1) active link, the other end of described main transmission assembly with described
Second connecting rod (62) active link.
2. underloading analog platform as claimed in claim 1 is it is characterised in that described main transmission assembly is master cylinder (8), described
The direction setting that master cylinder (8) is advanced according to the simulation of described underloading analog platform；
Described first transmission component and the second transmission component are side stay oil cylinder (3), and described two side stay oil cylinders (3) are according to described
The road width direction setting that the simulation of underloading analog platform is advanced.
3. underloading analog platform as claimed in claim 2 is it is characterised in that the cylinder barrel bottom of described two side stay oil cylinder (3)
Pass through two ball hinged supports (2) respectively and form typed ball bearing pair, the piston rod of described two side stay oil cylinders (3) with described silent flatform (1)
End is passed through two ball hinged supports (2) respectively and is formed typed ball bearing pair with described moving platform (4)；
It is quiet flat with described that the lower end of described first connecting rod (61) and second connecting rod (62) passes through two connecting rod link seats (10) respectively
Platform (1) forms rotary pair, the upper end of described first connecting rod (61) and second connecting rod (62) pass through respectively two ball hinged supports (2) and
Described moving platform (4) forms typed ball bearing pair.
4. underloading analog platform as claimed in claim 2 is it is characterised in that described first coupling assembly by slide bar (14) and is slided
Channel bar (12) forms, and described slide bar (14) passes through slide bar hinge seat (15) and the hinged formation rotary pair of side stay oil cylinder (3), described cunning
Channel bar (12) passes through sliding chute rod hinge seat (11) and the hinged formation rotary pair of described first connecting rod (61), and slide bar (14) passes through chute
The inclined hole of bar (12) forms sliding pair；
Described second coupling assembly is made up of slide bar (14) and sliding chute rod (12), and described slide bar (14) passes through slide bar hinge seat (15)
With another hinged formation rotary pair of side stay oil cylinder (3), described sliding chute rod (12) passes through sliding chute rod hinge seat (11) and described the
The hinged formation rotary pair of two connecting rods (62), slide bar (14) passes through the inclined hole of sliding chute rod (12) to form sliding pair.
5. underloading analog platform as claimed in claim 2 is it is characterised in that master is passed through in the cylinder barrel bottom of described master cylinder (8)
Oil cylinder cylinder base (9) hinged formation rotary pair with described silent flatform (1), the tailpiece of the piston rod of described master cylinder (8) passes through master cylinder
Piston pole socket (7) hinged formation rotary pair with described second connecting rod (62).
6. underloading analog platform as claimed in claim 2 is it is characterised in that simulate, in described underloading analog platform, the side advanced
Upwards, described first connecting rod (61) is arranged at front end, and described second connecting rod (62) is arranged at rear end, described master cylinder (8) according to
The direction advanced with the simulation of described underloading analog platform is in an acute angle setting.
7. underloading analog platform as claimed in claim 2 is it is characterised in that simulate, in described underloading analog platform, the side advanced
Upwards, described first connecting rod (61) is arranged at rear end, and described second connecting rod (62) is arranged at front end, described master cylinder (8) according to
The direction advanced with the simulation of described underloading analog platform is in an obtuse angle setting.
8. underloading analog platform as claimed in claim 2 is it is characterised in that described two side stay oil cylinder (3) is in initial position
When be reserved with certain elongation, leave surplus to the retraction of the tailpiece of the piston rod of side stay oil cylinder (3)；
Described master cylinder (8) stroke of the piston rod of master cylinder (8) in original state accounts for the half of total kilometres, and total kilometres are relatively
The big maximum angle of pitch to meet moving platform (4) requires.
9. the underloading analog platform as described in any one of claim 1-8 is it is characterised in that described underloading analog platform also includes
Single-revolution platform (5), described rotary table (5) revolution is installed on moving platform (4), and described rotary table (5) is put down with being fixedly connected on to move
The output shaft of the motor on platform (4) and RV retarder system (13) is connected.
10. underloading analog platform as claimed in claim 9 is it is characterised in that the motion of described underloading analog platform simulation sets
During standby steering, motor and RV retarder system (13) action make rotary table (5) moving platform (4) relatively turn round；
Described rotary table (5) is upper to place whole drive simulation passenger cabin or driver seat.
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| CN201310567458.0A CN104637361B (en) | 2013-11-14 | 2013-11-14 | Light-load simulation platform |
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| CN201310567458.0A CN104637361B (en) | 2013-11-14 | 2013-11-14 | Light-load simulation platform |
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| CN104637361A CN104637361A (en) | 2015-05-20 |
| CN104637361B true CN104637361B (en) | 2017-02-08 |
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| CN105666467B (en) * | 2016-03-14 | 2018-06-08 | 燕山大学 | A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving |
| CN105619388B (en) * | 2016-03-14 | 2017-10-20 | 燕山大学 | A kind of freedom degree parallel connection rotatable platform mechanism for driving decoupling to arrange |
| CN105976646B (en) * | 2016-07-29 | 2018-09-25 | 浙江中腾科教设备有限公司 | A kind of intelligent display device for electronic commerce teaching |
| CN106023665B (en) * | 2016-07-29 | 2018-08-31 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | A kind of intelligent display device based on parallel institution |
| CN112957691B (en) * | 2021-02-04 | 2022-04-26 | 哈尔滨工业大学 | Somatosensory simulation parallel motion platform integrating human body deep sensation and vestibular sensation |
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| JPH0530865U (en) * | 1991-10-03 | 1993-04-23 | 石川島播磨重工業株式会社 | Shaking device for simulator |
| US6039653A (en) * | 1998-11-16 | 2000-03-21 | Engstrand; Brad | Apparatus, system and method for experiencing motion |
| JP2000288257A (en) * | 1999-04-07 | 2000-10-17 | Snk Corp | Rocking device for game machine |
| WO2013154386A1 (en) * | 2012-04-12 | 2013-10-17 | 주식회사 모션디바이스 | Motion simulator |
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| CN104637361A (en) | 2015-05-20 |
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