技术领域technical field
本发明涉及一种稳定座椅，特别是一种六自由度并联稳定座椅。The invention relates to a stable seat, in particular to a six-degree-of-freedom parallel stable seat.
背景技术Background technique
船舶在海上航行时，由于受到海浪、海风的影响，会产生横摇、纵摇、艏摇、横荡、纵荡和垂荡六个自由度运动，这些运动直接影响在船舶上进行的各项活动。同时，随着科技的进步，社会在不断发展，人们对生活质量的要求也在逐步的提高。当乘坐游轮度假旅行时，这些运动也会给乘坐人员带来眩晕或者不适。针对上述问题，提出一种能够隔离船体运动的稳定座椅很有必要。目前，有用多自由度的座椅作为车辆驾驶模拟器，用于各种车辆包括装甲车辆的模拟训练，但其体积太大，同时仿真效果不理想，不适宜用于隔离船体的运动。When a ship is sailing at sea, due to the influence of sea waves and sea wind, it will produce six degrees of freedom motions of rolling, pitching, yaw, sway, surge and heave. Activity. At the same time, with the advancement of science and technology, the society is constantly developing, and people's requirements for the quality of life are also gradually improving. When traveling on a cruise ship, these movements can also cause dizziness or discomfort to the occupants. In view of the above problems, it is necessary to propose a stable seat that can isolate the motion of the hull. At present, a multi-degree-of-freedom seat is used as a vehicle driving simulator for simulation training of various vehicles including armored vehicles, but its size is too large, and the simulation effect is not ideal, so it is not suitable for isolating the movement of the hull.
专利CN201420108962.4提出了一种电动运动座椅，包括座面、底座和连接座面与底座的三根支撑杆及三个电动缸，可以实现座椅的三维移动，但不能完全消除上述提到的六个自由度运动对在船舶上进行的各项活动的影响。专利CN201110257824.3提出了一种具有重载宽频带响应的车辆驾驶模拟器，其模拟舱安装于六自由度液压驱动运动平台的动平台上，但此六自由度液压驱动运动平台是基于经典的Stewart结构，六个分支完全相同，均匀分布，都是上平台距下平台较高，占用空间大，且无阻尼隔振装置。Patent CN201420108962.4 proposes an electric sports seat, including a seat surface, a base, three support rods connecting the seat surface and the base, and three electric cylinders, which can realize three-dimensional movement of the seat, but cannot completely eliminate the above-mentioned Effects of six degrees of freedom motion on various activities performed on board a ship. Patent CN201110257824.3 proposes a vehicle driving simulator with heavy-duty broadband response. The simulation cabin is installed on the moving platform of the six-degree-of-freedom hydraulically driven motion platform, but the six-degree-of-freedom hydraulically driven motion platform is based on the classic Stewart structure, the six branches are identical and evenly distributed, the upper platform is higher than the lower platform, takes up a lot of space, and there is no damping and vibration isolation device.
发明内容Contents of the invention
本发明的目的在于提供一种结构紧凑、承载能力强、稳定性能好、动力学性能优良的具有六自由度的并联稳定座椅。The object of the present invention is to provide a parallel stable seat with six degrees of freedom, which has compact structure, strong bearing capacity, good stability performance and excellent dynamic performance.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
本发明包括座椅、扶手、底座、连接座椅与底座的六个驱动分支及四个弹簧承载分支。其中，所述六个驱动分支均由移动副作为驱动部件，其中四个结构相同的SPSP驱动分支布置在座椅两侧，两个结构相同的SPS驱动分支布置在座椅下方；所述布置在座椅两侧的四个驱动分支中的移动副的一端通过球铰与扶手的外侧连接，其另一端通过球铰与阻尼器的一端连接，阻尼器的另一端竖直安装在底座上，底座上的四个阻尼器呈矩形对称布置；所述布置在座椅下方的两个驱动分支中的移动副的一端通过球铰与座椅的底部连接，其另一端通过球铰与底座后侧连接，上述与底座后侧连接的两个球铰座呈竖直安装在底座上；所述四个弹簧承载分支为结构相同的SPS分支，它包括：导杆、导套和承载弹簧，其中，导杆通过球铰与座椅的底部连接，导套通过球铰与底座连接，承载弹簧套在导杆和导套的外面，其一端与导杆的端部固连，另一端与导套的底部固连，上述与座椅底部连接的四个球铰座及与底座连接的四个球铰座均呈矩形布置；上述每个驱动分支均设有电动缸或液压缸或其它直线驱动单元作为移动副驱动。The invention includes a seat, an armrest, a base, six drive branches connecting the seat and the base, and four spring-loaded branches. Wherein, the six drive branches are all driven by moving pairs, wherein four SPSP drive branches with the same structure are arranged on both sides of the seat, and two SPS drive branches with the same structure are arranged under the seat; One end of the mobile pair in the four drive branches on both sides of the seat is connected to the outside of the armrest through a ball joint, and the other end is connected to one end of the damper through a ball joint. The other end of the damper is vertically installed on the base, and the base The four dampers on the seat are arranged symmetrically in a rectangular shape; one end of the moving pair arranged in the two drive branches under the seat is connected to the bottom of the seat through a ball joint, and the other end is connected to the rear side of the base through a ball joint , the above-mentioned two ball hinge seats connected to the rear side of the base are vertically installed on the base; the four spring bearing branches are SPS branches with the same structure, which include: guide rods, guide sleeves and bearing springs, wherein the guide The rod is connected to the bottom of the seat through a ball hinge, and the guide sleeve is connected to the base through a ball hinge. The bearing spring is sleeved on the outside of the guide rod and the guide sleeve, one end of which is fixedly connected to the end of the guide rod, and the other end is connected to the bottom of the guide sleeve. Fixed connection, the above four spherical hinge seats connected to the bottom of the seat and the four spherical hinge seats connected to the base are arranged in a rectangle; each of the above driving branches is equipped with an electric cylinder or hydraulic cylinder or other linear drive unit as a moving secondary drive.
本发明与现有的相关技术相比具有如下优点：Compared with existing related technologies, the present invention has the following advantages:
1、结构简单紧凑，有效地降低了座椅距地面的高度，既节省空间又增加了稳定性。1. The structure is simple and compact, effectively reducing the height of the seat from the ground, saving space and increasing stability.
2、座椅两侧四个驱动分支上安装的阻尼器，能够有效地隔离高频振动。2. The dampers installed on the four drive branches on both sides of the seat can effectively isolate high-frequency vibrations.
3、在不工作状态时，四个弹簧承载分支可以平衡座椅自身的重量，从而驱动部件的出力可以很小，这样不仅对驱动部件及阻尼器起到了保护作用，而且与阻尼器配合使隔振效果更加明显，同时承载分支的存在也大大提升了座椅的承重能力。3. In the non-working state, the four spring-loaded branches can balance the weight of the seat itself, so that the output of the driving parts can be small, which not only protects the driving parts and the damper, but also cooperates with the damper to make the isolation The vibration effect is more obvious, and the existence of the load-bearing branch also greatly improves the load-bearing capacity of the seat.
4、移动副为驱动副，运动灵活，动力学性能良好。4. The moving pair is a driving pair, with flexible movement and good dynamic performance.
附图说明Description of drawings
图1是本发明的立体示意简图。Fig. 1 is a three-dimensional schematic diagram of the present invention.
图2是本发明的后视示意简图。Figure 2 is a schematic diagram of the rear view of the present invention.
图3是本发明的弹簧承载分支SPS结构示意简图。Fig. 3 is a schematic diagram of the structure of the spring-loaded branch SPS of the present invention.
具体实施方式detailed description
在图1、图2及图3所示的示意图中，布置在座椅1两侧的四个结构相同的SPSP驱动分支中作为驱动部件的移动副4的一端通过球铰3与扶手2的外侧连接，其另一端通过球铰5与阻尼器6的一端连接，阻尼器的另一端竖直安装在底座7上，底座上的四个阻尼器呈矩形对称布置；布置在座椅1下方的两个结构相同的SPS驱动分支中作为驱动部件的移动副9的一端通过球铰10与座椅1的底部连接，其另一端通过球铰8与底座1后侧连接，上述与底座后侧连接的两个球铰座呈竖直安装在底座上；四个结构相同的SPS弹簧承载分支中导杆14通过球铰15与座椅1的底部连接，导套12通过球铰11与底座7连接，承载弹簧13套在导杆和导套的外面，其一端与导杆的端部固连，另一端与导套的底部固连，上述与座椅底部连接的四个球铰座及与底座连接的四个球铰座均呈矩形布置；上述每个分支均设有液压缸作为移动副驱动。In the schematic diagrams shown in Fig. 1, Fig. 2 and Fig. 3, one end of the mobile pair 4 as the driving part of the four SPSP drive branches arranged on both sides of the seat 1 with the same structure passes through the ball joint 3 and the outside of the armrest 2 connected, the other end of which is connected to one end of the damper 6 through a ball joint 5, and the other end of the damper is vertically installed on the base 7, and the four dampers on the base are rectangularly symmetrically arranged; One end of the mobile pair 9 as the driving part in two SPS drive branches with the same structure is connected with the bottom of the seat 1 through the ball joint 10, and its other end is connected with the rear side of the base 1 through the ball joint 8, the above-mentioned connection with the rear side of the base The two ball hinge seats are vertically installed on the base; the guide rod 14 of the four SPS spring bearing branches with the same structure is connected to the bottom of the seat 1 through the ball hinge 15, and the guide sleeve 12 is connected to the base 7 through the ball hinge 11. The bearing spring 13 is sleeved on the outside of the guide rod and the guide sleeve, one end of which is fixedly connected with the end of the guide rod, and the other end is fixedly connected with the bottom of the guide sleeve. The four spherical hinge seats are arranged in a rectangular shape; each of the above-mentioned branches is equipped with a hydraulic cylinder as a mobile auxiliary drive.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510687870.5ACN105235823B (en) | 2015-10-22 | 2015-10-22 | A kind of six-freedom parallel stable chair |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510687870.5ACN105235823B (en) | 2015-10-22 | 2015-10-22 | A kind of six-freedom parallel stable chair |
| Publication Number | Publication Date |
|---|---|
| CN105235823Atrue CN105235823A (en) | 2016-01-13 |
| CN105235823B CN105235823B (en) | 2017-10-20 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510687870.5AExpired - Fee RelatedCN105235823B (en) | 2015-10-22 | 2015-10-22 | A kind of six-freedom parallel stable chair |
| Country | Link |
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| CN (1) | CN105235823B (en) |
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| CN105570378A (en)* | 2016-01-28 | 2016-05-11 | 燕山大学 | Six-degree-of-freedom parallel stabilizing and vibration-isolating cabin |
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| KR102205009B1 (en)* | 2019-11-04 | 2021-01-18 | 감기백 | Safety board maintaining static equilibrium |
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| KR102054885B1 (en) | 2018-11-06 | 2019-12-16 | 강기섭 | Ship chair responding to movement of ship |
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| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20171020 |