JP4813038B2 - Boarding object tilting device - Google Patents

Description

  The present invention is used in a bodily sensation game machine, a fitness machine, a rehabilitation device, and the like, and a riding part tilting device in which a boarding object tilts according to an external force or a passenger's movement and an elastic member provides a reaction force against the tilting. In particular, the present invention relates to a boarding object tilting device in which the boarding object tilts similarly regardless of changes in the weight or center of gravity of the passenger.

As a boarding object tilting device in the technical field of a conventional sensation game machine, for example, input from an operating device such as a joystick operated by an operator, such as the motion base previously disclosed in Patent Document 1 by the applicant of the present application. The actuator moves the center of gravity of a vehicle, such as a motorcycle or a vehicle such as an airplane, as the object to be tilted by a signal or a signal output by a program given in advance. When the vehicle is tilted by an action such as movement of the body or the like, the movement is converted into an input signal and input to the sensation game machine body.
JP 2004-24299 A

  By the way, because there are various passengers on the boarding object, such as adults, children, men, and women, the weight and the center of gravity of the passengers are not constant and change according to the passengers. However, since the above-mentioned conventional boarding object tilting device has a fixed mounting position as an operating position of the elastic member to the installation base and the movable base, the reaction force given by the elastic member is also independent of the physique of the passenger, etc. The ratio is constant with respect to the tilting of the movable base.

  Therefore, in the conventional boarding object tilting device, when the weight of the passenger is light (for example, a female passenger) or when the center of gravity is low (for example, for a child passenger), the weight of the passenger is heavy. The reaction force of the elastic member because the tilting torque is relatively small compared to the case (for example, male passengers) and the position of the center of gravity is high (for example, adults, boys and girls of higher grades) However, there is a problem that the difficulty level of the experience game is different even if the boarding object becomes relatively excessive and the boarding object is tilted with the same movement.

The present invention has an object to advantageously solve the above-described problems, and the boarding object tilting device according to the present invention tilts the boarding object according to at least one of an external force and a movement of the passenger. In the boarding object tilting device in which the elastic member provides a reaction force against the tilting, the movable base on which the boarding object is mounted, and the boarding object and the movable in a state where the passenger is present provided on the installation base. A support member that supports the movable base so as to be able to tilt around one or two tilting axes orthogonal to each other, passing below the position of the center of gravity in the initial posture of the assembly with the base, and the tilting of the movable base to tilt about the axis, a plurality of the elastic member interposed hooked at both ends the movable base and the said installed base between the two base, acting position of the pulling force to the movable base A working position moving means for moving the the comprising, said working position moving means, respectively in synchronization with each other, the distance of latching positions of the elastic member with respect to the tilt axis corresponding to the elastic member, interposing the tilt axis in just the same in the elastic member with each other positioned at both sides, it is characterized in the Turkey is moved so as to change a moving direction of the operating position.

In such a boarding object tilting device, the support member provided on the installation base sets the movable base on which the boarding object is mounted, the initial stage of the assembly of the boarding object and the movable base in the state where the passenger is present. pass below the center of gravity of the posture, tiltably supported about two tilting axes orthogonal one or another, with respect to tilt around variable dynamic based tilt axis, the ends hanging the movable base and installed base The action position moving means for moving the action position of the pulling force on the movable base of the plurality of elastic members that are stopped and inserted between the two bases are respectively applied to the tilting axis corresponding to the elastic member in synchronization with each other. The distance of the stop position is moved so that the elastic members located on both sides of the tilt axis change in the moving direction of the action position by the same amount.

  Therefore, according to the boarding object tilting device of the present invention, when the weight of the passenger is light (for example, for a female passenger) or when the center of gravity is low (for example, for a child passenger), the action position moving means However, if the action position is moved so that the distance between the action position of the reaction force of the elastic member against the movable base and the tilt axis is reduced from the normal position, the reaction torque against the tilt torque is reduced. The tilting torque is relatively small compared to when the passenger is heavy (for example, a male passenger) or when the center of gravity is high (for example, an adult or a boy / girl who is older than the upper grade). However, the reaction force of the elastic member does not become excessive excessively, and the boarding object tilts in the same way with the same movement, and the bodily sensation game due to the difference in the weight, the position of the center of gravity, etc. Difficulty level etc. are different It is possible to prevent the Mau inconvenience.

  In the boarding object tilting apparatus of the present invention, the action position moving means may be driven by human power such as a screw type moving mechanism that rotates a screw shaft with a handle, for example. The action position moving means can be configured at low cost, and the reaction torque can be adjusted according to the physique of the passenger even when there is no power source.

  Further, in the boarding object tilting device of the present invention, the action position moving means may be driven by a motor such as a motor-driven moving mechanism, and in this way, the action position moving means. Thus, the reaction force torque can be automatically adjusted according to the physique of the passenger.

  Further, in the boarding object tilting device of the present invention, the operating position moving means transmits the operating positions of the elastic members respectively present on both sides of the tilting axis via the link mechanism with the tilting axis interposed therebetween. In this way, when the movable base is balanced by the reaction force of the elastic member, it is possible to prevent the reaction force from becoming uneven and the balance from being lost.

  Further, the boarding object tilting device of the present invention may include a position sensor for detecting the tilting position of the movable base, and in this way, the boarding target of the boarding target tilting device is used as a passenger. By tilting, the operation signal can be input to, for example, a sensation game machine body or the like like a joystick.

  Further, the boarding object tilting device of the present invention may further comprise a passenger weight detection means for detecting the weight of the passenger of the boarding object. In this way, for example, the passenger weight detection means. Based on the occupant weight detected by the vehicle, the distance between the operating position of the reaction force of the elastic member against the movable base and the tilt axis decreases from the normal position as the occupant weight is lighter than a predetermined reference. However, as the occupant weight is heavier than a predetermined reference, the action position moving means is set so that the distance between the action position of the reaction force of the elastic member against the movable base and the tilt axis increases from the normal position. By moving, the reaction force torque can be adjusted more accurately. When the operating position moving means is driven by a motor, the accurate reaction force torque adjustment can be automatically performed.

  The boarding object tilting apparatus of the present invention may include an actuator that applies an external force that tilts the movable base, and in this way, the boarding object tilting apparatus always operates regardless of differences in the weight, position of the center of gravity, etc. The movable base can be greatly tilted with a small output of the actuator.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view showing an embodiment of the boarding object tilting apparatus according to the present invention, FIG. 2 is a front view showing the boarding object tilting apparatus of the embodiment, and FIG. The top view which shows the structure of the action position moving mechanism as an action position moving means of a boarding target object tilting apparatus, and FIG. 4 are side views which show the state which the chair tilted ahead in the boarding target object tilting apparatus of the said Example. is there.

  As shown in FIGS. 1 and 4, the boarding object tilting apparatus according to this embodiment is configured so that a passenger H sitting on a bucket seat-type chair S with a footrest F as a boarding object moves its center of gravity and moves the body. When the chair S is tilted back and forth, left and right, or diagonally back and forth instead of the joystick of the game machine by movement or the like, the tilt of the chair S is converted into an input signal and input to the body of the sensible game machine (not shown). The chair S is tilted by the movement of the passenger H, and the tension spring type coil spring 4 as an elastic member gives a reaction force to the tilt of the chair S.

  Specifically, as shown in FIGS. 1 and 2, the boarding object tilting device of this embodiment is provided on the installation base 1, the movable base 2 for mounting the chair S, and the installation base 1. The chair S passing through the movable base 2 below the center of gravity position CG in the initial posture (horizontal posture shown in FIGS. 1 and 2) of the assembly of the chair S and the movable base 2 in the state where the passenger H is present. A columnar support member 3 that supports the tilt tilt axis PTA extending in the left-right direction and the roll tilt axis RTA extending in the front-rear direction of the chair S so as to be tiltable around the two tilt axes orthogonal to each other; A total of eight of the above are applied between the movable base 2 and the installation base 1 and apply a reaction force to the movable base 2 against the tilt of the movable base 2 around at least one of the pitch tilt axis PTA and the roll tilt axis RTA. Coil spring 4 and movable base Action position moving means for moving the action position so that the distance between the action position of the reaction force of each coil spring 4 on the coil 2 and the tilt axis PTA or RTA corresponding to the coil spring 4 changes. And a position moving mechanism 5.

  As shown in FIGS. 1 to 3, the movable base 2 here has two tilts of the pitch tilt axis PTA and the roll tilt axis RTA via two pivots orthogonal to each other at the upper end of the support member 3. A base portion 2a supported so as to be tiltable about an axis, and arranged in a cross shape so as to extend in the front-rear and left-right directions of the chair S around the base portion 2a, and each inner end portion is coupled to the lower portion of the base portion 2a. In addition, there are four frames 2b each having a linear guide 5a fixed on the upper surface, and an octagonal base 2c having a planar shape in the figure supported on the outer ends of the frames 2b via the linear guide 5a. The lower surface of the pedestal 2c is retracted leaving a surrounding outer peripheral frame, and the chair S is fixed to the upper surface of the pedestal 2c.

  In addition, as shown in FIG. 3, the action position moving mechanism 5 here includes four linear guides 5a and four linear guides 5a that are slidably fitted to the linear guides 5a and positioned on the linear guides 5a. One ball circulation type slider 5b, four connecting rods 5c each having one end connected to the slider 5b, and a central hole rotatably fitted to the upper portion of the base 2a and four at the periphery. An interlocking disk 5d in which the other end of the connecting rod 5c is connected at an interval of 90 degrees in the circumferential direction and external teeth are formed on the outer periphery; a driving gear 5e meshed with the external teeth of the interlocking disk 5d; And a motor 5f with a worm-type speed reducer that rotationally drives the driving gear 5e. Two upper ends of the coil springs 4 are hooked on each slider 5b.

  As a result, the motor 5f rotates the driving gear 5e to rotate the interlocking disk 5d as shown in FIG. 3, so that the other ends of the four connecting rods 5c are within the range of the angle ε. When the base rod 2a is swung around the center of the base 2a, the connecting rods 5c push and pull the sliders 5b at the one ends while being synchronized with each other, and the four sliders 5b are simultaneously moved to the pitch tilt axis PTA or the roll tilt axis. The movable base 2 is moved on the linear guide 5a so that the members located on both sides with the RTA interposed therebetween move in opposite directions, and as a result, only the front coil spring 4 is illustrated in FIG. Hooking position (spring fulcrum) of the upper ends of the eight coil springs 4 on the four sliders 5b as the action position of the tensile force of the coil spring 4 against The extending direction of the linear guide 5a in which the slider 5b on which the coil spring 4 is hooked is fitted in the tilt axis corresponding to the coil spring 4, that is, the pitch tilt axis PTA and the roll tilt axis RTA, in synchronization with each other. The distance of the latching position of the upper end portion of the coil spring 4 with respect to the tilting axis extending in the direction perpendicular to the coil spring 4 moves so as to change by the same amount between the two coil springs 4 located on both sides of the tilting axis. To do.

  Here, the eight coil springs 4 have a predetermined spring constant k (per two) and are attached between the movable base 2 and the installation base 1 with a predetermined initial tensile amount X, respectively. It is set not to loosen or pull too much in the entire tilt range.

In the boarding object tilting apparatus of this embodiment, the conditional expression for constantly balancing the moments around the pitch tilt axis PTA or the roll tilt axis RTA in a state where the passenger H sits on the chair S as shown in FIG. The combined mass of the chair S and the passenger H is m, the gravitational acceleration is g, the distance from the tilt axis PTA and the roll tilt axis RTA to the center of gravity CG integrating the chair S and the passenger H is La, and the tilt axis When the distance from the PTA or roll tilt axis RTA to the latching position (spring fulcrum) of the upper end of the corresponding coil spring 4 is Lb, the tilt angle of the movable base 2 is θ, and the expansion / contraction amount of the coil spring 4 is Δx,
mg * La · sin θ = (− (x−Δx) k * Lb + (x + Δx) k * Lb)
= 2Δx * k * Lb (1)
Δx = Lb · sin θ (2)
From (1) and (2), mg * La · sin θ = 2k * Lb ² · sin θ (3)
Therefore, k = mg · La / 2Lb ² (4)
It becomes.

The relationship between the mass m and the distance Lb of the latching position (spring fulcrum) of the upper end of the coil spring 4 is as follows:
Lb = (mg * La / 2k) ^1/2 (5)
When this is expressed in a graph for the occupant H excluding the weight of the chair S with the footrest F, for example, as shown in FIG.
Therefore, it can be seen that a slight movement of the latching position (spring fulcrum) of the upper end portion of the coil spring 4 can cope with a large range of mass change.
Note that the movable base 2 itself is balanced around the tilt axes PTA and RTA, and thus does not fall into the above formula.

  Further, the boarding object tilting device of this embodiment is inserted between the side portion of the pedestal 2c and the installation base 1 and between the rear portion of the pedestal 2c and the installation base 1, respectively. The position of the side part and the rear part, and hence the amount of inclination of the movable base 2 are detected. For example, two position sensors 6 made up of linear sensors are provided, so that when the passenger H tilts the chair S due to weight shift or the like. The output signal of the position sensor 6 corresponding to the tilt amount and the tilt direction of the chair S can be input as an input signal to a bodily sensation game machine body (not shown).

  In addition, although the boarding object tilting device of this embodiment is not shown in FIGS. 1 to 4, as shown in FIG. 6A, the boarding object tilting device is provided on the base 2 a and detects the weight of the passenger H (movable). The weights of the base 2 and the chair S with the footrest F are also detected at the same time, but they are known and removed by calibration), a weight sensor 11 as a passenger weight detection means, and a normal input device 12 such as a keyboard. And an action position movement control device having a normal microcomputer (microcomputer) 13 connected to the weight sensor 11 and the input device 12, and the action position movement is performed by a PWM control signal from the microcomputer 13, for example. The motor 5f of the mechanism 5 is driven by open control.

  In the action position movement control device, as shown in FIG. 6B, the microcomputer 13 also receives the output signal of the position sensor 6, and the motor 5 f of the action position movement mechanism 5 outputs the output signal of the position sensor 6. Based on this, the microcomputer 13 that detects the tilt angle and tilt direction of the movable base 2 may be driven by feedback control via a normal motor driver 14, and in this way, more accurate control is possible. become.

  FIG. 7A is a flowchart showing an example of the operation of the microcomputer 13 of the action position movement control device. In this example, the microcomputer 13 first measures the weight of the passenger H by the weight sensor 11 in step S1. In step S2, the position of the spring fulcrum is determined from the weight measurement result using the above equation (5), and then the motor 5f is operated in step S3 to determine the position of the spring fulcrum. The data is changed to the determined position, and finally, in step S4, data instructed by the occupant H using the input device 11 (for example, the height and the position of the center of gravity CG are high or low) is input to the data. Based on this, fine-tune the position of the spring fulcrum.

  FIG. 7B is a flowchart showing another example of the operation of the microcomputer 13 of the action position movement control device. In this example, the microcomputer 13 first uses the input device 11 by the passenger H in step S5. In step S2, the position of the spring fulcrum is determined using the above equation (5) based on the data (eg, height and weight of the passenger H). The same processing as in the flowchart of (a) is performed.

  In the boarding object tilting apparatus according to this embodiment, the support member 3 provided on the installation base 1 is configured so that the movable base 2 for mounting the chair S is the chair S and the movable base when the passenger H is present. 2 is supported between the movable base 2 and the installation base 1 so as to be tiltable around two tilting axes PTA and RTA that are orthogonal to each other and pass below the center of gravity position CG in the initial posture of the assembly. The coil spring 4 has a larger tension with respect to the tilt of the movable base 2 around the tilt axes PTA and RTA, and a smaller tension when the length of the coil spring 4 is decreased due to the tilt. By acting on the movable base 2, a reaction force is applied to the movable base 2, and the action position moving mechanism 5 has a reaction force acting position of the coil spring 4 on the movable base 2 and a tilt axis PT corresponding to the coil spring 4. Or distance between the tilt axis RTA moves its operative position so as to change.

  Therefore, according to the boarding object tilting device of this embodiment, when the weight of the passenger H is light (for example, a female passenger) or the center of gravity position CG is low (for example, a child passenger), the action is performed. The position moving mechanism 5 moves the acting position so that the distance between the acting position of the reaction force of the coil spring 4 on the movable base 2 and the tilt axis PTA or the tilt axis RTA is smaller than the normal position, and tilt torque Since the reaction torque against the vehicle is reduced, when the weight of the passenger H is heavy (for example, a male passenger) or when the center of gravity CG is high (for example, an adult or a boy / girl who is older than a senior) Even if the tilting torque is relatively small compared to the above, the reaction force of the coil spring 4 is not relatively excessive, and the chair S is similarly tilted in the same manner. Who H of at differences such as weight and center of gravity position CG obtained the inconvenient difficulty level becomes different haptic game, rider H can is to tilt the chair S a pleasant sensation always fluffy.

  In addition, according to the boarding object tilting device of this embodiment, the action position moving mechanism 5 is linearly moved with the slider 5b driven by the motor 5f controlled by the action position movement control device on the linear guide 5a. Since the mechanism is configured, the reaction position torque can be automatically adjusted by the action position moving mechanism 5 according to the physique of the passenger H and the like.

  Furthermore, according to the boarding object tilting apparatus of this embodiment, the working position moving mechanism 5 determines the working positions of the coil springs 4 existing on both sides of the tilting axis line PTA or the tilting axis line RTA. Since the coupling mechanism is linked to each other via a link mechanism composed of the connecting rod 5c and the interlocking disk 5d, the reaction force becomes uneven when the movable base 2 is balanced by the reaction force of the coil spring 4. Can be prevented.

  Furthermore, according to the boarding object tilting apparatus of this embodiment, since the position sensor 6 for detecting the tilting position of the movable base 2 is provided, the passenger H tilts the chair S of the boarding object tilting apparatus. Thus, an operation signal can be input to, for example, a sensation game machine main body or the like like a joystick.

  Furthermore, according to the boarding object tilting device of this embodiment, since the weight sensor 11 for detecting the weight of the occupant H of the chair S is provided, the action position movement is based on the occupant weight detected by the weight sensor 11. When the control device controls the action position moving mechanism 5 and the passenger weight is lighter than a predetermined reference, the action position moving mechanism 5 acts on the reaction position of the reaction force of the coil spring 4 on the movable base 2 and the tilt axis corresponding thereto. As the distance between the PTA or the tilt axis RTA decreases from the normal position and the occupant's weight is heavier than a predetermined reference, the action position moving mechanism 5 and the action position of the reaction force of the coil spring 4 on the movable base 2 The reaction force torque can be adjusted more accurately and automatically by moving the operation position so that the distance between the tilt axis and the normal axis increases from the normal position.

  FIG. 8 is a plan view showing the configuration of the action position moving mechanism 5 in another embodiment of the boarding object tilting apparatus of the present invention. The boarding object tilting apparatus of this embodiment includes the action position moving mechanism 5. The configuration is the same as that of the previous embodiment except that the motor 5F and the operation position movement control device are not manually operated. Therefore, the same parts as those of the previous embodiment are the same as those of the previous embodiment. This is indicated by a symbol.

  That is, in the boarding object tilting device of this embodiment, the working position moving mechanism 5 is arranged so as to extend along one linear guide 5a, and the screw shaft 5g supported on the movable base 2 so as to be rotatable about its axis. A handle 5h fixed to the outer end of the screw shaft 5g, and a nut (not shown) fixed to the slider 5b fitted to the linear guide 5a and screwed to the screw shaft 5g. On the other hand, the interlocking disk 5d does not have external teeth because it does not require external teeth.

  Even with the boarding object tilting device of this embodiment, when the weight of the passenger H is light (for example, a female passenger) or when the center of gravity position CG is low (for example, a child passenger), the action position moving mechanism By manually operating the handle H of 5, the distance between the position where the reaction force of the coil spring 4 acts on the movable base 2 and the tilt axis PTA or the tilt axis RTA is reduced from the normal position, as in the previous embodiment. Since the reaction torque against the tilting torque can be reduced by moving the action position as described above, when the weight of the passenger H is heavy (for example, a male passenger) or when the center of gravity position CG is high (for example, an adult) And the reaction force of the coil spring 4 will not be excessive even if the tilting torque is relatively small compared to the case of boys and girls of higher grades) The chair S is tilted in the same way by the same operation, and the inconvenience that the difficulty level of the sensation game is different due to the difference in the weight, the center of gravity position CG, etc. of the passenger H can be prevented. The chair S can be tilted with a pleasant feeling that is always fluffy.

  In addition, according to the boarding object tilting apparatus of this embodiment, since the action position moving mechanism 5 is a screw type moving mechanism that rotates the screw shaft with the handle H, the action position moving mechanism 5 can be configured at low cost, and the power source Even in the absence of the reaction force, the reaction force torque can be adjusted according to the physique of the passenger H.

  Although the present invention has been described based on the illustrated example, the present invention is not limited to the above example. For example, the weight sensor may be a pressure-sensitive sensor provided on the seat surface of the chair S, or the chair S and the movable frame. Or a load cell interposed between the two.

  In addition, the boarding object tilting apparatus of the present invention may include an actuator that applies an external force that tilts the movable base, and in this way, the movable base can be used regardless of differences in the weight, center of gravity, etc. of the passenger. Can be balanced in the same manner, and the movable base can be largely tilted with a small output of the actuator.

  The boarding object to which the boarding object tilting device of the present invention is applied may be, for example, an airplane, a motorcycle, a small boat, or the like. However, if the chair S as in the above embodiment is used, many types of vehicles can be used. Can be simulated. In addition, if the boarding object tilting device of the present invention is applied to a boarding object in which the passenger actively moves the center of gravity, the boarding object tilting apparatus can also be applied as a fitness machine or an input device for a physically handicapped person. Can do.

  Furthermore, in the fields of industry and life, if an arbitrary object is mounted on the movable base instead of the boarding object and the passenger in the boarding object tilting apparatus of the present invention, the object (mounting object) has a large mass. Even if you hold the object, it is possible to tilt the object (mounting object) to an arbitrary angle with a small external force.

  Thus, according to the boarding object tilting apparatus of the present invention, when the passenger's weight is light (for example, a female passenger) or the center of gravity is low (for example, a child passenger), the action position moving means is If the operating position is moved so that the distance between the operating position of the reaction force of the elastic member with respect to the movable base and the tilt axis is reduced from the normal position, the reaction torque against the tilting torque is reduced. The tilting torque is relatively small compared to when the passenger is heavy (for example, a male passenger) or when the center of gravity is high (for example, an adult or a boy / girl of an upper grade) However, the reaction force of the elastic member does not become relatively excessive, and the boarding object tilts in the same way with the same movement, and the sensation game is different due to the difference in the weight of the passenger, the position of the center of gravity, etc. Difficulty etc. are different It is possible to prevent the Mau inconvenience.

It is a side view which shows one Example of the boarding target object tilting apparatus of this invention. It is a front view which shows the boarding target object tilting apparatus of the said Example. It is a top view which shows the structure of the action position moving mechanism in the boarding target object tilting apparatus of the said Example. It is a side view which shows the state which the chair tilted ahead in the boarding target object tilting apparatus of the said Example. It is a relationship diagram which shows the relationship between the passenger | crew's mass in the boarding target object tilting apparatus of the said Example, and the distance from a tilting axis to a spring fulcrum. (A), (b) is a block diagram which respectively shows the structural example of the action position movement control apparatus in the boarding target object tilting apparatus of the said Example. (A), (b) is a flowchart which illustrates the operation example of the microcomputer of the said action position movement control apparatus, respectively. It is a top view which shows the structure of the action position moving mechanism in other one Example of the boarding target object tilting apparatus of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Installation base 2 Movable base 2a Base 2b Frame 2c Base 3 Support member 4 Coil spring 5 Action position moving mechanism 5a Linear guide 5b Slider 5c Connecting rod 5d Interlocking disk 5e Drive gear 5f Motor 5g Screw shaft 5h Handle 6 Position sensor 11 Weight sensor 12 Input device 13 Microcomputer
14 Motor driver

Claims (7)

In the boarding object tilting device in which the boarding object tilts according to at least one of the external force and the movement of the passenger, and the elastic member gives a reaction force against the tilting,
A movable base on which the boarding object is mounted;
Around one tilting axis or two orthogonal axes that are provided on the installation base and pass below the position of the center of gravity in the initial posture of the assembly of the boarding object and the movable base in the presence of a passenger A support member that supports the movable base so as to be tiltable;
With respect to the tilting of the movable base around the tilting axis, the tensile force of the plurality of elastic members that are hooked at both ends to the movable base and the installation base and inserted between the two bases is applied to the movable base. An action position moving means for moving the action position;
The operating position moving means is synchronized with each other, and the distance of the latching position of the elastic member with respect to the tilt axis corresponding to the elastic member is the same between the elastic members located on both sides of the tilt axis. only, characterized by the Turkey is moved so as to change a moving direction of the operating position, boarding object tilting device. The movable base is
A base portion that is supported to be tiltable around two tilt axes of a pitch tilt axis and a roll tilt axis via two pivots orthogonal to each other at the upper end of the support member, and a cross shape centering on the base A plurality of frames each having an inner end coupled to a lower portion of the base and a linear guide fixed to the upper surface, and supported on the outer ends of the plurality of frames via the linear guide. The boarding object tilting device according to claim 1, wherein the boarding target tilting device has a planar base. The action position moving means is
The boarding object tilting device according to claim 2, wherein a linear movement mechanism having a slider driven by a motor on the linear guide is configured. The action position moving means is
With the pitch tilt axis or the roll tilt axis interposed therebetween, the operating positions of the elastic members respectively present on both sides of the sandwiched tilt axis are linked to each other via a link mechanism comprising a connecting rod and an interlocking disk. The boarding object tilting device according to claim 2, wherein the boarding target tilting device is provided.   The boarding object tilting device according to any one of claims 1 to 4, further comprising a position sensor that detects a tilting position of the movable base.   The boarding object tilting device according to any one of claims 1 to 5, further comprising passenger weight detection means for detecting a weight of the boarding person.   The boarding object tilting device according to any one of claims 1 to 6, further comprising an actuator that applies an external force for tilting the movable base.

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