TWI674565B - Multi-axis sport apparatus and synchronous sport system thereof - Google Patents

Abstract

A multi-axis motion device and a synchronous motion system thereof are used to solve problems such as driving difficulties and a small motion range of a conventional motion simulation platform. The system includes: a base, the base has three power elements; three cranks, each of which is connected by an upper arm to the lower arm, the three lower arms are connected one to one to the three power elements; a movable platform, the movable platform has three A mobile unit, the three mobile units are connected one to one with the three upper arms, and a movement module is opposite to the other side of the three mobile units; a first sensing module senses a displacement change of the movement module; a process A unit that calculates a target position of each of the power elements according to the displacement change of the motion module; and a control unit that controls each of the power elements to move to the target position.

Description

Multi-axis motion device and its synchronous motion system

The invention relates to a sports auxiliary equipment, in particular to a multi-axis movement device and a synchronous movement system that combine virtual image and somatosensory synchronization functions.

The Stewart Platform is a conventional motion simulation platform. Six linear actuators are connected to a movable plate and a fixed plate up and down. The length of the six linear actuators is controlled to expand and contract. The movable plate makes movements such as angular tilt, position shift, and flipping relative to the fixed plate to realize various dynamic simulations.

The above-mentioned conventional Stewart platform is limited by the length variation of each of the linear actuators, resulting in a small operating range of the movable plate, and simultaneously controlling the mutual restraint of six linear actuators, requiring a complex system Computing and separately operating multiple power sources, therefore, the use of this Stewart platform is difficult and costly. In addition, there is a singular point in the operating range of the Stewart platform. When the platform is located at the singular point, the structural degrees of freedom change instantaneously and lose control, and the structural rigidity declines and loses its supporting power, which will eventually cause the platform to collapse collapse.

In view of this, the conventional motion simulation platform does still need to be improved.

In order to solve the above problems, an object of the present invention is to provide a multi-axis motion device, The simplified structure achieves the same or even larger operating range.

A secondary object of the present invention is to provide a multi-axis motion device, which can reduce the number of power sources and transmission parts, which can reduce assembly costs and simplify operations.

Another object of the present invention is to provide a synchronous motion system to improve the accuracy of the multi-axis motion device synchronized with the user's motion.

Yet another object of the present invention is to provide a synchronized motion system to increase the immersion of a user during the synchronized motion.

The multi-axis motion device of the present invention comprises: a base having three power elements, the three power elements being dispersedly fixed to the base; three cranks, each of which is connected by an upper arm to a lower arm, and the three lower arms are each The three power elements are connected to one; and the movable platform has three movable units, which are connected to the three upper arms one-to-one, and have a motion module opposite to the other side of the three movable units.

According to this, the multi-axis motion device of the present invention transmits the mechanical energy of the power components to the movable platform through a connecting rod structure composed of three sets of cranks and movable units, and the movable platform can realize a variety of structures with simplified structure and algorithms. Sports mode and increase the range of motion, it has the effect of reducing equipment costs and simplifying assembly and operation.

The power element is a motor. In this way, it has the effect of adjusting the positioning and moving at a specified speed according to the command signal.

Among them, the movable unit is a universal joint. In this way, each of the movable units can be freely turned according to the position of the neighboring movable units, which has the effect of increasing the operating range of the movable platform.

Wherein, the position of each power element and an adjacent power element is a regular polygon. In this way, the three power components can evenly share the weight and have the effect of improving the efficiency of kinetic energy supply.

Wherein, the position of each of the movable units and the adjacent movable units is a regular polygon. In this way, the three mobile units are turned with the same degree of freedom, which has the effect of improving the smoothness of the mobile platform.

The synchronous motion system of the present invention is used for the aforementioned multi-axis motion device, and includes: a first sensing module, which acts on the motion module of the multi-axis motion device, and the first sensing module senses the The displacement of the motion module is changed; a processing unit is coupled to the first sensing module, and the processing unit calculates a target position of each of the power components according to the displacement change of the motion module; and a control unit is coupled and connected The processing unit and the three power elements, and the control unit controls each of the power elements to move to the target position.

The synchronous motion system of the present invention further has a second sensing module that acts on the three movable units and the three cranks of the multi-axis motion device, and the second sensing module measures each of the movable units and each of the cranks. Changes in acceleration and angular momentum. In this way, the second sensing module can monitor the active platform in real time, and has the function of confirming that the active platform operates correctly.

The second sensing module is coupled to the processing unit, and the processing unit calculates and corrects each of the target positions according to changes in acceleration and angular momentum of each of the movable units and each of the cranks. In this way, it has the effect of improving the synchronization accuracy of the active platform.

The control unit has a position feedback element, and the position feedback element calculates the number of revolutions required by the power element to reach the target position. In this way, the control unit can accurately control the position and positioning and movement speed of the three power elements, and has the effect of improving synchronization accuracy.

The synchronous motion system of the present invention further has a virtual reality device that tracks user actions in real time and provides interactive environmental images. In this way, the movement mode of the activity platform is synchronized with the user's vision, and has the effect of increasing the user's immersion.

1‧‧‧ base

11‧‧‧ Power Elements

2‧‧‧ crank

21‧‧‧ upper arm

22‧‧‧ lower arm

3‧‧‧Activity platform

31‧‧‧Activity Unit

32‧‧‧Sports Module

4‧‧‧first sensing module

5‧‧‧Second sensing module

6‧‧‧ processing unit

7‧‧‧control unit

[FIG. 1] A perspective view of a preferred embodiment of the present invention.

[Fig. 2] A top view of a preferred embodiment of the present invention.

[Fig. 3] An operation situation diagram of a preferred embodiment of the present invention.

[FIG. 4] A system block diagram of a preferred embodiment of the present invention.

In order to make the above and other objects, features, and advantages of the present invention more comprehensible, the following describes the preferred embodiments of the present invention in detail with the accompanying drawings as follows: Please refer to FIG. 1, It is a preferred embodiment of the multi-axis motion device of the present invention. It includes a base 1, three cranks 2, and a movable platform 3. Two ends of each of the cranks 2 are movably connected to the base 1 and the movable platform 3, respectively. .

The base 1 is preferably fixed on a stable plane to support the weight of the multi-axis motion device of the present invention and the acceleration change during actuation. The base 1 has three power elements 11 which are dispersedly fixed to the base. 1, and as shown in FIG. 2, the three power elements 11 are preferably arranged on a concentric circle on the base 1 at equal intervals, and the center of the concentric circle is located at the center point of the base 1. The 11 series can efficiently supply kinetic energy and evenly share the weight. Each of the power components 11 can be a motor. The power component 11 can adjust the positioning according to the command signal and move at a specified speed.

Each of the cranks 2 is connected to the lower arm 22 by an upper arm 21, so that the upper arm 21 can swing bidirectionally relative to the lower arm 22. The lower arms 22 of the three cranks 2 are connected to the three power elements 11 one-to-one, so that each of the The power element 11 can drive each of the lower arms 22 to swing in two directions. Among them, the swing range of the upper arm 21 and the lower arm 22 of the same crank 2 is preferably located on the same plane, and the mechanical power supplied by each power element 11 can be passed through the lower The arm 22 is efficiently transmitted to the upper arm 21.

The movable platform 3 is connected to the three upper arms 21 one-to-one by three movable units 31. The three movable units 31 are preferably arranged on a concentric circle on the movable platform 3 at equal intervals, and the center of the concentric circle is located on the movable platform 3. At the center point, each of the movable units 31 may be a universal joint, so that each of the movable units 31 rises or falls with the upper arm 21, and the movable platform 3 is a mechanism that can receive the power element 11 through the three movable units 31 Power, and the movements of the three mobile units 31 are mutually restrained, so that the mobile platform 3 can be used for exercise modes such as up and down (Heave), left and right roll (Roll), and pitching (Pitch). As shown in FIG. 3, the movable platform 3 may further have a motion module 32, which is located on the upper side of the movable platform 3, that is, opposite to the other side of the three movable units 31, the movable module Group 32 can be sports equipment such as flywheels, treadmills, surfboards, rehabilitation machines, etc. When a user operates the exercise module 32, the user and the exercise module 32 can move in synchronization with the activity platform 3.

Please refer to FIG. 4, which is a system block diagram of a preferred embodiment of the synchronous motion system of the present invention. It is used in the aforementioned multi-axis motion device and includes a first sensing module 4 and a second sensing module. Group 5, a processing unit 6 and a control unit 7, the first sensing module 4 acts on the motion module 32, the second sensing module 5 acts on the three movable units 31 and the three cranks 2, The processing unit 6 is coupled to the first sensing module 4, the second sensing module 5 and the control unit 7. The control unit 7 is coupled to the three power elements 11.

The first sensing module 4 can be a position sensor. The first sensing module 4 can detect the change in displacement of the motion module 32 by using ultrasound or laser, and can even capture the motion module. 32 user actions and gestures. The first sensing module 4 may also be a wearable device. By triggering judgment technology such as magnetic induction and contact induction, the sensing accuracy can be improved and the user's immersion can be increased.

The second sensing module 5 can be an accelerometer and a gyroscope. The second sensing module 5 can measure changes in acceleration and angular momentum of each of the movable units 31 and each of the cranks 2 to obtain Know the amount of change in displacement and inclination of the movable platform 3.

The processing unit 6 can determine the actions required by the mobile platform 3 according to the sensing results of the first sensing module 4 to reflect the behavior patterns of the motion module 32 and its users. The processing unit 6 then Take one of the predicted values of the displacement and tilt angle of the movable platform 3 into space kinematics to analyze and calculate a target position for each of the power components 11 to be adjusted. The processing unit 6 can also monitor the changes in displacement and tilt of the movable platform 3 in real time based on the sensing results of the second sensing module 5. When the actual position of the movable platform 3 deviates from the expected value, The processing unit 6 can calculate and correct the target position.

The control unit 7 can receive the target position of each power element 11 by the processing unit 6 and instruct the three power elements 11 to rotate according to the target position. The control unit 7 can also include a position feedback element, such as : Rotary encoder, the distance between the current position of the power element 11 and the target position can be used to calculate the number of revolutions that the power element 11 needs to complete the work. The control unit 7 controls the three power elements by feedback. 11. The system can accurately control the position and speed of the three power elements 11.

The synchronous motion system of the present invention may also have a Virtual Reality (VR) device. With eye tracking technology and virtual images, it can track user actions in real time and provide interactive environmental images to make the activity platform 3 The motion mode is synchronized with the user's vision. The virtual reality device can increase the user's immersion.

To sum up, the multi-axis motion device and its synchronous motion system of the present invention transmit the mechanical energy of the power components to the movable platform through the linkage structure composed of three sets of cranks and movable units, in order to simplify the structure and algorithm The mobile platform can realize a variety of motion modes and increase the range of motion, which has the effects of reducing equipment costs and simplifying assembly and operation.

Although the present invention has been disclosed by using the above-mentioned preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make relative to the above implementation without departing from the spirit and scope of the present invention. Various changes and modifications are still included in the technical scope protected by the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope of the appended patent application.

Claims (10)

A multi-axis motion device includes: a base having three power elements, the three power elements being dispersedly fixed to the base; three cranks, each of which is connected by an upper arm to a lower arm, and the three lower arms are one-to-one And connecting the three power elements; and a movable platform having three movable units, the three movable units are one-to-one connected to the three upper arms, and have a motion module opposite to the other side of the three movable units. The multi-axis motion device according to item 1 of the scope of patent application, wherein the power element is a motor. The multi-axis motion device according to item 1 of the scope of patent application, wherein the movable unit is a universal joint. The multi-axis motion device according to item 1 of the scope of patent application, wherein the three power elements are equally spaced on a concentric circle on the base, and the center of the concentric circle is located at the center point of the base. The multi-axis motion device according to item 1 of the scope of patent application, wherein the three movable units are equally spaced on a concentric circle on the movable platform, and the center of the concentric circle is located at the center point of the movable platform. A synchronous motion system is used for the multi-axis motion device described in any one of claims 1 to 5, and includes: a first sensing module acting on the motion module of the multi-axis motion device The first sensing module senses the displacement change of the motion module; a processing unit is coupled to the first sensing module, and the processing unit calculates the displacement of each of the power components according to the displacement change of the motion module; A target position; and a control unit coupled to the processing unit and the three power elements, the control unit controls each of the The power element moves to the target position. The synchronous motion system described in item 6 of the scope of patent application, further has a second sensing module, which acts on the three movable units and the three cranks of the multi-axis motion device, and the second sensing module measures each The acceleration and angular momentum of the movable unit and each of the cranks change. The synchronous motion system as described in item 7 of the scope of patent application, wherein the second sensing module is coupled to the processing unit, and the processing unit calculates and corrects the acceleration and angular momentum of the active unit and each of the cranks. Each of the target positions. The synchronous motion system described in item 6 of the scope of patent application, wherein the control unit has a position feedback element that calculates the number of revolutions required by the power element to reach the target position. According to the synchronized motion system described in item 6 of the scope of patent application, there is also a virtual reality device that tracks user actions in real time and provides interactive environmental images.