CN115770397A - Somatosensory simulator - Google Patents

Abstract

The invention provides a somatosensory simulator, which comprises a substrate; a movable platform, which is arranged on the base plate and is movably connected with the base plate; the first actuator is arranged on the movable platform and movably connected with the movable platform; a base having a base body extending in a length direction and a base extension surface extending in a width direction, wherein the first actuator is movably connected to the base extension surface; a second actuator movably disposed on the base; and a bearing platform movably connected to the second actuator, wherein the first actuator performs a left-right movement of the bearing platform relative to the movable platform, and the second actuator performs a front-back movement of the bearing platform relative to the movable platform, through a connection relationship between the base and the second actuator.

Description

Somatosensory simulator

Technical Field

The invention relates to a somatosensory simulator, in particular to a somatosensory simulator which is simple in structure and can simulate various somatosensory motions.

Background

The general motion sensing simulator enables a user to generate moving motion sensing by controlling the moving position of the seat, and enables the user to experience the situation by matching with visual simulation. The common Steward motion platform is a somatosensory simulation platform. Although the Steward motion platform can simulate various motions, six groups of telescopic rods are required to be matched with each other, so that the control technology is difficult, and the setting cost is higher than that of a common motion sensing platform.

Generally, the existing somatosensory simulator has the following disadvantages:

1. the structure is complicated:

according to current somatosensory simulation techniques, each simulated motion needs to be achieved by multiple actuators. Therefore, the structure of the somatosensory simulator formed by the plurality of actuators is complicated.

2. Insufficient horizontal rotation angle:

taking the steward motion platform with a complex structure as an example, because the horizontal rotation angle simulated by the telescopic rod is fixed, only the motion sensing (yaw) of instantaneous horizontal rotation can be provided, and the angle range of horizontal rotation is limited, the motion sensing effect in the yaw direction is insufficient.

3. The simplified somatosensory simulator has insufficient somatosensory change degree:

in consideration of cost factors, reducing the number of actuators can simplify the structure of the motion sensing simulator, so as to reduce cost and complexity. However, the somatosensory simulator with less actuators can only provide limited somatosensory changes, and cannot simulate real somatosensory changes, so that the somatosensory change degree is insufficient.

Therefore, how to manufacture a motion sensing simulator with a simple structure and high variability is an urgent problem to be solved.

Disclosure of Invention

The invention provides a somatosensory simulator to solve the problems.

In order to achieve the purpose, the invention adopts the technical scheme that:

a somatosensory simulator, comprising:

a substrate;

a movable platform, which is arranged on the base plate and is movably connected with the base plate;

the first actuator is arranged on the movable platform and movably connected with the movable platform;

a base having a base body extending in a length direction and a base extension surface extending in a width direction, wherein the first actuator is movably connected to the base extension surface;

a second actuator movably disposed on the base; and

a bearing platform movably connected to the second actuator, wherein the first actuator performs a left-right movement of the bearing platform relative to the movable platform and the second actuator performs a front-back movement of the bearing platform relative to the movable platform through a connection relationship between the base and the second actuator disposed on the base.

The body feeling simulator further comprises:

a supporting component, set up on this movable platform, connect between this movable platform and this base main part, wherein this supporting component contains:

the first supporting rod is arranged on the movable platform and is provided with one end pivoted to the movable platform and the other end fixedly connected to the base main body; and

and the second supporting rod is arranged on the movable platform and is provided with one end pivoted to the movable platform and the other end fixedly connected to the base main body, wherein the first supporting rod and the second supporting rod are respectively arranged on two opposite sides of the extending surface of the base.

The body feeling simulator, wherein the first actuator comprises:

a base part arranged on the movable platform, wherein one bottom end of the base part is movably connected with the movable platform; and

an extension part, a bottom end of the extension part is connected with a top end of the basic part, and a top end of the extension part is movably connected with the extension surface of the base, wherein the extension part extends or shortens to execute the left and right movement according to the control of the basic part.

The motion sensing simulator is characterized in that the first supporting rod and the second supporting rod are penetrated through by a first rotating shaft at the pivoting position of the movable platform, and when the extending part of the first actuator extends or shortens, the base and the bearing platform perform the left-right motion by taking the first rotating shaft as a reference.

The somatosensory simulator, wherein the second actuator comprises:

a motor for performing a circular motion; and

a conversion component, disposed on the base and movably connected between the motor and the carrying platform, wherein the conversion component includes:

a linear moving member movably connected to the motor for converting the circular motion of the motor into a linear motion along the length direction of the base so as to execute the forward and backward movement of the carrying platform.

The body feeling simulator, wherein, this conversion assembly still contains:

and the pull rod is movably connected with the linear moving piece and the bearing platform and is used for executing the front and back movement of the bearing platform according to the linear movement.

The body feeling simulator, wherein the linear motion member comprises:

a screw rod arranged on the base and connected with the motor; and

and the sliding block is arranged on the screw rod and used for executing the linear motion on the screw rod according to the circular motion of the motor.

The motion sensing simulator is characterized in that the sliding block is movably connected to one end of the pull rod according to a first joint, and one other end of the pull rod is movably connected to the bearing platform according to a second joint, so that when the sliding block performs linear motion on the screw rod, the bearing platform performs the front-back motion by taking a second rotating shaft as a reference.

The body feeling simulator further comprises:

a connecting assembly disposed between the base and the carrying platform, wherein the connecting assembly comprises:

an upper platform fixedly connected below the base;

a lower platform disposed opposite to the upper platform;

the extension piece is fixedly connected between the upper platform and the lower platform;

a rotating component, which is rotatably arranged below the lower platform through a bearing structure to form the second rotating shaft; and

and the connecting piece is arranged between the bearing platform and the rotating assembly and executes rotation by taking the second rotating shaft as a reference.

The motion sensing simulator is characterized in that the movable platform performs rotation by taking a rotating shaft perpendicular to the movable platform as a reference, and a center of the bearing platform is aligned with the rotating shaft of the movable platform.

The body feeling simulator further comprises:

a plurality of stoppers arranged on the movable platform for controlling a movable range of the left and right movement; and

the first buffers are arranged on two sides of the base and used for buffering at least one impact between the base and the stoppers when the first actuator performs the left-right movement.

The body feeling simulator further comprises:

and a plurality of second buffers arranged on the extending surface of the base and used for buffering at least one impact between the extending surface of the base and the bearing platform when the second actuator performs the back-and-forth movement.

The motion sensing simulator is characterized in that the substrate and the movable platform are respectively provided with a combination interface which is aligned with each other, and the movable platform is detachably connected with the first brake and the supporting component through the combination interface.

The motion sensing simulator is characterized in that the movable platform is detachably arranged on the substrate, and when the movable platform is detached, the substrate is detachably connected with the first brake and the supporting assembly through the combined interface.

Compared with the prior art, the invention has the beneficial effects that: the invention can simulate various somatosensory motions. Compared with a common Dou Hua motion platform, the invention has the advantages of simple structure, lower setting cost and easier operation mode. In addition, the plurality of stoppers and the plurality of buffers improve the safety of the motion sensing simulator, so that a user can have more comfortable experience.

Drawings

Fig. 1 is a schematic diagram of a body-sensing simulator according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 3 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 4 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 5 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 6 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 7A, 7B, and 7C are schematic diagrams illustrating a load-bearing platform driven by a link mechanism of a motion simulator according to an embodiment of the invention.

Fig. 8 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 9 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 10 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 11 is a schematic diagram of a body-sensing simulator according to an embodiment of the invention.

Fig. 12 and 13 are a schematic diagram of a substrate of a body-sensing simulator and a schematic diagram of a movable platform, respectively, according to an embodiment of the present invention.

Description of reference numerals: 10. 40, 50, 80, 90, 101, 111-somatosensory simulators; 100-a substrate; 110-a load-bearing platform; 112-front end; 114-back end; 120-a movable platform; 130-a first actuator; 140-a second actuator; 150-a support assembly; 160-a drive assembly; 170. 1020-a rotating wheel; 180-a base; 182-a base body; 184-a base extension surface; 200-basic moiety; 220-an extension; 240-a first axis of rotation; 30-a first joint; 32-a second joint; 310. 910-a motor; 320-a conversion component; 322-a linear motion member; 324-a pull rod; 326-screw rod; 328-a slider; 400-a connection assembly; 402-an extension; 404-a rotation axis; 406-a connector; 408-an upper platform; 410-a lower platform; 420-a second axis of rotation; 500. 920, 1010-blockers; 510-a first buffer; 520-a second buffer; 700-a linkage mechanism; 710-a first link; 720-a second link; 800-a belt drive assembly; 912-gears and belts; 914-a cross bar; 930-a buffer; 1000-reducer motor; 1200-a wheel interface; 1202-caster interface; 1204-reducer combination interface; 1206-a first actuator interface; 1208-support assembly interface.

Detailed Description

Fig. 1, fig. 2 and fig. 3 are schematic diagrams of a body-sensing simulator 10 according to an embodiment of the present invention. In fig. 1, 2, and 3, the X-direction axis, the Y-direction axis, and the Z-direction axis are perpendicular to each other. The somatosensory simulator 10 comprises a substrate 100, a carrying platform 110, a movable platform 120, a first actuator 130, a base 180 and a second actuator 140. The substrate 100 is disposed on a horizontal plane (a plane formed by an X-direction axis and a Z-direction axis) by adjusting the level of the substrate 100 by a plurality of level adjusting members. The movable platform 120 is disposed on the substrate 100 and movably connected to the substrate 100. The carrier platform 110 is disposed above the movable platform 120 and spaced apart from the movable platform 120. The carrier platform 110 includes a carrier disposed on the carrier platform 110. In one embodiment, the carrier is a chair, but not limited thereto. In one embodiment, the platen 110 includes a front end 112 and a back end 114. When a user is riding the carrier, the user faces in the direction of the front end 112 and faces away from the rear end 114. The first actuator 130 (e.g., an electric cylinder) is disposed on the movable platform 120 and movably connected (e.g., pivoted) to the movable platform 120. The base 180 has a base body 182 extending in a length direction and a base extension surface 184 extending in a width direction, wherein the first actuator 130 is movably connected to the base extension surface 184. The second actuator 140 (e.g., a screw slider) is movably disposed on the base 180, and the supporting platform 110 is movably connected to the second actuator 140, wherein the first actuator 130 performs a left-right movement of the supporting platform 110 relative to the movable platform 120 through a connection relationship between the base 180 and the second actuator 140 disposed on the base 180, and the second actuator 140 performs a front-back movement of the supporting platform 110 relative to the movable platform. In one embodiment, the left and right movements of the platform 110 are left tilting, right tilting, left moving and/or right moving, and the front and back movements of the platform 110 are forward tilting, backward tilting, forward moving and/or backward moving, but not limited thereto.

In one embodiment, the somatosensory simulator 10 further comprises a supporting element 150, a driving element 160 and a plurality of wheels 170. The support assembly 150 is disposed on the movable platform 120 and is coupled between the movable platform 120 and the base body 182. The supporting component 150 includes a first supporting rod 152 and a second supporting rod 154. The first support rod 152 is disposed on the movable platform 120, and has one end pivotally connected to the movable platform 120 and the other end fixedly connected to the base main body 182. The second support rod 154 is disposed on the movable platform, and has one end pivotally connected to the movable platform 120 and the other end fixedly connected to the base main body 182. The first support bar 152 and the second support bar 154 are disposed on opposite sides of the base extension surface 184. The driving assembly 160 is disposed on the substrate 100 (e.g., at the center of the substrate 100) and is used for driving a rotation (clockwise rotation or counterclockwise rotation) of the movable platen 120 relative to the substrate 100. The plurality of wheels 170 are disposed on the movable platform 120 for assisting (performing) the rotation of the movable platform 120. The rotation of the movable platform 120 can drive the supporting platform 110, the first actuator 130 and the second actuator 140 disposed thereon to rotate. Therefore, the driving assembly 160 and the plurality of wheels 170 can provide a user's feeling of yaw (yaw) while riding on the carrier. It should be noted that the rotation angle of the movable platform 120 is not limited by the whole structure, and compared with the common history Dou Hua motion platform, it can provide a more real 360-degree rotation body feeling.

In fig. 2, the first actuator 130 includes a base portion 200 and an extension portion 220. The base 200 is disposed on the movable platform 120. A bottom end of the base 200 is movably connected (e.g., pivotally connected) to the movable platform 120. A bottom end of the extension portion 220 is connected to a top end of the base portion 200, and a top end of the extension portion 220 is movably connected to the base extension surface 184. According to a control of the base 200, the extension 220 is extended or shortened to perform the left and right movement of the platform 110. In one embodiment, the first support rod 152 and the second support rod 154 are pivoted to the movable platform 120 by a first rotation shaft 240, and when the extension portion 220 of the first actuator 130 extends or contracts, the base 180 and the supporting platform 110 perform the left-right movement of the supporting platform 110 based on the first rotation shaft 240. For example, when the extension portion 220 extends, the second actuator 140 and the supporting platform 110 move in the X-direction axis and/or the Y-direction axis according to the first rotation axis 240, so that the user sitting on the carrier can move to the left (e.g., tilt to the left and/or move to the left). For example, when the extension portion 220 is shortened, the second actuator 140 and the supporting platform 110 disposed on the base 180 move in the opposite direction of the X-direction axis and/or the Y-direction axis according to the first rotation axis 240, so that the user seated on the carrier can move rightward (e.g., tilt rightward and/or move rightward). Therefore, the left and right movements of the loading platform 110 can provide a rolling (roll) feeling to the user seated on the carrier.

In one embodiment, the first actuator 130 includes a motor and a linkage. The motor is used for controlling the left and right movement of the carrying platform 110. The linkage mechanism is movably connected to the motor and the platform 110. According to the control of the motor, the link mechanism can perform the left and right movement of the supporting platform 110. In other words, the link mechanism can replace the prior art in which another first actuator (e.g., an electric cylinder) is used to control the left and right movements of the supporting platform 110, so as to reduce the complexity of the calculation among the first actuators (e.g., electric cylinders). Please refer to fig. 7A, 7B, and 7C for an embodiment of the link mechanism performing the left-right movement of the supporting platform 110.

In fig. 3, the second actuator 140 includes a motor 310 and a converting element 320. The motor 310 is used for executing a circular motion to control the back and forth movement of the supporting platform 110. The conversion assembly 320 is disposed on the base 300 and movably connected between the motor 310 and the platform 110. The converting element 320 includes a linear moving element 322 and a pull rod 324. The linear motion member 322 is movably connected to the motor 310, and converts the circular motion of the motor 310 into a linear motion along the length direction of the base 300 to perform the back and forth motion of the supporting platform 110. The pull rod 324 is movably (slidably) connected to the linear moving member 322 and the supporting platform 110 for performing the back and forth movement of the supporting platform 110 according to the linear movement.

In one embodiment, the linear motion member 322 includes a screw 326 and a slide 328. The screw 326 is disposed on the base 300 and connected to the motor 310. The slider 328 is provided on the screw 326 for performing the linear motion on the screw 326 according to the circular motion of the motor 310. The pull rod 324 is movably connected (e.g., pivotally connected) to the slide 328 and the platen 110. The second actuator 134 performs the back and forth movement of the load-bearing platform 110 according to the linear movement of the slider 328.

In one embodiment, the slider 328 is movably coupled (e.g., pivotally coupled) to an end of the pull rod 324 according to a first joint 30. In one embodiment, according to a second joint 32, the other end of the pulling rod 324 is movably connected (e.g., pivotally connected) to the supporting platform 110. When the slider 328 performs the linear motion on the screw 326, the loading platform 110 performs the back and forth motion of the loading platform 110 with reference to a second rotation axis. For example, when the slide 328 slides on the screw 326 in the direction of the Z-axis, the platform 110 moves in the direction of the Z-axis and/or the Y-axis according to the first joint 30 and the second joint 32, so that the user sitting on the carrier moves forward (e.g., tilts forward and/or moves forward). For example, when the slide 328 slides on the screw 326 in a direction opposite to the Z-direction axis, the platform 110 moves in a direction opposite to the Z-direction axis and/or the Y-direction axis according to the first joint 30 and the second joint 32, so that the user sitting on the carrier moves backward (e.g., tilts backward and/or moves backward). Thus, the fore-aft movement of the load-bearing platform 110 can provide a feeling of pitch (pitch) or forward-reverse (swing) for a user riding on the carrier.

In one embodiment, the second actuator 140 includes the motor 310 and a belt drive assembly. The belt transmission assembly is movably connected to the motor 310 and the supporting platform 110, and converts the circular motion of the motor 310 into the linear motion to perform the back and forth motion of the supporting platform 110. Referring to fig. 8, an embodiment of the motor 310 and the belt driving assembly performing the back and forth movement of the supporting platform 110 is shown.

Fig. 4 is a schematic diagram of a body-sense simulator 40 according to an embodiment of the present invention. In fig. 4, the X-direction axis, the Y-direction axis, and the Z-direction axis are perpendicular to each other. The motion sensing simulator 40 includes a substrate 100, a supporting platform 110, a movable platform 120, a first actuator 130, a base 180, a second actuator 140, and a connecting element 400. The somatosensory simulator 40 is applicable to the somatosensory simulator 10 of fig. 1. The embodiments of the substrate 100, the supporting platform 110, the movable platform 120, the first actuator 130, the base 180, and the second actuator 140 refer to the embodiments of fig. 1, fig. 2, and fig. 3, which are not repeated herein. The connecting assembly 400 is disposed between the base 180 and the platform 110. The linkage assembly 400 includes an upper platform 408, a lower platform 410, an extension 402, a rotation element 404, and a link 406. The upper platform 408 is fixedly connected to the underside of the base 180. The lower platform 410 is disposed opposite the upper platform 408. The extension 402 is fixedly connected between the upper stage 408 and the lower stage 410. The rotating assembly 404 is rotatably disposed below the lower stage 410 via a bearing structure. The projection of the rotating assembly 404 onto the plane formed by the X-direction axis and the Z-direction axis is fixed relative to the movable platform. That is, when the movable platform 120 performs the rotation to realize the bodily sensation of yaw (yaw), the rotating member 404 also rotates or revolves together. The connecting member 406 is disposed (fixed) between the supporting platform 110 and the rotating assembly 404, and performs a rotation with reference to the second rotating shaft 420. In one embodiment, the movable platen 120 performs a rotation with a rotation axis perpendicular to the movable platen 120 as a reference, and a center of the supporting platen 110 is aligned with the rotation axis of the movable platen 120.

Fig. 5 and 6 are schematic diagrams of a body-sensing simulator 50 according to an embodiment of the invention. In fig. 5 and 6, the X-direction axis, the Y-direction axis, and the Z-direction axis are perpendicular to each other. The motion sensing simulator 50 includes a substrate 100, a supporting platform 110, a movable platform 120, a first actuator 130, a base 180, a second actuator 140, a plurality of stoppers 500 (e.g., fail-stop structures), a plurality of first buffers (buffers) 510, and a plurality of second buffers 520. The somatosensory simulator 50 is applicable to the somatosensory simulator 10 of fig. 1. The embodiments of the substrate 100, the supporting platform 110, the movable platform 120, the first actuator 130, the base 180 and the second actuator 140 refer to the embodiments of fig. 1, fig. 2 and fig. 3, and are not repeated herein.

In fig. 5, the plurality of stoppers 500 are disposed on the movable platform 120 for controlling (limiting) a movable range of the left and right movement of the supporting platform 110. The plurality of first buffers 510 are disposed at both sides of the base 180. When the first actuator 130 performs the left and right movement of the supporting platform 110, the plurality of first buffers 510 buffer at least one impact between the base 180 and the plurality of stoppers 500. For example, when the base 180 and the supporting platform 110 move in the direction of the X-axis, the base 180 will impact the left stopper in fig. 4, and the left first bumper in fig. 5 will buffer an impact between the base 180 and the left stopper, so that the range of movement of the supporting platform 110 to the left is controlled. For example, when the base 180 and the supporting platform 110 move in the opposite direction of the X-axis, the base 180 will impact the right stopper in fig. 5, and the right first bumper in fig. 5 will buffer an impact between the base 180 and the right stopper, so that the range of movement of the supporting platform 110 to the right is controlled. Therefore, the stoppers 500 control the range of motion of the platform 110, so as to improve the safety of the somatosensory simulator 50. The plurality of first bumpers 510 provide a cushioning function, so that a user riding on the carrier has a more comfortable experience.

In fig. 6, the plurality of second bumpers 520 are disposed on the base extension surface 184. When the second actuator 140 performs the back and forth movement of the supporting platform 110, at least one impact between the base extension surface 184 and the supporting platform 110 is buffered. In one embodiment, when the platform 110 moves in the Z-direction, the platform 110 will impact the second actuator 140, and the right second bumper in fig. 6 buffers an impact between the second actuator 140 and the platform 110, so that the forward movement range of the platform 110 is controlled. In one embodiment, when the platform 110 moves in the direction opposite to the Z-direction, the platform 110 will impact the second actuator 140, and the two second left bumpers in fig. 5 buffer the impact between the second actuator 140 and the platform 110, so that the backward movement range of the platform 110 is controlled. Therefore, the plurality of second bumpers 520 provide a cushioning function, so that a user riding on the carrier has a more comfortable experience.

Fig. 7A, 7B, and 7C are schematic diagrams illustrating a bearing platform driven by a link mechanism 700 of a body-sensing simulator according to an embodiment of the invention to move left and right. By lengthening or shortening the linkage 700, the platform 110 can tilt left or right accordingly. For example, when the link mechanism 700 maintains a length (e.g., an original length), the first link 710 and the second link 720 have a first included angle a therebetween, and the supporting platform 110 has no movement of tilting left or right (see fig. 7B). When the platform 110 is to be tilted to the right, a second included angle B smaller than the first included angle a is formed between the first link 710 and the second link 720, and at this time, the link mechanism 700 shortens the length, so that the platform 110 can be driven by the link mechanism 700 to tilt to the right (see fig. 7C). When the supporting platform 110 is to be tilted to the left, a third included angle C larger than the first included angle a is formed between the first link 710 and the second link 720, the link mechanism 700 extends the length, and the supporting platform 110 can be driven by the link mechanism 700 to tilt to the left (as shown in fig. 7A). Therefore, the link mechanism 700 provides a left-right movement for driving the supporting platform 110, instead of controlling the left-right movement of the supporting platform 110 by another first actuator (e.g. an electric cylinder) in the background art, which can reduce the complexity of calculation among a plurality of first actuators (e.g. electric cylinders).

Fig. 8 is a schematic diagram of a body-sense simulator 80 according to an embodiment of the invention. The motion sensing simulator 80 includes a supporting platform 110, a first actuator 130, a motor 310 and a belt transmission assembly 800. In the somatosensory simulator 80, the belt transmission assembly 800 is movably connected to the motor 310 and the supporting platform 110 (e.g. a rotating shaft 810 of the supporting platform 110), and converts the circular motion of the motor 310 into the linear motion to execute the back-and-forth motion of the supporting platform 110. That is, the motor 310 and the belt transmission assembly 800 provide a forward and backward movement for driving the supporting platform 110, which can replace the screw 326 and the slide 328 of the somatosensory simulator 10 in fig. 3 to provide the user with a sense of pitch.

Fig. 9 is a schematic diagram of a body-sense simulator 90 according to an embodiment of the invention. In fig. 9,X, the axis in the direction of X-direction, which is not shown, is perpendicular to the axis in the direction of Y-direction, which is not shown, in the direction of X-direction. The motion sensing simulator 90 includes a substrate 100, a supporting platform 110, a movable platform 120, a first actuator 130, a second actuator 140, a motor 910, a gear and belt 912, a cross bar 914, a plurality of stoppers 920, and a plurality of buffers 930. A line connecting a center (e.g., structural center) of the supporting platform 110 and a center (e.g., rotational center) of the movable platform 120 is perpendicular to the movable platform 120. In other words, the center of the supporting platform 110 is aligned with the center of the movable platform 120, so that the probability of the supporting platform 110 turning over when tilting forward and backward is reduced. The motor 910 is disposed below the platen 110. Compared with the motor 310 of the somatosensory simulator 10, the projection of the motor 910 on the XZ plane does not protrude beyond the maximum circular diameter of the movable platform 120. The gears and belts 912 can be used to drive the motor 910, and the gears and belts 912 can amplify the torque while maintaining the specification of the motor 910 in accordance with the load requirement of the load-bearing platform 110. The crossbar 914 is disposed below the load-bearing platform 110.

In fig. 9, the plurality of stoppers 920 and the plurality of buffers 930 of the somatosensory simulator 90 are used to control (limit) a range of motion of the front-back motion of the platform 110. The stoppers 920 are disposed on the base body 182 and extend upward at both sides of the base extension surface 184, thereby controlling (limiting) a range of motion of the back and forth motion of the supporting platform 110. The plurality of bumpers 930 are disposed on the plurality of stoppers 920 to cushion the impact force. The plurality of buffers 930 may be buffer foam, but is not limited thereto. When a forward tilting angle or a backward tilting angle of the first actuator 130 performing the forward and backward movement of the platen 110 is too large, the cross bar 914 under the platen 110 impacts the plurality of stoppers 920, and the plurality of buffers 930 buffer at least one impact between the cross bar 914 and the plurality of stoppers 920. For example, when the supporting platform 110 moves in the Z-direction (i.e. a backward tilting of the supporting platform 110), the cross bar 914 under the supporting platform 110 will hit the right buffer stopper of the plurality of buffers 930 on the right side stopper of the plurality of stoppers 920 in fig. 9, and the right buffer of the plurality of buffers 930 in fig. 9 will buffer a collision between the cross bar 914 and the right buffer, so that the backward moving range of the supporting platform 110 is controlled and the collision strength is buffered. When the supporting platform 110 moves in the opposite direction of the Z-direction (i.e. a forward tilting of the supporting platform 110), the cross bar 914 under the supporting platform 110 will hit the stoppers on the left side buffers of the left side buffers 930 of the plurality of stoppers 920 in fig. 9, and the left side buffers of the left side buffers 930 of fig. 9 will buffer a collision between the cross bar 914 and the left side stoppers, so that the forward moving range of the supporting platform 110 is controlled and the collision strength is buffered. Therefore, the stoppers 920 and the buffers 930 control a range of motion of the front tilting and the rear tilting of the platform 110, and can also be used as a safety mechanism when the first actuator 130 (e.g. an electric cylinder) fails, so as to avoid the risk of the platform 110 tilting forward or backward without limitation, thereby improving the safety of the motion sensing simulator 90. The plurality of stoppers 920 and the plurality of dampers 930 provide a damping function to allow a more comfortable experience for a user seated on the carrier.

Fig. 10 is a schematic diagram of a body-sense simulator 101 according to an embodiment of the present invention. In FIG. 10, the X-direction axis, the Y-direction axis and the Z-direction axis are perpendicular to each other, and the Z-direction axis is a direction penetrating into the paper surface and is not shown. The motion sensing simulator 101 includes a substrate 100, a supporting platform 110, a movable platform 120, a first actuator 130, a second actuator 140, a reducer motor 1000, a plurality of stoppers 1010, and a plurality of wheels 1020. The reducer motor 1000 is disposed on the substrate 100 and is used for driving the movable platform 120 to rotate relative to the substrate 100. The stoppers 1010 are used to control (limit) a moving range of the left and right movement of the supporting platform 110, and the method of controlling the moving range of the left and right movement of the supporting platform 110 can refer to the descriptions of the stoppers 500 of the somatosensory simulator 50, which are not described herein. The plurality of stoppers 1010 of the somatosensory simulator 101 are different in shape from the plurality of stoppers 500 of the somatosensory simulator 50. The shape of the plurality of stoppers 1010 is designed to be triangular, so as to reduce the possibility of deformation during the impact of the load-bearing platform 110. The plurality of wheels 1020 are disposed between the substrate 100 and the movable platen 120. The plurality of wheels 1020 may be a plurality of rolling wheels, and compared to the plurality of wheels 170 in the motion sensing simulator 10, the rolling wheels may achieve the same supporting force with a smaller volume, so that the distance between the movable platform 120 and the substrate 110 may be effectively reduced, and the overall stability of the motion sensing simulator 50 may be reduced. In the case that the motion sensing simulator 101 drives the movable platform 120 to rotate by the reducer motor 1000, the plurality of wheels 1020 only need to support the movable platform 120 in an auxiliary manner, and do not need to drive the movable platform 120 to rotate.

In one embodiment, the movable platform 120 is detachably disposed on the substrate 100. The base plate 100 and the movable platform 120 each have a coupling interface aligned with each other, and the coupling interfaces can be used to detachably couple with the first stopper 130 and the supporting member 150. That is, since the substrate 100 and the movable platform 120 have respective aligned connection interfaces, the motion sensing simulator can remove the movable platform 120 and the plurality of wheels 170, and then connect the substrate 100 with the first brake 130 and the supporting member 150, thereby providing more flexible use changes according to requirements.

Fig. 11 is a schematic diagram of a body-sensing simulator 111 according to an embodiment of the invention. In FIG. 11, the X-direction axis, the Y-direction axis and the Z-direction axis are perpendicular to each other, and the X-direction axis is a direction penetrating into the paper surface and is not shown. The motion sensing simulator 111 includes a substrate 100, a platform 110, a first actuator 130, a second actuator 140, and a supporting member 150. Since the substrate 100 has a coupling interface aligned with the movable platform 120, the motion sensing simulator 111 can directly mount the first actuator 130 and the supporting member 150 on the substrate 100 even if the movable platform 120 and the plurality of wheels 170 are removed from the motion sensing simulator 111.

Fig. 12 and 13 are schematic diagrams of a substrate 100 and a movable platform 120 of a body-sensing simulator according to an embodiment of the invention. An outer diameter (e.g., 1000 mm) of the substrate 100 is greater than an outer diameter (e.g., 950 mm) of the movable platen 120. The substrate 100 has a plurality of wheel interfaces 1200 for mounting a plurality of wheels, and the movable platform 120 has no wheel interface. The base plate 100 has a plurality of caster interfaces 1202 for mounting a plurality of casters, and the movable platen 120 has no caster interface. The base plate has a reducer coupling interface 1204 for mounting a reducer motor, and the movable platform 120 does not have the reducer coupling interface 1204. The substrate 100 and the movable platen 120 have a first actuator interface 1206 and a support assembly interface 1208 aligned with each other, the first actuator interface 1206 being used to position the first actuator 130, the support assembly interface 1208 being used to position the support assembly 150.

As described above, the present invention provides a somatosensory simulator. One actuator of the somatosensory simulator performs an activity, for example, a first actuator performs a side-to-side activity of the load-bearing platform (a somatosensory motion of flipping), and a second actuator performs a back-and-forth activity of the load-bearing platform (a somatosensory motion of pitching). The invention can simulate various somatosensory motions. Compared with a common history Dou Hua motion platform, the invention has the advantages of simple structure, lower setting cost and easier operation mode. In addition, the plurality of stoppers and the plurality of buffers improve the safety of the motion sensing simulator, and a user can have more comfortable experience.

The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that many modifications, variations, or equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (14)

1. A somatosensory simulator, comprising:

a substrate;

a movable platform, which is arranged on the base plate and is movably connected with the base plate;

the first actuator is arranged on the movable platform and movably connected with the movable platform;

a base having a base body extending in a length direction and a base extension surface extending in a width direction, wherein the first actuator is movably connected to the base extension surface;

a second actuator movably disposed on the base; and

a bearing platform movably connected to the second actuator, wherein the first actuator performs a left-right movement of the bearing platform relative to the movable platform and the second actuator performs a front-back movement of the bearing platform relative to the movable platform through a connection relationship between the base and the second actuator disposed on the base.

2. The somatosensory simulator of claim 1, further comprising:

a supporting component, set up on this movable platform, connect between this movable platform and this base main part, wherein this supporting component contains:

the first supporting rod is arranged on the movable platform and is provided with one end pivoted to the movable platform and the other end fixedly connected to the base main body; and

and the second supporting rod is arranged on the movable platform and is provided with one end pivoted to the movable platform and the other end fixedly connected to the base main body, wherein the first supporting rod and the second supporting rod are respectively arranged on two opposite sides of the extending surface of the base.

3. The somatosensory simulator of claim 2, wherein the first actuator comprises:

a base part arranged on the movable platform, wherein one bottom end of the base part is movably connected with the movable platform; and

an extension part, a bottom end of the extension part is connected with a top end of the basic part, and a top end of the extension part is movably connected with the extension surface of the base, wherein the extension part extends or shortens according to a control of the basic part so as to execute the left and right activities.

4. The somatosensory simulator of claim 3, wherein the first and second support rods are penetrated by a first rotation axis at the pivot joint of the movable platform, and when the extension portion of the first actuator extends or contracts, the base and the supporting platform perform the left-right movement with reference to the first rotation axis.

5. The somatosensory simulator of claim 1, wherein the second actuator comprises:

a motor for performing a circular motion; and

a conversion component, disposed on the base and movably connected between the motor and the carrying platform, wherein the conversion component includes:

a linear moving member movably connected to the motor for converting the circular motion of the motor into a linear motion along the length direction of the base so as to execute the forward and backward movement of the carrying platform.

6. The somatosensory simulator of claim 5, wherein the conversion element further comprises:

and the pull rod is movably connected with the linear moving piece and the bearing platform and is used for executing the front and back movement of the bearing platform according to the linear movement.

7. The somatosensory simulator of claim 5, wherein the linear motion member comprises:

a screw rod arranged on the base and connected with the motor; and

and the sliding block is arranged on the screw rod and used for executing the linear motion on the screw rod according to the circular motion of the motor.

8. The somatosensory simulator of claim 7, wherein the slider is movably coupled to one end of the rod according to a first joint and the other end of the rod is movably coupled to the platform according to a second joint such that the platform performs the back and forth motion with respect to a second axis of rotation when the slider performs the linear motion on the threaded rod.

9. The somatosensory simulator of claim 8, further comprising:

a connecting assembly disposed between the base and the carrying platform, wherein the connecting assembly comprises:

an upper platform fixedly connected below the base;

a lower platform disposed opposite to the upper platform;

the extending piece is fixedly connected between the upper platform and the lower platform;

a rotating component, which is rotatably arranged below the lower platform through a bearing structure to form the second rotating shaft; and

and the connecting piece is arranged between the bearing platform and the rotating assembly and executes rotation by taking the second rotating shaft as a reference.

10. The somatosensory simulator of claim 1, wherein the movable platform performs a rotation about an axis of rotation perpendicular to the movable platform, and a center of the carrier platform is aligned with the axis of rotation of the movable platform.

11. The somatosensory simulator of claim 1, further comprising:

a plurality of stoppers arranged on the movable platform for controlling a movable range of the left and right movement; and

the first buffers are arranged on two sides of the base and used for buffering at least one impact between the base and the stoppers when the first actuator performs the left-right movement.

12. The somatosensory simulator of claim 1, further comprising:

and a plurality of second buffers arranged on the extending surface of the base and used for buffering at least one impact between the extending surface of the base and the bearing platform when the second actuator performs the back-and-forth movement.

13. The somatosensory simulator of claim 12, wherein the substrate and the movable platform each have a coupling interface aligned with each other, the movable platform being detachably coupled to the first actuator and the support member via the coupling interfaces.

14. The somatosensory simulator of claim 13, wherein the movable platform is detachably disposed on the base plate, and when the movable platform is detached, the base plate is detachably connected to the first actuator and the supporting member through the coupling interface.

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