JP2000122523A - Electric oscillating device and simulated experience device using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric oscillating device permitting to reduce a dimension of height between a base and an oscillating stand, and a simulated experience device using the electric oscillating device. SOLUTION: In an electric oscillating device 30 which is provided with plural actuators 40 installed between a base 31 and an oscillating stand 32 supporting an oscillated part, and oscillates the oscillated part by selectively extending and contracting each actuator 40, each actuator 40 is comprised of a screw shaft 65 provided with a base end on the oscillating stand 32 via a universal joint 42 and a spiral ball groove 66 formed on the outer circumference, and an electric motor 50 of which the base 51 is mounted on the base 31 via a universal joint 41, and which has also a cylindrical shaft-like rotor 54 which allows the screw shaft 65 to penetrate therethrough and is provided with a spiral ball groove 62 on the inner wall for engaging the ball groove 66 on the screw shaft 65 via balls 68.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric oscillating device and a simulation experience device using the electric oscillating device.

[0002]

2. Description of the Related Art As shown in FIG. 12, a simulating experience device, for example, a driving simulation device, is provided with a tilt and a swing by a swing device 130 disposed on a floor 12 in a building 10. A simulation driving cab 120 and a display device 110 for displaying a virtual field of view are provided.

[0003] The display device 110 is a simulated cab 1
The projector includes a projector 111 attached to the upper part of the building 10 behind the projector 20 and a screen 112 arranged in the building 10 in front of the simulated cab 120 and displaying an image projected from the projector 111.

The simulated driver's cab 120 is, for example, a simulated body of a real vehicle. The simulated cab 120 is provided with a simulated operation device that imitates a real vehicle such as a seat and a steering wheel device. ).

[0005] The swinging device 130 is erected between a base 131 mounted on the floor of the building 10 and a swinging table 132 supporting the simulated cab 120 with both ends swingably supported. Simulated cab 12 having a plurality of actuators 140 mounted thereon and supported on a swing table 132 by selectively extending or contracting each actuator 140.
In addition to imparting various swings to 0, vibration is applied to the simulated cab 120 by a vibration generator (not shown) provided in the simulated cab 120.

The actuator 140 of the rocking device 130
Has, for example, as shown in FIG. 9, a first universal joint 141 attached to a base 131 and a second universal joint 142 attached to a swing table 132.
An extendable portion 144 is provided between the second universal joint 142 and the second universal joint 142.

The expansion / contraction part 144 has a screw shaft 146 whose base end is rotatably supported via a bearing 145 in a casing 143 provided on the first universal joint 141.
A cylindrical sleeve 147 having a base end provided on the second universal joint 142; a spiral ball groove 146a formed on the outer periphery of the screw shaft 146; and a spiral sleeve formed on the inner periphery of the distal end of the sleeve 147. It is formed by a ball screw mechanism including a ball 148 fitted between the ball groove 147a.

A casing 143 provided on the first universal joint 141 mounts and supports a forward / reverse rotatable electric motor 150 having a rotor 151 arranged in parallel with the screw shaft 146.
A transmission mechanism 155 for transmitting the power from the motor to the screw shaft 146 is housed.

The transmission mechanism 155 includes a drive gear 156 attached to a rotor 151 of a transmission motor 150 and a base of a screw shaft 146, as shown in FIG. A driven gear 157 attached to the end, and a reduction gear 158 rotatably supported by the casing 143 by a support device (not shown) and interposed between the drive gear 156 and the driven gear 157.

[0010] By rotating the electric motor 150 forward or backward, the drive gear 156, the reduction gear 158, and the driven gear 1 of the transmission mechanism 155 are rotated.
The screw shaft 146 is decelerated in accordance with the gear specifications via 57 and the screw shaft 146 is driven to rotate forward and reverse, and the ball groove 146a,
147a, sleeve 14 screwed by ball 148
7 is configured to move and expand and contract between a contracted state shown in FIG. 9A and an expanded and contracted state shown in FIG. 9B.

FIG. 10 shows an actuator 140 according to another embodiment. Although the detailed description is omitted by giving the same reference numerals to the parts corresponding to FIG. 9 in FIG. 10, the transmission mechanism 155 is shown by a cross-section taken along the line cc of FIG.
As shown in FIG. 7, a drive sprocket 159 attached to the rotor 151 of the electric motor 150, a driven sprocket 160 attached to the proximal end of the screw shaft 146, and a winding between the drive sprocket 159 and the driven sprocket 160 The cog belt 161 is formed.

Then, by rotating the electric motor 150 forward or backward, the speed is reduced according to the gear specifications of the drive sprocket 159 and the driven sprocket 160 via the drive sprocket 159, the cog belt 161 and the driven sprocket 160 of the transmission mechanism 155. The screw shaft 146 is driven forward and reverse to rotate, and FIG.
It is configured to expand and contract between a contracted state shown in FIG. 10A and an expanded and contracted state shown in FIG.

FIG. 11 shows an actuator 140 according to still another embodiment. Although the detailed description is omitted by giving the same reference numerals to parts corresponding to FIG. 9 in FIG.
The transmission mechanism 151 is eliminated by forming the screw shaft 146 integrally with the transmission shaft 151.

When the electric motor 150 is rotated forward or backward, the screw shaft 146 is driven forward or backward, and the screw shaft 146 is contracted as shown in FIG. 11A and expanded or contracted as shown in FIG. It is configured to expand and contract between.

[0015]

According to the swinging device 130, the plurality of actuators 140 installed between the base 131 and the support 132 are selectively extended or contracted to support the simulated cab. Various swings can be applied to the simulated cab 120 mounted and supported on the table 132.

However, the actuator 1 shown in FIG.
Reference numeral 40 denotes a drive gear 156, a reduction gear 158, a driven gear 157, and a reduction gear 1 between a base end of the screw shaft 146 and the electric motor 150.
A transmission mechanism 155 composed of a support device or the like supporting the casing 58 in the casing 143 is interposed, so that the configuration is complicated, and the transmission mechanism 155 disposed at the base end of the screw shaft 146 is screwed to the screw shaft 146. Due to the limited amount of movement of the sleeve 147, the actuator 140 cannot be sufficiently contracted, and the electric motor 150 is disposed so as to be biased with respect to the screw shaft 146. The tilt angle of 140 is limited, which limits the degree of freedom of design.

As a result, the height dimension h of the swinging device 130 shown in FIG. 12 becomes large and the simulated cab 120 is arranged at a relatively high place.
In order to project the image projected from the projector 111 mounted on the upper part of the camera 0 without being affected by the simulated cab 120 disposed in the simulated cab 120 and the screen 112, the projector 111 needs to be arranged at a high place. Therefore, the size of the building 10 is increased.

On the other hand, in order to reduce the size of the building 10 and dispose the projector 111 at a relatively low place to avoid the influence of the simulated cab 120, a screen 112 on which an image is projected is used.
There is a plan to move the lower end of the screen upward to reduce the size of the screen 112, but the size of the image of the road and surrounding scenery displayed on the screen 112 during virtual running, especially the range in the vertical direction is limited. It becomes difficult to give a sufficient realism to the user in the cab 120.

Further, since the amount of contraction of the actuator 140 is limited, the height of the simulated cab 120 when the height of the simulated cab 120 is lowered to the lowest position is relatively high, and the simulated cab 120 is relatively high. It may hinder the user from getting on and off the vehicle.

Also in the actuator 140 shown in FIG. 10, a transmission mechanism 155 composed of a drive sprocket 159, a driven sprocket 160, a cog belt 161 and the like is interposed between the base end of the screw shaft 146 and the electric motor 150. Therefore, the structure is complicated, and the amount of movement of the sleeve 147 screwed to the screw shaft 146 is limited by the transmission mechanism 155, so that the swing actuator 140 cannot be sufficiently contracted as described above, and the electric motor 150 Is tilted with respect to the screw shaft 146, the tilt angle of the actuator 140 with respect to the base 131 is limited. As a result, there is a problem similar to that of the actuator 140 shown in FIG.

According to the actuator 140 shown in FIG. 11, the transmission mechanism 15 is formed by integrally forming the rotor of the electric motor 150 and the screw shaft 146.
5 is abolished, the structure is simplified, and the base 1
The restriction on the tilt angle of the actuator 140 with respect to the actuator 31 is relaxed.

However, the screw shaft 146 and the first
An electric motor 150 is arranged between the universal joint 141 and
The electric motor is driven by the screw shaft 146
Therefore, the amount of movement of the sleeve 147 screwed into the actuator 140 is limited, and sufficient contraction of the actuator 140 cannot be achieved.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention, which has been made in view of such a point, is to provide an electric oscillating device capable of suppressing the height dimension between the base and the oscillating table by sufficiently contracting the actuator. An object of the present invention is to provide a simulation experience device using the device and the electric swing device.

[0024]

According to a first aspect of the present invention, there is provided an electric oscillating device, wherein a plurality of actuators are provided between a base provided on an installation portion and the oscillating base. An electric oscillating device that selectively expands and contracts each of the actuators and imparts oscillation to the oscillating portion supported by the oscillating table, wherein each of the actuators includes: A screw shaft having a base end provided on one of the rocking tables and a spiral groove formed on the outer periphery, and a base attached to the other of the base and the rocking table via a universal joint; And an electric motor provided with a rotor having a hollow shaft shape that allows penetration of the screw shaft and a helical groove formed on the inner periphery and screwed into the helical groove of the screw shaft.

According to the first aspect of the present invention, each of the actuators installed between the base and the swing base is a screw shaft having a base end provided on one of the base or the swing base via a universal joint. And an electric motor having a hollow shaft that allows the screw shaft to penetrate and has a rotor that is screwed to the screw shaft, while the base is attached to the other of the base and the swing via a universal joint. Therefore, in the contracted state, the screw shaft is penetrated through the rotor of the electric motor, and the height dimension between the base and the swing table can be reduced while securing the swing range.

According to a second aspect of the present invention, in the electric oscillating device according to the first aspect, the spiral grooves formed on the outer periphery of the screw shaft and the inner periphery of the rotor are fitted between the grooves. It is a spiral ball groove that is screwed through a ball.

According to the second aspect of the present invention, the screw is formed by a so-called ball screw mechanism in which the spiral grooves formed on the outer periphery of the screw shaft and the inner periphery of the rotor are formed as spiral ball grooves screwed through balls. By connecting the shaft and the rotor, the relative movement between the screw shaft and the rotor becomes smooth, and the operation of the electric swing device becomes smooth.

According to a third aspect of the present invention, in the electric oscillating device of the first or second aspect, the rotor has a tip protruding from a base of the electric motor and the helical groove formed at the tip. It is characterized by having been done.

According to the third aspect of the present invention, the tip of the rotor protrudes from the base of the electric motor, and a spiral groove is formed at the tip of the rotor protruding from the base, so that the screw shaft of the screw shaft that enters the rotor is formed. The volume can be increased, resulting in an increased stroke of the actuator due to the use of a long screw shaft.

According to a fourth aspect of the present invention, in the electric oscillating device according to the first or second aspect, the rotor includes a hollow rotor main body having a tip protruding from a base of the electric motor; A sleeve formed with a groove and coupled to the rotor body in an assemblable manner.

According to the fourth aspect of the present invention, in addition to the third aspect, the rotor is divided into a rotor main body and a sleeve which is assembled to the rotor main body so as to be assembled, so that each constituent member of the rotor becomes short. It has excellent workability and is easy to manufacture, and since the sleeve can be assembled to the tip of the rotor body protruding from the base of the electric motor, the rotor body and the sleeve can be easily connected. By changing the stroke, the stroke of the actuator can be easily changed without affecting the electric motor main body, and the change of the screw shaft can be easily handled.

According to a fifth aspect of the present invention, in the electric oscillating device according to any one of the first to fourth aspects, a stopper abutting portion formed to have a reduced diameter in the rotor and inserted into the rotor. A stopper provided at a tip of the screw shaft; and a friction coefficient reducing unit provided at the stopper abutting portion or the stopper opposed to the stopper abutting portion. The extension end of the actuator is restricted by abutting through the friction coefficient reducing means.

According to the fifth aspect of the present invention, at the time of extension, the stopper comes into contact with the stopper abutting portion via the friction coefficient reducing means to regulate the extended end position. Is prevented from sticking due to the pressure contact, and the transition to the contracting operation of contracting the actuator by reversely rotating the rotor from the extended end position is performed smoothly.

According to a sixth aspect of the present invention, in the electric oscillating device according to any one of the first to fifth aspects, the electric motor is mounted on a base through a universal joint, and the screw shaft is mounted on the base through a universal joint. It is characterized by being attached to a moving table.

According to the sixth aspect of the present invention, since the electric motor having a relatively large mass is provided on the base through the universal joint, the swing range of the electric motor is suppressed, and the electric motor is caused to swing. The effect on the operation of the electric oscillating device is reduced.

According to a seventh aspect of the present invention, there is provided a simulation experience apparatus using an electric oscillating device, wherein the oscillating device includes a base provided on a floor of a building and a oscillating table for supporting a portion to be oscillated. A plurality of actuators are installed between them, and an electric oscillating device that selectively expands and contracts each actuator to impart sway to the oscillating portion, and a projector that is arranged to face each other across the electric oscillating device And a display device having a screen for projecting an image projected from the projector, wherein each of the actuators has a base end provided on one of the base and the swing base via a universal joint. A base is attached to the other of the base and the swing base via a universal joint and a screw shaft having a spiral groove formed on the outer periphery, and the screw shaft is allowed to penetrate. And having an electric motor having a rotor with a helical groove is formed on and in peripheral empty shafts shaped screwing the spiral groove of the screw shaft.

According to the seventh aspect of the present invention, the height between the base and the rocking table of the electric rocking apparatus can be reduced in the same manner as in the first aspect, and the height can be supported by the rocking table. The height of the oscillated portion is suppressed, and the projection from the projector to the screen becomes easy without increasing the size of the building.

According to an eighth aspect of the present invention, in the simulated experience apparatus using the electric oscillating device according to the seventh aspect, the oscillating portion is a simulated cab that can be entered and exited.

According to the eighth aspect of the present invention, when the oscillating portion is a simulated driving cab that can get on and off, the simulated driving cab is arranged at a low position, and getting on and off the simulated driving cab becomes easy.

According to a ninth aspect of the present invention, in the simulated experience apparatus using the electric oscillating device according to the seventh or eighth aspect, the projector is disposed above the oscillated portion.

According to the ninth aspect of the present invention, the range of projection from the projector to the screen can be expanded due to the fact that the oscillating portion is disposed at a relatively low position, and the use of the simulated experience device is enabled. Can give a sense of realism to
In addition, the height position of the projector can be set relatively low, so that the height of the building can be suppressed and the size of the building can be reduced.

[0042]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) Hereinafter, a first embodiment of an electric oscillating device and a simulation experience device using the electric oscillating device according to the present invention will be described with reference to the drawings using a driving simulation device as an example. I do.

The driving simulation device 1 comprises:
As schematically shown by a two-dot chain line in FIG. 12, a simulated driving cab 20 serving as a swingable part to which a tilt and swing are given by an electric swinging device 30 on a floor surface 12 in a building 10 serving as an installation part. And a display device 70 for displaying a virtual visibility state from the simulated cab 20 is provided.

The simulated cab 20 is, for example, a simulated body of a real vehicle, and has a simulated operation device imitating the real vehicle such as a seat, a steering wheel device, etc., and a user operates a door (not shown). It is configured to be able to open and close to get on and off.

As shown in FIG. 1, the electric oscillating device 30 includes a pair of bases 31 (only one is shown) mounted on the floor of the building 10 and arranged in parallel with each other, and simulates each base 31. A plurality of actuators 40 erected with both ends swingably supported between a swing table 32 supporting the driver's cab 20.
The actuator 40 is selectively extended and contracted repeatedly to impart various swings to the simulated cab 20 mounted and supported on the swing table 32, and is provided in the simulated cab 20. It is configured to apply vibration to the simulated cab 20 by a vibration generator (not shown).

Each actuator 40 of the electric oscillating device 30
Has, for example, as shown in FIG. 1, a first universal joint 41 attached to the base 31 and a second universal joint 42 attached to the swing table 32. As shown in FIG. Between the lowermost position where the rocking table 32 is lowered by contraction and the highest position where the rocking table 32 is raised by extending each actuator 40 as shown in FIG. In accordance with an instruction from the control device based on the virtual traveling characteristic data following the inclination of the vehicle, the oscillating table 32 is oscillated by selectively expanding and contracting the actuators 40 to thereby simulate the cab on the oscillating table 32. It is configured to give swing to 20.

As shown in FIG. 3, the actuator 40 has a first universal joint 41 attached to the base 31 and a second universal joint 42 attached to the swing table 32. A motor 50 is provided.

In the electric motor 50, an end cover 52 of a cylindrical base 51 is attached to the first universal joint 41, and a hollow shaft-shaped rotor 54 that allows a screw shaft 65 described later to pass through the base 51 by a bearing 55. It is a so-called hollow motor rotatably supported, in which a tip of a rotor 54 projects from a base 51 and a rotor 5 is attached to an end cover 52 facing the other end of the rotor 54.
A cylindrical recess 53 is formed coaxially with the end face of the rotor 54 so as to face the end of the rotor 54 and into which a stopper 69 described later can be fitted.

An elastic member, for example, a disk-shaped damper 56 made of rubber and having a through hole formed in the center is fitted into the recess 53, and a limit switch 57 is fitted in the center of the recess 53.
Is provided. Incidentally, 58 is a stator coil, and 59 is a stator core.

A reduced diameter portion 61 having a reduced inner diameter is formed at the tip of the rotor 54 protruding from the base 51, and the inner peripheral surface of the reduced diameter portion 61 is shown in FIG. Thus, a spiral ball groove 62 is formed.

On the other hand, the second universal joint 42 has a screw shaft 65 having a spiral ball groove 66 formed on the outer periphery.
The ball groove 66 and the reduced diameter portion 61 are connected to each other.
The expansion and contraction portion 60 is formed by a ball screw mechanism that is screwed through a ball 68 fitted into a spiral ball groove 62 formed on the inner circumference of the ball.

More specifically, the reduced diameter portion 61 includes a ball groove 62.
A ball return passage (not shown) is formed in a continuous manner. The ball groove 62 and the ball return path form an infinite circulation path for the balls 68, and a number of balls 68 are arranged and accommodated in the infinite circulation path. In such a configuration,
Each ball 68 rolls and circulates under a load on the ball groove 62 of the screw shaft 65 with the rotation of the rotor 54.

Further, the distal end of the screw shaft 65 slides on the inner peripheral surface 54a of the rotor 54 and can contact a stopper contact portion 61a formed at the end of the reduced diameter portion 61. Recess 53 formed in end cover 52
Is provided with a stopper 69 which can be fitted into the.

By rotating the rotor 54 of the electric motor 50 forward or backward, the rotor 54 has a spiral ball groove 62 formed in the rotor 54 and a spiral ball groove 62 formed in the screw shaft 65. The screw shaft 65 is smoothly moved between the contracted state shown in FIG. 3A and the expanded / contracted state shown in FIG. 3B by the ball screw mechanism formed by the ball 68 fitted between the ball groove 66 and the ball screw mechanism. It is configured to expand and contract.

When the swing actuator 40 is contracted to the contracted end position as shown in FIG. 3A, the stopper 69 provided at the tip of the screw shaft 65 contacts the damper 56 fitted in the recess 53. Thus, the contraction end is regulated, and the limit switch 57 is operated.

On the other hand, when the swing actuator 40 is extended to the extension end position, the stopper 69 provided at the tip of the screw shaft 65 comes into contact with the stopper contact portion 61 a formed at the end of the reduced diameter portion 61. It is formed so that the extension end is regulated.

According to the electric oscillating device 30 configured as described above, in the contracted state, the tip of the screw shaft 65 moves in the rotor 54 and the screw shaft 6
Since the stopper 69 provided at the tip of the screw 5 penetrates through the inside of the rotor 54 and reaches the inside of the concave portion 53 formed in the side plate 52, the moving amount of the screw shaft 65, that is, the stroke, can be sufficiently secured. The base 31 is arranged coaxially with the screw shaft 65.
, The tilting range of the swing actuator 40 can be increased.

Further, the provision of the electric motor 50 on the first universal joint 41 fixed to the floor 12 makes it possible to compare the case where the electric motor 50 is provided on the second universal joint 42 provided on the swing table. As a result, the moving range of the electric motor 50 can be reduced as much as possible, and the effect of the mass of the electric motor 50 on the swing of the swing table 32 is reduced.
2 agile swing is secured.

The display device 70 is provided in the simulated cab 20
Projector 7 mounted on top of building 10 at the rear
1 and a screen 72 disposed in the building 10 in front of the simulated cab 20 and displaying an image projected from the projector 71.

Next, the operation of the driving simulation apparatus 1 configured as described above will be described.

Prior to using the driving simulation apparatus 1, each of the rocking actuators 40 of the electric rocking apparatus 30 is contracted to move the rocking table 3 to the lowermost position shown in FIG.
2 is lowered to make the simulated cab 20 stand by at the getting on / off position.

The contraction of each actuator 40 is achieved by rotating the rotor 54 of the electric motor 50 provided in each actuator 40 forward or reverse.
Are a spiral ball groove 62 formed on the rotor 54 and a spiral ball groove 66 formed on the screw shaft 65.
Due to the ball screw mechanism formed by the ball 68 fitted between the two, a contracted state shown in FIG.
The stopper 69 provided at the tip end of the screw shaft 65 comes into contact with the damper 56 fitted in the recess 53 to be restricted to the contracted end, and the limit switch 57 is operated to stop the electric motor 50.

In this way, the user gets into the simulated cab 20 which descends to the lowest position which is the getting on / off position and waits.

After the user has boarded the simulated cab 20, the display device 70 is controlled by an instruction from the control device based on virtual view state data and the like based on a signal accompanying a start operation by an operator in an operation room (not shown). From the projector 71, a virtual field of view such as a road and surrounding scenery during virtual running is projected as a front field of view of the user sitting on the seat of the simulated driving cab 20 on the screen 72.

Then, the user sitting on the seat operates the steering wheel and the like provided in the simulated driving cab 20 while watching the virtual sight state ahead projected on the screen 72.

At the same time, the electric motors 50 of the swing actuators 40 are selectively forward / reverse-controlled in accordance with instructions from the control device based on virtual vehicle running characteristic data such as the inclination and vibration of the vehicle body to extend and retract the respective actuators 40. By repeating the contraction, the rocking table 32 is rocked between the lowermost position shown in FIG. 1 and the highest position, and the simulated cab 20 is rocked in various directions. Vibration is applied to the simulated cab 20 by the generated vibration generator.

Accordingly, the virtual visibility situation such as the road and the surrounding scenery during virtual running is displayed on the screen 72 provided in front of the simulated driving cab 20, and the swing range is sufficiently secured in the simulated driving cab 20. Simulated driver's cab 2
The user riding in the vehicle 0 is given a sense of realism as if he were driving in a real vehicle.

Thereafter, the respective swing actuators 40 are contracted by the electric motors 50 of the respective swing actuators 40 in accordance with instructions from the control device, and the swing table 32 is lowered to the lowest position shown in FIG. 40
Stop the shrinkage and vibration generator. Then, the user riding in the simulated cab 20 gets off the simulated cab 20.

According to the first embodiment configured as described above, the lowest position where the rocking table 32 shown in FIG. 1 is lowered and the highest position where the rocking table 32 shown in FIG. It is possible to set the position.

Therefore, the simulated cab 20 is arranged at a relatively low place, and even if the building 10 is relatively small, the simulated cab 20
Projector 7 mounted on top of building 10 at the rear
The image projected from 1 can be largely projected on the screen 72 without being affected by the simulated cab 20, as shown by the two-dot chain line 71a at the lower edge of the projection range in FIG.
It is possible to give a sufficient realism to a user riding in the simulated cab 20, and the simulated cab when the height of the simulated cab 20 is lowered to the lowest position, in other words, the getting on / off position. Since the height of 20 is relatively low, the user's getting on and off the simulated cab 20 is improved.

(Second Embodiment) Next, referring to FIG.
A second embodiment of the present invention will be described. In FIG. 5, parts corresponding to those in FIG. 3 are given the same reference numerals to omit redundant description, and mainly different parts will be described.

In the present embodiment, the rotor 54 of the electric motor 50 in the first embodiment is connected to a rotor body 81,
By dividing it so that it can be assembled with the sleeve 85, each constituent member is reduced in size and its workability is improved.

The rotor body 81 has a hollow shaft shape as shown in FIG.
Similarly, the rotor 55 is rotatably supported in the base 51 by a bearing 55. The rotor main body 81 has a base end portion 86 of a sleeve 85 coaxial with the axis of the rotor main body 81 as shown in FIG. A cylindrical sleeve fitting portion 82 capable of fitting is formed, and a screw portion 83 is formed continuously with the sleeve fitting portion 82.

On the other hand, the sleeve 85 has a hollow shaft shape as shown in FIG.
1 has a base end portion 86 that can be fitted to the sleeve fitting portion 82, and a screw portion 87 that can be screwed to the screw portion 83 is formed continuously with the base end portion 86, while a tip end is formed. The first
A reduced diameter portion 61 whose inner diameter is reduced is formed similarly to the tip of the rotor 54 in the embodiment, a spiral ball groove 62 is formed on the inner peripheral surface of the reduced diameter portion 61, and the reduced diameter portion 61 is formed. 61
A stopper abutting portion 61a is formed at the end portion of the stopper.

Then, the base end portion 86 of the sleeve 85 is inserted into the sleeve fitting portion 82 of the rotor main body 81, and the screw portions 83 and 87 are screwed together to connect the rotor main body 81 and the sleeve 85. .

Further, as shown in FIG. 5D, a cross section taken along the line aa in FIG. 5C and FIG. 5C, a pair of through holes 88 are formed at the joint between the tip of the rotor main body 81 and the sleeve 85. And a lock pin 89 is inserted into each through hole 88 to prevent relative rotation between the rotor body 81 and the sleeve 85, and a wire 90 is inserted into an insertion hole 89a formed in the head of the lock pin 81. Then, the outer circumferences of the rotor body 81 and the sleeve 85 are wound to prevent the lock pin 89 from coming off.

According to this embodiment, in addition to the effects of the first embodiment, the rotor 54 is divided into a rotor main body 81 and a sleeve 85, so that the rotor 54 is different from the rotor 54 of the first embodiment. In addition, each of the constituent members is shortened, has excellent workability, and is easy to manufacture.

(Third Embodiment) Next, a third embodiment of the present invention will be described with reference to FIGS. FIG.
In FIG. 8 to FIG. 8, parts corresponding to those in FIG. 3 are given the same reference numerals to omit redundant description, and different parts will be mainly described.

FIGS. 6A and 6B are cross-sectional views of main parts showing the contracted state and the elongated body of the actuator 40 according to the present embodiment. FIG. 7 is an exploded cross-sectional view of main parts, and FIG. FIG. 6 is an enlarged sectional view of a portion B of FIG.

In the present embodiment, the rotor 54 of the electric motor 50 in the first embodiment is connected to a rotor main body 91 whose tip projects from the base 51 by screwing to the tip of the rotor main body 91. It is characterized in that the workability is improved by dividing into a possible sleeve 95.

As shown in FIGS. 6 and 7, the rotor main body 91 has a hollow shaft shape that allows the screw shaft 65 to pass therethrough, and is rotatably supported in the base 51 by bearings 55. The tip of 91 is the base 51
From a predetermined amount.

As shown in FIGS. 7 and 8, a distal end fitting portion 92a, a mounting screw portion 92b, a base end fitting portion 92c, and a lock nut screw portion 92d are sequentially provided on the outer periphery of the distal end of the rotor main body 91 as shown in FIGS. These outer diameters are set to be larger in the order of the distal fitting portion 92a, the mounting screw portion 92b, the proximal fitting portion 92c, and the lock nut screw portion 92d. The distance between the mounting portion 92c and the base end fitting portion 92c, that is, the distance between them, is set to be larger than the effective diameter of the mounting screw portion 92b.

Further, on the outer periphery of the rotor main body 91, a key groove 92e formed continuously over the mounting screw portion 92 and the lock nut screw portion 92d is engraved along the axial direction.

On the other hand, the sleeve 95 is hollow as shown in FIGS. 7 and 8, and is formed on the inner periphery of the base portion in the order from the base end to the outer periphery of the tip end of the rotor body 91. A base end fitting portion 96c that can be fitted with the mating portion 92c, a mounting screw portion 92
b and a distal fitting portion 96a that can be fitted to the distal fitting portion 92a, and the distance between the distal fitting portion 96a and the base fitting portion 96c is equal to the mounting screw portion. 96
The key groove 96e is set so as to be larger than the effective diameter of the key groove 92e, and a key groove 96e facing the key groove 92e is engraved from the base end to the mounting screw portion 96b. A mating recess 96f is formed.

At the tip of the sleeve 95, a reduced diameter portion 61 reduced in diameter to a diameter smaller than the inner diameter of the rotor main body 91 is formed, and a spiral ball groove 62 is formed on the inner peripheral surface of the reduced diameter portion 61. 6 (b).
When extended to the extended end position as shown in FIG.
The stopper 69 provided at the tip of the screw shaft 65 on the stopper abutting portion 61a formed at the end of the actuator abuts on the stopper abutting portion 61a via a coefficient of friction reducing means 100 described later, and the extended end of the actuator 40 is regulated. Is done.

Further, a key 98 and a lock nut 99 are provided.
And a key body 98a which can be fitted between the key grooves 92e and 96e formed at each end of the sleeve 95. The key body 98a is bent at the end of the key body 98a and fits into the key fitting recess 96f. It is formed in a substantially L-shape having an engaging portion 98b protruding outward. On the other hand, the lock nut 99 is
Lock nut screw portion 92 formed on rotor main body 91
d, and the lock nut 99 is provided with a lock bolt 99a.

At the tip of the screw shaft 65, a disc-shaped stopper 69 is provided via a stopper supporting portion 65a projecting from the tip, and for example, between the stopper 69 and the screw shaft 65, for example, A friction coefficient reducing means 100 such as a thrust ball bearing, a thrust needle bearing, and a thrust washer is provided to face the stopper contact portion 61a.

The rotor body 91, the sleeve 95, and the screw shaft 65 are connected by attaching a lock nut 99 to the lock nut screw portion 92d of the rotor body 91 in advance, and connecting the screw shaft 65 and the sleeve 95 to each ball. A ball 68 is interposed between the grooves 62 and 66 and screwed to prepare.

Then, the tip of the screw shaft 65 and the stopper 69 and the like provided at the tip are attached to the rotor main body 91.
, The base end of the sleeve 95 is fitted to the outer periphery of the front end of the rotor body 91, and the mounting screw portions 92b and 96
b, and the leading end fitting portions 92a and 96a and the base end fitting portions 92c and 96c are fitted respectively, and the key body 98a of the key 98 is fitted between the opposedly positioned key grooves 92e and 96e. To make the engaging portion 98b the key fitting concave portion 92.
f to regulate the relative rotation between the rotor body 91 and the sleeve 95.

Thereafter, the lock nut 99 is pressed against the engaging portion 98b of the key 98 to prevent the key 98 from coming out, and the lock bolt 99a is screwed in to prevent the lock nut 99 from rotating. Body 91
And the sleeve 95 are integrally fastened.

According to the third embodiment configured as described above, the distal end fitting portions 92a and 96a and the proximal end fitting portions 92c and 96c are fitted to each other on both sides across the mounting screw portions 92b and 96b. Thus, the coupling error caused by the coupling of the mounting screws 92b and 96b to be screwed is eliminated, and the rotor main body 91 and the sleeve 95 can be coupled with high precision.

Further, a tip fitting portion 92a is provided on the outer periphery of the tip of the rotor body 91 projecting from the base 51 of the electric motor 50.
A coupling portion having a mounting screw portion 92b, a proximal-end fitting portion 92c, a lock nut screw portion 92d, and a key groove 92e is formed, and a distal-end fitting portion 96 serving as the other coupling portion in the sleeve 95.
a, mounting screw part 96b, base end fitting part 96c, and key groove 9
6e are formed and screwed together to attach the mounting screw portions 92b and 96b, so that the structure of the connecting portion between the rotor body and the sleeve and the simplification of the connecting and disassembling operation can be simplified as compared with the second embodiment. In particular, the internal processing of the rotor main body 91 becomes unnecessary, and the processing of the rotor main body 91 becomes easy.

Further, since the key 98 is formed in a substantially L-shape and the top end of the engaging portion 98b protrudes to the outer periphery of the sleeve 95, a tool such as a driver is locked to this portion to easily operate the key 98. The rotor body 91 and the sleeve 9 can be removed.
5 improves the efficiency of the disassembly and repair work and the like.

Further, by appropriately changing the sleeve 95, the stroke of the actuator 40 can be easily changed. That is, it is possible to change the stroke to a larger one by using a relatively long sleeve without changing the rotor main body 91, and to set the stroke relatively shorter by changing the sleeve to a relatively short one. Further, it is easy to cope with a change in the diameter of the screw shaft or the pitch of the screw.

Further, when the rotor main body 91 is driven to rotate and is extended to the extended end position, the stopper abuts directly on the stopper 69, as in the first and second embodiments. When the stopper 69 abuts against the stopper 61a with an impact, there is a concern that the stopper 69 may be pressed and fixed to the stopper contact part 61a due to a so-called wedge effect. As a result, there is a possibility that a smooth transition to a reduction operation in which the rotor body 91 is rotated in the reverse direction to reduce the rotation may be hindered. However, in the present embodiment, the stopper 69 and the screw shaft 6
5 means for reducing the coefficient of friction such as a thrust bearing
00, the stopper 69 is brought into contact with the stopper abutting portion 61a via the friction coefficient reducing means 100 such as a thrust bearing.
The fixation of the portion due to the pressure contact with a is prevented.

As a result, the rotor body 91 is moved from the extended end position.
Is smoothly rotated to reversely rotate the actuator 40 for contraction.

The present invention is not limited to the above embodiment, but can be variously modified without departing from the spirit of the invention. For example, in each of the above embodiments, the electric motor 50
Is mounted on the base 31 via the first universal joint 41, and the screw shaft 65 is mounted on the swing table 32 via the first universal joint 42. On the contrary, the electric motor 50 is swung via the universal joint. It is also possible to attach to the base 32 and attach the screw shaft 65 to the base 31 via a universal joint. Also, in the first and second embodiments, the stopper 69 is provided in the same manner as in the third embodiment. Coefficient reducing means 10 between the screw shaft 65 and the tip of the screw shaft 65
0 can be provided, and the electric oscillating device 3
0 has been described as an example in the driving simulation apparatus 1, but can be widely applied to a simulation apparatus such as a training apparatus or a game apparatus for experiencing a simulation of an automobile or an aircraft.

[0098]

According to the electric oscillating device of the present invention described above, a plurality of actuators are installed between the base provided on the installation portion and the oscillating base, and each actuator is selectively expanded and contracted. In an electric oscillating device for imparting a swing to a swingable portion supported by a swing base, each actuator installed between the base and the swing base is connected to a base or a swing through a universal joint. A screw shaft having a base end on one of the bases,
Since the base is attached to the other of the base and the swing through the universal joint, the base is formed by an electric motor having a hollow shaft shape allowing the screw shaft to penetrate and having a rotor screwed to the screw shaft. In the contracted state, the screw shaft is penetrated through the rotor of the electric motor, so that the height dimension between the base and the rocking table can be reduced while securing the rocking range.

According to the simulation apparatus using the electric oscillating device of the present invention, the height between the base and the oscillating base of the electric oscillating device can be reduced, and The height of the supported oscillating portion is suppressed, and the projection from the projector to the screen is facilitated without increasing the size of the building, so that the user of the simulation experience apparatus can feel realistic.

[Brief description of the drawings]

FIG. 1 is a side view of an electric oscillating device illustrating a first embodiment of an electric oscillating device and a simulation experience device using the electric oscillating device according to the present invention.

FIG. 2 is a side view of the electric oscillating device.

FIG. 3 is an explanatory view of an actuator,
(A) is a principal part sectional view showing a contracted state, and (b) is a principal part sectional view showing an extended state.

4 is an enlarged view of a portion A in FIG. 3;

5A and 5B are explanatory views of an actuator for explaining a second embodiment of an electric oscillating device and a simulation experience device using the electric oscillating device according to the present invention, wherein FIG. FIG. 1B is a sectional view of a main part showing a sleeve,
(C) is a sectional view of a main part showing an engaged state of the rotor body and the sleeve, and (d) is a sectional view taken along line aa of (c).

FIG. 6 is an explanatory view of an actuator for explaining a third embodiment of an electric oscillating device and a simulation experience device using the electric oscillating device according to the present invention, wherein (a) is a cross-sectional view of a main part showing a contracted state, (B) is an essential part sectional view showing an extended state.

7 is an exploded cross-sectional view of a main part of FIG.

FIG. 8 is an enlarged sectional view of a portion B in FIG. 6;

9A and 9B are explanatory views of an actuator used in a conventional electric oscillating device, wherein FIG. 9A is a cross-sectional view of a main part showing a contracted state, FIG. 9B is a cross-sectional view of a main part showing an extended state, and FIG. It is a bb line sectional view of (a).

10A and 10B are explanatory views of a conventional actuator, wherein FIG. 10A is a cross-sectional view of a main part showing a contracted state, FIG. 10B is a cross-sectional view of a main part showing an extended state, and FIG. FIG. 4 is a sectional view taken along line -c.

11A and 11B are explanatory views of a conventional actuator, wherein FIG. 11A is a cross-sectional view of a main part showing a contracted state, and FIG. 11B is a cross-sectional view of a main part showing an extended state.

FIG. 12 is a schematic explanatory view of a driving simulation apparatus.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Driving simulation apparatus (simulation experience apparatus) 10 Building 12 Floor 20 Simulated cab (oscillation part) 30 Electric oscillating apparatus 31 Base 32 Swing table 40 Actuator 41 1st universal joint 42 2nd universal joint 50 Electric Motor 51 Base 54 Rotor 61 Reduced diameter portion 61a Stopper contact portion 62 Ball groove (spiral groove) 65 Screw shaft 66 Ball groove (spiral groove) 68 Ball 69 Stopper 70 Display device 71 Projector 72 Screen 81 Rotor main body 85 Sleeve 91 Rotor body 95 Sleeve 100 Friction coefficient reducing means

Claims (9)

[Claims] 1. A plurality of actuators are installed between a base provided on an installation portion and a rocking table, and each of the actuators is selectively expanded and contracted so as to be supported by the rocking table. In the electric oscillating device for imparting oscillating to a part, each of the actuators includes a screw having a base end provided on one of the base and the oscillating base via a universal joint, and a helical groove formed on the outer periphery. A shaft, a base is attached to the other of the base and the swing table via a universal joint, and a hollow shaft that allows the screw shaft to penetrate, and is screwed into a spiral groove of the screw shaft on the inner periphery. An electric motor provided with a rotor having a spiral groove formed therein. 2. The helical groove formed on the outer periphery of the screw shaft and the inner periphery of the rotor is a helical ball groove screwed through a ball fitted between the grooves. The electric oscillating device according to claim 1. 3. The electric oscillating device according to claim 1, wherein a tip of the rotor protrudes from a base of the electric motor, and the spiral groove is formed at the tip. . 4. The rotor comprises: a hollow rotor main body having a tip protruding from a base of the electric motor; and a sleeve formed with the spiral groove and connected to the rotor main body so as to be assembled. The electric oscillating device according to claim 1, further comprising: 5. A stopper contact portion formed in the rotor with a reduced diameter, a stopper provided at a tip of a screw shaft inserted into the rotor, the stopper contact portion or the stopper. A friction coefficient reducing means provided on the stopper opposed to the contact part, wherein the stopper and the stopper contact part are in contact with each other via the friction coefficient reducing means to regulate an extended end of the actuator. The electric oscillating device according to claim 1, wherein: 6. The electric motor according to claim 1, wherein the electric motor is attached to a base via a universal joint, and the screw shaft is attached to the rocking table via a universal joint. Electric rocking device. 7. A plurality of actuators are erected between a base provided on the floor of a building and a rocking table supporting a rocking portion, and each of the actuators is selectively expanded and contracted to perform the rocking. Experience provided with an electric oscillating device for imparting oscillation to a part, a display device having a projector disposed opposite to the electric oscillating device and a screen for displaying an image projected from the projector In the apparatus, each of the actuators may include a screw shaft having a base end provided on one of the base and the swing base via a universal joint, and a spiral groove formed on an outer periphery thereof; A base is attached to the other of the table and the rocking table, and a helical groove is formed in a hollow shaft that allows the screw shaft to penetrate and is screwed into the helical groove of the screw shaft on the inner periphery. A simulation experience device using an electric oscillating device, comprising: an electric motor having a rotor formed. 8. The simulated experience device using the electric oscillating device according to claim 7, wherein the oscillated portion is a simulated cab that can be entered and exited. 9. The simulated experience apparatus using the electric oscillating device according to claim 7, wherein the projector is disposed above the oscillating portion.