JP2003236254A - Rocking device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To widen a moving range of a rocking table by a large moving range of an actuator. <P>SOLUTION: First, second and third direct-acting actuators connected to a fixed bed move the other end parts of fourth, fifth and sixth direct-acting actuators. The movement relates to the yaw motion mainly in the X-direction and y-direction to the rocking table connected to each one end of the fourth, fifth and sixth direct-acting actuators. By the fourth, fifth and sixth direct-acting actuators connecting the actuators on the fixed bed and the rocking table, the rolling and pitching and Z-direction movement are mainly performed to the rocking table. The motion related to the movement of the first, second and third direct-acting actuators and the motion related to the movement of the fourth, fifth and sixth direct-acting actuators are mainly different so as to prevent interference thereof. Accordingly, the moving range of the rocking table having a combination of moving directions not to cause interference can be enlarged. <P>COPYRIGHT: (C)2003,JPO

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention changes the relative position between a fixed table and a rocking table by expanding and contracting an actuator to be supported, according to the type of a simulator or an amusement apparatus. The present invention relates to an oscillating device that gives an oscillating direction and posture. 2. Description of the Related Art FIG. 2 is a perspective view showing an example of a conventional rocking device. In FIG. 2, reference numeral 201 denotes a fixed base fixed to the floor; 2021 to 2026, six bearings arranged one by one at each vertex of an equilateral triangle virtually formed on the fixed base 201; The lower end is the bearing 202
The linear actuator 204 connected to each of the bases 1 to 2026 is a rocking platform arranged to face the fixed base 201, and 2051 to 2056 are virtual on the surface where the rocking base 204 faces the fixed base 201. There are six bearings arranged one by one at each vertex of the equilateral triangle formed. The first actuator 2031 has a lower end connected to the bearing 2021 and an upper end connected to the bearing 2056. The second actuator 2032 has a lower end connected to the bearing 2022 and an upper end connected to the bearing 2051. The third actuator 2033 includes a bearing 2023 at a lower end and a bearing 20 at an upper end.
52, and sequentially connected to the sixth actuator 2
Reference numeral 036 denotes a bearing 2026 at the lower end and a bearing 205 at the upper end.
Connect to 5. In this way, the upper ends of each of the pair of actuators whose lower ends are connected to the pair of bearings disposed on the fixed base 201 are divided into different pairs of bearings disposed on the rocking base 204 so that the actuators do not intersect. Connected. At this time, each actuator 203
If the lengths 1 to 2036 are equal, the fixing base 20
The triangle formed in 1 and the triangle formed in the shaking table 204 are opposite to each other. By combining the expansion and contraction of the six actuators 2031 to 2036 with such a configuration, the rocking table 204 has six degrees of freedom (X, Y,
(A parallel motion and a rotary motion about the Z axis). [0003] The above-mentioned conventional rocking apparatus has a problem that when the actuators 2031 to 2036 are driven, there is a restriction in moving the rocking table 204 and the rocking table cannot be moved in a large range. I was This is because the relationship between the direction of movement of the six linear actuators 2031 to 2036 and the direction in which the shaking table 204 moves is complicated.
Since the motors 031 to 2036 interfere with each other, there is a problem that the amount of movement (moving distance) of the actuators 2031 to 2036 is very small, and the moving range of the shaking table 204 is small. FIG. 3 (a) shows the same rocking device as that shown in FIG. 2 geometrically, and FIG. 3 (b) shows the same.
FIG. Here, FIG.
To move the rocking table 204 in the direction of the arrow as shown in FIG.
Each of the sets 033 and 2034 is caused to perform a stretching movement, and the actuators 2032 and 2035 are caused to perform a contracting movement. As described above, since the expansion and contraction of the six actuators 2031 to 2036 affect each other in one movement, the movement range of the rocking table 204 is narrowed. [0005] For example, as shown in FIG. 4A, in the conventional rocking apparatus, when the actuator 2032 moves in the yaw direction and the length of the actuator 2032 reaches the maximum of AA ', If the movement in the pitch direction as shown in (b) is performed continuously, it is necessary to extend the actuator 2032 to AA ″ indicated by a broken line, so that the movement in this state is limited. The present invention has been made in view of the above problems, and has as its object to provide a rocking device in which the range of movement of an actuator is large and the range of movement of a rocking table can be widened. In order to solve the above problems, a rocking device according to the present invention includes a fixed base, a rocking base, and six linear motion actuators, and the first, second, and third linear motion actuators have three linear motion directions. Corner Placed on either the fixed base or the rocking base to form the sides of the shape, the fourth, fifth,
One end of each of the sixth linear actuators is connected to one of the rocking tables or the fixed tables different from the table provided with the first, second, and third linear actuators at a vertex of a triangle through a bearing. And the direction in which the first, second, and third linear actuators move linearly and the direction in which the fourth, fifth, and sixth linear actuators move linearly form a right angle. And the other ends of the fourth, fifth, and sixth linear actuators are connected to the first, second, and third linear actuators.
Are connected so as to be rotatable around the linear motion actuator, and are connected so as to move together with the movement of the first, second, and third linear motion actuators in the respective linear motion directions. [0008] The swinging device according to the present invention operates as follows. For example, the first, second, and third linear actuators connected to the fixed base move the other end of the fourth, fifth, and sixth linear actuators. This movement mainly relates to the movement in the X direction, the Y direction, and the yaw with respect to the rocking table connected to one end of the fourth, fifth, and sixth linear motion actuators. For example, the fourth, fifth, and sixth linear motion actuators that connect the actuator on the fixed table and the rocking table perform roll, pitch, and Z-direction movements on the rocking table. Since the movements related to the movements of the first, second and third linear actuators and the fourth, fifth and sixth linear actuators are mainly different, they do not interfere with each other. Therefore,
The range of movement of the rocking table that combines these movement directions that does not cause interference increases. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1A is a perspective view illustrating one embodiment,
FIG. 1B is a diagram illustrating the connection of the actuators. In FIG. 1, 101 is a fixed table, 102 is a shaking table,
Reference numerals 1031, 1032, and 1033 denote first, second, and third linear motion actuators, which are arranged on the fixed base 101 such that the respective linear motion directions form sides of a regular triangle (正 ABC). Numerals 1041, 1042, and 1043 denote bearings, which are arranged so as to be located at respective vertices of a regular triangle (ＣA'B'C ') virtually formed on the shaking table 102, and are provided on the surface of the shaking table 102. It is attached so as to be rotatable around a perpendicular line perpendicular to. Reference numerals 1051, 1052, and 1053 denote fourth, fifth, and sixth linear motion actuators, one ends of which are mounted on the bearings 1041, 1042, and 1043.
2 and the other end is connected to the first, second, and third linear motion actuators 1031,
The movable parts 103a, 103b, 10
3c. At this time, the translation directions of the first, second, and third linear actuators 1031, 1032, and 1033, and the fourth, fifth, and sixth linear actuators 10
The translation directions of 51, 1052 and 1053 are perpendicular to each other. The movable part 103a (, 103b, 1
03c), as shown in FIG. 1 (b), the first (, second,
Third) linear actuator 1031 (1032, 1
033) operates to move in the length direction, and its own movement and the fourth (fifth, sixth) linear actuator 1
051 (, 1052, 1053), the first (second, third) linear actuator 103
1 (, 1032, 1033). FIGS. 5 (a) and 5 (b) are schematic diagrams of a rocking device according to the present invention. FIG. 5A is a plan view, and FIG. 5B is a view seen from the side. In FIG. 5, the origin of the virtual coordinates is set at the center of gravity G of the shaking table 102, the x axis is set in the direction of the position of the third bearing 1043 from the center of gravity G, and the y axis is set from the first bearing 1041 to the second bearing 1042. And the z-axis is taken in a direction perpendicular to the shaking table 102. The movement in the x-axis direction is as shown in FIG.
(B)) The first direct-acting actuator 1031 moves the movable portion 103a in, for example, the C direction, and the second direct-acting actuator 1032 moves the movable portion 103b in, for example, the A direction.
Are moved, and the third linear motion actuator 1033 is moved.
, The fourth and fifth linear actuators 105
1, 1052 is slightly contracted, and the sixth linear actuator 1053 is slightly extended. The movement in the y-axis direction is as shown in FIG.
(B)) The first linear actuator 1031 moves the movable portion 103a in, for example, the B direction, and the second linear actuator 1032 moves the movable portion 103b in, for example, the A direction.
The movable portion 103 is moved by the third linear actuator 1033.
c, for example, in the direction A, the fourth linear actuator 1051 is slightly contracted and then slightly extended again, the fifth linear actuator 1052 is extended, and the sixth linear actuator 1052 is extended.
Does not extend or contract. The movement in the z-axis direction is as shown in FIG.
(B)), first, second and third linear actuators 10
The fourth, fifth and sixth linear actuators 1051, 1052, 1 are not moved by 31, 103, 1033.
Extend 053. The rotation (pitch) about the x-axis is shown in FIG.
(A), (b)), for example, the first and second linear actuators 1031, 1032 move the movable parts 103a, 103.
b is slightly moved in the B direction, the fourth linear actuator 1051 is contracted, the fifth linear actuator 1052 is extended, and the sixth linear actuator is not moved by the third linear actuator 1033. 1053
Do not stretch. The rotation (roll) about the y-axis is shown in FIG.
(A), (b)), for example, the first linear actuator 1
031, the movable portion 103b is slightly moved in the direction A by the second linear actuator 1032, and the movable portion 103b is slightly moved in the A direction. Each of the linear motion actuators 1051 and 1052
Is reduced. The rotation (yaw) about the z-axis is shown in FIG.
(A), (b)), for example, the first linear actuator 1
031, the movable portion 103a is moved in the direction C by the second direct-acting actuator 1032, and the movable portion 103b is moved in the direction B by the second direct-acting actuator 1032.
03c in the direction A, and the fourth, fifth, and sixth linear actuators 1051, 1052, 1053
To each other. After the movement in the yaw direction, FIG.
As shown in (a) and (b), when performing the movement in the pitch direction, similarly to the above-described pitch movement, the first, second, and third linear actuators 1031, 1032, and 1033, and the fourth, Fifth and sixth linear motion actuators 1051, 105
2,1053 are operated. At this time, the fourth, fifth, and sixth linear actuators 1051, 1052, 1053
Are first, second, and third linear motion actuators 1, respectively.
The third, fifth and sixth linear motion actuators 1051 for moving the rocking table 102 in the pitch motion are connected at a right angle to the base table 311, 1032 and 1033 and have a small inclination with respect to the fixed table 101. , 1052,1
The exercise of 053 contributes almost intact. This contribution is
The same applies to the movement in the roll, pitch and Z directions after the movements in the X, Y and yaw directions, so that these movements can be moved over a large range. Each of the first embodiments described above has a first,
Although the linear motion directions of the second and third linear actuators form a regular triangle, the present invention is not limited to this, and any shape that forms a triangle may be used. For example, the linear motion direction of the linear motion actuator may be arranged in an isosceles triangle as shown in FIG. 13 shown as the second embodiment. In the first embodiment, the movable ranges in the X direction and the Y direction are almost the same as described in FIGS.
In the isosceles triangle of FIG. 13A of the second embodiment, when the X and Y directions are determined as shown in the figure, the movable range in the X direction can be larger than the Y direction, and the movable range is anisotropic. Is obtained. In the second embodiment, 141 is a fixed table, 142 is a rocking table, 1431, 1432, and 143.
3 is a first, second, third linear actuator, 143
a, 143b, 143c are movable parts, 1441, 144
2, 1443 are bearings, 1451, 1452, 1453
Denotes fourth, fifth and sixth linear actuators. The movement in the X and Y directions according to the second embodiment will be described below with reference to FIGS. The movement in the X direction is as shown in FIG.
(B)) The first actuator 143 moves the movable portion 143a in the direction C, for example, without moving the second actuator 1432.
3, the movable portion 143c is moved in the direction C, for example, the fourth and sixth linear actuators 1451 and 1453 are slightly extended, and the fifth linear actuator 1452 is extended. The movement in the Y direction is as shown in FIG.
(B)) The first linear actuator 1431 causes the movable part 143a to move in the C direction, for example, and the second linear actuator 1432 causes the movable part 143b to move in the A direction, for example.
The movable portion 143c is moved, for example, in the direction A by the third actuator 1433, the fourth and sixth linear actuators 1451 and 1453 are slightly extended, and the fifth linear actuator 1452 is not expanded or contracted. Regarding the second embodiment, rotation in the Z direction and around the x-axis (pitch), rotation around the y-axis (roll)
And the rotation (yaw) operation about the z-axis is the same as in the first embodiment. As described above, according to the present invention, the first, second, and third linear actuators and the fourth, fifth, and sixth linear actuators are at right angles to each other. And the fourth, fifth, and sixth linear actuators become less inclined with respect to the fixed base with the operation of the first, second, and third linear actuators. In addition, it is possible to obtain a rocking device in which the range of movement of the actuator becomes large and the range of movement of the rocking table can be widened.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view illustrating an embodiment and a view illustrating connection of actuators. FIG. 2 is a perspective view showing an example of a conventional rocking device. FIG. 3 is a schematic view geometrically illustrating a motion of a conventional rocking device. FIG. 4 is a schematic view geometrically illustrating another motion of the conventional rocking device. FIG. 5 is a schematic view of a rocking device according to the present invention. FIG. 6 is a schematic diagram illustrating movement in the x-axis direction. FIG. 7 is a schematic diagram illustrating movement in the y-axis direction. FIG. 8 is a schematic diagram illustrating movement in the z-axis direction. FIG. 9 is a schematic diagram illustrating rotation (pitch) about an x-axis. FIG. 10 is a schematic diagram illustrating rotation (roll) about a y-axis. FIG. 11 is a schematic diagram illustrating rotation (yaw) about the z-axis. FIG. 12 is a schematic diagram illustrating movement in the pitch direction after movement in the yaw direction. FIG. 13 is a schematic diagram illustrating another embodiment. FIG. 14 is a schematic diagram illustrating movement in the x-axis direction according to another embodiment. FIG. 15 is a schematic diagram illustrating movement in the y-axis direction according to another embodiment. [Description of Signs] 101: fixed base, 102: shaking base, 1031, 103
2, 1033: first, second, third linear actuators; 103a, 103b, 103c: movable part, 104
1,1042,1043 ... bearing, 1051,105
2,1053 ... the fourth, fifth, and sixth linear actuators.

Claims (1)

Claims 1. A fixed base, a rocking base, and six linear actuators, wherein the linear directions of first, second, and third linear actuators form triangular sides. So that one end of each of the fourth, fifth, and sixth linear motion actuators is provided with the first, second, and third linear motion actuators. And connected to any one of the rocking table or the fixed table via a bearing so as to be located at the apex of a triangle, and the first, second, and third
The direction in which the linear actuator moves linearly and the direction in which the fourth, fifth, and sixth linear actuators linearly move are arranged at a right angle, and the direction in which the fourth, fifth, and sixth linear actuators move. The other end is rotatably connected with the first, second, and third linear actuators as axes, and the first, second, and third linear actuators move in respective linear directions. A rocking device characterized by being connected so as to move with it.