JP6871755B2 - Seat drive - Google Patents

Description

The present invention relates to a seat drive device that swings a seat.

Conventionally, a seat drive device has been used in which the seat is swung to entertain the user sitting on the seat. As a seat driving device for swinging the seat, for example, there is one disclosed in Patent Document 1.

Japanese Unexamined Patent Publication No. 2010-012113

According to the seat drive device disclosed in Patent Document 1, since the ride unit can be oscillated in conjunction with the image, the ride unit can be made into a simulated environment along the story of the image.

However, in the seat drive device disclosed in Patent Document 1, the seat moves on a preset orbit. Therefore, it is necessary to create a pseudo space over the entire space where the orbit is installed, and there is a possibility that the configuration for creating the pseudo space becomes large.

Therefore, in view of the above circumstances, it is an object of the present invention to provide a seat drive device having a simplified configuration.

The seat driving device of the present invention includes a robot capable of moving the hand portion, a seat capable of supporting the user, and a box body surrounding the seat, and responds to the movement of the hand portion when the hand portion is swung. The sheet can be oscillated.

According to the present invention, since the configuration of the seat drive device is simplified, the seat drive device can be miniaturized.

It is a block diagram about the seat drive device which concerns on 1st Embodiment of this invention. It is a block diagram which showed the control part of the robot in the seat drive device of FIG. It is a block diagram of the inside of the box about the state when the box body in the seat drive device of FIG. 1 is swayed. It is a block diagram in the box body of the seat drive device about another embodiment of 1st Embodiment. It is a block diagram in the box body of the seat drive device for still another embodiment of 1st Embodiment. It is a block diagram of the seat drive device which concerns on 2nd Embodiment.

(First Embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 shows an overall configuration diagram of the seat drive device 100 according to the first embodiment of the present invention.

The seat drive device 100 includes a box body 1 and a robot 2.

The box body 1 is provided with a sheet 3 inside, and the sheet 3 is arranged so as to be surrounded by the inside of the box body 1. A door that can be opened and closed (not shown) is attached to the box body 1. The user 10 is configured to be able to enter and exit the inside and the outside of the box 1 through the door. A sheet 3 is arranged inside the box 1, and the sheet 3 is configured to be able to support the user 10. Therefore, the user 10 who has entered the inside of the box 1 can sit on the seat 3. In the present embodiment, only one sheet 3 is installed in the box body 1, but the present invention is not limited to the above embodiment. A plurality of sheets 3 may be installed inside the box body 1.

The box body 1 is configured as a space closed by a wall surface. The box body 1 may be surrounded by a wall formed by a net. It suffices if a closed space is formed inside the box body 1.

The seat 3 is connected to the seat support portion 4, and the seat 3 is supported by the seat support portion 4. The seat support portion 4 is suspended from the hand portion 5 of the robot 2 and connected to the hand portion 5 of the robot 2. In the present embodiment, the seat support portion 4 is fixedly attached to the hand portion 5, but the seat support portion 4 moves relative to the hand portion 5 so that the seat support portion 4 moves with respect to the hand portion 5. It may be attached so that it can be swung.

The seat support portion 4 is connected to the hand portion 5 and extends vertically from the hand portion 5, and is connected to the cylinder portion 41 and is connected to the seat 3 to form an L-shaped connecting portion 42. And have.

An opening 11 is formed in the box body 1. The seat support portion 4 is inserted through the opening 11 so that the seat support portion 4 is inserted into the inside of the box body 1 from the outside of the box body 1 through the opening portion 11, and the box body 1 and the seat support portion 4 are configured. ing. A frame 16 is attached to the box 1 so as to surround the opening 11 of the box 1. In this embodiment, the frame 16 is formed in an annular shape. Further, a through hole 16a that penetrates the frame 16 in the vertical direction is formed around the center in the radial direction of the frame 16. In this embodiment, the frame 16 is made of a relatively strong material.

The opening 11 is formed by being connected to a through hole 16a formed inside the frame 16 in the radial direction. The inside and the outside of the box 1 communicate with each other through the opening 11 of the box 1 and the through hole 16a of the frame 16. The seat support portion 4 is arranged through a through opening 16a formed inside the frame 16 in the radial direction and an opening 11 of the box body 1. Therefore, the seat support portion 4 is arranged inside the frame 16 in the radial direction.

In the present embodiment, the frame 16 is formed in an annular shape, but the frame 16 may have another shape. The frame 16 may have another shape as long as the inside of the frame 16 is provided with a passage through which the seat support portion 4 is passed. That is, the frame 16 does not have to be annular as long as it has a through hole 16a inside and is formed in an annular shape.

An image display unit 12 for displaying an image is attached to the inside of the box 1. The image display unit 12 has a screen at a position facing the user 10, and is configured to be able to project an image on the screen. A speaker unit 13 as a sound generating unit for generating sound is attached to the upper part of the image display unit 12. Sound is emitted by the speaker unit 13.

Inside the box body 1, a wind generating portion for generating wind is provided. In this embodiment, a fan 14 is attached as a wind generating portion.

The inside of the box 1 is provided with a heat generating portion that generates heat. In this embodiment, the heater 15 is attached as a heat generating portion.

Next, the configuration of the robot 2 used in the present embodiment will be described. The robot 2 according to the present embodiment is a 6-axis vertical articulated robot. However, the present invention is not limited to the above, and can be widely applied to a robot provided with an articulated arm regardless of whether it is a horizontal articulated type or a vertical articulated type, and regardless of the number of axes.

The robot 2 includes a base 21, an articulated arm (hereinafter, simply referred to as “arm”) 22 supported by the base 21, and a hand portion 5 attached to the tip of the arm 22. Further, the robot 2 includes a control unit 25 that controls the operation of the arm 22 and the hand unit 5.

The arm 22 is formed by connecting a plurality of links in series. Specifically, the arm 22 has the first link 221 and the second link 222, the third link 223, the fourth link 224, the fifth link 225, and the sixth link 226 from the base end to the tip end. It is connected in this order.

The first link 221 is rotatably connected to the base 21 around a vertical axis via a swivel joint JT1. The base end portion of the second link 222 is connected to the first link 221 via a rotary joint JT2. The tip end of the second link 222 and the base end of the third link 223 are connected via a rotary joint JT3. The rotary joints JT2 and JT3 are joints that connect the links so as to rotate vertically around the horizontal axis. The tip end of the third link 223 and the base end of the fourth link 224 are connected via a twist joint JT4.

The tip end of the fourth link 224 and the base end of the fifth link 225 are connected via a rotary joint JT5. The tip end of the fifth link 225 and the base end of the sixth link 226 are connected via a twist joint JT6.

A mechanical interface 227 is provided at the tip of the sixth link 226. The hand portion 5 is replaceably attached to the mechanical interface 227.

The arm 22 includes a joint drive unit corresponding to each joint JT1 to JT6 (axis). Each joint drive unit includes a servo driver, a servo motor, a rotation angle detector, a speed reducer, and the like. The rotation of the servomotor is servo-controlled by the control unit 25.

Further, the robot 2 includes a control unit 25. The control unit 25 may be provided inside, for example, a dolly (not shown), a base 21, an arm 22, or the like.

A block diagram of the control unit 25 is shown in FIG. As shown in FIG. 2, the control unit 25 includes a calculation unit 25a such as a CPU, a storage unit 25b such as a ROM and a RAM, and a servo control unit 25c. The control unit 25 is a robot controller including a computer such as a microcontroller. The control unit 25 may be composed of a single control unit 25 for centralized control, or may be composed of a plurality of control units 25 for distributed control in cooperation with each other.

Information such as a basic program as a robot controller and various fixed data is stored in the storage unit 25b. The calculation unit 25a controls various operations of the robot 2 by reading and executing software such as a basic program stored in the storage unit 25b. For example, the control unit 25 controls the operation of the arm 22 based on a program stored in advance in the storage unit 25b or an operation input by the operator.

That is, the calculation unit 25a generates a control command for the robot 2 and outputs the control command to the servo control unit 25c. The servo control unit 25c is configured to control the drive of the servo motor corresponding to each joint JT1 to JT6 of the arm 22 based on the control command generated by the calculation unit 25a.

In the present embodiment, the control unit 25 of the robot 2 controls the movement of the arm 22 and the hand unit 5 by controlling the drive of the servomotor, but the present invention is not limited to this. The control unit 25 may control other configurations such as the image display unit 12, the speaker unit 13, the fan 14, the heater 15, and the like inside the box 1 as well as the movement of the arm 22 and the hand unit 5 of the robot 2. That is, the control unit 25 may also control other than the components of the robot 2.

The operation of the seat drive device 100 configured as described above will be described.

The user enters the inside of the box 1 through a door (not shown) and sits on the seat. When the user 10 sits on the seat, a predetermined image is displayed on the image display unit 12 at an appropriate timing. In addition, sound is emitted from the speaker unit 13 in accordance with the image displayed on the image display unit 12. As a result, the user 10 can enjoy the predetermined content via the image display unit 12 and the speaker unit 13.

At this time, as shown in FIG. 3, the sheet 3 is swung at a predetermined timing according to the image displayed on the image display unit 12. At this time, the hand portion 5 of the robot 2 is swayed, and the sway is transmitted to the seat 3 connected to the hand portion 5 via the seat support portion 4, so that the seat 3 is swayed. That is, when the hand portion 5 is oscillated, the seat 3 can be oscillated accordingly. Since the seat 3 is moved according to the image of the image display unit 12, a pseudo environment is created inside the box 1 as if the user 10 sitting on the sheet 3 is in the world in the image. Can be done.

In the present embodiment, since the pseudo environment is created inside the box body 1, the pseudo environment can be stored inside the box body 1. Therefore, the configuration for creating a pseudo environment can be compactly accommodated. In this way, instead of creating a pseudo-environment over the entire large space, it is possible to create a pseudo-environment only inside the box 1 which is a relatively narrow enclosed space. The configuration is simplified. Therefore, the seat drive device 100 can be miniaturized.

In particular, in the present embodiment, the swing from the hand portion 5 is transmitted to the seat 3 via the seat support portion 4 suspended from the hand portion 5 of the robot 2. Therefore, it is the hand portion 5 of the robot 2 that causes the sway. Since the sway of the seat 3 is caused by the sway of the hand portion 5 of the robot 2, it is not necessary to lay a track or the like to cause the sway, and the configuration for creating a simulated environment can be further simplified. Therefore, the seat drive device 100 can be further miniaturized.

Further, the hand unit 5 is configured to be able to move along the horizontal direction and the vertical direction by controlling the position by the control unit 25. The hand portion 5 has few restrictions on movement and has a high degree of freedom of movement. Therefore, when the seat 3 is swayed, there are less restrictions on the swaying as compared with the case where the seat 3 is swayed on the orbit. Since there are few restrictions on the sway, the seat 3 can be swayed by the sway that is more faithfully reproduced according to the actual sway. Further, in the present embodiment, since the swaying pattern is not limited to the swaying by the pattern determined on the orbit, the user 10 cannot predict the swaying pattern. Therefore, the user 10 can be swayed by an unexpected pattern of the user 10, and the user 10 can be further entertained. Therefore, the seat drive device 100 with higher entertainment value can be obtained.

In the present embodiment, the electric fan 14 is attached to the inside of the box body 1. For example, when a scene in which the wind can be felt in the image is flowing, the wind is sent to the user 10 by the electric fan 14 according to the scene. As a result, a pseudo environment closer to the world in the image can be created inside the box 1, and the user 10 can feel more realistic.

In the present embodiment, the heater 15 is attached to the inside of the box body 1. For example, when a scene in which heat can be felt in an image is flowing, heat or warm air is sent to the user 10 by the heater 15 according to the scene. As a result, a pseudo environment closer to the world in the image can be created inside the box 1, and the user 10 can feel more realistic.

Further, other elements may be attached to the box body 1. For example, an odor generator that generates an odor inside the box 1 may be mounted inside the box 1. When the content of the image is a scene where you can feel the odor, by generating the odor from the odor generator according to the scene, the inside of the box 1 is a pseudo environment closer to the world in the image. Can be made.

Further, a droplet generator that generates droplets of water droplets inside the box body 1 may be mounted inside the box body 1. When the content of the image is a scene in which droplets fly toward the user 10, the droplet generator emits droplets toward the user 10 according to the scene, so that the image is further inside the box 1. You can create a pseudo environment close to the world inside.

The seat support portion 4 is arranged inside the through hole 16a formed in the frame 16. Since the seat support portion 4 is configured through the opening 11 formed inside the frame 16, the range in which the seat support portion 4 can move is limited to the inside of the opening 11. Therefore, the frame 16 guarantees that the operating range of the hand portion 5 of the robot 2 is limited to a predetermined range.

In the above embodiment, as shown in FIG. 1, the box body 1 is fixedly installed on the ground. However, the present invention is not limited to this. As shown in FIG. 4, the box body 1 may be installed on a support base 6 that supports the box body 1, and the box body 1 may be movable in the horizontal direction with respect to the support base 6. The rail 6a may be attached to the support base 6, and the box body 1 may be able to move with respect to the support base 6 by sliding the box body 1 along the rail 6a. As a result, the seat 3 is swayed and the box 1 is also swayed. When the sheet 3 is swayed, the box body 1 can also be swayed, so that a pseudo environment closer to the world in the image can be created.

In FIG. 4, the box body 1 is configured to swing in one direction, but the present invention is not limited to this. The box body 1 may be oscillated with respect to the support base 6 in a horizontal plane along a direction intersecting the direction shown in FIG. 4 in addition to the direction shown in FIG. That is, the box body 1 may be oscillated in all directions in the horizontal direction. Further, the box body 1 may swing with respect to the support base 6 along the vertical direction.

Further, in the present embodiment, the image display unit 12 is configured to project an image on the screen, but the present invention is not limited to this. As shown in FIG. 5, the projector 17 as an image display unit may be configured to project on the inner wall surface of the box body 1. Further, a screen for projecting an image by the projector 17 may be arranged inside the box body 1. At this time, the speaker unit 13 does not have to be placed on the projector 17, but may be placed on the back side of the user 10. It may also be placed in another location.

Further, the image display unit does not have to be inside the box body 1. The image may be projected from the outside of the box 1 toward the inside of the box 1. Further, the image may be projected on the outside of the box body 1. Further, the seat drive device 100 may not have an image display unit. Further, the inside of the box 1 may be decorated.

(Second Embodiment)
Next, the seat drive device 100a according to the second embodiment of the present invention will be described. The parts configured in the same manner as in the first embodiment are designated by the same reference numerals in the drawings, and the description thereof will be omitted, and only the different parts will be described.

In the first embodiment, a mode in which the box body 1 is fixedly installed on the ground or the box body 1 is installed on the support base 6 has been described. On the other hand, in the second embodiment, the box body 1a is suspended from the hand portion 5.

FIG. 6 shows a configuration diagram of the seat drive device 100a according to the second embodiment. As shown in FIG. 6, in the second embodiment, the box body 1a is suspended from the hand portion 5 via the box body support portion 31. The sheet 3 is attached to the box body 1a.

Further, the frame constituent members 32 are arranged so as to surround the box body 1a. That is, the frame constituent member 32 is configured so that the box body 1a can be accommodated inside.

An opening 33 is formed in the upper portion of the frame constituent member 32. The box body support portion 31 is inserted through the opening 33 so that the box body support portion 31 is inserted into the frame constituent member 32 through the opening 33 of the frame constituent member 32, and the box body support portion 31 and the frame constituent member 32 is configured. A frame 34 is attached to the peripheral edge of the frame constituent member 32 that surrounds the opening 33. The frame 34 is formed in an annular shape.

In the seat drive device 100a configured in this way, when the hand portion 5 is swung, the hand portion 5 and the box body 1a are connected via the box body support portion 31, so that the box body 1a is swung. Will be done. As described above, the seat driving device 100a is configured so that when the hand portion 5 is swung, the seat 3 can be swung accordingly.

The box body support portion 31 is inserted and arranged inside the opening 33 formed in the frame constituent member 32. Since the box body support portion 31 is configured through the opening 33 formed inside the frame 34, the range in which the box body support portion 31 can move is limited to the inside of the frame 34. Therefore, the frame 34 guarantees that the operating range of the hand unit 5 is limited to a predetermined range.

In the present embodiment, the frame constituent member 32 is configured to surround the box body 1a, but the present invention is not limited to this. The frame 34 may have another configuration as long as the movable range of the box body support portion 31 is limited. For example, the frame constituent member 32 does not have to be configured to surround the box body 1a, and the frame constituent member 32 may be provided only in the upper portion of the box body 1a and the frame 34 may be provided there. .. Further, the frame constituent member 32 may not be arranged. The frame 34 may be provided by another configuration.

Further, the image display unit 35 is arranged and configured inside the box body 1a. Therefore, when the box body 1a is swayed, the image display unit 35 is also swayed. For example, the image displayed on the image display unit can be oscillated as if the aircraft were being operated in the cockpit. Therefore, it is possible to create a pseudo environment inside the box body 1a that is closer to the world in the image.

A control stick 38 is arranged inside the box body 1a. By moving the control stick 38, it is possible to control its own movement in the image displayed on the image display unit 35. As a result, for example, it is possible to create an environment in which a vehicle such as an aircraft is operated in the cockpit.

Further, apart from the image displayed on the image display unit 35, the image display unit 36 is arranged outside the box body 1a. By displaying the background on the image display unit 36 outside the box body 1a, a pseudo environment closer to the world in the image can be created inside the box body 1a.

Further, the user 10 is equipped with an image display unit 37 as a so-called head-mounted display that displays an image on a glasses-type display. By displaying the image on the image display unit 37, the user 10 can create a pseudo environment closer to the world in the image.

As for these image display units 35, 36, 37, any one of these image display units may be used, or all the image display units may be used at the same time. Further, the image display unit may not be used. Further, the image may be projected on the outside of the frame constituent member 32.

(Other embodiments)
In the above embodiment, the seat drive device swings the box body according to the image projected on the image display unit to create a pseudo world according to the world of the image. As a result, the seat drive device is intended to enjoy content as amusement such as movies and games. However, the present invention is not limited to this. The seat drive device of the present invention may be applied to other applications such as a simulator for driving a vehicle and a training device for competition.

When the seat drive device of the present invention is used as a simulator for driving a vehicle, it can be used as a simulator for a vehicle such as a train, a ship, an aircraft, or a robot. The present invention is not limited to the above-mentioned vehicle simulator, and the seat drive device of the present invention may be used as another vehicle simulator.

1 Box 2 Robot 3 Seat 5 Hand

Claims (8)

A robot that can move the hand part and
A sheet that can support the user and
And box body surrounding the sheet,
A seat support portion connected between the hand portion and the seat to support the seat is provided.
An opening is formed in the box body.
The seat support portion is inserted through the opening and arranged.
A seat driving device characterized in that when the hand portion is swung, the seat can be swung accordingly. The seat driving device according to claim 1, wherein the box body is installed on a support base that supports the box body, and the box body is movable with respect to the support base. A frame having a through hole is attached to the box body.
The seat driving device according to claim 1 or 2 , wherein the opening is formed by being connected to the through port of the frame. A robot that can move the hand part and
A sheet that can support the user and
Enclose take the seat, and a box body in which the sheet is attached,
A box body support portion that is connected between the hand portion and the box body to support the box body and suspend the box body from the hand portion.
It is provided with a frame component capable of accommodating the box body.
An opening is formed in the frame constituent member.
The box body support portion is inserted through the opening and arranged.
A seat driving device characterized in that when the hand portion is swung, the seat can be swung accordingly. An image display unit for displaying an image is arranged inside the box body.
The seat driving device according to any one of claims 1 to 4 , wherein the hand unit moves the sheet according to an image displayed on the image display unit. The seat driving device according to any one of claims 1 to 5 , wherein a wind generating portion for generating wind is arranged inside the box body. The seat driving device according to any one of claims 1 to 6, wherein a heat generating portion for generating heat is arranged inside the box body. The seat driving device according to any one of claims 1 to 7 , wherein a sound generating unit for generating sound is arranged inside the box body.

Images