JPH0359586A - Multi-freedom degree bodily sensation giving motion simulator - Google Patents

Abstract

PURPOSE:To freely obtain arbitrary complicated motions by an external control by adopting a motor-driven direct driving composite eccentric positioning device consisting of combination of composite eccentric rotors driven to rotate by a motor-driven direct driving motor, for a driving part. CONSTITUTION:A permanent magnet 14 and a stator coil 15 are placed on a rotor side and a stator side, respectively so that motor-driven direct driving motors 131 - 134 such as brushless motors are formed in a fitting part of each rotor and an output shaft. Accordingly, an outside eccentric rotor 6, an inside eceentric rotor 7, an output shaft translation rotor 8, and an output shaft 12 are driven to rotate independently by a first motor-driven direct driving motor 131, a second motor-driven direct driving motor 132, a third motor-driven direct driving motor 133, and a fourth motor-driven direct driving motor 134, respective ly. In such a way, to the output shaft 12 of a 4-shaft composite eccentric positioning device 1, a translation movement in a three-dimensional surface, and a motion of four degrees of freedom of a rotation around its shaft can be given by each motor-driven direct driving motor, and positioning of four shafts can be executed arbitrarily.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention provides arbitrary controllable movement with multiple degrees of freedom to the human body, and tests human body functions such as the sense of balance, and trains durability, agility, etc. The present invention relates to a multi-degree-of-freedom motion simulator for medical use or for entertainment that provides motion similar to that of any vehicle and provides an experience similar to that of an actual vehicle.

(Prior art) A running belt device has been used to check human body functions such as the sense of balance, and as a training device for durability, agility, etc., and has been used to check posture and improve muscle strength through walking and running. be.

In addition, balance tests have been conducted using a single-leg Yajiro base style using a static device such as a balance beam or without using any specific device. However, there is no medical sensory-imparting device that tests the body sensitivity of a human being by subjecting him or her to arbitrary complex motions from the outside.

On the other hand, conventional light and convenient entertainment vehicles with characters such as animals and cars used in amusement parks, etc. are specially designed to suit the vehicle (character) and are made up of a combination of a motor and various cams or link mechanisms. A driving mechanism provides a predetermined movement. Their movements are simple and mechanically they can only give specific movements, so it is impossible to change the movement when changing the character. Therefore, it is not possible to provide a variety of complex movements that match the character's image, and the device is still unsatisfactory as an entertainment device that provides a physical experience. In recent years, recreational hydraulic motion simulators that can seat several people have also appeared.
Because it is a combination of hydraulic cylinders, the device is expensive and has the disadvantage that maintenance and inspection are time-consuming. Although the motion simulator can change the motion by changing the stroke and timing of the hydraulic cylinder's operation, the range of change is small and there are problems such as slow response and lack of thrill. have.

(Problems to be Solved by the Invention) As mentioned above, in conventional medical or recreational motion simulators, the motion mechanism is composed of a combination of a motor or hydraulic cylinder and a simple cam or link mechanism. Therefore, even though the speed could be adjusted to some extent, the type of motion was specified by the mechanism, and it was not possible to provide arbitrary motion with multiple degrees of freedom. Therefore, for example, in medical or training applications, it has not been possible to perform a motion simulator with an optimal program by giving arbitrary movements depending on the situation of the patient or trainee. Similarly, recreational vehicles have the disadvantage that they can only move in a fixed manner, and the rider cannot control them to create desired movements, and the movements are simple and lack thrills.

The present invention was devised in view of the above-mentioned circumstances, and an object of the present invention is to provide a thrilling motion simulator that can freely give any complex motion by external control or control by the subject. shall be.

Another purpose is to change the characters of various amusement rides used in amusement parks and the like.

To provide a motion simulator that has commonality in the motion mechanism and a ROM containing the character's motion program, can be controlled by a computer, and can easily give motions that match the character's image. be.

(Means for solving the problem) The multi-degree-of-freedom sensation-giving motion simulator of the present invention has the following features:
By adopting an electric direct drive compound eccentric positioning device consisting of a combination of compound eccentric rotors rotationally driven by an electric direct drive motor as a driving part, a complex movement with three or more degrees of freedom that can be arbitrarily controlled is given to the pedestal. It has achieved the above purpose and has the following configuration.

The pedestal is supported on the machine base via an electric direct drive compound eccentric positioning device that can be driven and controlled with three degrees of freedom that allows for translational movement within a two-dimensional plane and vertical movement within the two-dimensional plane; The pedestal can be given movement with at least three degrees of freedom.

In addition, the pedestal is driven by an electric motor that can be controlled to have four degrees of freedom: translational movement within a two-dimensional plane, movement perpendicular to the two-dimensional plane, and rotation around an axis perpendicular to the two-dimensional plane. It is supported on the machine pedestal via a direct drive compound eccentric positioning device, allowing movement of at least four degrees of freedom to said pedestal.

Furthermore, one end of the pedestal is attached to a swinging frame installed on the machine base so as to be able to swing around one axis in the horizontal plane, with three degrees of freedom: translational movement within a two-dimensional plane and movement perpendicular to the two-dimensional plane. The other end of the pedestal is supported via the output shaft of an electric direct drive composite eccentric positioning device that can be driven and controlled, and the other end of the pedestal is attached to the top of a swinging link that is swingably erected on the swinging frame. The handle frame is rotatably supported at the base end of the handle frame, which is swingably mounted, so that the base can be given at least four degrees of freedom of movement.

As another method, among the four links, one end of which is pivotably attached to the front, rear, left and right positions of the machine base, one pair of links in the left and right front and rear directions are installed vertically on the machine base. left and right l
The output shaft, which is supported by the last-stage eccentric rotor of the pair of electric direct-drive compound eccentric positioning devices via a swivel bearing, is made to intersect by passing through the collars rotatably provided at both ends of the output shaft. The pedestal is supported by four links by pivotally connecting the tops of either the rear or front pair of links to the pedestal, and the top of the other link being pivotally connected to a slider that slides in the front-rear direction at the bottom of the pedestal. The motion seat is rotatably supported by the base, and the motion seat can be given at least four degrees of freedom of movement.

(Function) In the following description, the front-rear direction of each motion simulator will be referred to as the λ-axis direction, the left-right direction as the Y-axis direction, and the up-down direction as the Z-axis direction.

The electric direct drive compound eccentric positioning device as an electric device adopted in the present invention rotates the eccentric rotor in multiple stages, so that the output shaft has a radius that is the sum of the eccentric amounts of the respective eccentric rotations. It can be moved to any position within a circle on a plane, and it can also be rotated around its axis, allowing three degrees of freedom of movement to be given to the output shaft. Further, according to the structure of claim 2.3, the output shaft can be translated in the axial direction, and
Four-axis drive is possible, including translational movement in the axial direction and rotational movement around the output axis. In addition, since the translational movement within the two-dimensional plane of the output shaft and the rotation around the output shaft are performed directly by the rotation of the electric direct drive motor, high-speed and precise movement is possible, and the rotation of the conventional motor is replaced by linear movement. It has a particularly good response compared to a link mechanism that converts into a 3D model, and can provide a thrilling movement. Furthermore, since the rotation angle of the motor is directly converted to the position of the output shaft, any position can be given by controlling the rotation angle of the motor, and it can be controlled arbitrarily by a program without changing the mechanism. .

Therefore, according to the configuration of claim 1, it is possible to give the pedestal any complex motion of two-axis translational motion in X-Y and rotation around the Z-axis. According to the structure of claim 2, the pedestal has x-y
- It is possible to provide any complex motion of three-axis translational motion of Z and rotation around the Z-axis. According to the structure of claim 3, the x-y-
By applying the 3-axis translational motion of z, combined with the rocking of the rocking frame, it is possible to give the motion seat installed on the pedestal back and forth movement, pitching, and rolling, allowing the forward movement of a motorcycle, etc. You can get a simulated driving experience similar to the real thing, such as acceleration, cornering, and stopping. Furthermore, according to the configuration of claim 4, the intersecting links can be electrically driven by the electric direct drive compound eccentric positioning device, and the motion seat on the pedestal can be rotated by a single electric direct drive motor, The motion seat can be given vertical movement, pitching, and rolling.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIGS. 1 and 2 show an embodiment of a motion simulator for medical or recreational use in which a base is horizontally supported by an electric direct drive compound eccentric positioning device having four degrees of freedom.

In the figure, 1 is an electric direct drive compound eccentric positioning device,
2 is a pedestal fixed to the output shaft 12;
Handrails 3 and motion seats such as seats shaped like characters such as vehicles and animals are installed as appropriate so that people can ride on the seats. Details of the electric direct drive compound eccentric positioner 1 are shown in FIG. In Figure 2,
5 is a stator frame that also serves as a fixed frame; 6 is an outer eccentric rotor rotatably supported by the stator frame;
Reference numeral 7 denotes an inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor. Further, 8 is an output shaft translation rotor that is supported at an eccentric position of the inner eccentric rotor, and 9 is screwed to the output shaft translation rotor 8 so as to be movable in the axial direction, and its lower part slides without rotating on the inner eccentric rotor. A flange 1 which is fitted through an appropriate sliding means 17, which has a ball screw 10 formed on its upper outer periphery, is hollow inside, and bears the thrust load of the output shaft at the upper part.
1 is an output shaft translation rod formed. 12 is an output shaft rotatably supported by the output shaft translation rod.

A permanent magnet 14 is placed on the rotor side and a stator coil 15 is placed on the stator side at the fitting portion of each rotor and output shaft to form electric direct drive motors 131 to 134 such as brushless motors. .

Therefore, the first electric direct drive motor 13□ drives the outer eccentric rotor 6, the second electric direct drive motor 13□ drives the inner eccentric rotor 7, and the third electric direct drive motor 13
．． Accordingly, the output shaft translation rotor 8 and the output shaft 12 are independently rotationally driven by the fourth electric direct movement motor 134.

With the above configuration, the output shaft 12 can be moved to any position within a circle on a two-dimensional plane whose radius is the sum of the respective eccentric amounts due to the rotation of the outer eccentric rotor 6 and the inner eccentric rotor. can be moved to Further, when the output shaft translation rotor 8 rotates, the output shaft translation rod 9, which is fitted between the inner eccentric rotor 7 through the anti-rotation slide means, is translated in the axial direction by the ball screw mechanism, and the output shaft 12 can be moved to any position along its axis. Further, the output shaft 12 can be rotated by a fourth electric direct movement motor 134 at an arbitrary angle. Therefore, the 4-axis compound eccentric positioning device 1
The output shaft 12 of the output shaft 12 can be provided with four degrees of freedom of translation in a three-dimensional plane and rotation around that axis by each electric direct drive motor, and can be arbitrarily positioned along the four axes.

Therefore, as shown in FIG. 1, when a pedestal is fixed to the output shaft of the electric direct drive compound eccentric positioning device 1, it is possible to give one pedestal movement in four axes. In particular, with this device, the vertical movement is provided by a ball screw mechanism, so it is relatively slow, but the two-dimensional surface movement and rotational movement are provided by an electric direct drive motor, so the response is quick and it is also possible to stop or move suddenly. It is. Further, it is possible to rotate, move a two-dimensional surface, and move up and down at the same time, and complex movements can be created by combining these movements. Moreover, since all driving forces are combinations of direct drive motors, arbitrary motion can be obtained by changing the rotation angle of the motors simply by changing the motor control program. Therefore, when applying this device for medical purposes, by attaching measuring instruments to a person on a pedestal and giving them arbitrary complex movements depending on the condition, reactions to complex movements can be sequentially measured from the outside. 5. Effective in diagnosing human body functions.

3 and 4 show another embodiment of the present invention, in this embodiment a recreational motorcycle with 4 degrees of freedom using a 3-axis electric direct adjustment compound eccentric position; d-determining device vertically. It constitutes a motion simulator that gives you the experience of simulated maneuvering.

The electric direct drive compound eccentric positioning device 20 is vertically supported by a swing frame 22 rotatably supported by a machine base 21, and a base 25 is connected to an output shaft 23 having a ball screw mechanism. The pedestal 25 is a part where the motion seat 35 is installed via the seat fixture 36, and the vertical frames 26 and 26□ on both sides are connected by a ball screw which is the output shaft 23 of the electric direct drive compound eccentric positioning device 20. The front portion is connected by a linear guide 27 that is slidably fitted to a joint portion 29 of a handle frame 28. The handle frame 28 includes a handle 32 having a joint portion 29 swingably connected to a swing link 30 which is vertically swingably provided on the swing frame 22, and a handle 32 having a grip 37 with a screen control sensor. It is rotatably supported via a handle sensor 31 that detects its rotation angle.

In addition, in the figure, 38.38□ is a rolling spring provided between the rolling spring adjuster 402.402 and the swinging frame, which is adjustable on the machine base. is machine 2
1 and the pedestal 25.

It is a vertically balanced compression spring that helps maintain a fixed position and handle high loads when no electricity is applied. Further, 39□ and 392 are rolling stoppers, and 41 is a control box.

As shown in FIG. 3, the above-mentioned device is appropriately covered to form a cockpit 42, and a wide-angle display 43 as a visual simulation device is placed in the front.

Next, the operation of the motorcycle simulating control device configured as described above will be explained.

First, when the user gets into the cockpit 42 and inserts the key, the screen starts up and at the same time, the positioning device 20 works and the output shaft 23 supporting the pedestal 25 moves forward at a constant speed, entering a start standby state. When the grip 37 is operated to start, the positioning device is controlled and the output shaft 23
rapidly moves diagonally rearward, generating acceleration in the rearward and downward direction on the seat 35, giving the user the sensation of starting as if all the wheels were floating.

Thereafter, the output shaft 23 is returned to the center at a constant speed, so that it can correspond to a straight running state. And the increase/deceleration is done by the output shaft 2.
3 horizontally, generate a corresponding longitudinal acceleration, and experience the acceleration and deceleration.

Furthermore, when the handle 32 is moved along the curve on the screen, the handle sensor 31 is activated, and the output shaft moves in the axial direction by the ball screw mechanism, causing the unit to slide laterally, and at the same time, the oscillator that supports the positioning device by its own weight. The movable frame 22 inclines and the body inclines, and when a certain angle is reached, the swing frame 22 hits the rolling stopper 39 and cornering is performed while maintaining the inclination state. Then, when the steering wheel is returned along the screen, the output shaft 23 moves to the point of overshifting, the body rises, and the vehicle moves in a straight line.

Next, when a stop operation is performed, the output shaft 23 rapidly moves forward and upward, generating forward and upward acceleration, giving the user the sensation of his or her body being pushed forward.

In this example, since the electric direct drive compound eccentric positioning device is used vertically, cornering and rolling are performed by the ball screw mechanism and are performed relatively slowly, but forward and backward movement and pitching are performed by the electric direct active drive. Since this is performed by translational movement by the eccentric rotor of the compound eccentric positioning device, rapid movement is possible within the range of the sum of the eccentric amounts of the eccentric rotor.

The above is an example of a simulated motorcycle operation, but the seat etc. installed on one pedestal can be used to simulate other characters such as airplanes or animals.
Various motion simulations can be performed by changing the character's position and controlling the positioning device using a program that matches the motion of those characters. For example, when simulating the motion of an airplane, we focus on pitching and rolling; for an elephant, it moves back and forth and rolling; for a lion, it moves back and forth and pitches. I'll keep it.

FIGS. 5 and 6 show other embodiments, and correspond to the case where the positioning device in the above embodiment is changed from a vertical state to a horizontal state, and the other configurations are the same as in the above embodiment. The same reference numerals as those in FIGS. 3 and 4 are given. By making the electric direct drive compound eccentric positioning device 45 horizontal as in this embodiment, the range of vertical movement of the seat increases, contrary to the case of the previous embodiment, and pitching with a slow and large motion becomes possible. At the same time, rapid rolling and cornering becomes possible.

FIGS. 7 and 8 show still another embodiment of the present invention. In this embodiment, movement is imparted to the pedestal by driving the link mechanism with an electric direct drive compound eccentric positioning device.

In the figure, 55 is a pedestal, which is supported by four pairs of links 56 to 564 arranged on both sides of the pedestal and intersecting in the front-rear direction. These links have lower ends at the base 54.
The upper ends of one link 56 and 564 are pivoted to a position closer to the rear of the pedestal 55, and the upper ends of the other links 563 and 563 are tilted so as to intersect in the front-rear direction. Sliders 58□, 58. which slide along slide shafts 571.57□ extending forward and backward on the lower surface. It is pivoted to. The intermediate intersection is connected to a collar 62. which is provided via a universal joint or has a near bushing at both ends of output shafts 61□, 61□ of a two-axis electric direct active compound eccentric positioning device 60-602, which will be described later. ~624 are penetrated and intersected.

The electric direct-drive compound eccentric positioning device 60 is composed of a stator frame 59 and an eccentric rotor in combination, similar to that of the previous embodiment, but the output shaft 610.61□ of this embodiment is connected to the second eccentric rotor 631. .63□ ball-shaped swivel bearing 6
51, 652, and is not rotated around the axis. Therefore, the output shaft 61 and 612
X by electric direct drive combined eccentric positioning device W160
- It is possible to translate the Z plane and take any angle with respect to the XZ plane.

The cockpit 64 as a motion seat placed on a pedestal is supported by a rotor 68 of a single electric direct drive motor 67 with a stator 66 fixed to the pedestal 55, and can rotate 360 degrees in the X-Y plane. It looks like this. Inside the cockpit 64, there is a visibility simulating device 6 as in the previous embodiment.
9 and a sound system are installed, which can be linked to the cockpit movements according to any program to simulate the motion of aircraft and other vehicles.

The above-described embodiment configured as described above can be moved vertically by driving the output shaft up and down vertically using electric direct drive compound eccentric positioning devices on both sides, and can also move the output shaft at an angle with the vertical direction. Pitching can be done by moving it up and down. Furthermore, rolling can be achieved by driving the output shafts of the left and right electric direct drive compound eccentric positioning devices so that the height positions are slightly different. Additionally, a single electric direct drive motor allows for spin. The stroke of each of the above movements is based on the five mechanisms, and the vertical movement is within the range of the sum of the eccentricity of the eccentric rotor of the electric direct drive compound eccentric positioning device, and the pitching is the eccentricity of the eccentric rotor of the electric direct drive compound eccentric positioning device. and the length of the link,
Practically, ±20' is possible. Also, the rolling is about ±10° due to the play between the links and the several parts of the pedestal.

Although various types of embodiments of the motion simulator of the present invention have been shown above, the present invention is not limited to the above embodiments, and various design changes can be made within the scope of the claims. Needless to say. Furthermore, it goes without saying that the motion simulator of the present invention is applicable not only to medical and entertainment applications but also to motion simulators for pilot training.

(Effects) The present invention has the above configuration, and has the following remarkable effects.

The driving device that gives movement to the pedestal that supports the motion seat uses an electric direct drive compound eccentric positioning device, so it can basically provide movement with multiple degrees of freedom using only rotary active motion, allowing for quick movement. It is possible to perform complex movements with high precision. Therefore, compared to a conventional link mechanism that converts the rotation of a motor into a linear motion, the response is particularly good and it is possible to provide a thrilling motion. Furthermore, since the rotation angle of the motor is directly converted to the position of the output shaft, any position can be given by controlling the rotation angle of the motor, and it can be controlled arbitrarily by a program without changing the mechanism. .

In addition, as the characters of various amusement rides used in amusement parks change, we have created a ROM with common drive mechanisms and character movement programs that can be controlled by a computer, making it easy to change characters. It is possible to give movement according to the image.

Furthermore, according to the structure of claim 3, in combination with the swing frame, the motion seat installed on the pedestal can be given back and forth movement, pitching, and rolling, so that it can move forward, accelerate, corner, etc. of a motorcycle, etc. You can get a simulated driving experience similar to the actual one, such as stopping and stopping.

Furthermore, according to the structure of claim 4, it is possible to support a large cockpit, and it is also possible to give the cockpit complex motions such as vertical movement, pitching, and rolling at high speed, which is full of thrills. Amusement rides such as amusement parks can be obtained.

[Brief explanation of drawings]

The drawings show an embodiment of the multi-degree-of-freedom sensory motion simulator of the present invention, FIG. 1 is a perspective view of the first embodiment, FIG. 2 is a front cross-sectional view of the mechanism, and FIG. 3 is a second embodiment. , FIG. 4 is a perspective view of its mechanism, FIG. 5 is a side sectional view of the third embodiment, FIG. 6 is a perspective view of its mechanism, and FIG. 7 is a side view of the fourth embodiment. FIG. 8 is a rear view thereof. 1.20, 45, 60: Electric direct drive compound eccentric positioning device 2, 25.55: Pedestal 12° 23.61
:Output shaft 13:Electric direct drive motor 20,54
: Machine base 22: Swing frame 28: Handle frame 30, 56: Link 31: Handle sensor 32: Handle 35: Seat 42: Cockpit 43: Display

Claims (1)

[Scope of Claims] 1) An electric direct drive compound eccentric positioning device that can drive and control a pedestal with three degrees of freedom, allowing translational movement within a two-dimensional plane and vertical movement with respect to the two-dimensional plane. 1. A multi-degree-of-freedom motion simulator, characterized in that the motion simulator is supported on a pedestal via the pedestal, and is capable of imparting movement in at least three degrees of freedom to the pedestal. 2) An electric motor that can drive and control the pedestal with four degrees of freedom: translational movement within a two-dimensional plane, movement perpendicular to the two-dimensional plane, and rotation around an axis perpendicular to the two-dimensional plane. A multi-degree-of-freedom motion simulator, characterized in that the motion simulator is supported on a machine base via a direct drive compound eccentric positioning device, and is capable of imparting movement of at least four degrees of freedom to the base. 3) One end of the pedestal is attached to a swinging frame that is installed on the machine base so that it can swing around one axis in a horizontal plane, and has three degrees of freedom: translational movement within a two-dimensional plane and movement perpendicular to the two-dimensional plane. The other end of the pedestal is supported via the output shaft of an electric direct drive composite eccentric positioning device that can be driven and controlled, and the other end of the pedestal is attached to the top of a swinging link that is swingably erected on the swinging frame. A multi-degree-of-freedom motion simulator, characterized in that the pedestal is rotatably supported on a base end portion of a handle frame that is swingably mounted, and is capable of giving at least four degrees of freedom of movement to the pedestal. 4) Of the four links, one end of which is pivotably attached to the front, rear, left and right positions of the machine base, one pair of links in the left and right front and rear directions are connected to one pair of left and right links installed perpendicularly to the machine base. The collars rotatably provided at both ends of the output shaft, which is supported by the final stage eccentric rotor of the electric direct drive compound eccentric positioning device via a swivel bearing, are passed through and crossed respectively, and the rear or The pedestal is supported by four links by pivotally connecting the tops of any one pair of front links to the pedestal and the top of the other link being pivotally connected to a slider that slides along the front-rear direction at the bottom of the pedestal. A motion simulator providing a multi-degree-of-freedom experience, characterized in that the pedestal rotatably supports a motion seat, and the motion seat can be given movement in at least four degrees of freedom.