JPH11319327A - Motion base with plural degrees of freedom - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a motion base for a body sensitive game machine with a seat which can be moved with 4 degrees of freedom so that the response will be faster, that the overall structure will be simplified, and that the control will be easier. SOLUTION: This motion base with plural degrees of freedom has a base frame 2 placed under a seat 1, an upper oscillation member 10 linked to the bottom of the seat 1, an air cylinder 3 supported at the base frame 2 rotatably around the vertical shaft to vertically move the seat 1, and an yaw shaft actuator driven by a servo motor to rotate the seat 1 around the vertical shaft by way of a universal coupling inside the upper oscillation member 10. In addition, the motion base has also a lower oscillation member 11 which constitutes a parallel link with the upper oscillation member 10, a pitch shaft drive arm 20 which constitutes another parallel link with the lower oscillation member 11, a pitch shaft actuator 21 driven by the servo motor which is located inside the base frame 2 and oscillates the upper oscillation member 10 in the front/rear direction by oscillating the pitch shaft drive arm 20, and a rolling shaft actuator 22 driven by the servo motor which is located between the upper oscillation member 10 and the lower oscillation member 11 and oscillates the upper oscillation member 10 in the left/right direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for amusement machines and the like such as so-called bodily sensation game machines and the like. The present invention relates to a multi-degree-of-freedom motion base that moves an object with a plurality of degrees of freedom.

[0002]

2. Description of the Related Art As such a conventional motion base, for example, pitch axis motion, which is swinging about a pitch axis extending in the left-right direction of the motion base, Roll motion, which is a swing about a roll axis extending in the front-rear direction, a yaw axis motion, which is a swing about a yaw axis extending in a vertical direction of the motion base, and the motion thereof. There are known four degrees of freedom of up and down movement along a vertical movement axis extending in the up and down direction of the base. In a conventional motion base, these four degrees of freedom are generally stacked, that is, a pitch axis, a roll axis, and a yaw. This is realized by a structure in which actuators for moving each of the four movable shafts of the shaft and the vertical movement shaft are sequentially connected in series.

However, in such a stacking method,
Actuators other than the actuator that directly moves the object have to move some actuators in addition to the object, and there is a problem that the inertia force increases and agile response cannot be expected. This was particularly important because all three other actuators needed to be moved at the furthest actuator. In addition, wiring and piping for operating each actuator are complicated and complicated, so that the entire apparatus is complicated, and it is difficult to secure a space for a person to get on and off the object.

[0004] In recent years, six electric motors, which act as a single-axis actuator that expands and contracts, rotate a ball screw shaft with a servomotor and move a ball nut screwed to the ball screw shaft in the axial direction of the ball screw shaft. Two linear motion mechanisms are arranged in a V-shape, and three points of the object are supported at equal distances from each other, and the electric linear motion mechanisms are cooperatively operated to provide six degrees of freedom to the object. Giving motion bases has also been put to practical use.

[0005] However, in the motion base in which the six electric linear moving mechanisms support three points of the object, each electric linear moving mechanism directly moves the object, so that the inertia force is small, so that quick response is achieved. Can be obtained,
Since the direction of the movable axis of the object and the direction of the expansion and contraction operation of the electric linear movement mechanism do not match, and the direction is not changed via the link, the height of the object However, there is a problem that the coordinate conversion process must be performed, and therefore, the control thereof becomes complicated, and the cost of the control device increases.

[0006]

SUMMARY OF THE INVENTION The present invention provides a motion base that advantageously solves the above-mentioned problems of the prior art. In a multi-degree-of-freedom motion base that moves the object with a plurality of degrees of freedom, a base disposed below the object, and the object can swing back and forth and right and left while restricting rotation about a vertical axis. A vertical motion shaft actuator supported and rotatable about the vertical axis on the base; and a vertical motion shaft actuator by rotating the vertical motion shaft actuator about the vertical axis. A yaw axis actuator supported on the base, which rotates the object around a vertical axis through the front and rear of the vertical motion axis actuator An upper rocking member having a front connecting portion, a rear connecting portion, and a side connecting portion respectively arranged on the upper and lower sides, the upper rocking member being rotatably coupled to the object around a vertical axis. A front connecting member and a rear connecting member, the upper ends of which are swingably connected to the front connecting member and the rear connecting member, respectively, and extend vertically in parallel with each other; and An upper connecting portion having a front connecting portion and a rear connecting portion connected to the lower end portion so as to be swingable, and having an upper connecting portion and a lower connecting portion at an intermediate position between the front connecting portion and the rear connecting portion; A lower oscillating member disposed below the member so as to extend in parallel with the upper oscillating member, and one end of each of the upper connecting portion and the lower connecting portion of the lower oscillating member having a left-right axis circumference. An upper connecting member and a lower connecting member which are swingably connected to each other and extend in the front-rear direction in parallel with each other; and the other end portions of the upper connecting member and the lower connecting member are respectively swingable about left and right axes. A pitch axis having an upper connecting portion and a lower connecting portion connected to each other and extending in the up-down direction, and the upper connecting portion or the lower connecting portion being supported on the base so as to be swingable around a left-right axis. By swinging the drive member and the pitch axis drive member, the lower swing member swings in the front-rear direction via the pitch axis drive member, the upper connection member, and the lower connection member. The upper swinging member swinging back and forth through a moving member, the front connecting member, and the rear connecting member, and swinging the object forward and backward through the upper swinging member. Pitch axis actuator The object is swung in the left-right direction via the upper swinging member by vertically moving the tutor and the side connecting portion of the upper swinging member with respect to the front connecting portion and the rear connecting portion. And a roll shaft actuator supported at the intermediate position of the lower swing member.

In the multi-degree-of-freedom motion base according to the present invention, a vertically moving axis actuator rotatably supported on a base arranged below the object so as to be rotatable around a vertical axis moves the object vertically. The yaw-axis actuator supported on the base pivots the vertical-movement axis actuator around the vertical axis while supporting the rocker in the front-rear and left-right directions while controlling the rotation around the direction axis. Then, the object is rotated around the vertical axis through the vertical motion shaft actuator.

In the motion base having a plurality of degrees of freedom according to the present invention, the pitch axis actuator supported by the base swings the pitch axis driving member, thereby connecting the pitch axis driving member, the upper connecting member, and the lower connecting member. The lower rocking member is rocked in the front-rear direction via the member, and the upper rocking member is rocked in the front-rear direction via the lower rocking member, the front connecting member, and the rear connecting member. The object is swung in the front-rear direction via the member.

In the motion base having a plurality of degrees of freedom according to the present invention, a roll shaft actuator supported at an intermediate position of the lower rocking member connects the side connecting portion of the upper rocking member to the front connecting portion and the rear connecting portion. By moving the object up and down with respect to the part, the object is swung in the left-right direction via the upper swinging member.

Therefore, according to the multiple-degree-of-freedom motion base of the present invention, the object can be moved with four degrees of freedom of the vertical movement axis, the yaw axis, the pitch axis and the roll axis.

Further, according to the multiple-degree-of-freedom motion base of the present invention, the upper swinging member, which is swung by the pitch axis actuator and the roll axis actuator, is coupled to the object so as to be rotatable around the vertical axis. The vertical motion axis actuator that supports the object so that it can swing in the front-rear and left-right directions while restricting the rotation of the object around the vertical axis is rotated around the vertical axis by the yaw axis actuator. Can be completely independent of the movement in the vertical movement axis direction and the movement around the pitch axis and the roll axis.

In addition, the multi-degree-of-freedom motion base according to the present invention has a front connecting portion, a rear connecting portion, and a side connecting portion disposed at the front, rear, and side of the vertical motion shaft actuator, respectively. An upper swinging member coupled to the object so as to be rotatable about a vertical axis, and an upper end swingably connected to a front connecting portion and a rear connecting portion of the upper swinging member so as to be parallel to each other. A front connection member and a rear connection member extending in the vertical direction, and a front connection portion and a rear connection portion swingably connected to lower ends of the front connection member and the rear connection member, respectively. A lower rocking member having an upper connecting portion and a lower connecting portion at an intermediate position between the upper rocking member and the lower rocking member arranged in parallel with the upper rocking member. 4 verses And the upper rocking member and the lower rocking member form a parallel link, and one end of each of the upper and lower connecting portions of the lower rocking member has a left-right direction. An upper connecting member and a lower connecting member that are swingably connected around the axis and extend in the front-rear direction in parallel with each other, and are swingable around the left-right axis at the other ends of the upper connecting member and the lower connecting member, respectively; Pitch drive having an upper connecting portion and a lower connecting portion connected to the base member and extending in the up-down direction and supported on the upper connecting portion or the lower connecting portion so as to be swingable around a left-right axis. The members constitute another four-joint link, and the lower swinging member and the pitch axis driving member constitute another parallel link. Then, the roll shaft actuator connects the side connecting portion of the upper rocking member to an intermediate position of the lower rocking member.

Therefore, according to the multi-degree-of-freedom motion base of the present invention, even if the vertical motion shaft actuator moves the object up and down to move the upper swing member coupled thereto up and down, the upper swing member and the pitch The lower oscillating member connected to the shaft driving member moves up and down with the upper oscillating member and slightly moves back and forth, and by the action of the two parallel links connected in series to each other, Since the angle of the upper rocking member in the front-rear direction does not change, the movement of the object about the pitch axis and the roll axis can be completely independent of the movement of the object in the vertical movement axis direction.

According to the multiple-degree-of-freedom motion base of the present invention, even if the pitch axis actuator swings the lower swinging member and the upper swinging member in the front-rear direction, they form a parallel link. Since the distance between the side connecting portion of the upper rocking member to which the roll axis actuator is connected and the intermediate position of the lower rocking member does not change, the movement of the target object around the pitch axis and the movement around the roll axis are reduced. They can be substantially independent of each other.

Further, according to the multi-degree-of-freedom motion base of the present invention, the vertical motion axis actuator, the pitch axis actuator, and the roll axis actuator each directly drive the object without passing through other actuators. It can be made small and agile responsiveness can be obtained.

According to the multiple-degree-of-freedom motion base of the present invention, the yaw axis actuator, the pitch axis actuator and the roll axis actuator are each supported by the base, so that wiring and the like for operating those actuators are provided. Can be easily arranged, and the entire apparatus can be simplified.This also makes it unnecessary to dispose the pitch axis actuator directly under the target object, and thus, the person can get on and off the target object. Space can be easily secured.

Further, according to the multi-degree-of-freedom motion base of the present invention, the directions of movement of the vertical motion axis actuator, the yaw axis actuator, the pitch axis actuator, and the roll axis actuator can be changed directly or only by changing the direction via a link. Since the direction is the movement direction of the object, advanced coordinate conversion processing for controlling the position and movement of the object can be unnecessary, and the control can be performed easily and at low cost.

In the multi-degree-of-freedom motion base according to the present invention, the vertical motion shaft actuator may include an air cylinder. In this case, the vertical motion shaft actuator generally requires relatively low control accuracy. The shaft actuator can be configured at low cost.

In the multiple-degree-of-freedom motion base according to the present invention, each of the pitch axis actuator and the roll axis actuator rotates a ball screw shaft with a servomotor to form a ball nut screwed to the ball screw shaft. A motor may be provided with an electric linear movement mechanism that moves forward and backward in the axial direction of the ball screw shaft. In this way, it is possible to provide a more agile response to movement around the pitch axis and the roll axis, Movement can be highly accurate, and, for example, when a person rides on an object and attempts to change the posture of the object by weight shift, the pitch axis or roll axis in the direction of the weight shift The speed of the surrounding movement can be changed as appropriate by changing the control gain of the servo motor, and the speed of the change It can give easily and quickly occurs in the object. That is, if the object is quickly swung in the direction of weight shift, the reaction force from the object to the occupant becomes small, and if the object is slowly swung in the direction of weight shift. However, the reaction force from the object to the occupant becomes large.

Further, in the multiple-degree-of-freedom motion base according to the present invention, the yaw axis actuator rotates a ball screw shaft with a servo motor to move a ball nut screwed to the ball screw shaft in an axial direction of the ball screw shaft. It may be equipped with an electric linear movement mechanism that moves forward and backward. In this way, it is possible to provide quick response to the movement around the yaw axis and to make the movement highly accurate. it can.

Further, in the multiple-degree-of-freedom motion base according to the present invention, the roll shaft actuator is supported by the base instead of being supported by the lower swing member, and a side connecting portion of the upper swing member is provided. The lower end of the side connecting member, the upper end of which is swingably connected to the lower swinging member, is supported at the intermediate position of the lower swinging member so as to be swingable around a left-right axis. The swing arm is connected to the connecting portion of the horizontal arm extending to the vertical arm of the bell crank member, and the connecting portion of the vertical arm of the bell crank member is supported by the base of the upper connecting member and the lower connecting member. The other connecting member is connected to a vertical lever member which is supported by the lower rocking member so as to be swingable concentrically with the one end portion and extends in parallel with the vertical arm of the bell crank member via an intermediate connecting member. , The hanging A lever member is supported by the base member so as to be swingable concentrically with the other end of the connection member supported by the base of the upper connection member and the lower connection member, and extends in a vertical direction. The upper shaft connecting member and the lower shaft connecting member via an additional connecting member extending in parallel with the connecting member supported by the base, and An actuator swings the roll shaft drive member, swings the vertical lever member through the roll shaft drive member and the additional connection member, and swings the vertical lever member and the intermediate connection member through the intermediate lever. To swing the bell crank member,
The side connecting portion of the upper swinging member is moved up and down with respect to the front connecting portion and the rear connecting portion through the bell crank member and the side connecting member, and the upper swinging member is moved through the upper swinging member. The target object may be swung in the left-right direction. In this case, in addition to obtaining the same operation and effect as the above configuration, the roll shaft actuator is also supported by the base, The wiring and the like for operating each actuator can be more easily arranged, and the entire apparatus can be further simplified. Therefore, the pitch axis actuator and the roll axis actuator can be arranged directly below the object. Combined with the elimination of the space, a space for a person to get on and off the object can be more easily secured.

Further, in the multi-degree-of-freedom motion base according to the present invention, the object may be a chair on which a person sits. In an amusement device such as a bodily sensation game machine using a motion base, the above-described effects can be obtained.

In the multiple-degree-of-freedom motion base according to the present invention, the object may be a vehicle on which a person rides, and in this case, a simulation vehicle, a simulation ship, a simulation aircraft, a simulation aircraft on which a person rides. The above-described effects can be obtained in an amusement device such as a bodily sensation game machine using a multiple-degree-of-freedom motion base that moves a vehicle such as a spacecraft with multiple degrees of freedom.

[0024]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a perspective view showing a four-degree-of-freedom motion base for a bodily sensation game machine as one embodiment of a multiple-degree-of-freedom motion base according to the present invention, as viewed obliquely from above and diagonally from the left, and FIG. Front view of the motion base of the embodiment,
FIG. 3 is a right side view of the motion base of the embodiment, FIG. 4 is a top view along a line AA of FIG. 2 showing a portion excluding the motion base chair of the embodiment, and FIG. FIG. 2 shows an upper swinging member of the motion base of the embodiment.
6 is an enlarged sectional view taken along line BB of FIG. 2, FIG. 6 is an enlarged sectional view taken along line CC of FIG. 2, showing an upper swinging member of the motion base of the embodiment, and FIG. FIG. 3 is a bottom view showing the upper swing member of the motion base shown in FIG.

FIG. 8 is an explanatory view showing the entire motion base motion mechanism of the above-described embodiment as viewed obliquely upward and obliquely rightward, and FIG. 9 is a view illustrating the entire motion mechanism obliquely upward and obliquely rearward left. Explanatory diagram shown in the state seen from, FIG. 10,
FIG. 11 is an enlarged explanatory view showing the motion mechanism viewed from the same direction as FIG. 8, FIG. 11 is an explanatory view showing the vicinity of the upper end of the motion mechanism viewed obliquely upward and right obliquely forward, and FIG.
It is an explanatory view showing a state in which a lower portion of the movement mechanism is viewed from obliquely right below. Note that the directions of up, down, left, right, front and back here are based on the base base.

As shown in FIGS. 1 and 2, the motion base of this embodiment includes a bucket-type chair 1 integrally provided with a footrest 1a as an object to be exercised. And an air cylinder 3 as a vertical motion shaft actuator is vertically arranged at a position below the chair 1 on the base frame 2, and the air cylinder 3 The lower end of the cylinder body 3a of FIG.
As shown in FIGS. 8 and 12, a torque tube rotatably supported around a vertical axis by bearings (not shown) disposed in upper and lower annular flanges 4 and 5 fixed to the base frame 2 respectively. The upper end of 3b is fixed.

The air cylinder 3 here has a piston rod (not shown) which moves vertically at the upper end of the cylinder body 3a, and the rotation of the piston rod about its axis with respect to the cylinder body 3a is restricted. FIG. 5 and FIG.
As shown in the figure, the two U-shaped brackets 6a and 6b are combined with each other by being shifted by 90 ° about a vertical axis, and the brackets 6a and 6b are connected by a cross-shaped shaft member 6c to form a gimbal mechanism. The lower bracket 6a of the universal coupling 6 is fixed, and the upper bracket 6b of the universal coupling 6 is fixed to the chair 1
And fixed to the lower surface of a chair support plate 7 that supports the chair 1 and is fixed to the lower end of the chair. This allows the air cylinder 3
With the universal coupling 6, the chair 1 can swing up and down in the front-rear and left-right directions while restricting rotation about the vertical axis, and can move up and down.

The motion base of this embodiment includes a yaw axis actuator 8 inside the base frame 2 as shown in FIGS. The shaft actuator 8 rotates a ball screw shaft by a servo motor to move a ball nut screwed to the ball screw shaft in an axial direction of the ball screw shaft, and moves the ball nut to an operating rod fixed to a rear end portion. It is constituted by an electric linear moving mechanism for moving the actuator 8a forward and backward with respect to the actuator body 8b. The rear end of the yaw axis actuator 8 is swingably supported by the base frame 2, and the distal end of the operating rod 8 a is the torque tube which vertically penetrates the annular flanges 4 and 5. It is swingably connected to the tip of a yaw axis drive arm 9 fixed to the lower end of 3b.
Thereby, the yaw axis actuator 8 rotates the torque tube 3b around the vertical axis via the yaw axis drive arm 9, and rotates the air cylinder 3 around the vertical axis via the torque tube 3b. The chair support plate 7 and thus the chair 1 can be rotated around the vertical axis via the air cylinder 3 and the universal coupling 6.

Further, the motion base of this embodiment is:
As shown in FIGS. 3, 4, 5 and 11, a front connecting portion having an annular central portion 10a and projecting from the central portion 10a so as to be located at the front, rear, and side of the air cylinder 3, respectively. Portion 10b, rear connection portion 10c, and side connection portion 10
d, and a frame-shaped lower rocking member 11 disposed parallel to and below the upper rocking member 10 so as to surround the air cylinder 3. The upper swing member 10 is fixed to the lower surface of the chair support plate 7 and is inserted into the central portion 10a of the upper swing member 10 so as to surround the universal coupling 6 as shown in FIGS. The universal coupling 6 is rotatably connected to the member 12 via a bearing (not shown) housed in a central portion 10a of the member 12 around the rotation axis of the universal coupling 6, and thus about the vertical axis. As a result, the upper swinging member 10 swings the chair 1 back and forth and left and right together when swinging back and forth and left and right. The parts 10b to 10d are maintained in the above positions.

The front connecting portion 10b, the rear connecting portion 10c, and the side connecting portion 10d of the upper swinging member 10 are provided with ball joints 13, respectively. The front connecting portion 10b is provided with the ball joint 13 therethrough. The upper end of the rod-shaped front connecting member 14 is swingably connected, and the upper end of the A-shaped rear connecting member 15 is swingably connected to the rear connecting portion 10c via the ball joint 13 there. The lower end of the front connecting member 14 is connected to the front connecting portion 11a at the front end of the lower swinging member 11 so as to be swingable around the left-right axis, and the lower end of the rear connecting member 15 is lower swinging. Rear connecting part of rear end of moving member 11
11b is swingably connected to the left and right axis.
Thus, the front connecting member 14 and the rear connecting member 15 extend substantially vertically in parallel with each other when viewed from the side.
The lower swinging member 11 here has a front connecting portion 11
An upper connecting portion 11c is provided at a position on the left and right sides of the air cylinder 3 between the a and the rear connecting portion 11b, and a lower connecting portion 11d is provided below the left upper connecting portion 11c.

Further, the motion base of this embodiment is:
As shown in FIGS. 1, 3, 3, 4, 6, 8, and 9, an H-shaped upper connecting member 16 extending substantially in the front-rear direction in front of the lower swing member 11, The left and right rear ends of the upper connecting member 16 are connected to the left and right upper connecting portions 11c of the lower swinging member 11 so as to be swingable around the left-right axis, respectively. The left and right front ends of the upper connecting member 16 are moved in the left-right direction by a support shaft 19 provided at the upper end of four triangular brackets 18 erected at a position in front of the air cylinder 3 on the base frame 2. It is swingably supported around the axis. As a result, even when the upper connecting member 16 swings around the support shaft 19, the left and right rear ends are always kept horizontal, and the lower swinging member connected thereto is
The left and right upper connecting portions 11c of the lower member 11 are always kept horizontal regardless of the vertical movement of the lower rocking member 11.

A support shaft 19 provided at the upper end of the bracket 18 is provided with an upper connecting portion 20a at the upper end of a pitch axis drive arm 20 as a pitch axis drive member so as to be swingable about a left-right axis. The pitch axis drive arm 20 is supported, and the pitch axis drive arm 20 extends substantially in the vertical direction. A lower connection member 20b at an intermediate portion of the pitch axis drive arm 20 has a lower connection member.
The rear end of 17 is swingably connected around the horizontal axis,
The front end of the lower connecting member 17 is connected to the lower connecting portion 11d of the lower swinging member 11 so as to be swingable around the left-right axis. Thus, the upper connecting member 16 and the lower connecting member 17 extend in parallel with each other when viewed from the side.

Further, the motion base of this embodiment is:
As shown in FIGS. 1 to 4, 8 and 9, a pitch axis actuator 21 is provided inside the base frame 2,
Similarly to the yaw axis actuator 8, the pitch axis actuator 21 rotates the ball screw shaft with a servo motor to move the ball nut screwed to the ball screw shaft in the axial direction of the ball screw shaft, thereby moving the ball nut. It is constituted by an electric linear moving mechanism for moving the operating rod 21a fixed to the rear end portion with respect to the actuator body 21b. The rear end of the actuator body 21b of the pitch axis actuator 21 is swingably supported by the base frame 2, and the distal end of the operating rod 21a is swingably connected to the lower part of the pitch axis drive arm 20. ing. Accordingly, the pitch axis actuator 21 moves the lower swinging member 11 via the pitch axis drive arm 20 and the lower connecting member 17 in the front-rear direction around the horizontal axis extending horizontally through the left and right upper connecting portions 11c. And the upper rocking member 10 extends horizontally through the lower connecting member 11, the front connecting member 14, and the rear connecting member 15 through the side connecting portion 10d and the universal coupling 6. The chair 1 can be swung in the front-rear direction through the upper swing member 10 around the left-right axis.

Further, the motion base of this embodiment is:
As shown in FIGS. 2 to 6, 8 and 11, a roll axis actuator 22 is provided on the right side of the air cylinder 3. By rotating the shaft, the ball nut screwed to the ball screw shaft is moved forward and backward in the axial direction of the ball screw shaft, and the operating rod 22a fixed to the rear end is moved forward and backward with respect to the actuator body 22b. It is constituted by an electric linear moving mechanism that drives the motor. The rear end, that is, the lower end of the actuator body 22b of the roll shaft actuator 22 is swingable by a U-shaped bracket 23 fixed to the side of the upper connecting portion 11c on the right side of the lower swinging member 11. The operating rod 22a is supported, and the distal end, that is, the upper end, of the operating rod 22a is swingably connected to a side connecting portion 10d of the upper swinging member 10 via a ball joint 13 thereat. This allows
The roll shaft actuator 22 moves the chair 1 in the left-right direction via the upper rocking member 10 by vertically moving the side connecting portion 10d of the upper rocking member 10 with respect to the front connecting portion 10b and the rear connecting portion 10c. Can be rocked.

In addition, the motion base of this embodiment is:
Armrests 25 fixed to the upper end of the cylinder body 3a of the air cylinder 3 and fixed to the upper left and right ends of a support pipe 24 extending upward from the left and right sides of the chair 1 in a U-shape; Is inserted between the chair 1 and the chair support plate 7, and detects a weight shift in the front, rear, left and right directions of the person sitting on the chair 1 The armrest 25 and the grip 26 are driven by the yaw axis actuator 8 and rotate around the vertical axis together with the chair 1, but are integrally connected to the upper swinging member 10. Since it is not performed, there is no pitch axis movement or roll axis movement with the chair 1.

In the motion base of this embodiment, an air cylinder 3 supported on a base frame 2 disposed below a chair 1 so as to be rotatable about a vertical axis is provided.
The chair 1 is swingably supported in the front-rear and left-right directions while being restricted from rotating about the vertical axis, and is moved up and down. The yaw axis actuator 8 supported on the base frame 2 causes the air cylinder 3 to move the air cylinder 3 in the vertical axis. The chair 1 is rotated about the vertical axis through the air cylinder 3 by being rotated around, and the pitch axis actuator 21 supported by the base frame 2 swings the pitch axis drive arm 20. The pitch axis drive arm 20, upper connecting member 16 and lower connecting member
The lower rocking member 11 is rocked in the front-rear direction through the lower rocking member 17, and the upper rocking member 10 is rocked in the front-rear direction through the lower rocking member 11, the front connecting member 14, and the rear connecting member 15. Then, the chair 1 is rocked back and forth through the upper rocking member 10,
Then, the roll shaft actuator 22 supported at an intermediate position of the lower rocking member 11 is connected to the side connecting portion 10 of the upper rocking member 10.
The chair 1 is swung in the left-right direction via the upper swinging member 10 by vertically moving d with respect to the front connecting portion 10b and the rear connecting portion 10c.

Therefore, according to the motion base of this embodiment, the chair 1 can be moved with four degrees of freedom of the vertical movement axis, the yaw axis, the pitch axis and the roll axis.

Further, according to the motion base of this embodiment, the upper swinging member 10 which is swung by the pitch axis actuator 21 and the roll axis actuator 22 is connected to the chair 1.
An air cylinder 3 rotatably coupled about a vertical axis and supporting the chair 1 so as to be swingable in the front-rear and left-right directions while restricting the rotation of the chair 1 about the vertical axis. Since the chair 1 is rotated around the axis, the movement of the chair 1 around the yaw axis can be completely independent of the movement in the vertical movement axis direction and the movement around the pitch axis and the roll axis.

Further, in the motion base of this embodiment, the chair 1 has a front connecting portion 10b and a rear connecting portion 10c arranged in front and rear of the air cylinder 3, respectively. An upper swinging member 10 rotatably connected, and upper ends swingably connected to a front connecting portion 10b and a rear connecting portion 10c of the upper swinging member 10, respectively, and extend in a vertical direction in parallel with each other. A front connecting member 14 and a rear connecting member 15, and a front connecting portion 11a and a rear connecting portion 11b swingably connected to lower ends of the front connecting member 14 and the rear connecting member 15, respectively. The upper connecting part 11c and the lower connecting part 11
d and a lower swinging member 11 arranged below and parallel to the upper swinging member 10 to form a four-joint link, and the upper swinging member 10 and the lower swinging member 11 Constitute a parallel link, and a rear end of the lower swinging member 11 is connected to the upper connecting portion 11c and the lower connecting portion 11d so as to be swingable around the left-right axis, respectively. The upper connecting member 16 and the lower connecting member 17 extending in the direction, and the upper connecting portion 20a and the lower connecting member respectively connected to the front ends of the upper connecting member 16 and the lower connecting member 17 so as to be swingable around the left-right axis. And a pitch axis drive arm 20 having an upper connecting portion 20a extending vertically and having an upper connecting portion 20a supported on the base frame 2 so as to be swingable around a horizontal axis. The lower swing member 11 and the pitch axis drive arm 20 Constitutes another parallel link, and the side connecting portion 10d of the upper rocking member 10 which is arranged on the side of the air cylinder 3 is connected to the roll shaft actuator 22 in the middle of the lower rocking member 11. Connected to the position.

Therefore, according to the motion base of this embodiment, even if the air cylinder 3 moves the chair 1 up and down to move the upper swing member 10 coupled thereto up and down, the upper swing member 10 and the pitch axis The lower swinging member 11 connected to the drive arm 20 moves up and down with the upper swinging member 10 only slightly while moving up and down. By the action of the two parallel links connected in series to each other, the pitch axis drive is performed. Since the angle of the upper swing member 10 in the front-rear direction with respect to the arm 20 does not change, the movement about the pitch axis and the roll axis can be completely independent of the movement of the chair 1 in the vertical movement axis direction.

According to the motion base of this embodiment, even if the pitch axis actuator 21 swings the lower swinging member 11 and the upper swinging member 10 forward and backward, they form a parallel link. Since the distance between the side connecting portion 10d of the upper rocking member 10 to which the roll shaft actuator 22 is connected and the intermediate position of the lower rocking member 11 does not change, the movement around the pitch axis of the chair 1 and the roll shaft And the surrounding movement can be substantially independent of each other.

Further, according to the motion base of this embodiment, the air cylinder 3, the pitch axis actuator 21 and the roll axis actuator 22 directly drive the object without passing through other actuators, so that the inertia force is reduced. And an agile response can be obtained.

According to the motion base of this embodiment, the yaw axis actuator 8, the pitch axis actuator 21, and the roll axis actuator 22 are supported by the base frame 2, respectively, so that these actuators can be operated. The wiring and the like can be easily arranged, and the whole apparatus can be simplified. Further, in combination with the fact that the pitch axis actuator 21 does not have to be disposed directly below the chair 1, the Space for people to get on and off can be easily secured.

Further, according to the motion base of this embodiment, the direction of movement of each of the air cylinder 3, the yaw axis actuator 8, the pitch axis actuator 21, and the roll axis actuator 22 can be changed directly or only by changing the direction via a link. Since the movement direction is that of the chair 1, advanced coordinate conversion processing for controlling the position and movement of the chair 1 may be unnecessary, and the control thereof can be performed easily and at low cost.

Further, according to the motion base of this embodiment, since the air cylinder 3 is provided as the vertical motion shaft actuator, the vertical motion shaft actuator which generally requires relatively low control accuracy can be inexpensively constructed.

Further, according to the motion base of this embodiment, the pitch axis actuator 21 and the roll axis actuator 22 respectively rotate the ball screw shaft by the servo motor to change the ball nut screwed to the ball screw shaft. It has an electric linear movement mechanism that moves forward and backward in the axial direction of the axis, so that it can provide more agile response to movement around the pitch axis and roll axis, and make those movements highly accurate. Can be.

Further, when a person sits on the chair 1 and tries to change the posture of the chair 1 by weight shift while holding the left and right grips 26 with both hands, the pitch axis in the direction of the weight shift detected by the sensor is used. In addition, the movement speed around the roll axis can be changed as appropriate by changing the control gain of the servomotor, and the chair 1 can easily and quickly generate a reaction force against the posture change due to the weight shift. That is, if the chair 1 is quickly swung in the direction of weight shift, the reaction force from the chair 1 to the sitting person becomes small, and if the chair 1 is slowly swung in the direction of weight shift, The reaction force from the chair 1 to the sitting person becomes large.

Further, according to the motion base of this embodiment, the yaw axis actuator 8 also moves the ball nut screwed to the ball screw shaft in the axial direction of the ball screw shaft by rotating the ball screw shaft by the servo motor. Since the motor is provided with an electric linear moving mechanism, a quick response can be provided to the movement around the yaw axis, and the movement can be made highly accurate.

FIG. 12 shows a modified example of the motion base of the above embodiment. In this modified example, the roll shaft actuator 22 is mounted on the base 2 instead of being supported by the lower swinging member 11. The lower end of the side connecting member 27 which is supported and the upper end of which is swingably connected to the side connecting portion 10d of the upper swinging member 10 is connected to the front connecting portion 11a and the rear connecting portion 11b of the lower swinging member 11. The bell crank member 28 is swingably connected to a connecting portion 28a of a horizontal arm extending in the front-rear direction and swingably supported at a position intermediate between the bell crank member 28 and the horizontal axis. Connecting part 28b of the vertical arm of
The bell is supported by the lower swinging member 11 so as to be swingable concentrically with the rear end of the upper connecting member 16 which is the one supported by the base frame 2 of the upper connecting member 16 and the lower connecting member 17. A vertical lever member 29 extending in parallel with the vertical arm of the crank member 28 is connected via an intermediate connecting member 30 to the front end of the upper connecting member 16 via the bracket 18 not shown. The upper connecting member 16 is attached to a roll shaft driving lever 31 as a roll shaft driving member that is supported by the base frame 2 so as to be swingable concentrically with the portion and extends in the vertical direction.
Are connected via an additional connecting member 32 extending in parallel with the above.

In this modification, the roll shaft actuator 22 swings the roll shaft drive lever 31 to swing the vertical lever member 29 via the roll shaft drive lever 31 and the additional connecting member 32. And the bell crank member 28 is swung through the vertical lever member 29 and the intermediate connecting member 30, and the bell crank member 28 and the side connecting member
The side connecting portion 10d of the upper swinging member 10 is moved up and down with respect to the front connecting portion 10b and the rear connecting portion 10c via the upper swinging member 10 to swing the chair 1 in the left-right direction via the upper swinging member 10.

With this configuration, the same operation and effect as those of the above embodiment can be obtained, and in addition, the roll shaft actuator can be obtained.
Since the base 22 is also supported by the base frame 2, the wiring and the like for operating each actuator can be more easily arranged, and the entire apparatus can be further simplified. Pitch axis actuator directly below
Combined with the fact that the roll shaft actuator 22 need not be disposed in addition to the space 22, the space for the person to get on and off the chair 1 can be more easily secured.

According to the motion base of the above embodiment and the modified example, since the object is the chair 1 on which a person sits, a sensation using a four-degree-of-freedom motion base for moving the chair on which the person sits with four degrees of freedom is provided. In the amusement device such as a game machine, the above-mentioned various remarkable effects can be obtained.

Although the present invention has been described with reference to the illustrated examples, the present invention is not limited to the above examples, and various modifications can be made within the scope of the claims. The target object may be a vehicle such as a simulated vehicle, a simulated ship, a simulated aircraft, and a simulated spaceship on which a person rides. Also, the multi-degree-of-freedom motion base of the present invention
The degree of freedom of horizontal movement in the front, rear, left and right may be added. In such a case, use other than amusement equipment,
For example, it can be used for a simulator or the like.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a four-degree-of-freedom motion base for a bodily sensation game machine as one embodiment of a multiple-degree-of-freedom motion base according to the present invention, viewed obliquely from above and diagonally from the front to the left.

FIG. 2 is a front view of the motion base of the embodiment.

FIG. 3 is a right side view of the motion base of the embodiment.

FIG. 4 is a top view taken along the line AA of FIG. 2, showing a portion excluding the motion-based chair of the embodiment.

FIG. 5 is an enlarged cross-sectional view showing the upper swinging member of the motion base of the embodiment, taken along line BB of FIG. 2;

FIG. 6 is an enlarged sectional view taken along line CC of FIG. 2, showing the upper swing member of the motion base of the embodiment.

FIG. 7 is a bottom view showing the upper swing member of the motion base of the embodiment, taken along line DD of FIG. 2;

FIG. 8 is an explanatory diagram showing a state in which the entire motion-based motion mechanism of the embodiment is viewed obliquely from above and obliquely from the front right.

FIG. 9 is an explanatory view showing the entire exercise mechanism as viewed obliquely from above and obliquely from the rear left.

FIG. 10 is an explanatory diagram showing, on an enlarged scale, the movement mechanism as viewed from the same direction as in FIG. 8;

FIG. 11 is an explanatory diagram showing the vicinity of the upper end portion of the exercise mechanism as viewed obliquely upward and obliquely right forward.

FIG. 12 is an explanatory diagram showing a state in which a lower portion of the exercise mechanism is viewed obliquely from the lower right.

FIG. 13 is an explanatory diagram showing a modified example of the motion base of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Chair 2 Base frame 3 Air cylinder 8 Yaw axis actuator 10 Upper swing member 11 Lower swing member 14 Front connecting member 15 Rear connecting member 16 Upper connecting member 17 Lower connecting member 20 Pitch axis drive arm 21 Pitch axis actuator 22 Roll Shaft actuator 27 Side connecting member 28 Bell crank member 29 Vertical lever member 30 Intermediate connecting member 31 Roll shaft drive lever 32 Additional connecting member

Claims (7)

[Claims] 1. A multi-degree-of-freedom motion base for moving an object (1) with a plurality of degrees of freedom, comprising: a base (2) arranged below the object; and a rotation of the object around a vertical axis. A vertical motion shaft actuator (3) supported on the base so as to be pivotable about a vertical axis, while being supported so as to be swingable in front and rear and left and right directions while regulating movement, and the vertical motion shaft actuator. A yaw-axis actuator (8) supported by the base, wherein the yaw-axis actuator (8) is rotated about a vertical axis to rotate the object around the vertical axis via the vertical-axis actuator; A front connection part (10b) and a rear connection part (10c) arranged at the front, rear and side of the shaft actuator, respectively.
An upper swinging member (10), which is connected to the object so as to be rotatable around a vertical axis, the upper swinging member (10) having:
A front connecting member (14) and a rear connecting member (15) having upper ends swingably connected to the front connecting portion and the rear connecting portion of the upper rocking member, respectively, and extending in a vertical direction in parallel with each other. ), And a front connecting portion (11a) and a rear connecting portion (11b) that are swingably connected to lower end portions of the front connecting member and the rear connecting member, respectively. A lower rocking member having an upper connecting portion (11c) and a lower connecting portion (11d) at an intermediate position between the lower rocking member and the lower rocking member ( 11) and an upper connecting member (16) having one end respectively connected to the upper connecting portion and the lower connecting portion of the lower swinging member so as to be swingable around a left-right axis, and extending in the front-rear direction in parallel with each other. ) And the lower connecting member (17) It has an upper connecting portion (20a) and a lower connecting portion (20b) which are connected to the other end portions of the upper connecting member and the lower connecting member so as to be swingable around a left-right axis, respectively, and extend vertically. A pitch axis driving member (20) having the upper connecting portion or the lower connecting portion swingably supported on the base around a horizontal axis, and a pitch formed by swinging the pitch axis driving member. The lower swinging member swings back and forth through a shaft driving member, the upper connecting member, and the lower connecting member, and the lower swinging member, the front connecting member, and the rear connecting member move through the lower swinging member. Swinging the upper swing member in the front-rear direction, and swinging the object in the front-rear direction via the upper swing member,
Pitch axis actuator (21) arranged on the base
And, by moving the side connecting portion of the upper swinging member up and down with respect to the front connecting portion and the rear connecting portion, swinging the object in the left-right direction via the upper swinging member, And a roll axis actuator (22) supported at the intermediate position of the lower swing member. 2. The multi-degree-of-freedom motion base according to claim 1, wherein the vertical motion shaft actuator includes an air cylinder. 3. An electric type wherein each of the pitch axis actuator and the roll axis actuator rotates a ball screw shaft by a servomotor to move a ball nut screwed to the ball screw shaft in an axial direction of the ball screw shaft. Characterized by having a linear movement mechanism,
The multi-degree-of-freedom motion base according to claim 1 or 2. 4. The electric yaw axis actuator includes an electric linear movement mechanism for rotating a ball screw shaft by a servomotor and moving a ball nut screwed to the ball screw shaft in an axial direction of the ball screw shaft. The multi-degree-of-freedom motion base according to any one of claims 1 to 3, characterized in that: 5. The roll shaft actuator is supported by the base instead of being supported by the lower swinging member, and an upper end portion is swingably connected to a lateral connecting portion of the upper swinging member. The lower end of the side connecting member (27) extends in the front-rear direction of the bell crank member (28) supported at the intermediate position of the lower swing member so as to be swingable around a left-right axis. A connecting portion (28) of the bell crank member (28) is swingably connected to a connecting portion (28a) of the horizontal arm.
b) the bell crank supported by the lower swing member so as to be swingable concentrically with the one end of the connection member supported by the base of the upper connection member and the lower connection member. A vertical lever member (29) extending in parallel with the vertical arm of the member is connected via an intermediate connecting member (30), and the vertical lever member is connected to the base of the upper connecting member and the lower connecting member. A roll shaft drive member (31) supported by the base material and vertically extending so as to be swingable concentrically with the other end of the connection member supported by the base, the upper connection member and the lower The roll shaft actuator is oscillated by the roll shaft driving member, which is connected via an additional connecting member (32) extending in parallel with the connecting member supported on the base of the connecting members. That the roll shaft drive member and said Swinging the vertical lever member through an additional connecting member, swinging the bell crank member through the vertical lever member and the intermediate connecting member, and rotating the bell crank member and the side connecting member. Moving the side connecting portion of the upper swinging member up and down with respect to the front connecting portion and the rear connecting portion through the upper swinging member, and swinging the object in the left-right direction via the upper swinging member. The multi-degree-of-freedom motion base according to any one of claims 1 to 4, characterized in that: 6. The multiple-degree-of-freedom motion base according to claim 1, wherein the object is a chair (1) on which a person sits. 7. The object is a vehicle on which a person rides,
The multiple-degree-of-freedom motion base according to any one of claims 1 to 5.