KR0153581B1 - Actuator for motion simulator - Google Patents

Abstract

The present invention can prevent the movement simulator and its surroundings from being contaminated by oil leakage, can be controlled by an open loop control, can be easily programmed in a control program, and follow the control signal until the final movement. In order to provide the actuator of the motion simulator which can make the response speed of the hydraulic speed faster than the hydraulic method, the rotation nut 30 which is formed with the gear part 30a is restrained from the movement in the thrust direction and the radial direction. It is installed on the upper end of the tube (50) by the guide means 40, the linear movement on the tube (50) by the linear guide means 70 moves the screw 60 is screwed with the rotary nut (30) While being installed freely, a stepping motor 80 having a drive gear 80a meshed with the gear part 30a is provided by fixing means 90 on the side of the tube 50. The.

Description

Actuator of exercise simulator

1 is a perspective view showing the configuration of a general exercise simulator.

2 is a model diagram schematically showing the configuration of a general motion simulator.

3 is a cross-sectional view showing the configuration of the actuator of the exercise simulator according to the present invention.

4 is a perspective view showing a state in which the actuator of the exercise simulator according to the present invention is applied to the exercise simulator.

* Explanation of symbols for main parts of the drawings

30: rotating nut 30a: gear part

40: rotation guide 41, 42: rolling bearing

41a, 42a: inner ring 41b, 42b: outer ring

43: bearing boss 43a, 46a: bearing locking jaw

44: collar 45: bearing nut

46: bearing fixing part 47: snap ring for holes

50: tube 60: moving screw

70: straight guide means 71: long groove

72a, 72b: sliding pin 80: stepping motor

80a: Drive gear 80b: Stator housing

90: fixing means 91,92: bracket

91a, 92a: Flange 93: Tightening bolt

The present invention relates to an actuator of a motion simulator, and more particularly, to an actuator of a motion simulator which converts the rotational motion of a rotary stepping motor into a linear motion so that it can be used to reproduce the motion of the motion simulator.

In general, a motion simulator (mechanical simulator) is a mechanical three-dimensional motion of the body to effectively perform the training of the movement of the movement on the ground, sea or space, or to evaluate the performance of the equipment mounted on them Says a device to simulate.

Such types of motion simulators include a land vchicle simulator that reproduces the driving state of a vehicle according to a simulated object, a ship motion simulator that reproduces the motion of a ship running at sea, and an aircraft. It is divided into a flight simulator that reproduces the flight status.In accordance with the mechanical characteristics, a single actuator is dedicated to one freedom movement and a cascade method and actuators are connected in parallel to share movement freedom. It is roughly divided into synergistic methods.

In addition, as shown in FIG. 1, the motion simulator includes six actuators A1, A2, A3, A4, and A5 as the base plate 10 and the platform 11 as the upper plate. A6) is a premature way of connecting in parallel, called the Stewart platform, and aims for a ship at sea. As a drive actuator, a single rod hydraulic cylinder is used that can drive a large amount of load while having the advantage of a small length compared to the stroke length.

An example of an exercise simulator constructed based on the above-described exercise simulator is shown in FIG. 2. The six hydraulic servo cylinders CY1, CY2, CY3, and the base 20 fixed to the ground are shown in FIG. 2. The lower ends of the cylinder tubes (CYT1, CYT2, CYT3, CYT4, CYT5, CYT6) of the CY4, CY5, and CY6 are jointed by ball joints 22, and each of them is inclined to a constant shape. The upper end of the piston rod (CYL1, CYL2, CYL3, CYL4, CYL5, CYL6) in the lower side of the platform 24 is formed by the ball joint (26), respectively, each hydraulic servo cylinder (CY1 as described above) To operate CY2, CY3, CY4, CY5 and CY6, a hydraulic pump (not shown) and an oil tank (not shown) are basically required, and each hydraulic servo cylinder (CY1, CY2, CY3, CY4, CY5, CY6) is required. 6 linear displacement sensors (not shown) and servo valves (not shown) according to the number of The closed loop control (feedback control) was performed by the furnace and the control device, so the burden on the cost was high in the configuration, and the control program for the control was complicated, and the hydraulic servo cylinder ( In the case of CY1, CY2, CY3, CY4, CY5, CY6), oil leakage occurred frequently and had the problem of polluting the surroundings.

In addition, since the response speed indicating the time when the actuator responds to the drive signal output from the control device is considerably slower than that of other drive devices, there is a limitation of the motion simulator.

The present invention has been made to solve the above problems and can prevent the movement simulator and its surroundings from being contaminated by oil leakage, can be controlled by open-loop control, and the control program can be easily programmed. Therefore, the purpose of the present invention is to provide an actuator of the motion simulator that can follow the control signal and make the response speed until the final movement is faster than the hydraulic method.

In order to achieve the object of the present invention, the rotating nut is formed on the upper end of the tube by the rotation guide means for restraining the movement in the drust direction and the radial direction, the screw is coupled to the rotary nut A linear screw can be freely installed on the tube by a linear guide means, while a stepping motor having a drive gear engaged with the gear portion is provided by fixing means on the side of the tube to provide an actuator of the motion simulator. do.

The rotating guide means has a bearing boss having a bearing engaging jaw on the upper end surface of the inner ring of the upper rolling bearing formed at the lower side of the rotary nut so that the collar located between the end faces of the inner ring of each rolling bearing is formed on the bearing boss. Insert each inner ring of the plurality of rolling bearings involved, and fix each rolling bearing by screwing a bearing nut that presses the lower end surface of the inner ring of the lower rolling bearing at the lower end thereof, while fixing the rolling bearing on the inner peripheral surface of the tube. Each outer ring of the two rolling bearings is fitted, and at the same time, a bearing fixing part having a bearing engaging jaw that catches the lower surface of the outer ring of the lower rolling bearing is formed, and the upper end of the outer ring of the upper rolling bearing is formed on the outer peripheral surface of the upper side thereof. It is constructed by installing a snap ring for the hole on the surface.

The rolling bearings each consist of an angular contact bearing capable of preloading.

The linear guide means is formed by forming a long groove parallel to the direction of movement of the moving screw on the moving screw, and a plurality of sliding pins sliding through the long groove through the tube.

The fixing means is configured to form a flange bolted by a plurality of fastening bolts at the joints of the two brackets surrounding the outer circumferential surface of the tube and the stator housing outer circumferential surface of the stepping motor, respectively, to pressurize the tube and the stepping motor.

Hereinafter, embodiments of the actuator of the exercise simulator according to the present invention will be described in detail with reference to the accompanying drawings.

3 and 4 show an embodiment of the actuator of the motion simulator according to the present invention, in which the rotating nut 30 and the moving screw 60 screwed together are installed in the tube 50. Between the rotating nut 30 and the tube 50, the rotating guide 30 is rotated so that the rotating nut 30 can only rotate on the spot, and the movable screw 60 and the tube are interposed therebetween. Between the 50 is inserted the linear guide means 70, which allows the moving screw 60 to only linear movement on the spot.

The movable screw 60 is connected to the lower box of the platform 101 corresponding to the upper plate of the motion simulator 100 by the ball joint 95, and the tube 50 is further connected. Another ball joint 96 is spliced to the upper end S of the base 102 which is the lower flat plate of the motion simulator 100.

Referring to the configuration of the actuator 120 of the motion simulator 100 as described above in more detail, restrains the rotation nut 30 in which the gear portion 30a is formed to move in the drust and radial directions. The main body is installed at the upper end of the tube 50 by the rotating guide means 40, and the moving screw 60 screwed with the rotary nut 30 is straight on the tube 50 by the linear guide means 70. While the movement is freely installed, the stepping motor 80 having the drive gear 80a meshed with the gear part 30a is provided by the fixing means 90 on the side of the tube 50.

Here, the gear unit 30a and the drive gear 80a are configured using spur gears as shown in the illustrated example, but are not necessarily intended to be limited to these, and may be configured using worm gears or spiral gears. In the gear 80a, a taper hole 80f is formed at the center so as to be fixed to the taper shaft 80e which is drawn out from the stepping motor 80 and rotated. The taper hole 80f and the taper shaft 80e are formed. One side of each key groove (80k) (80h) is formed so that the vandal key (80r) is configured to intervene. A washer 80w and a nut 80n for pressing the drive gear 80a toward the tapered shaft 80e are provided at the threaded portion 80u protruding from the tip end of the tapered shaft 80e.

On the other hand, the movable screw 60 has a square flange 60a and a steel ball 60b integrally formed at the distal end thereof, and the steel ball 60b has a spherical recess 95a provided in the ball joint 95. ) Is connected to the old box. And the spherical concave portion (95a) is formed to have a depth smaller than the radius of the steel ball (60b), in order to prevent the steel ball (60b) is separated from the spherical concave portion (95a). The cover 64 formed with the spherical hole 60g so that the center of gravity) is located inward was comprised.

The stepping motor 80 is usually configured by using a four-phase stepping motor or a five-phase stepping motor, and both are configured to prevent resonance by simultaneously suppressing the occurrence of resonance by performing microstep driving. It is also possible to use an AC servomotor, a DC servomotor, a brushless servomotor, or the like.

The rotating guide means 40 forms a bearing boss 43 having a bearing engaging jaw 43a on the upper end surface of the inner ring 41a of the upper rolling bearing 41 on the lower side of the rotary nut 30. Of the plurality of rolling bearings 41 and 42 through which the collar 44 positioned between the end faces of the inner races 41a and 42a of the rolling bearings 41 and 42 is inserted into the bearing boss 43. Insert the inner ring (41a) (42a), and screw the bearing nut 45 for pressing the lower end surface of the inner ring (42a) of the lower rolling bearing 42 at the lower end of each rolling bearing (41, 42) While the outer ring (41b, 42b) of the plurality of rolling bearings 41, 42 of the plurality of rolling bearings 41, 42 is fitted on the inner peripheral surface of the tube 50, the outer ring (42b) of the lower rolling bearing 42 at the same time And a bearing fixing portion 46 having a bearing engaging jaw 46a on which the lower end surface of the upper and lower surfaces are held, and the outer ring 4 of the upper rolling bearing 41 on the outer peripheral surface thereof. The hole snap ring 47 which hangs on the upper end surface of 1b) was provided and comprised.

The rolling bearings 41 and 42 are each configured as angular contact ball bearings capable of preloading, but may also be configured using bearings of roller type which can withstand loads larger than ball type according to load.

The linear guide means 70 forms a long groove 71 parallel to the movement direction of the movable screw 60 on the movable screw 60, and a plurality of sliding pins slid to the long groove 70 ( 72a) and 72b were installed to penetrate the tube 50.

The fixing means 90 is connected to a plurality of fastening bolts 93 at the junction between two brackets 91 and 92 surrounding the outer circumferential surface of the tube 50 and the outer circumferential surface of the stator housing 80b of the stepping motor 80. Flanges (91a) and (92a) bolted by respectively formed to form a pressure to the tube 50 and the stepping motor (80).

With reference to the accompanying drawings, the operation and effect according to the embodiment of the present invention as described above will be described in detail.

First, when the driving current flows to the stepping motor 80 by a motor driving unit (not shown) which flows the driving current to the stepping motor 80 according to the driving signal of the control device (not shown), the stepping motor 80 Taper shaft (80e) connected to the rotor of the rotational movement to one side, at the same time the drive gear (80a) is rotated in the same direction as the tapered shaft (80e) to rotate the rotation nut 30 in the opposite direction .

At this time, the rotation nut 30 is rotated in place by the rotation guide means 40, the moving screw 60 is screwed with the rotation nut 30 is rotated by the linear guide means (70) Since only the linear motion is installed while being prevented, the linear motion in one direction is performed while changing the rotational motion of the rotation nut 30 to the linear motion.

At this time, if the stepping motor 80 is rotated again, only the direction of movement becomes the opposite direction to the beginning without a change in the path through which power is transmitted.

In the above state, the rotation guide means 40 when the rotation nut 30 is rotated, the outer ring (41b) 42b of the two rolling bearings 41, 42 is fixed to the tube 50 Since the inner ring 41a and 42a are fixed to the rotary nut 30, the rotary nut 30 can rotate, and moreover, the bearing engaging jaw 43a and the collar formed on the rotary nut 30 are rotated. (44), the inner ring (41a) (42a) of the rolling bearing (41) (42) by the bearing nut (45) is prevented from being axially separated from the rotary nut (30), the tube (50) Since the bearing locking jaw 46a and the hole snap ring 47 formed in the axial direction are prevented from being separated from the tube 50, the rotation nut 30 rotates in place.

On the other hand, the action of the linear guide means 70 in the above state is because the sliding pin (72a) (72b) is installed in the tube 50 is slidingly coupled to the long groove (71) installed in the moving screw (60). The moving screw 60 is not rotated like the rotation nut 30, and performs only linear movement in place.

In addition, the platform 101 of the motion simulator 100 may be inclined by the ball joints 95 and 96 respectively installed at the upper end of the movable screw 60 and the lower end of the tube 50.

As described above, the present invention can be controlled using a stepping motor capable of open loop control, so that the electronic scale for position measurement required in the closed loop control system can be eliminated, thereby making the configuration very simple. It can be expected, and unlike the case of driving the platform using the hydraulic cylinder moving with pressure oil as the driving source, it is composed of the stepping motor moving with electricity as the driving source. It is an effect that can prevent the problem of polluting the surroundings in advance.

Claims (5)

In the actuator of the motion simulator in which several boxes are connected between the base installed at the lower part and the platform installed at the upper part, the rotary nut 30 having the gear part 30a is formed in the drust direction and the radial direction. It is installed on the upper end of the tube 50 by the rotation guide means 40 to restrain the movement of the moving screw 60 screwed with the rotary nut 30 by the linear guide means 70 the tube While the linear motion is freely installed on the 50, the stepping motor 80 having the drive gear 80a meshed with the gear part 30a is attached to the side of the tube 50 by the fixing means 90. Actuator of the exercise simulator, characterized in that installed and configured. The rotating nut (3) according to claim 1, wherein the rotating guide means (40) includes a bearing boss (43) having a bearing engaging jaw (43a) that is caught on an upper end surface of an inner ring (41a) of an upper rolling bearing (41). 30 and a plurality of rolling bearings 41 formed with the collar 44 interposed between the end faces of the inner races 41a and 42a of the rolling bearings 41 and 42 on the bearing boss 43. Each inner ring (41a) (42a) of the 42), screwing the bearing nut 45 for pressing the lower end surface of the inner ring (42a) of the lower rolling bearing 42 at the lower end of each rolling bearing While fixing the (41) (42), each outer ring (41b) (42b) of the plurality of rolling bearings (41) and 42 on the inner circumferential surface of the tube (50) is caught and at the same time lower rolling bearing (42) ) Forms a bearing fixing portion 46 having a bearing engaging jaw 46a on which the bottom surface of the outer ring 42b is held, and on the outer peripheral surface of the upper side, the upper rolling bearing ( 41. An actuator of a motion simulator, characterized in that it is formed by installing a hole snap ring (47) caught on an upper surface of an outer ring (41b). 3. The actuator of claim 2, wherein the rolling bearings (41) are each angular contact bearings capable of preloading. According to claim 1, wherein the linear guide means 70 is formed on the moving screw 60, the long groove 71 in parallel with the direction of movement of the moving screw 60, the sliding groove 70 is slidingly coupled to Actuator of the exercise simulator, characterized in that a plurality of sliding pins (72a) (72b) is installed so as to pass through the tube (50). According to claim 1, wherein the fixing means (90) is a plurality of joints of the two brackets (91, 92) surrounding the outer peripheral surface of the tube 50 and the outer peripheral surface of the stator housing (80b) of the stepping motor 80 Actuator of the exercise simulator, characterized in that configured to press the tube (50) and the stepping motor (80) by forming the flange (91a) (92a) respectively bolted by the fastening bolt (93).