KR100903435B1 - A train simulation apparatus - Google Patents

Abstract

A simulation apparatus for rolling and pitching a movable plate supporting a cab for train simulation on a lower plate, the simulation device being installed between the lower plate and the movable plate, and rolling and pitching the movable plate on the lower plate using an electromagnetic force. An actuator for driving; And a guider installed between the movable plate and the lower plate to guide the movement of the movable plate.

Train, Simulation, Electromagnet, Rolling, Pitching, Yawing, Actuator

Description

A train simulation apparatus

The present invention relates to a simulation apparatus, and more particularly, to a train simulation apparatus capable of six degrees of freedom simulation driving by a simple configuration.

In general, for the development and driving practice of the equipment used for track vehicles, that is, trains, tests and exercises are conducted under various conditions. At this time, it is possible to calculate the exact experimental data only by testing the equipment of the train or practicing the driving under conditions or environments almost similar to the actual situation, and it is possible to evaluate the exact driving ability of the trainees.

In view of this, a simulation apparatus for simulating virtual reality has been applied to train simulation.

However, most of the conventional simulation apparatuses are limited to airplanes, automobiles, ships, etc., in which the motion radius is large and the movement trajectories are large, and when the apparatuses developed for the simulation of other fields are used in the train simulation experiments, accurate experiments are performed. Impossible, the effect of the simulation driving was inevitable.

In other words, in the case of trains, the range of movements related to rolling, pitching and yawing, in addition to forward and backward movements, is relatively small compared to other vehicles and equipment.

 Therefore, the development of a train-specific simulation apparatus for the simulation of the train is urgently required. In the case of the conventional simulation devices, the height of the motion platform is high due to the large range of motion, and therefore, the size of various actuators and the like to be included therein is large. There was a problem that is consumed a lot.

The present invention has been made in view of the above, and an object thereof is to provide an improved simulation apparatus which has a simple configuration and can be manufactured at low cost.

Simulation device of the present invention for achieving the above object, in the simulation device for rolling and pitching driving the movable plate supporting the cab for train simulation on the lower plate, is installed between the lower plate and the movable plate, the electromagnetic force An actuator for rolling and pitching the movable plate on the lower plate by using; And a guider installed between the movable plate and the lower plate to guide movement of the movable plate.

Here, the guider, the hemispherical first guide portion provided on any one of the movable plate and the lower plate; And a second guide part provided on the opposite side in a shape corresponding to the first guide part.

The guider may further include a ball bearing interposed between the first and second guide parts.

The guider may further include a release prevention guide for guiding the movement of the second guide part while preventing the second guide part from being separated from the first guide part.

The first guide part may be provided on the lower plate, and the second guide part may be installed on the movable plate.

The first and second guide parts may be provided at the center of the lower plate and the movable plate.

In addition, the actuator is provided to be symmetrical with each other in a plurality of positions with respect to the center between the first and second guide portion, the rolling and pitching driving the movable plate according to the magnitude and direction of the electromagnetic force to interact with each other It is preferable to include a plurality of operating parts to make.

The plurality of operation units may be first to fourth operation units that are symmetrically disposed in front, rear, left, and right directions with respect to the center of the first and second guide units, and are independently driven.

In addition, the operation unit may include a plurality of first electromagnet parts provided to be exposed to the outside of the first guide part and provided at a predetermined interval from the center of the first guide part to the outside; And a plurality of second electromagnet parts provided in the second guide part so as to correspond to the plurality of first electromagnet parts, respectively.

In addition, it is preferable that an inlet groove in which the first and second electromagnets are drawn in is formed on the facing surfaces of each of the first and second guide parts.

In addition, the train simulation apparatus according to another aspect of the present invention for achieving the above object, the first sliding plate which is installed to be reciprocally sliding in the first axis direction from the top of the base plate; A second sliding plate installed on the first sliding plate so as to reciprocally slide in a second axis direction perpendicular to the first axis; An elevating plate installed to be elevated in a third axial direction from an upper portion of the second sliding plate; A movable plate installed on the elevating plate to enable rolling and pitching motion; A guider for guiding the movable plate to pitch and roll in the front, rear, left and right directions with respect to the lifting plate; A first actuator for driving the first sliding plate to a first axis; A second actuator for driving the second sliding plate to a second axis; A third actuator for elevating and driving the elevating plate to a third axis; And a fourth actuator provided in the guider and configured to pitch and roll drive the movable plate with respect to the elevating plate by an electromagnetic force.

Here, the guider, the hemispherical first guide portion provided on any one of the movable plate and the elevating plate; And a second guide part provided on the opposite side in a shape corresponding to the first guide part.

The guider may further include a ball bearing interposed between the first and second guide parts, and a release prevention guide for guiding the movement of the second guide part while preventing the second guide part from being separated from the first guide part. Good to do.

In addition, the fourth actuator is provided to be symmetrical with each other at a plurality of positions with respect to the center between the first and second guide portions, and pitches the movable plate according to the magnitude and direction of the electromagnetic force interacting with each other. It is preferable to include a plurality of moving parts for rolling driving.

In addition, the operation unit, a plurality of first electromagnet portion provided to be exposed to the outside of the first guide portion, provided at a predetermined interval from the center of the first guide portion to the outside; And a plurality of second electromagnet parts provided in the second guide part so as to correspond to the plurality of first electromagnet parts, respectively.

In addition, it is preferable to further include a fifth actuator for yawing the cab installed in the movable plate.

According to the simulation apparatus according to the embodiment of the present invention, the movable plate for rolling and pitching driving may be rolled and pitched in a state in which the movable plate for rolling and pitching driving is arranged at close intervals.

Therefore, the height of the entire simulation can be reduced and the parts can be reduced, so that the size of the device can be reduced in weight and the manufacturing cost can be reduced.

In addition, since the cab can be installed at a lower height relative to the base plate, it is suitable for a train simulation with a smaller motion range than other motion simulators.

Therefore, it is possible to perform the simulation operation in a state similar to the actual driving situation during the experiment and driver practice through the train simulation.

1A, 1B and 1C, a train simulation apparatus according to an embodiment of the present invention may be movable in a direction of a first axis Z on a base plate 10 and the base plate 10. The first sliding plate 20 to be installed, the second sliding plate 30 is installed to be movable on the first sliding plate 20 in the second axis (X) direction, and the second sliding plate 30 An elevating plate 40 mounted on the elevating plate in a third axis Y direction, and a movable plate 50 installed on the elevating plate (lower plate; 40) to enable pitching and rolling movement. And a first actuator 110 for driving the first sliding plate 20, a second actuator 120 for driving the first sliding plate 20, and driving the lifting plate 40. Third Actuator 130 , And a fourth actuator (140) and fifth actuator 150 for yawing (yawing) drives a cab that is installed on the movable plate 50 for driving the movable plate (50).

The base plate 10 is located at the bottom and is supported and fixed to a predetermined support.

The first sliding plate 20 is installed above the base plate 10 and is supported by the first guider 21 so as to be slidable in a first axis (Z-axis) direction. The first sliding plate 20 is guided by the first guider 21 by the driving of the first actuator 110 to be able to reciprocate a predetermined distance in the direction of the first axis (Z axis).

Here, the first guide 21 is provided with a pair, it is preferable that the LM guide.

The second sliding plate 30 is installed to reciprocate a predetermined distance in the direction of the second axis (X axis) from the upper portion of the first sliding plate 20. To this end, a pair of second guiders 31 are provided between the first and second sliding plates 20 and 30. The second guider 31 is preferably an LM guide. The second sliding plate 30 may be reciprocated in the second axis (X axis) direction by the second actuator 120.

The lifting plate 40 is installed to reciprocate a predetermined distance in the third axis (Y axis) direction from the upper portion of the second sliding plate 30. That is, the lifting plate 40 can be reciprocated by a predetermined height in the third axis (Y-axis) direction by the third actuator 130 in the vertical direction.

In addition, a damping member 41 may be installed between the elevating plate 40 and the second sliding plate 30 to absorb the impulse when the elevating plate 40 moves up and down. The damping member 41 may be disposed to correspond to the central portion of the elevating plate 40 so as to equilibrate and absorb shocks in the first and second axial directions Z and X, respectively.

The movable plate 50 is installed to be movable above the lifting plate 40. Specifically, the movable plate 50 is installed to be pitched and rolled in the horizontal direction (front and rear, left and right directions) while being spaced a predetermined distance from the elevating plate 40. To this end, a guider 70 is provided between the movable plate 50 and the elevating plate 40 to guide the pitching and rolling movement of the movable plate 50.

The guider 70 is installed at the center of the elevating plate 40 and the movable plate 50, that is, on the basis of the first and second shafts Z and X, and thus, the movable plate 50 of the movable plate 50. Support the movement to be free. The guider 70 has a semi-spherical first guide portion 71 and a second guide portion 73 having a shape corresponding to the first guide portion 71.

The first guide portion 71 is installed to protrude in a hemispherical shape on the lifting plate 40, the second guide portion 73 is provided on the lower portion of the movable plate (50). The second guide portion 73 may be provided to protrude to the lower portion of the movable plate 50, or may be formed to be retracted. The first guide part 71 may be integrally formed with the lifting plate 40, and the second guide part 73 may be integrally formed with the movable plate 50. As described above, the movable plate 50 supported by the guider 70 may be driven by the fourth actuator 140 to enable pitching and rolling movement.

The simulation cab 60 is installed above the movable plate 50. The cab 60 is provided in a similar form to the inside of the cab of a real train and configured to allow a driver to ride and perform a simulation driving. Here, since the specific configuration of the cab 60 is not a feature of the present invention, a detailed description thereof will be omitted.

A fifth simulator 150 is installed between the cab 60 and the movable plate 50. The fifth simulator 150 includes a drive motor and a drive shaft. The drive motor can be installed in any one of the movable plate 50 and the cab 60, the drive shaft connects the drive motor and the rest. By the fifth actuator 150 of this configuration, it is possible to drive the cab 60 yawing.

1A and 3, the first actuator 110 rotates by a first servo motor 111 and a first servo motor 111 to reciprocally move the first sliding plate 20. The lead screw 113 and the lead screw coupling portion 115 is provided. The first servo motor 111 is capable of bidirectional rotational driving, and is controlled by the controller 200. The lead screw 113 is connected to the drive shaft of the first servo motor 111 is rotated, it is coupled to the lead screw coupling portion 115. The lead screw coupling portion 115 is provided below the second sliding plate 30 to which the lead screw 113 is coupled. Therefore, when the lead screw 113 is rotated, the lead screw coupling portion 115 can be relatively moved to move in the first axis (Z axis) direction. That is, the lead screw coupling portion 115 is formed with a screw thread screwed to the lead screw 113.

The second actuator 120 is for slidingly moving the second sliding plate 30 in a second axis (X-axis) direction, and has the same configuration as the first actuator 110. Therefore, the second actuator 120 has a second servo motor 121, a lead screw 123, and a lead screw coupling part 125. The second actuator 120 is driven and controlled by the controller 200 independently of the first actuator 110.

The third actuator 130 is configured to drive the lifting plate 40 up and down with respect to the second sliding plate 30 in a third axis (Y axis) direction. The third actuator 130 includes a plurality of cylinder units 131. The cylinder unit 131 is driven by the control unit 200 at the same time, thereby moving the lifting plate 40 up and down a predetermined distance, that is, in the third axis (Y-axis) direction. The cylinder unit 131 may be both a hydraulic cylinder device or an air cylinder device, and excessive movement can be restricted by the damping member 41.

The fourth actuator 140 includes first to fourth operating units 141, 142, 143, and 144 that provide driving force of the movable plate 50 by electromagnetic force. Each of the first to fourth operating units 141, 142, 143, and 144 may be formed of electromagnets, and each of the first to fourth operating units 141, 142, 143, and 144 may include a plurality of first and second electromagnet units. In the exemplary embodiment of the present invention, only the first and second electromagnet parts 141a and 143a and 143b and 143b of the first and third operation units 141 and 143 will be described.

Each of the first and second electromagnet parts 141a and 144a and 141b and 144b may be independently driven to have the same polarity or the opposite polarity to each other. Therefore, the first to fourth operating portions (141, 142, 143, 144) are independently controlled, but the pitching and rolling drive of the movable plate 50 in the horizontal state back and forth and left and right directions by adjusting the polarity and power You can. As described above, the first to fourth operation units 141, 142, 143, and 144 are individually driven and controlled by the controller 200 as shown in FIG. 2. Specifically, the control unit 200 moves the movable plate 50 while changing the size and direction of the electromagnets according to the so-called Gaussian formula for the first to fourth operating units 141, 142, 143 and 144. You can.

More specifically, the controller 200 controls the driving signal input from the simulation program driver 300 in correspondence with a Gaussian formula to enable pitching, rolling, and yawing simulation driving of the movable plate 50. Done. The first to fourth operating parts 141, 142, 143, and 144 as described above may include first and second electromagnet parts 141a and 143a and 141b and 143b to the first and second guide parts 71 and 73. It is preferable to be provided to face each other to correspond to each other, it is provided with a plurality so as to form a predetermined interval from the center to the outside. That is, the first to fourth operating parts 141, 142, 143, and 144 are front to back, left and right at the center of the first axis (Z axis) and the second axis (X axis) with respect to the center of the guider 70. It is provided symmetrically in each direction.

In addition, when the second guide portion 73 slides on the first guide portion 71, the release prevention jaw 75 for guiding pitching, rolling, and yawing motion while preventing the second guide portion 73 from being separated. ) Is installed around the first guide portion 71.

In addition, a plurality of ball bearings 77 may be provided between the first and second guide parts 71 and 73 to guide the movement of the second guide part 73.

Therefore, the ball bearing 77 can support the load of the movable plate 50, and the natural movement of the second guide portion 73 can be guided.

In addition, an inlet groove 73a in which the first and second magnet parts 141a and 143a and 141b and 143b are seated is formed on an outer surface of each of the first and second guide parts 71 and 73.

As such, by providing the fourth actuator 140 with the electromagnet parts using the electromagnetic force, miniaturization is possible and the gap between the lifting plate 40 and the movable plate 50 can be narrowed and installed. In addition, the thickness of the elevating plate 40 and the movable plate 50 can be reduced. Therefore, it is possible to reduce the overall height of the simulation apparatus, there is an advantage that can be manufactured suitable for the simulation operation of the train with a small movement range.

In addition, the input unit 400 may be separately provided to reset the simulation program or input a separate driving signal.

The controller 200 independently drives and controls the first to fifth actuators 110, 120, 130, 140, and 150 in real time based on a signal transmitted from the simulation program driver 300. You can also exercise six degrees of freedom. That is, as illustrated in FIGS. 4A and 4B, the first sliding plate 20 is reciprocated for a predetermined distance in the direction of the first axis (Z axis), and the second sliding plate 30 is formed on the second axis (X axis). Reciprocating predetermined distance in the () direction. In FIG. 4A, the second sliding plate 30 is moved a predetermined distance in the right direction as compared with FIG. 1A.

In addition, the lifting plate 40 is moved in the third axis (Y-axis) direction by the drive of the third actuator 130, Figure 4 shows a state in which moved a predetermined distance in the upward direction.

As described above, the movable plate 50 is pitched and rolled according to the Gaussian formula. And the cab 60 installed in the movable plate 50 is controlled by the fifth actuator 150 yawing drive. Therefore, in the case of the cab 60 finally installed on the upper portion of the movable plate 50 can be driven while exercising six degrees of freedom. That is, as in the case of FIG. 4B, the first operating part 141 on the right side of the drawing allows the first and second electromagnet parts 141a and 141b to have the same polarity, for example, the N poles act on each other. The first and second electromagnet portions 143a and 143b of the three operation portions 143 can be driven in the direction of the arrow by controlling the driving to be the N pole and the S pole.

In the case of the train simulation apparatus having the above-described configuration, the movable plate is driven by using the actuator 140 having an electromagnet, and the actuator 140 is provided in the guider 70, thereby enabling the movable plate to be driven even with a small force. It is possible to pitch and roll drive 50. Therefore, the device can be simplified and slimmer, and it is also possible to install the cab 60 at a lower height from the base plate 10. And it becomes possible to realize the simulation close to the actual train operation.

In addition, by using an electromagnet to electrically drive, there is an advantage that the simulation can be operated more smoothly and naturally.

1A is a schematic front view showing a simulation apparatus according to an embodiment of the present invention.

Figure 1b is an enlarged cross-sectional view showing the main portion of the main portion of Figure 1a.

1C is a plan view illustrating the first guide part of FIG. 1B.

2 is a block diagram illustrating a train simulation apparatus according to an embodiment of the present invention.

3 is a schematic plan view of the train simulation apparatus shown in FIG. 1A;

4A is a schematic front view for explaining a state in which simulation is driven in the state of FIG. 1A.

4B is an enlarged view illustrating main parts of FIG. 4A.

<Description of Symbols for Main Parts of Drawings>

10. Base plate 20, 30. First and second sliding plate

21, 31. 1st and 2nd guider 40. Lifting plate

41. Damping member 50. Moving plate

60. Cab 70.Guide

71, 73. 1st and 2nd guide part 75. Breakaway jaw

77. Ball bearings 110, 120, 130. 1st, 2nd and 3rd actuator

140,150 .. 4th and 5th actuators 141,142,143,144. 1st to 4th operating parts

200. Control part 300. Simulation program drive part

400..Input

Claims (16)

A simulation apparatus for rolling and pitching a movable plate supporting a cab for train simulation on a lower plate, An actuator installed between the lower plate and the movable plate, the actuator configured to roll and pitch the movable plate on the lower plate using an electromagnetic force; And And a guider installed between the movable plate and the lower plate to guide movement of the movable plate. The guider is, A hemispherical first guide part provided on one of the movable plate and the lower plate; And a second guide part provided on an opposite side in a shape corresponding to the first guide part. The actuator is It is provided to be symmetrical with each other in a plurality of positions on the basis of the center between the first and second guide portion, and includes a plurality of operating portion for rolling and pitching driving the movable plate according to the magnitude and direction of the mutually acting electromagnetic force Train simulation apparatus, characterized in that. delete The method of claim 1, wherein the guider is, Train simulation apparatus further comprises a ball bearing interposed between the first and second guide portion. The method of claim 1, wherein the guider is, And a departure prevention jaw for guiding movement of the second guide part while preventing separation of the second guide part with respect to the first guide part. The train simulation apparatus of claim 1, wherein the first guide part is provided on the lower plate, and the second guide part is installed on the movable plate. The method of claim 1, wherein the first and second guide portion, Train simulation apparatus, characterized in that installed in the central portion of the lower plate and the movable plate. delete The method of claim 1, wherein the plurality of operation unit, Train simulation apparatus, characterized in that the first to fourth operating unit is provided symmetrically in each of the front and rear and left and right directions relative to the center of the first and second guide portion to be driven independently. According to claim 1, The operating unit, A plurality of first electromagnet parts provided to be exposed to the outside of the first guide part and provided at a predetermined interval from the center to the outside of the first guide part; And And a plurality of second electromagnet portions provided in the second guide portion so as to correspond to the plurality of first electromagnet portions, respectively. The train simulation apparatus of claim 9, wherein an inlet groove in which the first and second electromagnet portions are formed is formed on facing surfaces of each of the first and second guide portions. A first sliding plate installed to reciprocally slide in a first axial direction from an upper portion of the base plate; A second sliding plate installed on the first sliding plate so as to reciprocally slide in a second axis direction perpendicular to the first axis; An elevating plate installed to be elevated in a third axial direction from an upper portion of the second sliding plate; A movable plate installed on the elevating plate to enable rolling and pitching motion; A guider for guiding the movable plate to pitch and roll in the front, rear, left and right directions with respect to the elevating plate; A first actuator for driving the first sliding plate to a first axis; A second actuator for driving the second sliding plate to a second axis; A third actuator for elevating and driving the elevating plate to a third axis; And And a fourth actuator provided in the guider and configured to pitch and roll drive the movable plate with respect to the elevating plate by an electromagnetic force. The method of claim 11, wherein the guider is, A hemispherical first guide part provided on one of the movable plate and the elevating plate; And And a second guide part provided on the opposite side in a shape corresponding to the first guide part. The method of claim 12, wherein the guider is, A ball bearing interposed between the first and second guide parts; And a departure prevention jaw for guiding movement of the second guide part while preventing separation of the second guide part with respect to the first guide part. The method according to any one of claims 11 to 13, wherein the fourth actuator, It is provided to be symmetrical with each other in a plurality of positions on the basis of the center between the first and second guide portion, and includes a plurality of operating parts for pitching and rolling driving the movable plate according to the magnitude and direction of the mutually acting electromagnetic force Train simulation apparatus, characterized in that. The method of claim 14, wherein the operating unit, A plurality of first electromagnet parts provided to be exposed to the outside of the first guide part and provided at a predetermined interval from the center to the outside of the first guide part; And And a plurality of second electromagnet portions provided in the second guide portion so as to correspond to the plurality of first electromagnet portions, respectively. The method according to any one of claims 11 to 13, And a fifth actuator for yawing driving the cab installed on the movable plate.

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