KR100986602B1 - Simulator motion apparatus and system using it - Google Patents

Abstract

PURPOSE: A simulation motion device and a system using the same are provided to efficiently implement a 3D dynamic motion by securing the stability of an operation. CONSTITUTION: A motor unit(140) is comprised of a servo motor(141) including a speed reducer(142). A cam driver(150) includes a cam member connected to an output axis of the speed reducer and a rod connecting member connected to the lower side of an operation rod. A first cam angle sensor(170) senses a rise angle of the cam member and applies a motor device stopping signal to a controller. A second cam angle sensor(180) senses a drop angle of the cam member and applies the motor device stopping signal to the controller.

Description

Simulator motion device and system using same {SIMULATOR MOTION APPARATUS AND SYSTEM USING IT}

The present invention relates to a simulator motion device and a system using the same. More specifically, the structure is simple and simple, and can be manufactured at low cost. Simulator motion device and a system using the same.

In general, the simulator is a device that allows the user to feel the movement of the virtual reality as a reality by reproducing the dynamic change to match the virtual environment controlled by the computer, and can not only implement flight simulation or driving simulation but also recently It is widely used as a simulator for games or theaters that allows you to experience three dimensions.

As an example of the above-described simulator, a three-dimensional haptic simulator is disclosed as shown in Republic of Korea Utility Model Registration No. 20-0394790. This simulator is provided with a lower plate 30, an operating unit 20, an upper plate 30, a support 40, and a motion controller 60, as shown in FIG.

In addition, the actuating unit 20 includes a rod-shaped actuating shaft 21, a reduction gear 22, an actuating encoder 23, and an actuating motor 24, and the actuating shaft 21 has one side thereof. It is coupled to the reducer 22 and the other side is coupled to the upper support 31 when the operation motor 24 is operated in accordance with the motion data received from the motion controller 60 is moved up and down, front and rear and left and right directions of the virtual reality To implement movement.

 However, the above-described simulator is connected to the lower plate 10 by the connecting block connected to the lower end of the operating unit 20 including the operating shaft 21 and the impact force for the dynamic movement of the operating shaft 21 and As the load is directly transmitted to the lower plate 10, the impact force is applied to the ground, and at the same time, causes a serious level of noise and vibration. Accordingly, when the above-described simulator is installed in the interior of a building as a game or theater simulator, the noise and vibration not only hinder the movement of the virtual reality, but also impair the durability of the building and cause many complaints. There is this.

On the other hand, as another example of the simulator is disclosed a game simulator as shown in Republic of Korea Utility Model Registration No. 20-0436586. Such a simulator has a support plate 10 fixed to the floor, a cradle 20 fixed vertically to the support plate 10, an actuator 30 pinned to the cradle 20 laterally, and an actuator (as shown in FIG. 2). 30 and a motion base 40 having a chair 50, and a control unit 60. The actuator 30 is composed of a servo motor 32, a ball screw 34, an operating shaft 36, and a housing 38.

Such a simulator according to another example can reduce noise as the actuator 30 is supported on the side by the cradle 20, but the actuator is fixed at a high position spaced from the ground, and thus cannot maintain a stable support state. As a result, accurate up, down, front, and left, and right directions according to the motion data applied from the controller 60 are impossible, and thus, the motion of the virtual reality cannot be effectively implemented.

In particular, the above-described conventional simulators have a disadvantage in that the manufacturing cost is excessively increased because they apply an expensive actuator consisting of a ball screw, an operating shaft, and a housing. In addition, the actuator has a high number of components and a complicated structure, which is not only a high risk of failure, but also requires maintenance to be performed on a regular basis, resulting in an increase in maintenance and operating costs.

The present invention has been proposed in view of the above, the structure is simple, simple structure can be produced at a low cost, and the stability of the operation is possible to achieve a variety of simulation operations, while not causing noise and vibration and the same The purpose is to provide a used system.

In order to achieve the above object, the simulator motion device according to the present invention, the simulator motion device is operable to provide a three-dimensional movement, the motion base is installed on the bottom surface; A motion platform spaced apart from and disposed above the motion base; A plurality of operating rods having an upper side connected to the motion platform: a plurality of motor devices disposed and fixed at a predetermined angle around the motion base; A cam driving unit having one end connected to an output shaft of the motor device and the other end connected to a lower side of the operating rod to angular and translational movement of the operating rod; And a controller for controlling the driving of the motor device according to an input signal.

The motor device includes a servo motor having a reduction gear, and the cam driving portion includes a cam member having a lower side connected to an output shaft of the reduction gear, and is orthogonal to an upper side of the cam member and connected to a lower side of the operating rod. It may be configured to include a rod connecting member.

A first cam angle detector for detecting a rising angle of the cam member when it exceeds 90 ° and applying a signal to the controller to stop driving of the motor device; And a second cam angle detector for detecting a falling angle of the cam member when the falling angle exceeds a predetermined falling range and applying a signal to the controller to stop driving of the motor device.

The actuating rod has a first connecting rod coupled to the bottom of the motion platform, a second connecting rod coupled to the rod connecting member, and a connecting rod connected between the first and second connecting rods. It can be configured to be adjustable.

The motion base may include a main support formed in a ring shape and a reinforcing support coupled to a support portion connected to an inner circumferential surface of the main support corresponding to an installation portion of the motor device to have an equilateral triangle shape. A rod connecting portion disposed in parallel with the support portion and having a working rod fixing member formed at a bottom thereof, and a connecting portion connected between the rod connecting portions, and the pair of the motor devices spaced apart from each other in a direction orthogonal to each of the supporting portions. The pair of operating rods operated by the pair of motor devices may be linked to the operating rod fixing member so as to face each other.

In order to achieve the above object, the system using the simulator motion device according to the present invention is characterized in that it comprises the above-described simulator motion device and a vehicle coupled to the motion platform.

The vehicle includes: a boarding base coupled to the motion platform; At least one chair coupled to the boarding base; And an operation unit for inputting a driving signal of the motor device.

And, the boarding base may be provided with a chair moving device for moving, enabling the chair to move back and forth, left and right, and up and down direction.

The simulator motion device and the system using the same of the present invention can be manufactured with a simple, simple structure and low cost since the driving unit for driving the operating rod is constituted by a cam driving unit instead of an expensive actuator as in the related art. In addition, since the structure is driven by a simple and simple cam method, there is relatively no fear of failure, thereby ensuring sufficient operating time and reducing maintenance costs.

In addition, since the cam driving part supports and absorbs the dynamic load generated during the operation of the simulator motion device, the impact force is not transmitted to the floor during the operation process, which does not harm the safety of the building and causes civil complaints and reduces noise and vibration. 3D dynamic movement can be effectively implemented.

In addition, since the cam member is operated only within a predetermined range by the first and second cam angle detectors, malfunctions such as breakage, fall, and departure of each component can be prevented in advance, thereby significantly improving safety and durability.

1 and 2 are views for explaining a conventional simulator motion device,
3 is a perspective view showing a simulator motion device according to an embodiment of the present invention;
4 is a front view showing a simulator motion device according to an embodiment of the present invention;
Figure 5 is a plan view showing a simulator motion device according to an embodiment of the present invention
6 is an enlarged view of main parts of a simulator motion apparatus according to an embodiment of the present invention;
7 is a diagram illustrating a system using a simulator motion apparatus according to an embodiment of the present invention.

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

Figure 3 is a perspective view showing a simulator motion device according to an embodiment of the present invention, Figure 4 is a front view showing a simulator motion device according to an embodiment of the present invention, Figure 5 is a simulator motion according to an embodiment of the present invention It is a top view which shows an apparatus.

3 to 5, the simulator motion device 100 according to an embodiment of the present invention is a three-dimensional driving device that can be applied to a device such as a simulator for implementing a dynamic change to fit the virtual environment, The base 110 and the motion platform 120, the plurality of operating rods 130, the motor device 140, the cam drive unit 150, and the control unit 160 is provided with three-dimensional movement, that is, X axis, Y axis And perform translational and rotational movements with respect to the Z axis, respectively.

As shown in FIG. 5, the motion base 110 has a main support 111 and a reinforcement support 112 connected to the inner side of the main support 111. .

The main support 111 is a part where the motor device 140 is installed, and may be formed in various shapes by steel materials such as “ㅁ” shaped steel “ㄷ” shaped steel, plate, etc. to perform the basic support of the simulator motion device. However, in this embodiment, it is formed in a circular ring shape so as to stably support the mechanical stability and the three-dimensional motion of the motion platform 120. At this time, the diameter of the main support 111 is formed so as to have a diameter as large as possible if not limited by space to ensure sufficient seating so that the rocking phenomenon during the three-dimensional motion of the motion platform 120 does not occur.

Reinforcement support 112 is to be installed as a reinforcement to the main support 111 to ensure structural stability, it is provided with three support (112a) connected to the inner circumferential surface of the main support corresponding to the installation portion of the motor device, The virtual vertex where the support part 112a meets is formed so that it may become an equilateral triangle shape located in the outer side of the main support 111. In addition, an auxiliary connection part 112b for reinforcement is formed between the support parts 112a.

The motion platform 120 is configured to be spaced apart from and disposed on the upper side of the motion base 110, and is configured to easily install a vehicle to be described later.

In addition, the motion platform 120 is disposed in parallel with the support portion 112a of the reinforcing supporter 112 and is connected between the rod connecting portion 121 and the operating rod fixing member 123 formed at the bottom thereof, and the rod connecting portion 121. The connection part 122 is formed in a hexagonal frame shape.

The actuating rod fixing member 123 is formed by drilling a pair of pin insertion holes on both sides of the body formed in a cross-sectional shape of “∩”, and a pair of actuating rods 130 by pins inserted into the pin insertion holes. These are connected by link coupling structures facing each other.

As shown in FIG. 4, the actuating rod 130 exerts a substantial driving force on the motion platform 120 according to the rotational motion of the cam driver 150. The upper end is connected to the motion platform 120 and the lower end is connected to the lower end. Is connected to the cam drive part 150 side. And, the operating rod 130 is the first connecting rod 131 is coupled to the bottom of the motion platform 120, the second connecting rod 132 is coupled to the cam driving unit 150, and the first and second It consists of a connecting rod 133 connected between the connecting rods (131, 132).

In addition, the first and second connecting rods 131 and 132 are formed with ring-shaped links 131a and 132a so as to be inserted into the connecting portion to perform a smooth rotation operation. The links 131a and 132a have friction during rotation. Lubricating oil inlet (Nymph) is installed to inject lubricant grease to minimize resistance. Since the connecting rod 133 is a detachable structure, the range of the three-dimensional movement of the motion platform 120 may be adjusted by adjusting the length of the connecting rod as necessary.

The motor device 140 is disposed and fixed at a predetermined angle around the motion base 110, and is composed of a servo motor 141 having a reducer 142, corresponding to a portion where the reinforcing support 112 is formed. It is installed on the main support 111 side. At this time, the motor device 140 is installed in a direction orthogonal to each support part 112a, and is spaced apart and arranged in parallel so that two motor devices 140 may be paired in one support part 112a. In addition, reference numeral 143 of FIG. 3 is a motor fixing bracket which is coupled to the reducer 142 side and fixed to the motion base 110 side.

The cam driving unit 150 has a configuration in which one end is connected to the output shaft of the motor device 140 and the other end is connected to the operating rod 130 to reversely rotate the operating rod. The cam member 151 and the rod connecting member 152 are rotated. Equipped.

The cam member 151 is a rectangular rod-shaped member, and has a connection hole connected to the output shaft of the reducer 142 at the lower side thereof. The rod connecting member 152 is a member having a round bar shape to which the lower side of the operating rod 130 is connected, and is formed to protrude perpendicularly to the upper side of the cam member 151.

The control unit 160 is generally referred to as a motion controller as a configuration for controlling the driving of the motor device 140 according to an input signal. The controller 160 controls the driving of the servomotor 141 according to a signal received from an external unit such as an operation unit (not shown), a computer (not shown), a sensor, or the like. And, although the control unit 160 is installed in the center of the motion base 110, as shown in Figure 3, this is only one installation example and at various positions as long as it does not interfere with the operation of the simulator motion device 100. Can be installed.

6 is an enlarged view of main parts of a simulator motion apparatus according to an exemplary embodiment of the present invention.

On the other hand, the simulator motion device 100 according to the present embodiment is to detect the displacement of the cam member 151 so as to prevent a safety accident due to an incorrect operation or malfunction during the three-dimensional drive is performed and Second cam angle detectors 170 and 180 are provided.

As shown in FIG. 6, the first cam angle detector 170 detects whether the rising angle of the cam member 151 (the turning angle in the upward direction with respect to the bottom surface) is rotated over a predetermined range. Thus, the contact lever is configured as a limit switch installed in close proximity to the cam member 151 to have an angle of 90 ° with respect to the bottom surface. The first cam angle detecting unit 170 installed as described above detects when the rising angle of the cam member 151 exceeds 90 ° and applies it to the controller 160 so that the driving of the motor device 140 is stopped. Malfunctions such as errors and deviations can be prevented in advance.

The second cam angle detection unit 180 is configured to detect whether the falling angle of the cam member 151 falls over a predetermined range, and the cam member 151 has the same angle as that of the bottom surface. It consists of a limit switch installed in close proximity. The second slow angle detecting unit 180 installed as described above detects when the lowering angle of the cam member 151 exceeds the set lowering range and applies it to the controller so that the driving of the motor device 140 is stopped so that the cam member ( Make sure that 151 does not hit the floor.

In addition, if the first and second cam angle detectors 170 and 180 can effectively detect the position of the cam member 151, various sensing devices such as a proximity sensor may be applied in addition to the limit switch.

Hereinafter will be described the operation of the simulator motion device according to an embodiment of the present invention.

Referring to FIG. 3, when an input signal is received from the outside of the control unit 160, the control unit 160 operates each servo motor 141 and the power generated from the servo motor 141 passes through the reducer 142. While being decelerated at a predetermined reduction ratio and outputted to the output shaft.

In addition, the cam driving unit 150 coupled to the output shaft performs the rotation operation in the ascending and descending directions according to the rotational direction of the output shaft. In this case, each servo motor 141 according to the drive signal of the controller 160. Since it rotates in the same direction and / or different directions, each operating rod 130 is elevated in the same direction and / or different directions to realize a three-dimensional dynamic movement.

More specifically, the lifting operation of the operating rod 130 will be described. First, when the output shaft rotates in the forward direction, the cam member 151 connected thereto is lifted up and connected to the rod connecting member 152 above the cam member 151. Lifting force is also applied to the operating rod 130. At this time, the operating rod 130 is coupled to the rod connecting member 152 and the operating rod fixing member 123 in a link connection method so that the angular movement with the lifting operation.

In addition, the two operating rods 130 receiving power from the two motor devices 140 installed in pairs and parallel to the main support 111 are connected to the operating rod fixing member 123 installed on the motion platform 120. Since it is connected to form a pair facing each other, each operating rod 130 is moved in the vertical and / or inclined direction in accordance with the movement of the adjacent operating rod (130). According to the interaction of the three pairs of operating rods 130 operating in pairs as described above, the translational and rotational movements of the X-, Y-, and Z-axes are possible, respectively, so that three-dimensional dynamic movement can be realized. .

As described above, the simulator motion device 100 according to the present embodiment is performed by the cam member 151 in which the movement of the operating rod 130 is rotated forward and backward, so that the structure can be made concise and at a low cost. Since the dynamic load of 130 is absorbed by the cam member 151, the impact force is not transmitted to the bottom surface during the operation.

In addition, when the rising angle of the cam member 151 exceeds the predetermined range, the first cam angle detection unit 170 detects this and applies it to the controller so that the stop operation of the motor device 140 is performed. Malfunctions such as breakage, falling, and dropping can be prevented in advance. In addition, when the falling angle of the cam member 151 exceeds the predetermined range, the cam member 151 detects this by causing the cam member 151 to perform the driving stop operation of the motor device 140. It does not collide with the floor surface, which blocks the generation of noise and vibration and improves durability.

On the other hand, Figure 7 is a diagram showing a system using a simulator motion apparatus according to an embodiment of the present invention.

Referring to FIG. 7, a system 200 using a simulator motion device includes a motion base 110, a motion platform 120, an operating rod 130, a motor device 140, a cam driver 150, and a controller 160. Using a simulator motion device 100 having a) is configured to implement a dynamic change to fit the virtual environment.

For example, the system 200 using the simulator motion device is coupled to the upper surface of the motion platform 120, the vehicle 210 on which the occupant or the vehicle is placed. The boarding device 210 is a joystick to input a driving signal of the boarding base 211 coupled to the motion platform 120, the chair 212 coupled to the boarding base 211, and the motor unit 140, The operation part 213 comprised with a button etc. is provided.

In addition, the boarding base 211 may be provided with a chair moving device 220 to allow the chair 212 to move back and forth, left and right, and up and down.

For example, the chair moving device 220 arranges the moving rail 221 to the boarding base 211 in which the chair 212 is movably connected to the left and right directions so that the chair moves together with the three-dimensional motion of the motion platform 120. 212 may be moved on the moving rail 221. In addition, the chair moving device 220 constitutes a separate driving device made of a motor device (not shown), a power transmission device (not shown), and the like on the chair 212, so that the chair 212 is a motion platform 120. And can be configured to move separately.

What has been described above is just one embodiment for implementing the simulator motion device and the system using the same, the present invention is not limited to the above-described embodiment, as claimed in the following claims Those skilled in the art to which the present invention pertains without departing from the gist of the present invention will have the technical idea of the present invention to the extent that various changes can be made.

100: simulator motion device 110: motion base
111: main support 112: reinforcing support
120: motion platform 130: operating rod
140: motor device 141: servo motor
142: reducer 150: cam drive unit
151: cam member 152: rod connecting member
160: controller 170: first cam angle detection unit
180: second delay angle detection unit
200: System using the simulator motion device
211: Boarding base 212: Chair
213: control unit 220: chair moving device

Claims (8)

In the simulator motion device that is operated to provide three-dimensional motion,
A motion base installed on the bottom surface;
A motion platform spaced apart from and disposed above the motion base;
A plurality of operating rods connected to the motion platform on the upper side:
A plurality of motor devices disposed and fixed at an angle around the motion base;
A cam driving unit having one end connected to an output shaft of the motor device and the other end connected to a lower side of the operating rod to angular and translational movement of the operating rod; And
A control unit for controlling the driving of the motor device according to the input signal,
The motor device is composed of a servo motor having a reducer,
The cam driving unit includes a cam member having a lower side connected to an output shaft of the reducer, and a rod connecting member installed at right angles to an upper side of the cam member and connected to a lower side of the operating rod.
A first cam angle detector for detecting a rising angle of the cam member when it exceeds 90 ° and applying a signal to the controller to stop driving of the motor device; And
And a second cam angle detector for detecting a falling angle of the cam member when the falling angle exceeds a predetermined falling range, and applying a signal to the controller to stop driving of the motor device.
delete delete The method of claim 1,
The actuating rod has a first connecting rod coupled to the bottom of the motion platform, a second connecting rod coupled to the rod connecting member, and a connecting rod connected between the first and second connecting rods. Simulator motion device, characterized in that configured to be adjusted.
The method according to claim 1 or 4,
The motion base includes a main support formed in a ring shape and a reinforcing support coupled to a support portion connected to an inner circumferential surface of the main support corresponding to an installation portion of the motor device to have an equilateral triangle shape.
The motion platform is composed of a rod connecting portion disposed in parallel with the support portion and the operating rod fixing member is formed at the bottom, and a connecting portion connected between the rod connecting portion,
A pair of the motor device is spaced apart and arranged in a direction orthogonal to the respective support parts, a pair of the operating rods operated by a pair of the motor device is coupled to the operating rod fixing member facing each other link Simulator motion device characterized in that.
The simulator motion device of claim 1 or 4; And
System using a simulator motion device comprising a vehicle coupled to the motion platform.
The method of claim 6,
The vehicle is,
A boarding base coupled to the motion platform;
At least one chair coupled to the boarding base; And
And a control unit for inputting a driving signal of the motor device.
The method of claim 7, wherein
The boarding base is a system using a simulator motion device, characterized in that the chair movement device for moving, enabling the chair to move back and forth, left and right, and up and down direction.

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