KR101146947B1 - 4 degrees of freedom motion limiting device and simulator motion platform utilizing the motion limiting device - Google Patents

Abstract

PURPOSE: A motion restricting device with four degrees of freedom and simulator moving apparatus using the same are provided to reduce manufacturing costs by securing four degrees of freedom to roll, heave, pitch, and sway directions with one movable frame and to prevent an extreme weight increase. CONSTITUTION: A motion restricting device(1) with four degrees of freedom comprises a supporting frame(100), a movable frame(200), first and second pivot links(410,420), a sliding member, and a sliding guide unit. The movable frame is installed in the upper part of the supporting frame to be separated. The first and second pivot links are obliquely connected between the supporting and movable frames. Each one side end part of the first and second pivot links are installed in the upper part of the supporting frame or in the lower part of the movable frame by a base pivot(460). The first and second pivot links rotate around a rotary shaft in an X-axis. The sliding member is connected to other side end parts of the first and second pivot links each. The sliding guide unit guides a movement of the sliding member to a Y-axis. Both end parts of the sliding guide unit are foxed to a fixing units(450).

Description

{4 Degrees of Freedom Motion Limiting Device and Simulator Motion Platform Utilizing the Motion Limiting Device}

The present invention relates to a four-degree-of-freedom motion limiting device and a simulator exercise device using the same, which is connected between the support frame and the movable frame which are arranged in more detail, spaced apart from each other in more detail, is slidably moved in the y-axis and rotated in the x-axis direction. A four degree of freedom motion limiting device including a first pivot link and a second pivot link to which a sliding means such as a linear bushing is connected at one end to enable rotational movement about the center, and is connected between the support frame and the movable frame and is movable The first pivot link and the second pivot including a driving device including first to fourth connecting means which are actuators arranged to drive four degrees of freedom motion of the frame, or included in the four degree of freedom motion limiting device. When the link is a drive device of the reduction gear type and includes the first connecting means and the second connecting means, one movable frame is provided. 4-freedom motion limiting device that can realize 4 degree of freedom in roll, heave, pitch, and sway direction, which is cheap in production cost and prevents excessive weight increase Relates to a simulator exercise device.

In general, a haptic simulator (simulator) is a device that moves the occupant in a limited space to feel a sense of movement similar to the sense of motion when the passenger rides a car or airplane.

Such simulators have recently been used in various fields such as games, various tests and driving training, and even pilot aircraft for military purposes.

As shown in FIG. 1, the most commonly used haptic simulator is capable of six degrees of freedom and has an aircraft pilot training device called the STEWART PLATFORM.

However, the six degree of freedom exercise board, such as the STEWART PLATFORM, consists of six power units that are required for three degree of freedom and four degree of freedom movements. have.

Therefore, exercise equipment with less than six degrees of freedom, such as three degrees of freedom and four degrees of freedom, may be used to reduce manufacturing costs. Such an exercise device having less than six degrees of freedom requires a motion limiting device that allows movement of the desired degrees of freedom while limiting the movement of unwanted degrees of freedom, and at the same time requires a driving device that can drive the movement of desired degrees of freedom. do. For example, a four-degree-of-freedom simulator exerciser capable of pitch, roll, heave, and sway movements allows surges and yaws while allowing these four movements. There is a need for motion limiting devices that make motion impossible, and at the same time a drive that can drive pitch, roll, heave, and sway motion.

In general, the four degree of freedom simulator exercise device has a disadvantage in that it is complicated and difficult in realizing the exercise limiting device and the driving device.

Conventionally, exercise system apparatus having a parallel mechanism structure employing a plurality of horizontal actuators and a plurality of rigid body links as an exercise system apparatus capable of three degrees of freedom motion is disclosed in Korean Utility Model Registration No. 287242 (registered on Aug. 14, 2002). There is a bar.

However, the prior art as described above is simpler to implement than 4 degrees of freedom, but only 3 degrees of freedom movement is implemented, there was a limit to express the dynamic movement.

However, the conventional four degree of freedom exercise device is a linear bearing such as a linear bearing that drives a linear reciprocating motion on a drive plate of a three degree of freedom exercise device capable of pitch, roll, and heave. This method requires two drive plates, which has the disadvantage of increasing capacity, increasing production cost, and increasing weight of the three-degree-of-freedom drive connection components.

Domestic Registration Room No. 0287242

The present invention has been made in order to solve the above problems, an object of the present invention is connected between the support frame and the movable frame arranged to be spaced up and down, sliding movement in the y-axis centered on the axis of rotation in the x-axis direction A four degree of freedom motion limiting device including a first pivot link and a second pivot link to which a sliding means such as a linear bushing is connected at one end thereof to enable a rotational movement to the rotary frame; The first pivot link and the second pivot link provided with a drive device including the first to fourth connection means which are actuators arranged to drive four degrees of freedom motion, or included in the four degrees of freedom motion limiting device When it is a drive device of the reducer type and is formed including the first connecting means and the second connecting means, a roll and a heap are formed by one movable frame. e), 4 degrees of freedom in the direction of the pitch (Pitch), Sway (Sway) can be implemented to provide a four degree of freedom motion limiting device and a simulator exercise device using the same degree of freedom to reduce production costs and prevent excessive weight increase.

Four degree of freedom exercise limiting device 400 of the present invention includes a support frame 100 provided on the lower side; A movable frame 200 spaced apart from the upper side of the support frame 100; It is connected between the support frame 100 and the movable frame 200 in a form inclined in the left and right directions, one end of which is the upper side of the support frame 100 or the movable frame 200 by a base pivot 460. A first pivot link 410 and a second pivot link 420 installed at a lower side of the bottom surface and capable of rotating around a rotation axis in the x-axis direction; Sliding means 430 connected to the other ends of the first pivot link 410 and the second pivot link 420 by a sliding means pivot 470; And the sliding means 430 is slidably moved in the y-axis, and sliding guides fixed to fixing means 450 installed at both end portions of the upper side of the support frame 100 or the lower side of the movable frame 200. Part 440; Characterized in that it comprises a.

In addition, the four degree of freedom exercise limiting device 400 according to an embodiment of the present invention, the first pivot link 410 and the second pivot link 420 is centered around the sliding guide 440 "∧ It may be formed in the form of "za" or "∨".

In addition, the four degree of freedom motion limiting device 400 according to an embodiment of the present invention is a bushing including a bushing shaft insertion hole 431 through which the sliding means 430 penetrates in the y-axis direction. The sliding guide 440 may be a bushing shaft inserted into the bushing shaft insertion hole 431 in the form of a rod or bar.

In addition, the four degree of freedom motion limiting device 400 according to an embodiment of the present invention, the sliding means 430 is an LM guide, the sliding guide 440 is the sliding means 430 in the y-axis direction Is an LM guide rail for guiding the movement to the movement, two freedom, such as gimbal-shaped joint to the sliding means 430 so that the first pivot link 410 and the second pivot link 420 is rotated about the x-axis and y-axis A degree joint may be further provided.

In addition, the simulator exercise apparatus of the present invention is connected between the support frame 100 and the movable frame 200 to support the movable frame 200, the first to fourth connecting means (310, 320) variable in length And a driving device 300 including 330 and 340, and the first connecting means 310 and the second connecting means 320, the third connecting means 330 and the fourth connecting means. 340 are arranged in pairs, and are spaced apart from each other in the x-axis direction by the four degree of freedom exercise limiter 400, and the first connecting means 310 and the second connecting means 320 are The distance between one end fixed to the support frame 100 is installed longer than the distance between the other end fixed to the movable frame 200 to form an inclined "∧" shape, the third connecting means 330 And a fourth connecting means 340 has a distance between one end fixed to the support frame 100 to the movable frame 200. Specified is provided shorter than the distance between the other end is characterized in that forming the chair tilted "∨" form.

The simulator exercise apparatus of the present invention is a support frame 100 provided on the lower side; A movable frame 200 spaced apart from the upper side of the support frame 100; The support frame 100 and the movable frame 200 are connected in an inclined form in a left and right direction, and one end thereof is connected to the reduction gear 510 and the motor 520 connected to the reduction gear 510. A first pivot link 410 and a second pivot link 420 installed on an upper side of the support frame 100 or a lower side of the movable frame 200 and rotatable about an axis of rotation in the x-axis direction; Sliding means 430 connected to the other ends of the first pivot link 410 and the second pivot link 420 by a sliding means pivot 470; The sliding means 430 is guided so as to slide in the y-axis, the sliding guide portion is fixed to the fixing means 450 is installed on both sides of the upper side of the support frame 100 or the lower side of the movable frame 200. 440; And a first connection means 310 and a second length of which are connected between the support frame 100 and the movable frame 200 in an inclined form in a left and right direction to support the movable frame 200 and vary in length. A driving device 300 including a connection means 320; It is formed to include, the support frame 100 in a pair of the first pivot link 410 and the second pivot link 420, the first connecting means 310 and the second connecting means 320 And a distance from the y-axis centerline of the movable frame 200.

The four degree of freedom motion limiting apparatus of the present invention and the simulator exercise device using the same are four degrees of freedom including a first pivot link and a second pivot link, one end of which is a linear bushing between a support frame and a movable frame which are spaced apart from each other. Composed of a motion limiting device, the first pivot link and the second pivot link is arranged in the form of "∨", the center of gravity of the movable frame in the sway (sway) of the linear reciprocating motion in the y-axis direction is the x-axis, z It allows accurate movements to be moved only in the y-axis direction without any displacement in the axial direction.

Accordingly, the four degree of freedom motion limiting device and the simulator motion device using the same have a driving device having the same structure as the simple arrangement structure, and roll, heave, and pitch with one movable frame. ), 4 degrees of freedom in the sway (Sway) can be implemented, the production cost is low, and there is an advantage that can prevent excessive weight increase.

In addition, the four degree of freedom motion limiting apparatus of the present invention and the simulator exercise apparatus using the same are capable of movement in the sway direction as well as roll, heave, and pitch directions, such as hunting. By limiting the motion, the motion can be more naturally realized, and therefore, there is an advantage that a more dynamic and realistic motion can be realized.

In addition, the simulator exercise apparatus of the present invention has the advantage that the structure is simple and the manufacturing cost is low by using two pivotal link systems of the same structure.

1 is a perspective view of a conventional configuration.
2 to 4 is a front view, a plan view, a side view showing a simulator exercise device of the present invention.
Figure 5 is a perspective view of the four degree of freedom exercise limiter included in the simulator exercise apparatus of the present invention.
6 to 8 are a perspective view, a front view, a rear view of a drive device for a simulator exercise device usable with the present invention.
Figure 9 is an embodiment of a drive device for a simulator exercise apparatus that can be used with the present invention.
10 to 14 is a perspective view showing various embodiments of the four degree of freedom exercise limiting apparatus according to the present invention.

Hereinafter, the four degree of freedom exercise limiting apparatus of the present invention and the simulator exercising apparatus using the same will be described in detail with reference to the accompanying drawings.

2 to 4 is a front view, a plan view, a side view showing a simulator exercise device of the present invention, Figure 5 is a perspective view of the four degree of freedom exercise limiter included in the simulator exercise device of the present invention, Figures 6 to 8 is the present invention 9 is a perspective view, a front view, and a rear view of a driving apparatus for a simulator exercising apparatus which can be used together, and FIG. 9 is an embodiment of a driving apparatus for a simulator exercising apparatus which can be used together with the present invention, and FIGS. 4 is a perspective view showing various embodiments of the motion limiting device according to.

Simulator exercise device 1 of the present invention is largely formed to include a support frame 100, a movable frame 200, a driving device 300 and a four degree of freedom motion limiting device (400).

The support frame 100 is provided on the lower side, and the movable frame 200 is installed to be spaced apart from the upper side of the support frame 100, the seat is installed on the upper side in the general simulator exercise apparatus space for seating the passengers Form.

That is, the movable frame 200 can be moved in various directions by the remaining configuration.

The driving device 300 is connected between the support frame 100 and the movable frame 200 to support the movable frame 200, the first to fourth connecting means 310, 320, the length of which is selectively variable 330 and 340 are formed.

The first to fourth connection means 310, 320, 330, and 340 are connected to and installed at four points of the support frame 100 and the movable frame 200.

In addition, both ends of the first to fourth connecting means 310, 320, 330, and 340 connected to the support frame 100 and the movable frame 200 may be connected to the driving device 300. Connected by, the connection joint 350 may be a joint having a two-axis or three-axis degree of freedom structure that does not restrict the movable frame 200 to move four degrees of freedom.

The first to fourth connecting means (310, 320, 330, 340) may be any one of a hydraulic cylinder, pneumatic cylinder, jack type, link type or electric linear actuator, in addition to the support frame 100 and movable Any type of actuator that can vary the distance between the frames 200 can be used.

In general, hydraulic cylinders, pneumatic cylinders and electric linear actuators allow torsion between the piston and the cylinder, in which case the connection joints are installed at both ends of the first to fourth connecting means (310, 320, 330, 340). 350 may be a biaxial joint or gimbal joint, such as a universal joint.

If the actuator does not allow torsion, the driving device 300 is any one of the connection joint 350 installed at both ends of the first to fourth connection means 310, 320, 330, 340 is a ball socket joint As such a bearing system should be used which allows for torsion.

As shown in Figure 9, the first to fourth connecting means (310, 320, 330, 340) is a reduction gear 510 is installed on the support frame 100 in the case of the reduction gear link link method; A motor 520 connected to the reduction gear 510; A primary link 530 connected to the output shaft of the reduction gear 510; And a secondary link 540 connected to the primary link 530 by a first joint and connected to the movable frame 200 and the second joint 560. It may be formed to include.

At this time, it is preferable that the first joint and the second joint 560 are joints having three degrees of freedom.

On the other hand, the four degree of freedom exercise limiting device 400 of the present invention is connected between the support frame 100 and the movable frame 200, installed in a predetermined region of the support frame 100 or the movable frame 200 This restricts movement in the yaw and surge directions.

As shown in Figures 2 to 4, the four degree of freedom simulator exercise apparatus 1 of the present invention can drive movement in the direction of the roll (Roll), the (Heave), the pitch (Pitch), the sway (Sway) It can be used with any drive device, the drive device used as an example in the present invention is the first connecting means 310 and the second connecting means 320, the third connecting means 330 and the fourth connecting means. 340 is arranged in pairs, the four degrees of freedom from the motion limiting device 400 is arranged at a predetermined distance apart in the x-axis direction.

At this time, the first connecting means 310 and the second connecting means 320 is a distance between one end fixed to the support frame 100 as shown in Figure 7 is fixed to the movable frame 200 It is installed longer than the distance between the other end to form a "자" shape symmetrical left and right, the third connecting means 330 and the fourth connecting means 340 is the support frame 100 as shown in FIG. The distance between one end fixed to the) is shorter than the distance between the other end fixed to the movable frame 200 to form a "∨" shape of left and right symmetry.

Accordingly, the simulator exercise device 1 used as an embodiment in the present invention has the advantage that the exercise can be implemented using four identical actuators.

Four degree of freedom exercise limiting device 400 of the present invention includes a support frame 100 provided on the lower side; A movable frame 200 spaced apart from the upper side of the support frame 100; It is connected between the support frame 100 and the movable frame 200 in a form inclined in the left and right directions, one end of which is the upper side of the support frame 100 or the movable frame 200 by a base pivot 460. A first pivot link 410 and a second pivot link 420 installed at a lower side of the bottom surface and capable of rotating around a rotation axis in the x-axis direction; Sliding means 430 connected to the other ends of the first pivot link 410 and the second pivot link 420 by a sliding means pivot 470; And the sliding means 430 is slidably moved in the y-axis, and sliding guides fixed to fixing means 450 installed at both end portions of the upper side of the support frame 100 or the lower side of the movable frame 200. Part 440; It may be formed to include.

The four degree of freedom exercise limiting device 400 of the present invention may be used in combination with various types of actuators in addition to the simulator exercise device 1 as described above.

As shown in FIGS. 5 and 10 to 13, the first pivot link 410 and the second pivot link 420 are formed in a “∧” shape or “∨” shape with respect to the sliding guide 440. Can be formed.

At this time, the four degree of freedom motion limiting device 400 of the present invention is a bushing including a bushing shaft insertion hole 431 through which the sliding means 430 penetrates in the y-axis direction, and the sliding guide 440. ) May be a bushing shaft inserted into the bushing shaft insertion hole 431 in the form of a rod or bar.

In the following description, the sliding means is a bushing, the sliding means pivot is a bushing pivot, and the sliding guide is a bushing shaft. The sliding means and the bushing, the sliding means pivot and the bushing pivot, the sliding guide and The bushing shaft will use the same reference number.)

Referring to one embodiment of the four degree of freedom exercise limiter 400 shown in Figure 5, the four degree of freedom exercise limiter 400 of the present invention by the base pivot 460 the upper side of the support frame 100 A first pivot link 410 and a second pivot link 420 which are installed in a left-right symmetrical shape and are rotatable about an axis of rotation in the x-axis direction; Bushing 430 which is connected to the end of the first pivot link 410 and the second pivot link 420 by a bushing pivot 470, and including a bushing shaft insertion hole 431 through the inside in the y-axis direction ); And in the form of a rod or bar (bar), the bushing shaft insertion hole 431 is inserted into the bushing 430 to move in the y-axis, both ends are installed on the lower side of the movable frame 200 A bushing shaft 440 fixed to the fixing means 450; It may be formed to include.

At this time, the simulator exercise device 1 using the four degree of freedom exercise limiter 400 shown in Figure 5 is the first to fourth connecting means 310, 320, disposed in the form of "∧" and "∨", Due to the 330 and 340, the movable frame 200 is driven by the connecting means having the same structure, and at the same time, the first pivot link 410 can limit movement in the yaw and surge directions. And it is preferable that the second pivot link 420 is a "∨" shape symmetrical about the orthogonal axis (x-axis) of the bushing shaft 440.

The first pivot link 410 and the second pivot link 420 may be rotated in a clockwise and counterclockwise direction about the base pivot 460, and the bushing 430 through the bushing pivot 470. In connection with the bushing pivot 470 can be rotated in a clockwise and counterclockwise direction.

The mounting position of the base pivot 460 is the first pivot link 410 and the second pivot when the bushing 430 moves along the bushing shaft 440 within the range of motion of the movable frame 200. It is preferable that the link 420 is mounted at a proper position very close to the center of the support frame 100 or far from the center so that the link 420 is not vertical.

The four degree of freedom motion limiting device 400 of the present invention has a structure in which the bushing 430 is not rotatable with respect to the bushing shaft 440, and a connection portion between the bushing shaft 440 and the fixing means 450. By installing a bearing in the bushing shaft 440 may be rotated relative to the fixing means 450.

In another embodiment, the four degree of freedom exercise limiting device 400 of the present invention is installed in the support frame 100 to the installation of the first pivot link 410 and the second pivot link 420 as shown in FIG. The base pivot 460 may be installed on the upper side thereof, and the base pivot 460 may be installed in an inclined shape having a “∧” shape. The bushing shaft 440 may be mounted on the support frame 100 as illustrated in FIGS. 11 and 12. Is installed and the base pivot 460 is installed on the movable frame 200 so that the arrangement of the first pivot link 410, the second pivot link 420 is inclined, such as "와" or "∨" Can be.

On the other hand, as shown in Figure 13, the four degree of freedom motion limiting device 400 of the present invention, the sliding means 430 is the LM guide, the sliding guide 440 is the sliding means 430 is y It may also be an LM guide rail that guides it in an axial direction.

In other words, the four degree of freedom motion limiting apparatus 400 of the present invention includes the sliding guide 440 and the sliding means for the linear movement of the y-axis of the first pivot link 410 and the second pivot link 420. In 430, the sliding guide 440 is a rail capable of sliding linear motion in the form of an LM guide, and the sliding means 430 may be replaced with an LM guide, and the sliding means 430 may be configured as a first rail. Two degrees of freedom joints such as a gimbal joint (not shown) capable of rotating in the x-axis and y-axis directions with the pivot link 410 and the second pivot link 420 may be installed to perform the same movement.

The sliding means 430 may be modified in various forms as long as the sliding means moves in one axis in addition to the bushing and the LM guide as described above.

In another embodiment, as shown in Figure 14, the simulator exercise apparatus of the present invention includes a support frame 100 provided on the lower side; A movable frame 200 spaced apart from the upper side of the support frame 100; The support frame 100 and the movable frame 200 are connected in an inclined form in a left and right direction, and one end thereof is connected to the reduction gear 510 and the motor 520 connected to the reduction gear 510. A first pivot link 410 and a second pivot link 420 installed on an upper side of the support frame 100 or a lower side of the movable frame 200 and rotatable about an axis of rotation in the x-axis direction; Sliding means 430 connected to the other ends of the first pivot link 410 and the second pivot link 420 by a sliding means pivot 470; The sliding means 430 is guided so as to slide in the y-axis, the sliding guide portion is fixed to the fixing means 450 is installed on both sides of the upper side of the support frame 100 or the lower side of the movable frame 200. 440; And a first connection means 310 and a second length of which are connected between the support frame 100 and the movable frame 200 in an inclined form in a left and right direction to support the movable frame 200 and vary in length. A driving device 300 including a connection means 320; It is formed to include, the support frame 100 in a pair of the first pivot link 410 and the second pivot link 420, the first connecting means 310 and the second connecting means 320 And a distance from the y-axis centerline of the movable frame 200.

At this time, the simulator exercise device of the present invention is the first pivot link 410 and the second pivot link 420 and the first connecting means 310 and the second connecting means 320 that is configured in the speed reducer method. It is possible to limit movement in the yaw and surge directions, thereby realizing four degrees of freedom.

Referring to FIGS. 4 to 6, the simulator exercise apparatus 1 according to the present invention operates in a roll, heave, pitch, and sway directions.

First, in the simulator exercise apparatus 1 of the present invention for moving in the heave direction, upper ends of the first pivot link 410 and the second pivot link 420 are centered along the bushing shaft 440. While moving to the first pivot link 410, the second pivot link 420 is moved in a standing position from the lying down position.

At this time, in the simulator exercise apparatus 1 of the present invention, the upper end distance of the first pivot link 410 and the second pivot link 420 is gradually narrowed, and the first pivot link 410 and the second As the end of the pivot link 420 rotates, the movable frame 200 moves in the vertical direction.

At this time, the first to fourth connecting means (310, 320, 330, 340) should be the same length.

In the simulator exercise device 1 of the present invention for moving in a roll direction, upper ends of the first pivot link 410 and the second pivot link 420 are the same toward the right side of the bushing shaft 440. Is moved in the direction.

At this time, the simulator exercise device 1 of the present invention has a long length of the second connecting means 320 and the fourth connecting means 340, on the contrary, the first connecting means 310 and the third connecting means As the length of the 330 is shortened, movement in the roll direction can be realized.

The simulator exercise device 1 of the present invention, when the upper end of the first pivot link 410 and the second pivot link 420 is moved in the same direction toward the left side of the bushing shaft 440, the second The connecting means 320 and the fourth connecting means 340 are shorter together, and conversely, the length of the first connecting means 310 and the third connecting means 330 becomes longer, and thus, in the roll direction. Exercise can be implemented.

In the simulator exercise apparatus 1 of the present invention for moving in a pitch direction, the first pivot link 410 and the second pivot link 420 are stationary, and the first and second connection means ( When the third and fourth connecting means 330 and 340 become longer when the first and second connecting means 310 and 320 become longer, the third and fourth connecting means become longer when the first and second connecting means 310 and 320 become shorter. The means 330, 340 are shortened. At this time, the movable frame rotates about the bushing shaft 440.

Finally, in the simulator exercise device 1 of the present invention for moving in the sway direction, the first pivot link 410 and the second pivot link 420 are in a stationary state, and the first and fourth movements. When the connecting means 310 and 340 are shortened, the second and third connecting means 320 and 330 become longer, and conversely, when the first and fourth connecting means 310 and 340 are lengthened, the second and third connecting means 310 and 340 become longer. The third connecting means 320 and 330 are shortened.

In the same manner as described above, the simulator exercise apparatus 1 of the present invention includes a first pivot link 410 for implementing movement in a roll, a heave, a pitch, and a sway direction. , The second pivot link 420, the movement of the first to fourth connecting means (310, 320, 330, 340) by appropriately mixing, roll (Heave), pitch (Pitch), Sway (Sway) It is also possible to implement a combination of movements in the same direction.

In addition, the first connecting means and the second connecting means is arranged to form a "∧" shape, the third connecting means and the fourth connecting means are arranged to form a "∨" shape, the same structure as the simple arrangement structure At the same time, it is possible to realize four degrees of freedom in the direction of roll, heave, pitch, and sway with one movable frame 200, resulting in low production cost and excessive weight increase. There is an advantage that can be prevented.

In addition, the four degree of freedom motion limiting device of the present invention and the simulator exercise device using the same are capable of movement in the sway direction as well as in the roll, heave, and pitch directions, thereby limiting hunting. In addition, since the movement can be more naturally implemented, there is an advantage of realizing more dynamic and realistic movement.

In addition, the four degree of freedom motion limiting apparatus of the present invention and the simulator exercise apparatus using the same have the advantage that the structure is simple and the manufacturing cost is low by using a pivot link system having the same structure.

The present invention is not limited to the above-described embodiments, and the scope of application of the present invention is not limited to those of ordinary skill in the art to which the present invention pertains without departing from the gist of the present invention as claimed in the claims. Of course, various modifications can be made.

1: simulator exercise device
100: support frame
200: movable frame
300: drive device
310, 320, 330, 340: first to fourth connecting means
350: connection joint
400: 4 degree of freedom exercise limiter
410, 420: first pivot link, second pivot link
430: sliding means, bushing 431: bushing shaft insertion hole
440: sliding guide, bushing shaft 450: fixing means
460: base pivot 470: sliding means pivot, bushing pivot
480: gimbal joint
510: reduction gear 520: motor
530, 540: primary link, secondary link
550, 560: Joint 1, Joint 2

Claims (7)

Support frame 100 provided on the lower side;
A movable frame 200 spaced apart from the upper side of the support frame 100;
It is connected between the support frame 100 and the movable frame 200 in a form inclined in the left and right directions, one end of which is the upper side of the support frame 100 or the movable frame 200 by a base pivot 460. A first pivot link 410 and a second pivot link 420 installed at a lower side of the bottom surface and capable of rotating around a rotation axis in the x-axis direction;
Sliding means 430 connected to the other ends of the first pivot link 410 and the second pivot link 420 by a sliding means pivot 470; And
The sliding means 430 is guided so as to slide in the y-axis, the sliding guide portion is fixed to the fixing means 450 is installed on both sides of the upper side of the support frame 100 or the lower side of the movable frame 200. 440; 4 degree of freedom exercise restriction device comprising a.
The method of claim 1,
The four degree of freedom exercise limiting device 400
The first pivot link 410 and the second pivot link 420
4 degree of freedom exercise limiter, characterized in that formed in the shape of "자" or "형태" around the sliding guide 440.
The method of claim 1,
The four degree of freedom exercise limiting device 400
The sliding means 430 is a bushing including a bushing shaft insertion hole 431 through which the inside penetrates in the y-axis direction.
The sliding guide portion 440 is a bar or bar (bar), four degree of freedom movement limitation device, characterized in that the bushing shaft is inserted into the bushing shaft insertion hole (431).
The method of claim 1,
The four degree of freedom exercise limiting device 400
The sliding means 430 is an LM guide,
The sliding guide 440 is an LM guide rail for guiding the sliding means 430 to move in the y-axis direction,
A two degree of freedom joint such as a gimbal joint is further provided on the sliding means 430 such that the first pivot link 410 and the second pivot link 420 are rotated about the x and y axes. 4 degree of freedom exercise limiter.
Simulator exercise device using the four degree of freedom exercise limiter according to any one of claims 1 to 4.
6. The method of claim 5,
The simulator exercise device
A drive connected between the support frame 100 and the movable frame 200 to support the movable frame 200 and including first to fourth connecting means 310, 320, 330, and 340 having a variable length. It is formed, including the device 300,
The first connecting means 310 and the second connecting means 320, the third connecting means 330 and the fourth connecting means 340 are arranged in pairs, the four degree of freedom exercise limiting device 400 Spaced apart in the x-axis direction from
The first connecting means 310 and the second connecting means 320 is installed so that the distance between one end fixed to the support frame 100 is longer than the distance between the other end fixed to the movable frame 200 In the form of an inclined "∧"
The third connecting means 330 and the fourth connecting means 340 has a distance between one end fixed to the support frame 100 is shorter than the distance between the other end fixed to the movable frame 200 Simulator exercise device characterized in that the inclined "∨" shape.
Support frame 100 provided on the lower side;
A movable frame 200 spaced apart from the upper side of the support frame 100;
The support frame 100 and the movable frame 200 are connected in an inclined form in a left and right direction, and one end thereof is connected to the reduction gear 510 and the motor 520 connected to the reduction gear 510. A first pivot link 410 and a second pivot link 420 installed on an upper side of the support frame 100 or a lower side of the movable frame 200 and rotatable about an axis of rotation in the x-axis direction;
Sliding means 430 connected to the other ends of the first pivot link 410 and the second pivot link 420 by a sliding means pivot 470;
The sliding means 430 is guided so as to slide in the y-axis, the sliding guide portion is fixed to the fixing means 450 is installed on both sides of the upper side of the support frame 100 or the lower side of the movable frame 200. 440; And
The support frame 100 and the movable frame 200 are connected in an inclined form in a left and right direction to support the movable frame 200, and the first connecting means 310 and the second connection of which the length is variable. A drive device 300 comprising means 320; It is formed to include,
The support frame 100 and the movable frame 200 are paired with the first pivot link 410 and the second pivot link 420, and the first connecting means 310 and the second connecting means 320 are paired. 4 degrees of freedom motion limitation device, characterized in that spaced apart from the y-axis centerline of a certain distance.

Images