KR101695947B1 - Motion simulator - Google Patents

Motion simulator Download PDF

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Publication number
KR101695947B1
KR101695947B1 KR1020150074574A KR20150074574A KR101695947B1 KR 101695947 B1 KR101695947 B1 KR 101695947B1 KR 1020150074574 A KR1020150074574 A KR 1020150074574A KR 20150074574 A KR20150074574 A KR 20150074574A KR 101695947 B1 KR101695947 B1 KR 101695947B1
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KR
South Korea
Prior art keywords
rotation
shaft
rotary
rotating
link portion
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KR1020150074574A
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Korean (ko)
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KR20160139529A (en
Inventor
이종찬
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주식회사 모션디바이스
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Priority to KR1020150074574A priority Critical patent/KR101695947B1/en
Publication of KR20160139529A publication Critical patent/KR20160139529A/en
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/10—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer with simulated flight- or engine-generated force being applied to aircraft occupant
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/16—Control of vehicles or other craft
    • G09B19/165—Control of aircraft

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Transmission Devices (AREA)

Abstract

An object of the present invention is to provide a motion simulator capable of downsizing the apparatus, stabilizing the rotating operation of the rotating body, and preventing interference with the link portion during rotation of the rotating body. The motion simulator includes a base frame 10; A rotating body 20 located on the upper side of the base frame 10 and capable of rolling about a first rotating shaft 61 and a second rotating shaft 85 connected to one side and the other side; Is connected to the first rotation shaft (61) so as to transmit the power of the first driving means (34) so that the rotation of the rotation body (20) can be pitched so that the rotation body (20) and the first rotation shaft A first link portion (30) for moving the first link portion (30); Is connected to the second rotary shaft 85 so as to transmit the power of the second driving means 44 so as to enable the pitching rotation of the rotary body 20 to rotate the rotary body 20 and the second rotary shaft 85 up and down A second link portion (40) for moving the second link portion (40); A rotation driving unit 50 for providing a driving force for rolling the rotary body 20 about the first rotary shaft 61 and the second rotary shaft 85; A power transmitting portion (60) including the first rotating shaft (61) for transmitting the rotation by the rotation driving portion (50) to the rotating body (20); A first support portion 82 provided below the first rotation shaft 61 and connecting the rotation drive portion 50 and the first link portion 30 in a hinge structure; A second support member 86 provided below the second rotation shaft 85 and supporting the second rotation shaft 85 and a second support portion 87 connecting the second link portion 40 with a hinge structure ).

Description

Motion simulator {MOTION SIMULATOR}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion simulator, and more particularly, to a motion simulator in which rotation is performed to enable a simulated flight.

In general, a motion simulator is a device that allows a user to feel the movement of a virtual reality as a reality by reproducing a dynamic change corresponding to a virtual environment controlled by a computer. In addition to being able to implement flight simulation and driving simulation, It is widely used as a game simulator or a theater simulator for three-dimensional sensation.

Especially, the flight simulator is a system to reproduce the virtual flight situation so that the pilot feels like piloting the actual aircraft, and it is necessary to construct a system that rotates the rotating body of the pilot by 360 degrees as a flight training or boarding experience.

As such a conventional flight simulator, Korean Patent Laid-Open Publication No. 1998-701971 entitled " Improved flight simulation apparatus "is disclosed.

In the conventional flight simulator described above, the pitch, roll, and yaw axes in the flight simulator can be used to simulate a more real simulated flying experience To provide a structure that is separate from the trainee.

However, the conventional flight simulator has a pitch boom and a swing boom which are orthogonal to each other, and the cockpit assembly is provided at a position eccentric from the pitch boom as a front end of the swing boom, so that the apparatus becomes large as a whole and becomes unstable during operation.

Disclosure of the Invention The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a motion simulator which can miniaturize the apparatus, stabilize the rotation operation of the rotating body, and prevent interference with the link portion during rotation of the rotating body The purpose is to provide.

According to an aspect of the present invention, there is provided a motion simulator comprising: a base frame; A rotating body 20 located on the upper side of the base frame 10 and capable of rolling about a first rotating shaft 61 and a second rotating shaft 85 connected to one side and the other side; Is connected to the first rotation shaft (61) so as to transmit the power of the first driving means (34) so that the rotation of the rotation body (20) can be pitched so that the rotation body (20) and the first rotation shaft A first link portion (30) for moving the first link portion (30); Is connected to the second rotary shaft 85 so as to transmit the power of the second driving means 44 so as to enable the pitching rotation of the rotary body 20 to rotate the rotary body 20 and the second rotary shaft 85 up and down A second link portion (40) for moving the second link portion (40); A rotation driving unit 50 for providing a driving force for rolling the rotary body 20 about the first rotary shaft 61 and the second rotary shaft 85; A power transmitting portion (60) including the first rotating shaft (61) for transmitting the rotation by the rotation driving portion (50) to the rotating body (20); A first support portion 82 provided below the first rotation shaft 61 and connecting the rotation drive portion 50 and the first link portion 30 in a hinge structure; A second support member 86 provided below the second rotation shaft 85 and supporting the second rotation shaft 85 and a second support portion 87 connecting the second link portion 40 with a hinge structure ).

The rotating body (20) includes a rotating body frame (21) having a polygonal shape when viewed from the side; The rotary frame 21 includes a first frame member 30 having a length in the vertical direction parallel to the first link unit 30 and the second link unit 40 as viewed from the side, 21-1a, 21-2a and second frame members 21-1b, 21-2b; A third frame member provided on the first frame members 21-1a and 21-2a and the second frame members 21-1b and 21-2b and having a length in the horizontal direction, (21-1c, 21-2c) and fourth frame members (21-1d, 21-2d); The first frame member 21-1a, 21-1b, 21-1c, 21-1d, 21-2a, 21-2b, 21-2c, 21-2d, 21-2e, 21-2f, 21-2g, and 21-2h, and the rotary frame 21 is composed of the first to fourth connecting frame members 21-1e, 21-1f, 21-1g, 21-1h, It may be an octagonal shape.

The rotation driving unit 50 includes: a motor 51 having a motor shaft 51a in a direction perpendicular to the first rotation shaft 61 on a horizontal plane; A planetary speed reducer (52) having a speed reducer shaft (52a) coaxial with the motor shaft (51a) for decelerating the rotation of the motor (51); And a worm reducer 53 composed of a worm 53a and a worm gear 53b connected to the speed reducer shaft 52a to decelerate the rotation of the speed reducer shaft 52a and transmit the decelerated shaft 52a to the first rotation shaft 61 have.

The rotating body 20 includes a monitor 23 provided in the rotating body 20 for providing a virtual environment according to a user's operation as an image and an operation unit 24 for providing a user's operation signal to the virtual environment ); The power transmitting portion 60 is coupled to the outer peripheral surface of the power transmitting portion 60 so as to rotate integrally with the gear 53b of the rotary driving portion 50. The first rotating shaft 61 is inserted into a space passing through the inner portion in the longitudinal direction, And an output shaft (62) rotating integrally with the gear (53b) and the first rotation shaft (61) by rotation of the motor (51); A control unit for transmitting and receiving signals to and from the power supply unit for applying power to the monitor 23 and the operation unit 24, an external power supply line 2-1 connected to the power supply unit, and an external signal line 3 -1) is provided outside the rotating body (20); The internal power line 2-2 connected to the monitor 23 and the operation unit 24 for supplying power and the internal signal line 3-2 for transmitting and receiving a signal are connected to the inside of the first rotary shaft 61 A through hole 61a is formed so as to penetrate in the longitudinal direction; The external power line 2-1 and the internal power line 2-1 are connected to one end of the first rotating shaft 61 in the opposite direction to which the rotating body 20 is connected, 2, and a slip ring 70 for connecting the external signal line 3-1 and the internal signal line 3-2, respectively.

The slip ring 70 includes a first slip ring inner ring 72 surrounding the first rotary shaft 61 and connected to the internal power supply line and rotating integrally with the first rotary shaft 61; The first slip ring inner ring 72 is surrounded by the first slip ring inner ring 72 and is energized with the first slip ring inner ring 72. The first slip ring inner ring 72 is connected to the first power supply line, An outer ring 71; A second slip ring outer ring 73 inserted into the through hole 61a of the first rotary shaft 61 and connected to the inner signal line and rotating integrally with the first rotary shaft 61; Is inserted into a through hole penetrating through the second slip ring outer ring (73) in the longitudinal direction so that electric current is supplied to the second slip ring outer ring (73), and the external signal line is connected to prevent rotation And a fixed second slip ring inner ring 74.

One end of the inner power line is connected to the first slip ring inner ring 72 and the other end is inserted through the insertion hole 61b formed in the first rotation shaft 61 and then through the through hole 61a .

The first slip ring outer ring 71 may be connected to a fixed position of the rotary drive unit 50 via fixed connection members 75 and 76.

According to the motion simulator of the present invention, it is possible to reduce the size of the apparatus by making the center of the rotating body coincide with the axis of the rotating shaft, and to reduce the area required for installing the apparatus by rotating the rotating body stably, . In addition, it is possible to minimize the size of the apparatus while preventing interference between the rotating body and the link portion during rotation of the rotating body.

1 is a perspective view showing a motion simulator according to the present invention;
Fig. 2 is a front view of the motion simulator shown in Fig. 1
FIG. 3 is a cross-sectional view of the motion simulator shown in FIG. 1,
FIG. 4 is a cross-sectional view of the motion simulator shown in FIG. 1 taken along the longitudinal direction of the first rotation axis
5 is a sectional view showing the internal structure of the slip ring in the motion simulator shown in Fig. 1
FIG. 6 is a view showing a state in which the first link portion is raised and lowered in the motion simulator shown in FIG. 1; FIG.
FIG. 7 is a view showing a state in which the second link portion is raised and lowered in the motion simulator shown in FIG. 1; FIG.
FIG. 8 is a view showing a state in which the first link portion and the second link portion are raised and lowered in the motion simulator shown in FIG. 1; FIG.
9 is a view showing a motion simulator of a hinge structure different from the hinge structure of the present invention
Fig. 10 is a view showing a state in which the rotating body is inclined to one side in the motion simulator of Fig. 9

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

First, referring to FIG. 1, the motion, the rotational direction and the degree of freedom will be described. The motion of the object in space is represented by a straight line movement (forward ↔ back; Z axis) (Up ↔ Down; Y axis), rolling with the Z axis as the center of rotation, pitching with the X axis as the center of rotation, and yawing with the Y axis as the center of rotation It is called six degrees of freedom.

Hereinafter, the axis connecting the left and right is defined as an X axis, the axis connecting the upper and lower sides as Y axis, and the axis connecting the front and rear as a Z axis, as described in FIG. 1, 23 is referred to as the front, and the position where the chair 22 is located is referred to as the rear.

The motion simulator 1 of the present invention will be described below with reference to Figs. 1 to 5. Fig.

The motion simulator 1 includes a base frame 10, a first rotating shaft 61 positioned on the upper side of the base frame 10 and connected to one end and the other end, and a second rotating shaft 85 (20) and the first driving means (34) to transmit the power of the rotating body (20) and the first driving means (34) The first link portion 30 and the second driving means 44 for moving the first rotary shaft 61 up and down are connected to the second rotary shaft 85 so that the rotation of the rotary body 20 can be rotated A second link portion 40 for vertically moving the rotating body 20 and the second rotating shaft 85 and a second link portion 40 for rotating the rotating body 20 about the first rotating shaft 61 and the second rotating shaft 85 A rotation driving unit 50 for providing a driving force for rolling rotation of the first rotary shaft 61, a second rotary shaft 61 for transmitting rotation of the rotary driving unit 50 to the rotary body 20, A first supporting pin 60 provided below the first rotating shaft 61 and having a hinge structure for connecting the lower portion of the rotation driving portion 50 and the upper portion of the first link portion 30 in a hinge structure, A second supporting member 86 provided below the second rotating shaft 85 and supporting the second rotating shaft 85 and a second supporting member 86 supporting the upper portion of the second linking unit 40, And a second support pin 87 (second support portion) for connecting the first support pin 87 and the second support pin 87.

The base frame 10 supports the entire structure of the motion simulator of the present invention. The first link unit 30 is connected to the front end and the second link unit 40 is connected to the rear end.

A plurality of casters 15 for moving the motion simulator 1 are provided on the bottom surface of the base frame 10.

As shown in Fig. 2, the rotating body 20 includes a rotating body frame 21 having a polygonal shape when viewed from the front, with the front and rear direction indicated by the Z axis as a rotation axis serving as the center of the rolling rotation as a reference, A chair 22 coupled to the interior rear of the rotary body frame 21 so as to allow a user to sit on the floor, a monitor (not shown) coupled to the interior front of the rotary body frame 21 to provide a virtual environment, 23), and an operation unit (24) for providing an operation signal of the user to the virtual environment.

The rotary frame 21 includes a first frame 21-1 having a substantially octagonal shape when viewed from the side and a second frame 21-2 having the same shape as the first frame 21-2 21-2, 21-4, 21-5, 21-6, 21 (21-2) connecting the first frame (21-1) and the second frame (21-2) -7, 21-8).

The first frame 21-1 and the second frame 21-2 have a length in the vertical direction parallel to the first link portion 30 and the second link portion 40 when viewed from the side, The first frame members 21-1a and 21-2a and the second frame members 21-1b and 21-2b and the first frame members 21-1a and 21-2a, A third frame member 21-1c and a second frame member 21-2c provided on the upper portion of the two frame members 21-1b and 21-2b and having a length in the horizontal direction, The first to fourth frame members 21-1a, 21-1b, 21-1c, and 21-1d, 21-2a, 21-2b, 21-2c, and 21-2d, 21-2f, 21-2e, 21-2f, 21-2g, 21-2h connecting first and second connection frame members 21-1e, 21-1f, 21-1g, 21-1h, The first frame 21-1 and the second frame 21-2 have an octagonal shape.

The plurality of connection frames 21-3, 21-4, 21-5, 21-6, 21-7, and 21-8 connect the first frame 21-1 and the second frame 21-2 to each other. The first rotary shaft 61 is fixedly coupled to the connection frame 21-3 at one side and the second rotary shaft 85 is rotatably connected to the connection frame 21-6 at the other side, The first rotary shaft 61 is rotated by the rotary drive unit 50 and the entire rotary body 20 including the connection frame 21-3 coupled to the first rotary shaft 61 is rotated.

The first link portion 30 and the second link portion 40 are connected between the rotating body 20 and the base frame 10.

The first link unit 30 includes a first link member 31 having a predetermined length and an upper end connected to the front of the rotator frame 21 for pitching rotation, A first rod 32 inserted into the member 31 and slidably moving linearly in the vertical direction by driving the first driving means 34; And a first connecting member 33 connected to the rear end of the frame 21 so as to be able to rotate in a pitching manner.

The first linking member 33 and the rotation driving unit 50 are connected by a first support member 81. The first support member 81 is integrally coupled to the worm reducer 53 of the rotation driving unit 50 and the first support pin 82 is connected between the first support member 81 and the first connection member 33. [ As shown in FIG.

The second link unit 40 includes a second link member 41 having a predetermined length and an upper end connected to the rear of the rotator frame 21 for pitching rotation, A second rod 42 inserted in the inside of the member 41 and slidably moving linearly in the vertical direction by driving of the second driving means 44 and a second rod 42 provided at the upper end of the second rod 42, And a second linking member 43 connected to the rear end of the frame 21 for pitching rotation.

And a second support pin 87 is hingedly connected between the second linking member 43 and the second support member 86.

The lower end of the second link member 41 is hinged to be rotatable relative to the base frame 10.

The first driving means 34 and the second driving means 44 may be a motor, a cylinder, a linear actuator, or the like.

A first link portion support member 91 is provided between the first link member 31 and the base frame 10 to prevent the first link member 31 from tilting to the upper side of the base frame 10 .

The second link member 41 is prevented from being tilted to the upper side of the base frame 10 between the second link member 41 and the base frame 10 and at the same time, A buffering portion 92 is provided.

The shock absorber 92 may be composed of a gas spring, a gas shock absorber or a damper, so as to absorb the impact, thereby preventing the motion simulator from shaking.

The rotation driving unit 50 includes a motor 51 having a motor shaft 51a, a planetary speed reducer 52 for reducing the rotation of the motor 51, a speed reducer 52a for reducing the speed of the speed reducer 52a of the planetary speed reducer 52, And a worm speed reducer 53 for reducing the rotation and transmitting the rotation to the first rotation shaft 61.

The motor shaft 51a and the first rotation shaft 61 are provided in a direction perpendicular to each other on a horizontal plane. That is, the motor shaft 51a is provided in the X axis direction and the first rotation shaft 61 is provided in the Z axis direction.

The planetary speed reducer 52 is composed of a sun gear, a ring gear, and a planetary gear carrier. When the ring gear is fixed and the sun gear is driven, the planetary gear carrier is decelerated. The planetary speed reducer 52 includes a reduction gear shaft 52a coaxial with the motor shaft 51a to transmit the reduced rotation to the worm reducer 53. [

The worm reducer 53 includes a worm 53a connected to the speed reducer shaft 52a and a worm gear 53b engaged with the worm 53a in a direction orthogonal to the worm 53a to be decelerated, To the rotation in the Z-axis direction.

The power transmitting portion 60 includes an output shaft 62 coupled to the inside of the worm gear 53b so as to rotate integrally with the output shaft 62, A first rotary shaft housing 66 coupled to the connection frame 21-3 such that one side of the first rotary shaft 61 is supported via a bearing 65; And a first rotating shaft connecting member 64 coupled to the connecting frame 21-3 by a fastening member 63 at one end thereof.

The first rotating shaft 61 has a through hole 61a penetrating the inside of the first rotating shaft 61 in the longitudinal direction. The first rotation shaft 61 and the output shaft 62 are concentric with each other and are formed between the outer circumferential surface of the first rotation shaft 61 and the inner circumferential surface of the output shaft 62 in such a manner that the two male keys 62a are engaged with each other. And rotates integrally when the motor 51 rotates.

The first rotation shaft connecting member 64 has a U-shaped cross section and an end of the first rotation shaft 61 is integrally coupled to the first rotation shaft connecting member 64 by a fastening member 63, The connecting member 64 is configured such that the connecting frame 21-3 and the first rotating shaft connecting member 64 are integrally formed by a fastening member (not shown) in a state in which the connecting frame 21-3 is inserted into the U- Lt; / RTI >

Therefore, when the motor 51 rotates, the first rotary shaft 61 rotates and is connected to the first rotary shaft connecting member 64 integrally coupled to the first rotary shaft 61 by the rotation of the first rotary shaft 61 The entire rotating body 20 including the frame 21-3 is rotated in a rolling manner around the second rotation shaft 85 as a rotation center.

On the other hand, the monitor 23 and the operation unit 24 provided in the rotating body 20 receive power and control signals from a power supply unit (not shown) separately provided outside the rotating body 20 and a controller (not shown) A power line and a signal line for transmitting and receiving must be connected.

In this way, the slider ring 70 is provided to connect the power line and the signal line to the rotating body 20 without twisting the line.

5, the slip ring 70 includes a first slip ring outer ring 71, a first slip ring inner ring 72, a first rotation shaft 61, and a second slip ring outer ring 73 from the outside to the inside, And the second slip ring inner ring 74 are sequentially provided in a coaxial structure.

An external power line 2-1 is connected to the outer side surface of the first slip ring outer ring 71 and fixed by fixed connection members 75 and 76 so as to prevent rotation when the motor 51 rotates. .

The first slip ring inner ring 72 surrounds the first rotary shaft 61 and is coaxial with the first slip ring outer ring 71. An inner power line (2-2) is connected to the inner side surface of the first slip ring inner ring (72).

The first slip ring outer ring 71 and the first slip ring inner ring 72 are relatively rotated and electrically energized. The power supplied from the power supply unit is supplied to the external power lines 2-1, The power inside the rotating body 20 is supplied to the necessary devices through the first slip ring outer ring 71, the first slip ring inner ring 72, and the inner power line 2-2.

In this case, an insertion hole 61b is formed in the outer circumferential surface of the first rotation shaft 61. The internal power line 2-2 extends from the outside of the first rotation shaft 61 through the insertion hole 61b Is inserted into the through hole 61a of the first rotary shaft 61 and extends in the longitudinal direction along the through hole 61a to connect a power source inside the rotary body 20 to a necessary device.

The second slip ring outer ring 73 is inserted into the through hole 61a of the first rotary shaft 61 and the inner signal line 3-2 is connected to the inner side surface. A flange 73a is formed on the outer side of the second slip ring outer ring 73. The flange 73a and the first rotary shaft 61 are integrally coupled by a fastening member (not shown) The slip ring outer ring 73 and the first rotary shaft 61 are integrally rotatable. The internal signal line 3-2 extends in the longitudinal direction along the through hole 61a of the first rotation shaft 61 and is connected to a control device inside the rotating body 20. [

The second slip ring inner ring 74 is inserted into a through hole passing through the center of the second slip ring outer ring 73 in the longitudinal direction to form a coaxial structure. An external signal line 3-1 is connected to the outer side end of the second slip ring inner ring 74 and fixed to prevent rotation of the motor 51 during rotation.

The second slip ring outer ring 73 and the second slip ring inner ring 74 are structured so as to be electrically energized while relative rotation is performed so that the control part located outside the rotating body 20 and the inside of the rotating body 20 Signals transmitted and received between the control device and the external device are transmitted and received via the external signal line 3-1, the second slip ring inner ring 74, the second slip ring outer ring 73, and the inner signal line 3-2.

The fixed connection members 75 and 76 include a first fixed connection member 75 having one end fixed to the outer housing of the worm reducer 53 and a second fixed connection member 75 having one end coupled to the first slip ring outer ring 71, And a second fixed connection member 76 having a side end engaged with the other end of the first fixed connection member 75. The second fixed connecting member 76 is formed in a shape of ∩ and a first fixed connecting member 75 is inserted into the inside of the ∩ so that the second fixed connecting member 76 integrally coupled to the first slip ring outer ring 71 76 are prevented from being rotated by the first fixed connecting member 75.

The first slip ring inner ring 72 and the first rotary shaft 61 and the second slip ring outer ring 73 are integrally joined to each other and rotate integrally when the motor 51 rotates. On the other hand, the first slip ring outer ring 71 and the second slip ring inner ring 74 are fixed without rotating when the motor 51 rotates. Therefore, the external power line 2-1, the internal power line 2-2, the external signal line 3-1, and the internal signal line 3-2 are not twisted and the through hole 61a of the first rotation shaft 61 To the inside of the rotating body 20.

Hereinafter, the operation of the motion simulator according to the present invention will be described with reference to FIGS. 6 to 8. FIG.

6, when the first driving unit 34 is operated to raise the first rod 32, the rotation driving unit 50 connected to the upper portion of the first link unit 30, the power transmitting unit 60, The entirety of the entire body 20 is tilted to one side to perform a pitching rotary motion. In this case, the first link portion 30 is vertically erected, but the second link portion 40 can be slightly inclined forward.

On the contrary, when the second driving means 44 is operated to raise the second rod 42, as shown in FIG. 7, the whole of the rotating body 20 connected to the upper portion of the second link portion 40, It is tilted in the opposite direction and pitching rotation motion is performed. In this case also, the first link portion 30 is raised in a vertical direction, but the second link portion 40 can be slightly inclined forward.

When the first driving means 34 and the second driving means 44 are operated at the same time, the first rod 32 and the second rod 42 are lifted together and the whole of the rotating body 20 As shown in Fig.

In addition, when the motor 51 is driven in each of the above states, the entire rotating body 20 is subjected to rolling rotation around the first rotary shaft 61 and the second rotary shaft 85 as rotation centers.

The present invention is characterized in that the first rotation shaft 61 to which the rotation of the motor 51 is transmitted and the first support pin 82 for connecting the first link portion 30 in a hinged structure are provided at a lower portion of the first rotation shaft 61 And a second support pin 87 for connecting the second linking member 43 and the second support member 86 in a hinge structure is provided below the second rotation shaft 85, 21-6 and 21-8 and the first frame members 21-1a and 21-2a and the second frame members 21-1b and 21-2b when the first and second rods 32 and 42 rise, , 21-2b, etc. of the rotating body 20 are prevented from interfering with the first rod 32 and the second rod 42.

Further, by making the shape of the rotating body frame 21 into an octagonal shape, it is possible to prevent the rotating body frame 21 from interfering with the first rod 32 and the second rod.

With this structure, it is not necessary to make the length L of the base frame 10 long, and the area required for installing the apparatus can be reduced.

It is more apparent that the length L of the base frame 10 can be reduced in this way by comparing FIGS. 9 and 10. FIG.

The motion simulator shown in FIGS. 9 and 10 has a first hinge connection part 110 at the upper end of the first link part 130 and a second hinge connection part 120 at the upper end of the second link part 140. [ . A first rotation shaft (not shown) and a second rotation shaft (not shown) are provided at the same height as the center of the first hinge connection part 110 and the second hinge connection part 120.

Therefore, when the rotating body 200 rotates as shown in FIG. 10, interference may occur between a part of the rotating body 200 and the first rod 132 and the second rod 142, And the lower ends of the second link portions 140 are tilted away from each other.

According to this structure, since the length L1 of the base frame 100 is increased, a large area is required for installing the apparatus.

Reference numeral 131 denotes a first link member, 133 denotes a first link member, 141 denotes a second link member, and 143 denotes a second link member.

On the other hand, the present invention can reduce the length L of the base frame 10, thereby reducing the space required for installing the motion simulator, and reducing the manufacturing cost by reducing the volume of the motion simulator.

1: Motion simulator 2-1: External power line
2-2: Internal power line 3-1: External signal line
3-2: internal signal line 10: base frame
15: caster 20: rotating body
21: rotation frame 21-1: first frame
21-2: Second frame
21-3, 21-4, 21-5, 21-6, 21-7, 21-8:
22: Chair 23: Monitor
24: operating part 30: first link part
31: first link member 32: first rod
33: first connecting member 34: first driving means
40: second link portion 41: second link member
42: second rod 43: second connecting member
44: second driving means 50:
51: Motor 51a: Motor shaft
52: planetary speed reducer 52a: reducer shaft
53: Worm reducer 53a: Worm
53b: Worm gear 60: Power transmission unit
61: first rotating shaft 62:
62a: key 63: fastening member
64: first rotating shaft connecting member 65: bearing
66: first rotating shaft housing 70: slip ring
71: first slip ring outer ring 72: first slip ring inner ring
73: second slip ring outer ring 74: second slip ring inner ring
75: first fixed connecting member 76: second fixed connecting member
81: first support member 82: first support pin (first support portion)
85: second rotation shaft 86: second support member
87: second support pin (second support portion) 91: first link portion support member
92: buffer

Claims (7)

delete A base frame 10;
A rotating body 20 located on the upper side of the base frame 10 and capable of rolling about a first rotating shaft 61 and a second rotating shaft 85 connected to one side and the other side;
Is connected to the first rotation shaft (61) so as to transmit the power of the first driving means (34) so that the rotation of the rotation body (20) can be pitched so that the rotation body (20) and the first rotation shaft A first link portion (30) for moving the first link portion (30);
Is connected to the second rotary shaft 85 so as to transmit the power of the second driving means 44 so as to enable the pitching rotation of the rotary body 20 to rotate the rotary body 20 and the second rotary shaft 85 up and down A second link portion (40) for moving the second link portion (40);
A rotation driving unit 50 for providing a driving force for rolling the rotary body 20 about the first rotary shaft 61 and the second rotary shaft 85;
A power transmitting portion (60) including the first rotating shaft (61) for transmitting the rotation by the rotation driving portion (50) to the rotating body (20);
A first support portion 82 provided below the first rotation shaft 61 and connecting the rotation drive portion 50 and the first link portion 30 in a hinge structure;
A second support member 86 provided below the second rotation shaft 85 and supporting the second rotation shaft 85 and a second support portion 87 connecting the second link portion 40 with a hinge structure );
Lt; / RTI >
The rotating body (20) includes a rotating body frame (21) having a polygonal shape when viewed from its side with respect to a front and rear direction indicated by a rotational axis which is the center of the rolling rotation;
The rotating body frame (21)
First frame members 21-1a and 21-2a each having a length in the vertical direction parallel to the first link unit 30 and the second link unit 40, And a second frame member (21-1b, 21-2b);
A third frame member provided on the first frame members 21-1a and 21-2a and the second frame members 21-1b and 21-2b and having a length in the horizontal direction, (21-1c, 21-2c) and fourth frame members (21-1d, 21-2d);
The first frame member 21-1a, 21-1b, 21-1c, 21-1d, 21-2a, 21-2b, 21-2c, 21-2d, 21-2e, 21-2f, 21-2g, and 21-2h, respectively, of the first to fourth connecting frame members 21-1e, 21-1f, 21-1g,
The rotating body frame 21 is composed of an octagonal motion simulator A base frame 10;
A rotating body 20 located on the upper side of the base frame 10 and capable of rolling about a first rotating shaft 61 and a second rotating shaft 85 connected to one side and the other side;
Is connected to the first rotation shaft (61) so as to transmit the power of the first driving means (34) so that the rotation of the rotation body (20) can be pitched so that the rotation body (20) and the first rotation shaft A first link portion (30) for moving the first link portion (30);
Is connected to the second rotary shaft 85 so as to transmit the power of the second driving means 44 so as to enable the pitching rotation of the rotary body 20 to rotate the rotary body 20 and the second rotary shaft 85 up and down A second link portion (40) for moving the second link portion (40);
A rotation driving unit 50 for providing a driving force for rolling the rotary body 20 about the first rotary shaft 61 and the second rotary shaft 85;
A power transmitting portion (60) including the first rotating shaft (61) for transmitting the rotation by the rotation driving portion (50) to the rotating body (20);
A first support portion 82 provided below the first rotation shaft 61 and connecting the rotation drive portion 50 and the first link portion 30 in a hinge structure;
A second support member 86 provided below the second rotation shaft 85 and supporting the second rotation shaft 85 and a second support portion 87 connecting the second link portion 40 with a hinge structure );
Lt; / RTI >
The rotation driving unit 50,
A motor (51) having a motor shaft (51a) in a direction perpendicular to the first rotation axis (61) on a horizontal plane;
A planetary speed reducer (52) having a speed reducer shaft (52a) coaxial with the motor shaft (51a) for decelerating the rotation of the motor (51);
A worm reducer 53 connected to the speed reducer shaft 52a and configured to reduce the rotation of the speed reducer shaft 52a and transmit the decelerated shaft 52a to the first rotary shaft 61, the worm reducer 53 comprising a worm 53a and a worm gear 53b;
Motion simulator A base frame 10;
A rotating body 20 located on the upper side of the base frame 10 and capable of rolling about a first rotating shaft 61 and a second rotating shaft 85 connected to one side and the other side;
Is connected to the first rotation shaft (61) so as to transmit the power of the first driving means (34) so that the rotation of the rotation body (20) can be pitched so that the rotation body (20) and the first rotation shaft A first link portion (30) for moving the first link portion (30);
Is connected to the second rotary shaft 85 so as to transmit the power of the second driving means 44 so as to enable the pitching rotation of the rotary body 20 to rotate the rotary body 20 and the second rotary shaft 85 up and down A second link portion (40) for moving the second link portion (40);
A rotation driving unit 50 for providing a driving force for rolling the rotary body 20 about the first rotary shaft 61 and the second rotary shaft 85;
A power transmitting portion (60) including the first rotating shaft (61) for transmitting the rotation by the rotation driving portion (50) to the rotating body (20);
A first support portion 82 provided below the first rotation shaft 61 and connecting the rotation drive portion 50 and the first link portion 30 in a hinge structure;
A second support member 86 provided below the second rotation shaft 85 and supporting the second rotation shaft 85 and a second support portion 87 connecting the second link portion 40 with a hinge structure );
Lt; / RTI >
The rotating body 20 includes a monitor 23 provided in the rotating body 20 for providing a virtual environment according to a user's operation as an image and an operation unit 24 for providing a user's operation signal to the virtual environment );
The power transmitting portion 60 is coupled to the outer peripheral surface of the power transmitting portion 60 so as to rotate integrally with the gear 53b of the rotary driving portion 50. The first rotating shaft 61 is inserted into a space passing through the inner portion in the longitudinal direction, And an output shaft (62) rotating integrally with the gear (53b) and the first rotation shaft (61) by rotation of the motor (51);
A control unit for transmitting and receiving signals to and from the power supply unit for applying power to the monitor 23 and the operation unit 24, an external power supply line 2-1 connected to the power supply unit, and an external signal line 3 -1) is provided outside the rotating body (20);
The internal power line 2-2 connected to the monitor 23 and the operation unit 24 for supplying power and the internal signal line 3-2 for transmitting and receiving a signal are connected to the inside of the first rotary shaft 61 A through hole 61a is formed so as to penetrate in the longitudinal direction;
The external power line 2-1 and the internal power line 2-1 are connected to one end of the first rotating shaft 61 in the opposite direction to which the rotating body 20 is connected, 2, a slip ring 70 for connecting the external signal line 3-1 and the internal signal line 3-2, 5. The method of claim 4,
The slip ring (70)
A first slip ring inner ring (72) surrounding the first rotary shaft (61) and connected to the internal power line, and integrally rotating with the first rotary shaft (61);
The first slip ring inner ring 72 is surrounded by the first slip ring inner ring 72 and is energized with the first slip ring inner ring 72. The first slip ring inner ring 72 is connected to the first power supply line, An outer ring 71;
A second slip ring outer ring 73 inserted into the through hole 61a of the first rotary shaft 61 and connected to the inner signal line and rotating integrally with the first rotary shaft 61;
Is inserted into a through hole penetrating through the second slip ring outer ring (73) in the longitudinal direction so that electric current is supplied to the second slip ring outer ring (73), and the external signal line is connected to prevent rotation A fixed second slip ring inner ring 74;
And a motion simulator 6. The method of claim 5,
One end of the inner power line is connected to the first slip ring inner ring 72 and the other end is inserted through the insertion hole 61b formed in the first rotation shaft 61 and then through the through hole 61a Features a motion simulator 6. The method of claim 5,
Wherein the first slip ring outer ring (71) is connected to a fixed position of the rotation driving part (50) via fixed connection members (75, 76)
KR1020150074574A 2015-05-28 2015-05-28 Motion simulator KR101695947B1 (en)

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KR102101004B1 (en) * 2018-12-03 2020-05-26 주식회사 바로텍시너지 Large Simulator Combining Surge/Roll Motion and VR Mixed Video
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USD900217S1 (en) 2019-10-07 2020-10-27 Robert Harrison Rollover simulator
US11455904B2 (en) 2019-10-11 2022-09-27 Robert Harrison Vehicle rollover simulator stabilizer and method of use

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