KR101955688B1 - 2-DOF linear motion stage for motion simulator - Google Patents

Abstract

The present invention relates to a two-degree-of-freedom linear motion stage for a motion simulator, comprising: a lower structural frame for providing a supporting force; A plurality of upper rails extending in a direction orthogonal to the lower rails and slidable in a direction perpendicular to the lower rails while being supported by the sliders, A plurality of driving units provided between the lower structural frame and the upper structural frame for outputting power capable of moving the upper structural frame in the longitudinal direction of the lower rail and the upper rail, The upper structural frame is connected and the power of the driving part is transferred to the upper structural frame And it characterized in that it comprises transmission means, so stable and can be implemented in a robust two-dimensional structure to have a strong output horizontal locomotor movement a precise and high load dynamics, among which it is possible to double the overall simulation effect.

Description

A two-DOF linear motion stage for a motion simulator,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear motion stage that can be applied to various motion simulators, and more particularly, to a two-degree-of-freedom linear motion stage for a motion simulator that realizes horizontal motion precisely.

A motion platform simulating various motions is a device for repeatedly reproducing motions of various operating bodies such as an automobile, an electric train, an airplane, a tank, etc., and is operated by an inputted program, To experience the same thing.

The technology related to the motion platform has already been widely applied to, for example, military, industrial, educational, entertainment, and the like. For example, it is evolving to maximize realistic experiences by combining with virtual reality technology in a variety of applications, including movies, entertainment, flight control training, and training specialist equipment specialists.

In recent years, it has been developed not only a sensible game but also a small personal motion platform. It presents the motion that occupies the largest part of the 4D effect, and it has a spatial cost shortcoming of the conventional military large motion platform, In order to overcome the limitations of 4D devices of the prior art, a variety of motion platform devices are being developed that are more compact in size and capable of providing new and complex motions.

On the other hand, a motion device based on a motion platform is usually developed according to the following procedure. First, the requirements are analyzed through the goal specification analysis step, the size and position of each mechanism is determined in the kinematic analysis step, and the 3D modeling is performed to perform the inverse / forward kinematic simulation.

In addition, through the dynamic characteristics analysis step, capacity determination of the actuator and maximum load and structure analysis for each joint are performed. At the design stage, a single design and production drawing is created and the short actuator test is passed to the production stage when the requirements are met. If the requirements are not met, go back to the kinematic analysis step and repeat the steps.

In the production phase, parts are machined and assembled to create a motion platform, and performance is verified through test evaluation of the created motion platform. In order to analyze and control the dynamic characteristics of the motion platform, motion commands are issued through the motion control software and the signals are sent to the actuator driver to move the motion platform. At this time, after detecting the movement of the platform, converting the signal, and feeding back the signal to the motion control software, the motion platform operates again in such a manner that the motion is controlled again.

Actuators that drive the motion platform should be capable of starting, stopping, rotating, or reciprocating motion that occurs frequently when driving the motion platform. Also, it should be easy to control according to command signal or detection signal, be responsive and be easy to repair and install.

Actuators can be classified according to the power source into special materials such as pneumatic, hydraulic, electric and other shape memory alloys.

The pneumatic type operates by pushing compressed air into an airtight cylinder by using an air compressor, but it has a characteristic that the volume of the air is not constant even though the size of the space passing through the air is constant.

The hydraulic actuator also operates by feeding high pressure oil into the cylinder and pushing the piston under pressure. The hydraulic system requires separate piping and containers to collect and store the discharged oil, while the pneumatic system does not need to store air again. As for the driving force, the hydraulic type can exert 5 times more force than the pneumatic type, and the response speed is faster than the pneumatic type, and the responsiveness is good, and the jumping phenomenon due to the reaction does not occur in the object. Pneumatic is better suited for small-scale motion platforms than hydraulic.

The electric actuator is driven by an electromagnetic motor, and is used variously such as a stepping motor, an AC motor, and a BLDC motor.

In addition, a special material type actuator includes a type in which a shape memory alloy is applied. Since a restoring force is generated when a shape is recovered according to a temperature change, the material itself has a principle of generating a driving force. This method is advantageous for simplification and downsizing of the apparatus, but it is difficult to apply it to a field of great power.

As described above, a motion platform device is constructed by selecting one of various actuators that is most suitable for the purpose of use. For reference, 3-axis motion motion platform and 6-axis motion motion platform are representative for motion platform devices.

Meanwhile, as described above, various kinds of motion platforms have been recently developed. Among them, there is a motion platform disclosed in Korean Patent Publication No. 10-1049198, which is reinforced with warping and vertical supporting force.

The motion platform includes a plurality of motors horizontally fixed to a base portion, a link fixed to a rotary shaft of the motor and extending in a direction orthogonal to the drive shaft, a vertical link connected to an extending end of the link, A lifting rod fixed to the platform, and a plurality of hydraulic cylinders installed on the support plate and partially supporting the load of the motion platform.

However, the conventional motion platform having the above-described structure has a disadvantage in that the up-and-down movement of the lifting / lowering rod may not be accurately realized due to the limitations of the structure. The reason is that the load applied to the motion platform is concentrated on the bar link, and the link can be deformed or broken. Even if it does not break at least, there is a high probability that slip or dropout will occur on the connection portion where the rotation axis of the motor and the link are connected with time.

On the other hand, the most basic motion in the simulation motion apparatus can be referred to as the XY plane motion. This is because the planar motion in the front, rear, and left directions further enhances the effects of other motions, such as yawing, pitching, and rolling motion. However, many conventional types of motion devices that implement three-dimensional motion focus on yawing, pitching, and rolling motions, and do not positively apply a configuration for dynamic horizontal sliding motion in the front, rear, and left directions.

Korean Patent Registration No. 10-1049198 (motion platform with anti-warp and vertical support) Korean Patent Registration No. 10-0986602 (Motion platform motion apparatus and system using the same) US Pat. No. 5,533,933 (ARCADE AMUSEMENT RIDE MOTION SIMULATOR SYSTEM)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a motion simulator having a two-degree-of-freedom It is an object of the present invention to provide a linear motion stage.

According to another aspect of the present invention, there is provided a two-degree-of-freedom linear motion stage for a motion simulator, including: a lower structural frame for providing a supporting force; A plurality of longitudinally extending lower rails secured parallel to the lower structural frame; A plurality of sliders supported on each of the lower rails and slidable along the longitudinal direction of the lower rail; A plurality of upper rails extending in a direction perpendicular to the lower rails and slidable in a direction orthogonal to the lower rails while being supported by the sliders; An upper structural frame supported by the upper rail and receiving a load from the outside; A plurality of drivers installed between the lower structural frame and the upper structural frame and outputting power capable of moving the upper structural frame in a longitudinal direction of the lower rail and the upper rail; And driving means for connecting the driving unit and the upper structural frame to transmit power of the driving unit to the upper structural frame.

The slider further includes a lower slider supported on the lower rail and slidably moving along the longitudinal direction of the lower rail; And an upper slider provided on the lower slider and supporting the upper rail so as to be slidable.

Further, a connecting means for relatively fixing the upper slider relative to the lower slider is further provided between the lower slider and the upper slider.

In addition, the transmission means includes: And is a connecting rod extending in the longitudinal direction and having ball joints at both ends thereof and linked to the driving unit and the upper structural frame through the ball joint.

The driving unit may further include: A lead screw fixed to the base frame, a lead screw supported to the base block so as to be rotatable about an axis, a conveyance body surrounding the lead screw and linearly moving along the longitudinal direction of the lead screw during axial rotation of the lead screw, A first arm which is rotatably connected at one end thereof to the conveying body and which extends in the longitudinal direction and whose other end is connected to the transmission means and whose one end portion is rotatably connected to the support block, And a second arm linked to the connecting portion of the arm and the transmission means.

The driving unit may further include: And an actuator having a cylinder fixed to the lower structural frame and a piston rod extended in parallel with the lower rail or the upper rail and having the piston rod connected to the transmission means at an extended end thereof.

The driving unit may further include: A lead screw supported on the lower structural frame so as to be rotatable about an axis and a transfer body which linearly moves along the longitudinal direction of the lead screw when the lead screw rotates about the lead screw and which is directly connected to the transfer means, do.

In addition, the driving unit includes: And a pivoting rod connected to the transmission means for rotating and receiving the rotational force of the speed reducer, the pivoting rod being connected to the transmission means.

The two-degree-of-freedom linear motion stage for a motion simulator according to the present invention as described above has a stable and rigid planar structure and outputs a strong horizontal motion force so that precise and dynamic motion can be realized even under high load, .

1 is a perspective view of a two-degree-of-freedom linear motion stage for a motion simulator according to one embodiment of the present invention.
FIG. 2 is an exploded perspective view for explaining the internal configuration of the two-degree-of-freedom linear motion stage for the motion simulator shown in FIG.
FIGS. 3A and 3B are views for explaining the operation of the driving unit shown in FIG.
4A and 4B are views showing the features of the ball joint shown in FIG. 3A.
FIG. 5 is a view schematically showing another type of driving unit applicable to the two-degree-of-freedom linear motion stage for the motion simulator shown in FIG.
FIG. 6 is a schematic view of another type of driving unit applicable to the two-degree-of-freedom linear motion stage for the motion simulator shown in FIG.
FIG. 7 is a view schematically showing another type of driving unit applicable to the two-degree-of-freedom linear motion stage for the motion simulator shown in FIG.

Hereinafter, one embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view of a two-degree-of-freedom linear motion stage 11 for a motion simulator according to an embodiment of the present invention, and FIG. 2 is a view for explaining an internal configuration of a two- Fig.

As shown, the two-degree-of-freedom linear motion stage 11 for a motion simulator according to the present embodiment includes a lower structure frame 13 horizontally arranged and fixed to the ground, A lower rail 21 provided on both side portions of the lower structure frame 13, a slider 22 mounted on each lower rail 21, And an upper structural frame 33 linearly moved in a direction orthogonal to the longitudinal direction of the lower rail 21 while being supported by the lower rail 21.

Basically, the two-degree-of-freedom linear motion stage 11 for a motion simulator according to the present embodiment operates in a state of being fixed to the floor so that the upper structural frame 33 is moved in two- To perform the basic operation. The upper structural frame 33 moves horizontally while supporting a heavy object thereon to realize a simulation motion.

First, the lower structural frame 13 has a frame body 13a which takes the form of a substantially grid. The frame body 13a is firmly fixed to the floor and does not tilt sideways even when a lateral load is applied.

Horizontal rail fixing portions 13b are provided on both sides of the frame body 13a and the lower rails 21 are seated on the rail fixing portions 13b. The lower rails 21 are parallel to each other and have stoppers 29 at both ends thereof. The stopper 29 serves to restrict the movement of the slider 22 so as to prevent the slider 22 from moving out of the longitudinal direction of the lower rail 21.

The slider 22 supports the upper structural frame 33 horizontally while being supported by the lower rail 21. Two sliders 22 are spaced apart from each other on one lower rail 21. The slider 22 is composed of a lower slider 23, a connecting member 27, and an upper slider 25.

The lower slider 23 is a member that slides along the longitudinal direction of the lower rail 21 on the lower rail 21. The connecting member 27 is a block member for fixing the upper slider 25 to the vertical upper portion of the lower slider 23. [

The spacing of the upper structural frame 33 relative to the lower structural frame 33 may be varied by adjusting the thickness of the connecting member 27. Needless to say, the upper slider 25 may be directly fixed to the upper portion of the lower slider 23 without applying the connecting member 27 as the case may be.

The upper slider 25 is fixed to the upper portion of the connecting member 27 and receives and supports the upper rail 39 fixed to the bottom surface of the upper structural frame 33. The lower slider 23 and the upper slider 25 are installed so that their directions are orthogonal to each other.

The upper structural frame 33 corresponds to the lower structural frame 13 and includes a frame body 33a having a substantially lattice structure and an upper rail 33a fixed parallel to both sides of the bottom surface of the frame body 33a 39, and first and second brackets 35, 37 provided on the bottom surface of the frame body 33a.

The upper rail 39 extends in a direction orthogonal to the lower rail 21 and is horizontally supported by the upper slider 25. The upper rail 39 is slidable in the longitudinal direction while being supported by the upper slider 25. [ The slider 22 itself can move in the longitudinal direction of the lower rail 21, so that the upper structural frame 33 is subjected to two-dimensional planar motion in the front, rear, left and right directions.

Needless to say, the stopper 29 is also fixed to both ends of the upper rail 39.

The first and second brackets 35 and 37 serve to connect the frame body 33a to the first connecting rod 17 and the second connecting rod 19 to be described later. Hole. The first and second brackets 35 and 37 will be described below.

The frame body 13a of the lower structural frame 13 is further provided with two driving units 15 and transmission means connected to the respective driving units 15. The transmission means may include first and second connecting rods (17, 19).

The two driving units 15 have the same operating principle and the same operating principle as those of the two driving units 15 except for their installation direction.

One of the driving parts of the driving part 15 moves the first connecting rod 17 in the direction of arrow X and the other driving part moves the second connecting rod 19 in the direction of arrow Y. [ It is a matter of course that the structure of the driving part can be changed in various ways as long as it can perform such a role.

The driving part 15 shown in Figure 2 includes a support plate 15a fixed to the frame body 13a and having a through hole 15b and a support block 15b spaced apart from the support plate 15a A lead screw 15g supported on the support block 15q so as to be rotatable about its axis and a transfer body 15h which surrounds the lead screw 15g and linearly moves in the direction of arrow X in accordance with the rotation of the lead screw A first arm 15k linked to the conveying body 15h at one end thereof via the pivot pin 15n and extending in the longitudinal direction and a second arm 15k connected to the first arm 15k and the one supporting block 15q A second arm 15p capable of pivotal motion, and a motor 15c for rotating the lead screw 15g.

3A and 3B show the driving unit 15 in more detail.

Referring to the drawing, it can be seen that a motor 15c is fixed to a lower portion of the support plate 15a. The motor 15c has a drive shaft (not shown) that rotates in both directions by a control signal applied from the outside. In addition, a drive pulley 15d is fixed to the drive shaft.

A driven pulley 15e is fixed to one end of the lead screw 15g and the drive pulley 15d and the driven pulley 15e are connected to each other through a belt 15f. It goes without saying that as the driven pulley 15e and the lead screw 15g rotate by the operation of the motor 15c, the conveying body 15h is conveyed in the longitudinal direction.

The first and second connecting rods 17 and 19 are connected to the connecting pin 15m for linking the first arm 15k and the second arm 15p. The first and second connecting rods 17 and 19 are rod-shaped members that follow the linear motion of the transfer body 15h and move to the right side or the left side in the drawing.

3A, when the motor 15c is driven to transport the conveying body 15h in the rightward direction, the first and second connecting rods 17 and 19 move to the right by A as shown in Fig. 3B . When the motor 15c is reversely rotated and the transfer body 15h is transferred to the left in the figure, the first and second connecting rods 17 and 19 moved to the right move to the left and return to the original position.

The connecting pin 15m repeats the upward and downward movements in the linear reciprocating motion of the transfer body 15h while the elevation range of the connecting pin 15m and the first and second connecting rods 17 and 19 is controlled by the upper and lower frame bodies 13a, 33a.

The first connecting rod 17 is for reciprocating the upper structural frame 33 in the X direction and the second connecting rod 19 is for driving the upper structural frame 33 in the Y direction. The first connecting rod 17 and the second connecting rod 19 are constituent elements having the same structure. Nevertheless, the reference numerals are given differently for convenience of explanation and understanding.

The first and second connecting rods 17 and 19 are rod-shaped members having a predetermined length and have ball joints 17a at both ends thereof. The ball joint 17a has a ring housing 17b as a known mechanical element and a humidifying ring 17d provided inside the ring housing 17b. The swinging ring 17d is a ring-shaped member having a pin hole 17c for receiving and supporting the connecting pin 15m, and is capable of rotating within the ring housing 17b.

One ball joint among the two ball joints 17a is linked together with the connecting portions of the first and second arms 15k and 15p and the opposite ball joint 17a is linked with the first and second brackets 35 and 37 Respectively, through connection pins 15m.

4A and 4B are views showing the characteristics of the ball joint 17a shown in FIG. 3A.

4A, the swinging ring 17d is rotatable in the direction of the arrow k or in the opposite direction while accommodating the connecting pin 15m. 4B, the angle? Between the central axis of the connecting pin 15m and the central axis of the connecting rods 17 and 19 need not be perpendicular to each other.

The application of the first and second coupling rods 17 and 19 having such a structure means that the two driving portions 15 for outputting mutually orthogonal forces are disposed on the same plane, It can be fixed.

That is, as shown in FIG. 2, the two driving portions 15 are provided in the frame body 13a, and the driving portions 15 and the upper structural frame 33 are connected to the first and second connecting rods 17 and 19 The upper structure frame 33 can be moved in the front, back, and left and right directions. This is because, of course, the connecting pin 15m can pivot within the swingable range of the swinging ring.

When the upper structural frame 33 linearly moves in the X direction, the second connecting rod 19 does not interfere with the rectilinear motion of the upper structural frame 33, The first connecting rod 17 may not pivot left and right so as not to interfere with the movement of the upper structural frame 33 when the first connecting rod 17 linearly moves in the Y direction, As shown in FIG.

FIG. 5 is a view schematically showing another type of driving unit applicable to the two-degree-of-freedom linear motion stage 11 for the motion simulator shown in FIG.

As shown in the figure, the actuator 41 may be used as the driving unit 15. [ The actuator 41 is a suitable structure when using a linear drive type cylinder.

The actuator 41 has a cylinder 41a horizontally fixed to the support plate 15a and a piston rod 41b linearly moving in the longitudinal direction of the cylinder 41a.

Two of the actuators 41 are installed on the upper part of the frame body 13a and are fixed in a direction in which the piston rods 41b are orthogonal to each other. The first connecting rod 17 and the second connecting rod 19 are connected to the ends of the respective piston rods 41b.

The first and second connecting rods 17 and 19 transmit the power of the actuator 41 to the upper structural frame 33 in a state where the ends of the first and second connecting rods 17 and 19 are linked to the first and second brackets 35 and 37, respectively.

FIG. 6 is a view schematically showing another driving unit 15 which can be applied to the two-degree-of-freedom linear motion stage for the motion simulator shown in FIG.

As shown in Fig. 6, it can be seen that two sets of driving portions 15 are mounted on the upper surface of the frame body 13a. The left driving part 15 of the two driving parts 15 moves the upper structural frame 33 in the X direction and the other driving part moves the upper structural frame 33 in the Y direction.

The driving unit 15 includes a lead screw 15g that receives power from the motor 15c and rotates in an axial direction and a transport body 15s that surrounds the lead screw 15g and linearly moves in accordance with the rotation of the lead screw, And a guide rod 15r extending in parallel with the lead screw 15g and guiding the reciprocating linear motion of the conveying body 15s.

In addition, the first and second connecting rods 17 and 19 are directly connected to the respective transfer bodies 15s. That is, the first connecting rod 17 is linked to the left transfer body 15s through the connecting pin 15m and the second connecting rod 19 is connected to the right transfer body 15s in the drawing by the connecting pin 15m ). It is natural that the first and second connecting rods 17 and 19 can pivot in the directions of arrow m and n using the connecting pin 15m as a rotating shaft.

The other ends of the first and second connecting rods 17 are connected to the first and second brackets 35 and 37 of the upper structural frame 33, respectively. It is needless to say that the positions of the first and second brackets 35 and 37 are appropriately changed. Needless to say, such a link structure enables the planar motion of the upper structural frame 33.

FIG. 7 is a view schematically showing another type of driving unit applicable to the two-degree-of-freedom linear motion stage for the motion simulator shown in FIG.

As shown in the figure, a motor 51, a speed reducer 53, and a tilting rod 53a may be used as the driving unit.

The speed reducer 53 receives the rotational force from the motor 51 and outputs a reduced rotational torque, and rotates the rotational rod 53a.

The tilting rod 53a pivots about the rotation axis of the speed reducer 53 in the direction of the arrow v and linearly moves the connection pin 15m at the end of the first and second connecting rods 17 and 19 in the direction of the arrow w Thereby realizing the XY motion of the upper structural frame 33.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

11: Motion stage 13: Substructure frame 13a: Frame body
13b: rail fixing portion 15: driving portion 15a: support plate
15b: through hole 15c: motor 15d: driving pulley
15e: driven pulley 15f: belt 15g: lead screw
15h: conveying body 15k: first arm 15m: connecting pin
15n: pivot pin 15p: second arm 15q: base block
15r: guide rod 15s: conveying body 17: first connecting rod
17a: ball joint 17b: ring housing 17c: pin hole
17d: humidifying ring 19: second connecting rod 21: lower rail
22: slider 23: lower slider 25: upper slider
27: connecting member 29: stopper 33: upper structure frame
33a: frame body 35: first bracket 37: second bracket
39: upper rail 41: actuator 41a: cylinder
41b: piston rod 51: motor 53: speed reducer
53a:

Claims (8)

An infrastructure frame providing support;
A plurality of longitudinally extending lower rails secured parallel to the lower structural frame;
A plurality of sliders supported on each of the lower rails and slidable along the longitudinal direction of the lower rail;
A plurality of upper rails extending in a direction perpendicular to the lower rails and slidable in a direction orthogonal to the lower rails while being supported by the sliders;
An upper structural frame supported by the upper rail and receiving a load from the outside;
A plurality of drivers installed between the lower structural frame and the upper structural frame and outputting power capable of moving the upper structural frame in a longitudinal direction of the lower rail and the upper rail; And
And transmission means for connecting the driving unit and the upper structure frame to transmit the power of the driving unit to the upper structure frame,
The driving unit includes:
A support block fixed on the lower structural frame;
A lead screw supported rotatably on the support block;
A transfer body which surrounds the lead screw and linearly moves along a longitudinal direction of the lead screw when the lead screw is rotated;
A first arm, one end of which is rotatably linked to the conveying body and extends in the longitudinal direction and the other end is connected to the transmission means; And
And a second arm connected at one end to the support block so as to be rotatable and at the other end to be linked to the connection portion of the first arm and the transmission means. An infrastructure frame providing support;
A plurality of longitudinally extending lower rails secured parallel to the lower structural frame;
A plurality of sliders supported on each of the lower rails and slidable along the longitudinal direction of the lower rail;
A plurality of upper rails extending in a direction perpendicular to the lower rails and slidable in a direction orthogonal to the lower rails while being supported by the sliders;
An upper structural frame supported by the upper rail and receiving a load from the outside;
A plurality of drivers installed between the lower structural frame and the upper structural frame and outputting power capable of moving the upper structural frame in a longitudinal direction of the lower rail and the upper rail; And
And transmission means for connecting the driving unit and the upper structure frame to transmit the power of the driving unit to the upper structure frame,
The driving unit includes:
A lead screw that is rotatably supported on the lower structural frame; And
And a transfer body which linearly moves along the longitudinal direction of the lead screw while the lead screw is rotated while the lead screw is rotated, and is directly connected to the transfer means. An infrastructure frame providing support;
A plurality of longitudinally extending lower rails secured parallel to the lower structural frame;
A plurality of sliders supported on each of the lower rails and slidable along the longitudinal direction of the lower rail;
A plurality of upper rails extending in a direction perpendicular to the lower rails and slidable in a direction orthogonal to the lower rails while being supported by the sliders;
An upper structural frame supported by the upper rail and receiving a load from the outside;
A plurality of drivers installed between the lower structural frame and the upper structural frame and outputting power capable of moving the upper structural frame in a longitudinal direction of the lower rail and the upper rail; And
And transmission means for connecting the driving unit and the upper structure frame to transmit the power of the driving unit to the upper structure frame,
The driving unit includes:
motor;
A decelerator coupled to the motor and outputting a rotational force; And
And a pivoting rod connected to the transmission means for pivotally moving upon receiving the rotational force of the speed reducer. An infrastructure frame providing support;
A plurality of longitudinally extending lower rails secured parallel to the lower structural frame;
A plurality of sliders supported on each of the lower rails and slidable along the longitudinal direction of the lower rail;
A plurality of upper rails extending in a direction perpendicular to the lower rails and slidable in a direction orthogonal to the lower rails while being supported by the sliders;
An upper structural frame supported by the upper rail and receiving a load from the outside;
A plurality of drivers installed between the lower structural frame and the upper structural frame and outputting power capable of moving the upper structural frame in a longitudinal direction of the lower rail and the upper rail; And
And transmission means for connecting the driving unit and the upper structure frame to transmit the power of the driving unit to the upper structure frame,
Said transmission means comprising:
Wherein the connecting rod is a connecting rod extending in the longitudinal direction and having a ball joint at both ends thereof and linked to the driving unit and the upper structural frame through a ball joint. 5. The method of claim 4,
The driving unit includes:
A cylinder fixed to the lower structural frame; And
And an actuator having a piston rod extending parallel to the lower rail or the upper rail and connected to the transmission means at an extended end thereof. 6. The method according to any one of claims 1 to 5,
The slider
A lower slider supported on the lower rail and slidably moving along the longitudinal direction of the lower rail; And
And an upper slider provided on the lower slider and supporting the upper rail so as to be slidably movable. The method according to claim 6,
And a connecting means for relatively fixing the upper slider relative to the lower slider is further provided between the lower slider and the upper slider. 4. The method according to any one of claims 1 to 3,
Said transmission means comprising:
Wherein the connecting rod is a connecting rod extending in the longitudinal direction and having a ball joint at both ends thereof and linked to the driving unit and the upper structural frame through a ball joint.

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