KR102133395B1 - Multi degree of freedom motion system - Google Patents

Abstract

The present invention relates to a multi-degree-of-freedom motion system that performs a multi-degree-of-freedom motion on a plane. More specifically, the present invention relates to a multi-degree-of-freedom motion system capable of realizing precise and dynamic motion even under high load by outputting powerful motion on a flat surface, having a compact, stable structure. The multi-degree-of-freedom motion system according to the present invention for this purpose includes an operation plate that performs a three-degree-of-freedom operation on a plane, a driving unit for operating the operation plate, a base frame for supporting a lower portion of the driving unit, and the operation plate and driving unit It includes a side frame provided along the circumference of the base frame to surround, a top plate frame performing a three-degree of freedom operation with the operation plate and a bellows frame connecting the top of the side frame and the circumference of the top frame. .

Description

Multi degree of freedom motion system

The present invention relates to a multi-degree-of-freedom motion system that performs a multi-degree-of-freedom motion on a plane. More specifically, the present invention relates to a multi-degree-of-freedom motion system capable of realizing precise and dynamic motion even under high load by outputting powerful motion on a flat surface, having a compact, stable structure.

A motion platform that simulates various motions is a device that repeatedly reproduces the movements of various motion bodies, such as a car, an electric vehicle, an aircraft, or a tank, and operates by an input program to allow a user to board a real motion body. It allows you to experience the same things you did.

The motion platform technology has already been widely applied to fields such as military, industry, education, and entertainment. In a variety of applications, including film, entertainment, flight control training, and special equipment training, for example, it is developing to maximize the realistic experience by integrating with virtual reality technology.

The conventional motion platform disclosed in Korean Patent Registration No. 10-1049198 is provided with a plurality of motors fixed to the base and a plurality of links operated by the motors. When operating in a standing state, there is a limitation in installation space due to an increase in the volume of the entire device, and the position of the center of gravity is increased, resulting in structural instability.

In addition, since the load applied in the process of using the motion platform is concentrated on the bar-shaped link, the link can be deformed or broken when a strong motion is output, and thus there is a limit to express a strong and dynamic motion.

Therefore, it is necessary to improve these areas.

Korean Registered Patent Publication No. 10-1049198 (announced on July 14, 2011)

The technical problem to be solved in the present invention is to provide a compact, stable structure, a multi-degree of freedom motion system capable of realizing precise and dynamic motion even under high load by outputting powerful motion on a plane.

The multi-degree-of-freedom motion system according to the present invention for solving the above technical problem includes an operation plate performing a three-degree-of-freedom operation on a plane, a driving unit operating the operation plate, and a base frame supporting a lower portion of the driving unit. , A side frame provided along the circumference of the base frame to surround the operation plate and the driving unit, and a top frame that performs a three-degree of freedom operation with the operation plate, and a top of the side frame and a circumference of the top frame It includes a bellows frame.

The driving unit may be provided with a plurality of driving members to respectively support a plurality of positions arranged on the lower surface of the operation plate.

At this time, the drive member, a drive motor mounted on the upper surface of the base frame, a lead screw connected to the drive motor to rotate axially, and a support for supporting both sides of the lead screw so that the lead screw is axially rotatable A block, a transport block moving in the axial direction when the lead screw is rotated, and a hinge coupled to the transport block to be rotatable around the transport block, and a head extending along the longitudinal direction is coupled to a lower surface of the operation plate The extended arm and one side are hinged to the base block so as to be rotatable around the base block, the other side is hinged to the body of the extension arm, and induces rotational movement of the extension arm when the transfer block is moved It includes the base arm.

The head of the extension arm is provided with a ball joint, and a lower side of the operation plate is provided with a link bracket extending downward and a fourth link bar coupled to the link bracket, and the ball joint is rotatable to the fourth link bar. Can be combined.

In addition, the head of the extended arm is disposed to be inclined at a predetermined angle with the body of the extended arm, inclined to be arranged so that the head of the extended arm and the lower surface of the operation plate are arranged in parallel with the head of the extended arm moved upward. Can.

In addition, a plurality of legs of the extension arm and the support arm may be formed to support both sides of the transfer block and the support block, respectively.

At this time, a pair of coupling bushings penetrating the leg is provided to allow each of the legs to be rotatable, one of the coupling bushings being through-coupled in one direction of the leg, and the other of the coupling bushings is the leg It can be coupled through the other direction.

In addition, a chamfered surface may be formed along the longitudinal direction on the outer circumferential surfaces of the extension arm and the support arm.

In the support block, an inlet groove capable of being drawn in when the head of the extension arm moves downward may be formed.

A motor arrangement groove in which the drive motor is inserted and disposed may be formed in the base frame such that the drive motor is disposed downward in a height direction.

In addition, an insertion hole into which the upper portion of the ball joint can be inserted may be formed in the operation plate.

At this time, the driving member may be provided with a guide block coupled to the transport block and a guide rail guiding the guide block to move in the axial direction.

At least one through hole may be formed in the upper frame and the base frame, respectively.

Or, it may be further disposed on an upper portion of the operation plate, a rotation drive unit provided with a rotating member rotating about an axis perpendicular to the operation plate.

At this time, the rotation drive unit may include a drive motor having a drive shaft horizontally disposed on the operation plate, and a power transmission member that transmits the driving force of the drive motor to the rotation member.

The power transmission member, the first power transmission member for converting and transmitting the driving force of the drive motor horizontally disposed on the operation plate in a direction perpendicular to the operation plate and the driving force transmitted through the first power transmission member It may include a second power transmission member for transmitting the to the rotating member.

At this time, the first power transmission member may include a drive gear coupled to the drive shaft of the drive motor and a driven gear coupled to the drive gear and rotating about an axis perpendicular to the operation plate.

Further, the second power transmission member may include a driving pulley that rotates coaxially with the driven gear, a driven pulley coupled to the lower portion of the rotating member, and a timing belt that simultaneously wraps the driving pulley and the driven pulley. .

In addition, a fixed frame is provided so that the rotating member is fixed in position on the upper surface of the operation plate, and a separation member may be provided on the lower surface of the fixed frame so that the rotating member is spaced apart from the upper surface of the operation plate.

In addition, an upper panel frame, a bellows frame, and a side frame may be additionally provided on an upper portion of the upper panel frame.

The multi-degree-of-freedom motion system according to the present invention having the above-described configuration has a compact and stable structure, thus taking up less installation space, improving space utilization, and preventing safety accidents during use, on a flat surface. By outputting powerful motion, you can realize precise and dynamic motion even under high load, so you can double the motion effect on the plane.

1 is a side view showing a state in which a multi-degree of freedom motion system according to an embodiment of the present invention is applied.
2 is a perspective view showing a state in which a multi-degree of freedom motion system according to an embodiment of the present invention is assembled.
3 and 4 are perspective views showing a multi-degree-of-freedom motion system in an exploded state according to an embodiment of the present invention.
5 is a perspective view showing a driving unit and a base frame according to the present invention.
6 is a perspective view showing a disassembled state of the drive member according to the present invention.
7 is a cross-sectional view of a portion II of FIG. 6.
8 is a side view showing the operating state of the driving member according to the present invention, (a) is a view showing a state in which the lower surface of the working plate is disposed at the lowest position, (b) is the lower surface of the working plate It is a view showing a state placed at a high position.
9 is a side view showing a driving member according to another embodiment of the present invention.
10 and 11 are perspective views illustrating a state in which a multi-degree of freedom motion system according to another embodiment of the present invention is applied.
12 is a perspective view showing a multi-degree-of-freedom motion system in an exploded state according to another embodiment of the present invention.
13 is a perspective view showing a state viewed from the lower side of the rotary drive of the present invention.
14 is a perspective view showing a state in which a multi-degree of freedom motion system according to another embodiment of the present invention is applied.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily practice. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. In the drawings, parts not related to the description are omitted in order to clearly describe the present invention, and the same reference numerals are attached to the same or similar elements throughout the specification.

In this specification, the terms "include" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described in the specification, but one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, actions, components, parts or combinations thereof are not excluded in advance. In addition, when a part such as a layer, film, region, plate, etc. is said to be "above" another part, this includes not only the case "directly above" the other part but also another part in the middle. Conversely, when a portion of a layer, film, region, plate, or the like is said to be “under” another portion, this includes not only the case “underneath” another portion, but also another portion in the middle.

1 is a side view showing a state in which a multi-degree-of-freedom motion system according to an embodiment of the present invention is applied, and FIG. 2 is a perspective view showing a state in which a multi-degree-of-freedom motion system according to an embodiment of the present invention is assembled 3 and 4 are perspective views showing a multi-degree-of-freedom motion system in an exploded state according to an embodiment of the present invention, FIG. 5 is a perspective view showing a driving unit and a base frame according to the present invention, and FIG. 6 is a 7 is a perspective view showing a disassembled state of the driving member according to the present invention, FIG. 7 is a cross-sectional view of part II of FIG. 6, and FIG. 8 is a side view showing an operating state of the driving member according to the present invention. The lower surface of the working plate is a state showing the lowest position, (b) is a diagram showing a state of the lower surface of the working plate is arranged at the highest position, Figure 9 is another embodiment of the present invention 10 and 11 are perspective views showing a state in which a multi-degree-of-freedom motion system according to another embodiment of the present invention is applied, and FIG. 12 is multi-free according to another embodiment of the present invention Figure is a perspective view showing a state in which the motion system is disassembled, Figure 13 is a perspective view showing a state viewed from the lower side of the rotary drive of the present invention, Figure 14 is a multi-degree of freedom motion system according to another embodiment of the present invention It is a perspective view showing the applied state.

1 to 4, the electric field box 10, the multi-degree of freedom motion system, and the seat 20 for the user are sequentially stacked on a flat bottom surface. The battlefield box 10 supplies power to the multi-degree-of-freedom motion system and controls movement of the driving unit 200 so that movement of the operation plate 100 and the top frame 500 can be output through the seat 20. It is provided.

Operation plate 100 for performing a three-degree-of-freedom operation on a plane, a driving unit 200 operating the operation plate 100, a base frame 300 supporting a lower portion of the driving unit 200, and the above-described operation The side frame 400 provided along the periphery of the base frame 300 so as to surround the plate 100 and the driving unit 200, and a top frame 500 performing a three-degree of freedom operation with the operation plate 100, and It includes a bellows frame 600 connecting the top of the side frame 400 and the circumference of the top frame 500.

That is, the driving unit 200 operates the operation plate 100 three degrees of freedom, and the upper plate frame 500 is connected to the operation plate 100 to operate three degrees of freedom together with the operation plate 100.

At this time, a bellows frame 600 is provided between the top frame 500 and the side frame 400. That is, the side frame 400 and the top frame 500 are provided to prevent the driving unit 200 from being exposed to the outside. When the side frame 400 and the top frame 500 are directly connected, a side frame made of a solid material Because the top plate frame 500 may have a problem that it is difficult to perform a three-degree-of-freedom operation due to the 400, a bellows frame in which a plurality of wrinkles are formed between the top plate frame 500 and the side frame 400 to solve this problem ( 600) is provided. When the bellows frame 600 is provided as described above, when the top frame 500 performs a three-degree-of-freedom operation in a state in which the side frame 400 is fixed, the wrinkles are unfolded and the same operation is possible and the driving unit ( 200) can be effectively prevented.

To fasten the bellows frame 600, bellows fastening members 610 and 620 are provided at upper and lower ends of the bellows frame 600, respectively. The bellows fastening member 610 provided on the top of the bellows frame 600 is fastened to the top plate frame 500, and the top frame is provided with a top plate fixing member 510 for fastening with the bellows fastening member 610. In addition, the bellows fastening member 620 provided at the bottom of the bellows frame 600 is fastened to the top of the side frame 400.

In addition, when the operation plate 100 and the driving unit 200 are modularized as described above, they can be separated and repaired or replaced.

In order to operate the operation plate 100 in three degrees of freedom, the driving unit 200 is provided with a plurality of driving members 210, and the plurality of driving members 210 respectively have a plurality of positions on the lower surface of the operation plate 100. It is configured to support.

The plurality of driving members 210 fixed to the base frame 300 all have the same configuration and operation, except that the driving members 210 located in the center of the drawing have opposite directions to the other two driving members 210. to be. In addition, the ball joint 217 of the driving member 210 located in the central portion is installed in a different direction from the ball joint 217 provided in the other driving member 210, a detailed description thereof will be described later.

5 and 6, the driving member 210 includes a driving motor 211 mounted on an upper surface of the base frame 300 and a lead screw 212 connected to the driving motor 211 to rotate in an axis. ), the support block 213 respectively supporting both sides of the lead screw 212 so that the lead screw 212 is axially rotatable, and a transfer block 214 that moves in the axial direction when the lead screw 212 is rotated. , Extension arm 215 hinged to the transfer block 214 so as to be rotatable around the transfer block 214, and the head 215a extending along the longitudinal direction is coupled to the lower surface of the operation plate 100 and one side Is hinged to the support block 213 so as to be rotatable around the support block 213, the other side is hinged to the body 215b of the extension arm 215, and the extension arm when the transport block 214 moves It includes a support arm (216) to induce the rotational motion of (215).

When the driving motor 211 is driven, the rotation torque of the driving motor 211 is transmitted to the lead screw 212 so that the lead screw 212 rotates axially. When the lead screw 212 is axially rotated, the transfer block 214 reciprocates along the axial direction, and the head 215a of the extending arm 215 moves up and down in the vertical direction.

At this time, the driving motor 211 provided in each driving member 210 drives independently. That is, the heights of the heads 215a of the extended arms 215 are each independently adjustable.

In addition, a ball joint 217 is provided at the head 215a of the extension arm 215, and a fourth link coupled to the link bracket 110 and the link bracket 110 extends downward on the lower surface of the operation plate 100. A bar 215e is provided, and the ball joint 217 may be rotatably coupled to the fourth link bar 215e.

That is, when the fourth link bar 215e is fitted in the horizontal direction while the link bracket 110 is aligned with each ball joint 217, the operation plate 100 is mounted to the driving unit 200.

Of the three link brackets 110, the center link bracket 110 is fixed to the other link bracket 110 at a right angle, and the operating plate 100 flows in an inclined state in a specific direction in the process of three degrees of freedom. This is to avoid falling.

The operation of the above-described extension arm 215 and the support arm 216 will be described in detail as follows.

First, one end of the extension arm 215 is hinged to the transport block 214 through the first link bar 215d. It is natural that the extension arm 215 is capable of rotating up and down using the first link bar 215d as a rotation axis.

In addition, the head 215a provided at the other end of the extension arm 215 is provided with a ball joint 217, and the ball joint 217 is connected to the link bracket 110 through the fourth link bar 215e. . As described above, the ball joint 217 is an accessory having the same shape as a normal eye bolt and a rod end, and passes through the fourth link bar 215e to drive the member 210 and the operation plate 100. Connect At this time, the fourth link bar 215e penetrates the ball joint 217, and the ball joint 217 is configured to be slidable along the axial direction of the fourth link bar, so that the operation of the operation plate 100 is smooth. To be done.

In addition, as described above, the link bracket 110 also makes the rotational movement possible by using the fourth link bar 215e as a rotation axis.

The above support arm 216 is hinged to one side support block 213 through one side of the second link bar 216d, so that the second link bar 216d can be rotated up and down using a rotation axis.

In addition, the other side of the support arm 216 is connected to the body 215b of the extension arm 215 through the third link bar 216e. The support arm 216 makes the third link bar 216e a rotation shaft, and thus a rotational motion is possible.

When the driving motor 211 is driven in the coupled state as described above, the lead screw 212 rotates to move the transfer block 214 in the axial direction, through which the legs 215c of the extended arm 215 are transferred. The head 215a of the extending arm 215 rises while rotating simultaneously with movement along the block 214.

Conversely, when the lead screw 212 is rotated in the opposite direction by the driving of the driving motor 211, the head 215a of the extending arm 215 descends while the transfer block moves in the opposite direction.

As shown in FIG. 8, the head 215a of the extended arm 215 is disposed at an angle with the body 215b of the extended arm 215, but the head 215a of the extended arm 215 moves upwards In one state, an inclination may be formed such that the head 215a of the extending arm 215 and the lower surface of the operation plate 100 are disposed in parallel.

That is, when the head 215a of the extension arm 215 moves upward by a predetermined height (h) to the highest position (top dead center) of the extension arm 215, if the head 215a of the extension arm 215 is operated plate, the extension line 130 ). With this configuration, the upper and lower heights of the system are lowered, thereby making the system overall compact, and the position of the center of gravity is lowered, thereby improving stability, and through this, it is possible to express strong and dynamic movement.

In addition, a plurality of legs 215c and 216c of the extension arm 215 and the support arm 216 may be formed to support both sides of the transport block 214 and the support block 213, respectively, through which the load is deflected It can be prevented from improving the structural stability.

A pair of engaging bushings 215f and 216f penetrating the legs 215c and 216c are provided so that each leg 215c and 216c can be rotated, and any one of the engaging bushings 215f and 216f is a leg 215c, 216c) is coupled through in one direction, the other coupling bushing (215f, 216f) may be through-coupled in the other direction of the legs (215c, 216c), through which the ease of assembly of the coupling bushing (215f, 216f) This improves, and effective support becomes possible.

The mutually facing coupling bushings 215f and 216f are preferably configured to abut each other.

In addition, as illustrated in FIG. 7, chamfered surfaces 215g and 216g may be formed along the longitudinal direction on the outer circumferential surfaces of the extended arm 215 and the support arm 216, and when configured in this way, the extended arm 215 It is possible to prevent the interference between each other in the process of rotating the support arm 216.

In addition, as shown in FIG. 6, the receiving block 213a may be formed with an inlet groove 213a that is retractable when the head 215a of the extending arm 215 moves downward. That is, in a state where the head 215a of the extension arm 215 moves to the lowest position (lower dead center), a part of the head 215a forms a lead-in groove 213a that can be pulled in. When configured in this way, when the extension arm 215 is rotated, interference with the base block 213 can be prevented, and a position at which the head 215a of the extension arm 215 can be lowered can be formed lower. Therefore, the height of the entire system is reduced, making it compact. That is, the structural stability is improved by lowering the position of the center of gravity.

As shown in FIG. 4, a motor arrangement groove 310 in which the drive motor 211 is inserted and disposed may be formed in the base frame 300 such that the drive motor 211 is disposed downward in the height direction.

The aforementioned height direction means a direction perpendicular to the top surface of the base frame 300.

That is, when the driving motor 211 is fixed in the state in which it is inserted and arranged in the motor placement groove 310, the height of the driving motor 211 protruding to the upper surface of the base frame 300 is lowered, thereby making the system compact overall.

Likewise, an insertion hole 120 into which the upper portion of the ball joint 217 can be inserted may be formed in the operation plate 100, thereby preventing interference with the ball joint 217 when the operation plate 100 is operated. It can be done, and the system can be configured compactly.

At this time, as illustrated in FIGS. 2 and 4, at least one through hole H may be formed in the upper frame 500 and the base frame 300, respectively. For the control of the driving unit 200, the through-hole H passes through a power line and a signal line provided from the electric box 10, and by configuring in this way, it is possible to prevent the power line and the signal line from being exposed to the outside.

As shown in FIG. 9 to prevent the drive member 210 from shaking even when a load is applied in the operation process of each drive member 210, a guide block 218 supporting the movement of the drive member 210 and A guide rail 219 may be provided. At this time, the guide rail 219 is mounted and fixed on the base frame 300, the guide block 218 is coupled to the transport block 214 is configured to move along the guide rail 219.

10 and 11, the rotation drive unit 200 disposed on the operation plate 100 and provided with a rotation member 710 rotating about an axis perpendicular to the operation plate 100 is further provided. It can contain.

That is, the operation plate 100 is configured to be rotatable through the rotation driving unit 200 in the process of performing a three degree of freedom operation by the driving unit 200. As a result, the seat 20 connected to the rotation driving unit 200 is capable of four-degree-of-freedom operation, so that more dynamic movements can be expressed.

A link bracket 110 is provided on the lower surface of the operation plate 100, and a cable groove 140 through which a power line and a signal line can pass may be formed.

12 and 13, the rotational driving unit 200 rotates the driving force of the driving motor 730 having a driving shaft horizontally disposed on the operation plate 100 and the driving force of the driving motor 730. It may include a power transmission member 720 to transmit to.

That is, the rotating member 710 is rotated using the driving force of the driving motor 730. At this time, the driving motor 730 is horizontally disposed on the operation plate 100. With this configuration, the height of the rotation driving unit 200 is lowered, so that the height of the system can be lowered as a whole.

However, the power transmission member 720 is provided to effectively transmit the driving force of the driving motor 730 in a state in which the driving shaft of the driving motor 730 and the rotating shaft of the rotating member 710 are vertically arranged with each other.

The power transmission member 720 includes a first power transmission member 721 and a first power transmission member 721 for converting and transmitting the driving force of the drive motor 730 horizontally disposed on the operation plate 100 in a direction perpendicular to the operation plate 100. 1 may include a second power transmission member 722 that transmits the driving force transmitted through the power transmission member 721 to the rotating member 710.

That is, it is possible to effectively transmit the driving force of the driving motor 730 even when the driving shaft of the driving motor 730 and the rotating shaft of the rotating member 710 are vertically disposed through the first power transmission member 721.

At this time, the first power transmission member 721 is coupled to a drive gear 721a and a drive gear 721a coupled to the drive shaft of the drive motor 730, rotated around an axis perpendicular to the operation plate 100 It may include a driven gear (721b).

In addition, the second power transmission member 722 is driven gear 721b and a driving pulley 722a rotating coaxially, a driven pulley 722b coupled to a lower portion of the rotating member 710 and a driving pulley 722a ) And a timing belt 722c surrounding the driven pulley 722b at the same time.

The first power transmission member 721 may be a power transmission method using a known straight bevel gear, and the second power transmission member 722 may be a power transmission method using a known pulley.

Through this, when the driving shaft of the driving motor 730 rotates, the driving gear 721a coupled to the driving shaft may be rotated, and the driving force of the driving motor 730 includes the driven gear 721b, the driving pulley 722a, and The driven pulleys 722b may be rotated by the operation of the timing belts 722c linked to each other. Accordingly, the rotation member 710 fixedly coupled to the driven pulley 722b can be rotated through rotation of the driven pulley 722b.

In addition, a fixed frame 740 is provided so that the rotating member 710 is positioned on the upper surface of the working plate 100, and the rotating member 710 is provided on the lower surface of the fixed frame 740 from the upper surface of the working plate 100. The spacing member 741 may be provided to be spaced apart.

When the separation member 741 is provided as described above, when the rotating member 710 is rotated, interference with the operation plate 100 can be prevented, so that the rotating member 710 can be rotated smoothly.

In addition, a bearing member 750 may be provided on the fixed frame 740 so that the rotating member 710 can rotate smoothly, and a known slewing bearing can be used as the bearing member 750.

As illustrated in FIG. 14, it is also possible to additionally install the top frame 500, bellows frame 600, and side frame 400 on top of the top frame 500. That is, a plurality of sets capable of multi-degree-of-freedom motions are arranged, and by configuring in this way, more various motions can be expressed.

At this time, it is also possible to remove the top frame 500 disposed under the side frame 400 located at the top, and directly connect the side frame 400 located at the top and the bellows frame 600 located at the bottom. When configured in this way, since the top frame 500 is not provided between the set provided at the top and the set provided at the bottom, the height of the entire system can be lowered.

Although one embodiment of the present invention has been described, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art to understand the spirit of the present invention, within the scope of the same spirit, addition and modification of components However, other embodiments may be easily suggested by deletion, addition, or the like, but this will also be considered to be within the scope of the present invention.

10: battlefield box 20: seat
100: working plate 110: link bracket
120: insertion hole
130: extension line when the operating plate
140: cable groove 200: drive unit
210: drive member 211: drive motor
212: lead screw 213: base block
213a: incoming groove 214: transfer block
215: extension arm 215a: head
215b: Body 215c: Leg
215d: 1st link bar 215e: 4th link bar
215f: Combined bushing 215 g: Chamfer
216: base arm 216a: head
216b: body 216c: leg
216d: 2nd link bar 216e: 3rd link bar
216f: Combined bushing 216 g: Chamfer
217: ball joint 218: guide block
219: guide rail 300: base frame
310: motor placement groove 400: side frame
500: upper frame 510: upper plate fixing member
600: Bellows frame 610, 620: Bellows fastening member
700: rotation drive unit 710: rotation member
720: power transmission member 721: first power transmission member
721a: drive gear 721b: driven gear
722: second power transmission member 722a: drive pulley
722b: driven pulley 722c: timing belt
740: fixed frame 741: spaced member
750: bearing member
H: Through hole h: Operating plate change height

Claims (20)

An operation plate performing a three-degree of freedom operation on a plane;
A driving unit for operating the operation plate;
A base frame supporting a lower portion of the driving unit;
A side frame provided along the circumference of the base frame to surround the operation plate and the driving unit;
A top plate frame performing a three-degree-of-freedom operation together with the operation plate; And
A bellows frame connecting the top of the side frame and the circumference of the top frame;
It includes,
The driving unit is provided with a plurality of driving members to respectively support a plurality of positions arranged on the lower surface of the operation plate,
The drive member,
A drive motor mounted on an upper surface of the base frame;
A lead screw connected to the drive motor to rotate axially;
Support blocks for supporting both sides of the lead screw so that the lead screw is axially rotatable;
A transfer block moving in an axial direction when the lead screw is rotated;
An extension arm hinged to the transport block so as to be rotatable around the transport block, and an extended head coupled to a lower surface of the operation plate along a lengthwise direction; And
One side is hinged to the support block so as to be rotatable around the support block, the other side is hinged to the body of the extension arm, the support arm inducing a rotational movement of the extension arm when the transport block is moved;
Including,
The head of the extension arm is disposed at an inclined angle with the body of the extension arm, the inclined so that the head of the extension arm and the lower surface of the operation plate are arranged in parallel with the head of the extension arm moving upward to the top dead center Is formed,
A multi-degree-of-freedom motion system, characterized in that in the support block, a retractable groove is formed in a state in which the head of the extension arm moves downward to the bottom dead center. delete delete According to claim 1,
The head of the extension arm is provided with a ball joint,
The lower surface of the operation plate is provided with a link bracket extending downward and a fourth link bar coupled to the link bracket,
The ball joint is a multi-degree of freedom motion system, characterized in that rotatably coupled to the fourth link bar. delete According to claim 1,
A multi-degree-of-freedom motion system, characterized in that a plurality of legs of the extension arm and the support arm are respectively formed to support both sides of the transport block and the support block. The method of claim 6,
A pair of coupling bushings passing through the leg are provided so that each of the legs is rotatable,
A multi-degree of freedom motion system, characterized in that one of the coupling bushings is through-coupled in one direction of the leg, and the other of the coupling bushings is through-coupled in the other direction of the leg. According to claim 1,
A multi-degree-of-freedom motion system, characterized in that a chamfered surface is formed along the longitudinal direction on the outer circumferential surfaces of the extension arm and the support arm. delete According to claim 1,
A multi-degree-of-freedom motion system, wherein the base frame is provided with a motor arrangement groove in which the drive motor is inserted and arranged so that the drive motor is disposed downward in the height direction. According to claim 4,
A multi-degree-of-freedom motion system, characterized in that an insertion hole in which the upper portion of the ball joint is inserted is formed in the operation plate. According to claim 1,
A multi-degree-of-freedom motion system comprising a guide block coupled to the transport block and a guide rail for guiding the guide block to move in an axial direction. According to claim 1,
A multi-degree-of-freedom motion system, characterized in that at least one through hole is formed in the upper frame and the base frame, respectively. According to claim 1,
A multi-degree-of-freedom motion system further comprising a rotation drive unit disposed on the operation plate and provided with a rotation member rotating about an axis perpendicular to the operation plate. The method of claim 14,
The rotation drive unit comprises a drive motor having a drive shaft horizontally disposed on the operation plate, and a multi-degree of freedom motion system comprising a power transmission member for transmitting the driving force of the drive motor to the rotation member. The method of claim 15,
The power transmission member,
A first power transmission member for converting and transmitting a driving force of the driving motor horizontally disposed on the working plate in a direction perpendicular to the working plate; And
A second power transmission member that transmits a driving force transmitted through the first power transmission member to the rotating member;
Multi-degree of freedom motion system comprising a. The method of claim 16,
The first power transmission member,
A drive gear coupled to a drive shaft of the drive motor; And
A driven gear coupled to the drive gear and rotating about an axis perpendicular to the operating plate;
Multi-degree-of-freedom motion system, characterized in that the linear bevel gear comprising a. The method of claim 17,
The second power transmission member,
A drive pulley rotating coaxially with the driven gear;
A driven pulley coupled to the lower portion of the rotating member; And
A timing belt surrounding the driving pulley and the driven pulley simultaneously;
Multi-degree of freedom motion system comprising a. The method of claim 18,
A fixed frame is provided so that the rotating member is fixed in position on the upper surface of the operation plate,
A multi-degree-of-freedom motion system, characterized in that a spacer is provided on the lower surface of the fixed frame so that the rotating member is spaced apart from the upper surface of the operation plate. According to claim 1,
A multi-degree-of-freedom motion system characterized in that an upper frame, a bellows frame, and a side frame are additionally provided on an upper portion of the upper frame.

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