KR102598608B1 - 5-DOF simulator - Google Patents

Abstract

The present invention relates to a 5-degree-of-freedom simulator, and more specifically, a first movement module having a total of 2 degrees of freedom by linearly moving on a first direction axis and rotating around a third direction axis, a first direction axis, and It relates to a 5-degree-of-freedom simulator characterized by comprising a second movement module having a total of 3 degrees of freedom by performing a roll-pitc rotational movement on a second direction axis and a linear movement on a third direction axis.

Description

5-DOF simulator {5-DOF simulator}

The present invention relates to a 5-degree-of-freedom simulator, and more specifically, a first movement module having a total of 2 degrees of freedom by linearly moving on a first direction axis and rotating around a third direction axis, a first direction axis, and It relates to a 5-degree-of-freedom simulator characterized by comprising a second movement module having a total of 3 degrees of freedom by performing a roll-pitc rotational movement on a second direction axis and a linear movement on a third direction axis.

The content described in this section simply provides background information about the present invention and does not constitute prior art.

The motion platform is a platform that allows the experiencer to feel a sense of reality even in a virtual space by performing appropriate movements that imitate the movement of a specific object according to various situations in conjunction with virtual reality content.

This platform is used for a variety of purposes, including movies, entertainment, pilot training, and training special equipment experts.

Depending on the purpose of using the motion platform, the platform is developed with different requirements for precision, motion output specifications, economic efficiency, and space efficiency. For example, a motion platform for virtual training of aircraft pilots requires high precision and output specifications, while a motion platform for 4D movie theaters requires economy and space efficiency.

However, it is very difficult to develop a motion platform that has all of these specifications. For example, as the output specification increases, the unit cost of components such as the drive unit and related drivers increases, power consumption increases, which reduces economic feasibility, and the overall volume increases, reducing space efficiency.

Motion platforms generally apply a mechanism that places driving parts in parallel between the lower body, which supports all loads and maintains a stationary state, and the upper body, where motion output occurs. Depending on the driving unit and joint method applied, the degrees of freedom (DOF) and motion output specifications that can be output from the upper body are determined.

A commonly used motion platform mechanism type for high precision and output specifications for motion is a type called the Stewart platform.

Six driving units are placed between the upper and lower bodies, and each end of the cylinder is connected to the upper and lower bodies with a universal joint.

At this time, the driving part uses a cylinder that operates in a straight line. This type has 6 degrees of freedom, allowing motion for all degrees of freedom and has high precision and output specifications, but has the disadvantage of being expensive and bulky, reducing space efficiency.

There is also a motion platform type that applies a mechanism consisting of a combination of an electric motor, link, and rotary joint that performs rotational motion for economy and space efficiency. This type uses fewer driving parts than the Stuart platform and has a degree of freedom corresponding to the number of driving parts.

In addition, this type allows for the use of relatively inexpensive parts as it allows for a small number of driving parts, and has high space efficiency due to its small volume. However, it has the disadvantage of having a degree of freedom that makes motion impossible and output specifications being low.

Therefore, there is a need to develop a motion platform that can solve the problems of the prior art as described above.

The problem to be solved by the present invention is to complement the shortcomings of the prior art mentioned above, and the purpose of the present invention is as follows.

First, in addition to the basic 3-degree-of-freedom drive for virtual reality experience, we provide an ultra-realistic simulator capable of driving a total of 5-degrees of freedom to implement horizontal movement and self-rotation to perform more diverse productions such as entry/exit, rotation, etc. I want to do it.

Second, a platform that can accommodate up to 20 people is provided so that multiple people can experience virtual reality at the same time, and when multiple people board, it is possible to prevent damage or malfunction of the mobile unit caused by the load. We aim to provide an ultra-realistic simulator equipped with a load prevention unit and damper.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

According to the present invention, the first movement module has a total of 2 degrees of freedom by linearly moving on the first direction axis and rotating around the third direction, and roll-pitc rotating on the first and second directions, A 5-degree-of-freedom simulator is provided, which includes a second movement module that has a total of 3 degrees of freedom by linearly moving along a third direction axis.

At this time, in order to realize the entry and exit experience, the first moving module includes a first table including a seating surface on which an object can be loaded, a first driving unit that generates a rotational driving force; A first direction linear movement unit is connected to the lower surface of the first table, one side of which is connected to the first driving unit, converts the rotational driving force into linear movement, and performs linear movement on the first direction axis, and is disposed on the lower side of the first table. It includes a first direction linear rail that sets a movable range of the first table along the first direction axis, and the first table can move linearly along the first direction axis.

In addition, the first moving module is disposed at a predetermined distance from the upper surface of the first table, includes a second table including a seating surface on which objects can be loaded, and is disposed between the first table and the second table to rotate. A second driving unit that generates a driving force, a third direction rotational movement unit connected to the lower surface of the second table, one side of which is connected to the second driving unit and rotating on a third direction axis through the rotational driving force, and the first It includes a third direction rotation rail disposed on the upper surface of the first table and setting a rotational range of the second table on the third direction axis, and the second table can rotate on the third direction axis.

Furthermore, the first direction linear rails are disposed on both sides and the center of the first table, and a plurality of first direction linear movement units are provided, and one first direction linear movement unit is of the first drive unit. It is connected to one side, and another first direction linear movement unit is connected to the other side of the first drive unit with the same gear ratio, and can be respectively disposed between the first direction linear rails.

Meanwhile, the first direction linear rail is disposed at both ends of the first direction linear rail to prevent the first direction linear movement unit from being damaged due to collision with the first direction linear rail to generate a predetermined amount of impact. It may include an absorbing damper.

At this time, the damper includes a housing including an internal accommodation space divided into a left chamber and a right chamber by a dividing wall, a first friction member sequentially disposed in the left chamber, an elastic body, a camshaft, and an elastic body sequentially disposed in the right chamber, It may include a second friction member.

In addition, the second moving module includes a lower body that supports the load and maintains a stationary state, an upper body that is spaced apart from the lower body and outputs motion, and has at least two or more parts on one side of the outer upper surface of the lower body. A plurality of link parts connected to an arbitrary point, and the other side is connected to at least two arbitrary points of the inner lower surface of the upper body and connects the upper body and the lower body with a predetermined slope, the link part It is connected to one side and generates a driving force to output the motion of the upper body, and is formed at a point where a plurality of third drive units are formed corresponding to the number of the link portions and the link portion and the lower body are connected, and the upper body is connected to the upper body. It may include a load compensation unit formed of an elastic body to compensate for the load applied to the link portion during the downward and upward motions of the body.

Furthermore, the load compensation unit may include an inclined surface inclined toward the inside of the link unit in response to the roll and pitch motion of the upper body.

Additional solutions of the present invention will be partially explained in the description that follows below, and may be partially easily identified from the description or learned by practice of the present invention.

Both the foregoing general description and the following detailed description are exemplary and explanatory only and do not limit the invention as set forth in the claims.

The effects of the present invention configured as above will be explained as follows.

First, in addition to the basic 3-degree-of-freedom drive for virtual reality experience, horizontal movement and self-rotation are implemented to secure a total of 5-degrees of freedom, enabling more diverse productions such as back and forth, rotation, etc.

Second, a platform that can accommodate up to 20 people is provided so that multiple people can experience virtual reality at the same time, and it is equipped with a load prevention unit and damper to prevent movement caused by the load when multiple people ride. This can prevent damage or malfunction of the unit.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view of a 5-degree-of-freedom simulator according to one embodiment of the present invention.
Figures 2 and 3 are perspective views of the first moving module according to an embodiment of the present invention.
Figure 4 is a perspective view of a second movement module according to an embodiment of the present invention.

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

However, when describing a specific embodiment of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

The above-described objects, features and advantages of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings. However, since the present invention can make various changes and include various embodiments, specific embodiments will be illustrated in the drawings and described in detail below.

If it is determined that a detailed description of a known function or configuration related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Additionally, numbers used in the description process of this specification are merely identifiers to distinguish one component from another component.

In addition, the suffix “part” for the components used in the following description is merely used or used interchangeably to facilitate the preparation of the specification, and does not have a distinct meaning or role in itself.

1 is a perspective view of a 5-degree-of-freedom simulator according to one embodiment of the present invention.

Figures 2 and 3 are perspective views of the first movement module 100 according to an embodiment of the present invention.

A 5-degree-of-freedom simulator according to an embodiment of the present invention may include a first movement module 100 and a second movement module 200.

The first movement module 100 may have a total of 2 degrees of freedom by linearly moving along the first direction axis and rotating along the third direction axis.

The second movement module 200 may have a total of 3 degrees of freedom by performing roll-pitc rotational movement on the first and second direction axes and linear movement on the third direction axis.

The first movement module 100 may include a first table (T), a first driving unit (M), a first direction linear movement unit 110, and a first direction linear rail 120.

The first table T may include a seating surface on which an object can be loaded.

The first driving unit (M) is such as a small generator and can generate rotational driving force.

The first direction linear movement unit 110 is connected to the lower surface of the first table (T) and one side is connected to the first drive unit (M) to convert the rotational driving force into linear movement and linear movement on the first direction axis. can do.

The first direction linear rail 120 is disposed below the first table (T) and can set a movable range of the first table (T) on the first direction axis.

More specifically, the first direction linear rail 120 may be disposed on both sides and the center of the first table T, and the first direction linear movement unit 110 may be provided in plural numbers, forming one The first direction linear movement unit 110 is connected to one side of the first driving unit (M), and the other first direction linear movement unit 110 is connected to the other side of the first driving unit (M). They are connected with the same gear ratio and can be respectively disposed between the first direction linear rails 120.

As a result, the first mobile unit according to an embodiment of the present invention can realize an entry and exit experience, and the first table T can move linearly along the first direction axis.

The first movement module 100 may include a second table (T), a second driving unit (M), a third direction rotation movement unit 130, and a third direction rotation rail 140.

The second table (T) is disposed at a predetermined distance from the upper surface of the first table (T) and may include a seating surface on which objects can be loaded.

The second driving unit (M) is disposed between the first table (T) and the second table (T) and can generate a rotational driving force.

The third direction rotational movement unit 130 is connected to the lower surface of the second table (T), and one side is connected to the second driving unit (M) so that it can rotate on the third direction axis through the rotational driving force. .

The third direction rotation rail 140 is disposed on the upper surface of the first table (T) and can set the rotation range of the second table (T) on the third direction axis.

As a result, the first mobile unit according to one embodiment of the present invention can realize an experience such as rotation, and the second table T can rotate and move along the third direction axis.

The first direction linear rail 120 is configured to prevent the first direction linear movement unit 110 from being damaged due to collision with the first direction linear rail 120. It may include dampers disposed at both ends of the unit to absorb a predetermined amount of impact.

The damper may include a housing separated into a left room and a right room by a dividing wall, a first friction member, a second friction member, an elastic body, and a camshaft.

The housing is divided into a left room and a right room by a dividing wall, and may include an internal accommodation space.

The first friction member, the elastic body, and the camshaft may be sequentially arranged in the seating compartment.

The elastic body and the second friction member may be sequentially disposed in the right chamber.

The friction member may rotate dependently with respect to the camshaft and may move linearly independently.

For this purpose, a step surface is formed on the friction member and the camshaft, so that they can be tightly coupled.

The elastic body is disposed between the dividing wall of the housing and the friction member, so that one surface of the friction member is in surface contact with the elastic body.

The elastic body can rotate independently with respect to the camshaft.

Figure 4 is a perspective view of the second movement module 200 according to an embodiment of the present invention.

The second moving module 200 includes a lower body that supports the load and maintains a stationary state, an upper body that is spaced apart from the lower body and outputs motion, and has at least two sides of the outer upper surface of the lower body. A plurality of link parts connected to the above arbitrary points and the other side connected to at least two arbitrary points of the inner lower surface of the upper body and connecting the upper body and the lower body with a predetermined slope, the link A plurality of third drive units (M) are connected to one side of the unit and generate driving force to output the motion of the upper body, and are formed to correspond to the number of link parts, and are formed at the point where the link part and the lower body are connected. It may include a load compensation unit formed of an elastic body to compensate for the load applied to the link portion during the lowering and rising movements of the upper body.

Furthermore, the load compensation unit may include an inclined surface inclined toward the inside of the link unit in response to the roll and pitch motion of the upper body.

This embodiment is merely an illustrative explanation of the technical idea of the present invention, and those skilled in the art may make various modifications and variations of this embodiment without departing from the essential characteristics of the present invention. It would be possible.

This embodiment is not intended to limit the technical idea of the present invention, but rather to explain it, and therefore the scope of the present invention is not limited by this embodiment.

The scope of protection of the present invention should be interpreted in accordance with the claims, and all technical ideas that are equivalent or equivalent thereto shall be construed as being included in the scope of rights of the present invention.

T-table
M - drive unit
100 - 1st mobile module
110 - First direction linear movement unit
120 - First direction linear rail
130 - Third direction rotation movement unit
140 - Third direction rotating rail
200 - 2nd mobile module

Claims (7)

A first movement module that moves linearly along a first direction axis and rotates along a third direction axis, thereby having a total of 2 degrees of freedom; and
The second movement module has a total of 3 degrees of freedom by performing roll-pitc rotational movement on the first and second direction axes and linear movement on the third direction axis.
Includes,

To realize the entry and exit experience, the first movement module is
A first table including a seating surface on which objects can be loaded;
A first driving unit that generates a rotational driving force;
a first direction linear movement unit connected to the lower surface of the first table, one side of which is connected to the first drive unit, and converting the rotational driving force into linear movement to perform linear movement along the first direction axis; and
A first direction linear rail disposed below the first table and setting a range of motion on the first direction axis of the first table;
It includes, wherein the first table moves linearly along the first direction axis,

The first movement module is,
a second table disposed at a predetermined distance from the upper surface of the first table and including a seating surface on which objects can be loaded;
a second driving unit disposed between the first table and the second table and generating a rotational driving force;
a third direction rotational movement unit connected to the lower surface of the second table, one side of which is connected to the second driving unit and rotating on a third direction axis through the rotational driving force; and
a third direction rotation rail disposed on the upper surface of the first table and setting a rotation range of the second table on a third direction axis;
Includes, wherein the second table rotates on a third direction axis,

The first direction linear rail is disposed on both sides and the center of the first table,
A plurality of first direction linear movement units are provided,
One first direction linear movement unit is connected to one side of the first driving unit, and the other first direction linear movement unit is connected to the other side of the first driving unit with the same gear ratio, and the first direction linear movement unit is connected to the other side of the first driving unit. A 5-degree-of-freedom simulator characterized by being placed between linear rails.
delete delete delete In paragraph 1
The first direction linear rail is
Dampers disposed at both ends of the first direction linear rail to absorb a predetermined amount of impact to prevent the first direction linear movement unit from being damaged due to collision with the first direction linear rail;
A 5-degree-of-freedom simulator comprising:
In paragraph 5
The damper is
A housing including an internal accommodation space divided into a left room and a right room by a dividing wall;
A first friction member, an elastic body, and a camshaft sequentially arranged in the seating compartment; and
An elastic body and a second friction member sequentially disposed in the right chamber;
A 5-degree-of-freedom simulator comprising:
In paragraph 1
The second movement module is,
A lower body that supports the load and remains stationary;
An upper body that is spaced apart from the lower body and outputs motion;
One side is connected to at least two arbitrary points on the outer upper surface of the lower body, and the other side is connected to at least two arbitrary points on the inner lower surface of the upper body to have a predetermined slope, and the upper body and the A plurality of link parts connecting the lower body;
a plurality of third driving units connected to one side of the link unit to generate a driving force to output a motion of the upper body and formed corresponding to the number of the link units; and
A load compensation unit formed at a point where the link part and the lower body are connected and made of an elastic body to compensate for the load applied to the link part during the lowering motion and the upward motion of the upper body;
Including,

The load compensation unit is,
A 5-degree-of-freedom simulator comprising an inclined surface inclined toward the inside of the link portion in response to the roll and pitch motion of the upper body.

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