KR102647698B1 - Motion simulating device - Google Patents

Abstract

In order to provide a motion reproduction device that reproduces the free movement of an object and can easily change the initial direction, a motion reproduction device is disclosed wherein a bed to which an object is coupled is connected to and driven by a plurality of axes. Accordingly, various movements of the object can be reproduced, and the initial direction of the bed can be freely changed, making it possible to reproduce the movement of the object under various conditions.

Description

Motion reproduction device {MOTION SIMULATING DEVICE}

The present invention relates to a motion reproduction device. In detail, it relates to a motion reproduction device that reproduces movement in six directions and can easily change the initial direction.

When shooting with a camera, image correction technology such as OIS (optical image stabilization) is being developed to prevent blurring of the photo due to hand tremors. In order to test the operational performance of software and hardware according to such image correction technology, a device for simulating movements such as tremors is required. This is because it is difficult to obtain consistent results if a person holds and shakes it by hand.

Since hand tremor is not a regular movement in any one direction, it is necessary to simulate movement in all directions. For this purpose, a 6-axis motion simulator according to the prior art can be used.

However, the 6-axis motion simulator according to the prior art has a fixed initial direction of the bed where the object is combined, and cannot reproduce movement above a certain level in the initial direction. This is because the range of motion of each axis is determined.

In particular, since photography generally sets the angle of view in a horizontal direction with respect to the ground, a conventional 6-axis motion simulator needs to be installed on a vertical wall. In this case, there are problems such as the installation surface being bent by the weight of the simulator, preventing correct test results, or the risk of a falling accident from the simulator.

Republic of Korea Patent No. 10-1992674 (registered on June 19, 2019) Republic of Korea Patent No. 10-1356640 (registered on January 22, 2014)

The technical problem of the present invention is to provide a reproduction device that can reproduce free movement.

Another technical problem of the present invention is to provide a motion reproduction device that can easily change the initial direction.

In order to solve the above problems, the present invention discloses a motion reproduction device in which a bed on which an object is coupled is connected to a plurality of axes and driven.

According to the present invention, various movements of objects can be reproduced.

In addition, since the initial direction of the bed can be freely changed, it is possible to reproduce the movement of objects under various conditions.

Figure 1 shows a 6-axis motion simulator according to the prior art.
Figure 2 is a perspective view showing a motion reproduction device according to an embodiment of the present invention.
Figure 3 shows a bed, a drive unit, and a base according to an embodiment of the present invention.
Figure 4 shows a state in which the initial direction of the bed in Figure 3 has been changed.
Figure 5 is a side view of a motion reproduction device according to an embodiment of the present invention.
Figure 6 is a side view showing a state in which the initial direction of the bed is changed according to the change in position of the variable base.
Figure 7 is an exploded view of the driving unit according to an embodiment of the present invention.
Figure 8 shows a state in which the driving unit according to an embodiment of the present invention is coupled.
Figure 9 shows the initial state of the bed,
Figure 10 shows the positive direction pitch movement of the bed.
Figure 11 shows the negative direction pitch movement of the bed.
Figure 12 shows positive roll movement of the bed.
Figure 13 shows the negative roll movement of the bed.
Figure 14 shows the positive yaw movement of the bed.
Figure 15 shows the yaw movement of the bed in the negative direction.

The terms used in this specification will be briefly described, and an embodiment of the present invention will be described in detail. The terms used in this specification are general terms that are currently widely used as much as possible while considering the function in the present invention, but this may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, etc. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the relevant invention. Therefore, the terms used in this specification should be defined based on the meaning of the term and the overall content of the present invention, rather than simply the name of the term.

Hereinafter, embodiments according to the present invention will be described in detail through the attached drawings.

When shooting with a camera, image correction technology such as OIS (optical image stabilization) is being developed to prevent blurring of the photo due to hand tremors. In order to test the operational performance of software and hardware according to such image correction technology, a device for simulating movements such as tremors is required. This is because it is difficult to obtain consistent results if a person holds and shakes it by hand.

Since hand tremor is not a regular movement in any one direction, it is necessary to simulate movement in all directions. For this purpose, a 6-axis motion simulator according to the prior art can be used.

Figure 1 shows a 6-axis motion simulator according to the prior art. The 6-axis motion simulator can reproduce movement in 6 different directions (positive and negative directions of pitch, roll, and yaw, respectively).

However, the 6-axis motion simulator according to the prior art has a fixed initial direction of the bed where the object is combined, and cannot reproduce movement above a certain level in the initial direction. This is because the range of motion of each axis is determined.

In particular, since photography generally sets the angle of view in a horizontal direction with respect to the ground, a conventional 6-axis motion simulator needs to be installed on a vertical wall. In this case, there are problems such as the installation surface being bent by the weight of the simulator, preventing correct test results, or the risk of a falling accident from the simulator.

The present invention is an invention to solve the problems of the prior art, and discloses a motion reproduction device in which the initial direction of the bed 1 can be changed relative to the ground.

Figure 2 is a perspective view showing a motion reproduction device according to an embodiment of the present invention. The three arrows shown at the bottom left of FIG. 2 indicate each direction (x, y, z) of the three-dimensional space expressed in the drawing (this applies similarly to the drawings below).

The motion reproduction device according to the present invention is characterized by including a bed (1), a first axis (10), a second axis (20), and a base (base, 30).

The bed 1 is configured to move the object according to the movement of the bed 1 by combining an object that reproduces movement. According to the present invention, the shape of the bed 1 is not limited to any one shape. As a preferred embodiment, the bed 1 may be provided in a plate shape. Preferably, the bed 1 may be provided with its upper surface perpendicular to the z-direction and horizontal to the ground.

The first axis 10 and the second axis 20 are configured to implement the movement of the bed 1. In detail, a first axis 10 is formed at one end of the bed 1, and a second axis 20 is formed at the other end of the bed 1, and the first axis 10 and the second axis 20 The movement of the bed 1 is realized by being connected to and moving the plurality of driving units 40.

The driving unit 40 is a component that moves the first axis 10 and the second axis 20, and is provided in plural numbers. Preferably, at least six driving units 40 are provided, and are connected to one end and the other end of the first axis 10 and the second axis 20, respectively. The driving unit 40 will be described in detail later with reference to FIG. 3.

The base 30 is configured to support the driving unit 40. Preferably, the base 30 is provided in a form that can be fixed to the ground. More preferably, the base 30 has a flat upper surface so that the driving unit 40 is fixed at different positions on the upper surface of the base 30.

As shown in FIG. 2, the first axis 10 and the second axis 20 are connected to each drive unit 40 and move to change the pitch, roll, and yaw of the bed 1. yaw) reproduces the movement.

Hereinafter, 'pitch movement' is a two-way rotational movement of the bed 1 with the x-axis shown in the drawing as the central axis, and 'roll movement' is the bed with the y-axis shown in the drawing as the central axis. It is a two-way rotational movement of (1), and 'yaw movement' is defined as a two-way rotational movement of the bed (1) with the z-axis shown in the drawing as the central axis.

Figure 3 shows the bed 1, the driving unit 40, and the base 30 according to an embodiment of the present invention. In Figure 3, for ease of understanding, configurations other than the bed 1, the drive unit 40, and the base 30 are shown.

Preferably, the driving unit 40 may include an arm 410 and a linear movement unit 420.

The arm 410 is configured to convert the linear motion of the linear motion unit 420 into angular motion. In detail, one end of the arm 410 is connected to the first axis 10 or the second axis 20, and the other end is connected to one end of the linear movement unit 420. Here, one end and the other end of the arm 410 are provided in the form of joints, so that the linear motion of the linear motion unit 420 can be converted into angular motion. This will be described later with reference to FIG. 7.

The linear movement unit 420 is a component for moving the arm 410. One end moves linearly within a predetermined range and the other end is coupled to the base 30. According to one embodiment of the present invention, one end of the linear movement unit 420 moves linearly in the up and down direction. Preferably, the linear motion unit 420 may include a power unit such as an electric motor or hydraulic cylinder. Since the power unit that implements linear motion in this way is a known technology, detailed description will be omitted.

FIG. 4 shows a state in which the initial direction of the bed 1 in FIG. 3 has been changed.

According to one embodiment of the present invention, the base 30 may be divided into a fixed base 32 and a variable base 31. The fixed base 32 is a base whose position relative to the ground is fixed, and the variable base 31 is a base whose position relative to the ground can change. The numerical ratio between the fixed base 32 and the variable base 31 is not limited, but it is preferable that at least one variable base 31 is provided.

Since the position of the fixed base 32 is fixed relative to the ground, the linear movement unit 420 connected to it is also fixed to the ground.

On the other hand, since the position of the variable base 31 changes relative to the ground, the linear movement unit 420 connected thereto may also change with respect to the ground, and thus its relative position with the fixed base 32 may change. When a plurality of variable bases 31 are provided, it is natural that the relative positions between each variable base 31 may change.

Hereinafter, the driving unit 40 connected to the variable base 31 will be referred to as a 'first driving unit' 41, and the driving unit 40 connected to the fixed base 32 will be referred to as a 'second driving unit' 42.

At least one of the first axis 10 or the second axis 20 is connected to the first driving unit 41. In one embodiment of the present specification, the description is based on the fact that the first shaft 10 is connected to the first driving unit 41.

As the relative position of the first driving unit 41 with respect to the second driving unit 42 is changed by the variable base 31, the initial position of the first shaft 10 connected to the first driving unit 41 may be changed. On the other hand, the initial position of the second axis 20 connected to the second driving unit 42 is fixed. Accordingly, the initial direction of the bed 1 may be changed.

Figure 5 is a side view (showing the yz plane in the x-axis direction) of a motion reproduction device according to an embodiment of the present invention, and Figure 6 shows the initial direction of the bed 1 changing according to the change in position of the variable base 31. This is a side view showing the condition.

Preferably, the variable base 31 may be moved according to at least one guide part provided to change its position.

As a preferred embodiment, the guide unit may include a first guide unit 51 and a second guide unit 52 provided in the form of a vertical pillar. The first guide part 51 is formed on one side of the variable base 31, and the variable base 31 is guided and moved by the first guide part 51, thereby preventing the variable base 31 from shaking. .

The second guide part 52 is formed on the lower side of the variable base 31, supports the lower part of the variable base 31, and guides the movement of the variable base 31.

In this way, the plurality of guide parts guide the movement of the variable base 31 at different positions, thereby preventing the variable base 31 from shaking due to the operation of the first driving unit 41.

FIG. 7 is an exploded view of the driving unit 40 according to an embodiment of the present invention, and FIG. 8 shows the driving unit 40 in an assembled state according to an embodiment of the present invention.

Preferably, one end of each arm 410 is connected to the first axis 10 or the second axis 20 through a spherical bearing 200, respectively. In detail, a plurality of spherical bearings 200 are coupled to one end and the other end of the first axis 10, and one end of the arm 410 is engraved 411 in a spherical shape so that the movement of the arm 410 moves along the first axis. (10) or can be converted to movement of the second axis (20).

Additionally, a two-axis connection portion 412 may be provided at the other end of each arm 410. The two-axis connection part 412 is provided with two pins perpendicular to each other, one pin is inserted into the hole formed at the other end of the arm 410, and the other pin is inserted into the hole formed at one end of the linear motion part. is inserted into

The spherical bearing 200 provided at one end of the arm 410 and the two-axis connection part 412 provided at the other end each change the direction of the force transmitted from the linear movement unit 420, thereby causing the linear movement of the linear movement unit 420. This can be converted to movement of the bed 1.

The linear motion unit 420 may include an outer cylinder 422 coupled to the base 30, and an inner cylinder 421 inserted into the outer cylinder 422 and linearly moved by the power unit. The power unit moves the inner cylinder 421 by transmitting power to the inner cylinder 421 through the outer cylinder 422.

In a preferred embodiment, a graduation portion 423 may be connected to the inner cylinder 421. The scale portion 423 is a component for measuring the displacement of the inner cylinder 421 and may be formed on the side of the inner cylinder 421.

Additionally, a sensor unit 320 may be provided to detect movement of the scale unit 423. Although a person may directly measure the displacement of the inner cylinder 421 through the scale 423, the displacement of the inner cylinder 421 is measured by detecting the displacement of the scale 423 through the sensor unit 320. , more accurate displacement measurement is possible. This has the effect of enabling more accurate testing.

In a preferred embodiment, a rail portion 310 coupled to the base 30 may be further included. The rail unit 310 is configured to guide the linear movement of the linear movement unit 420. According to one embodiment of the present invention, the rail portion 310 is formed in the form of a pillar in the vertical direction and is coupled to the base 30, and the inner cylinder 421 is moved along the rail portion 310 to cause the inner cylinder ( 421) linear motion can be stabilized.

In a preferred embodiment, a separation prevention part may be further included. The separation prevention unit is configured to prevent separation of the inner cylinder 421 by limiting the linear motion range of the inner cylinder. According to one embodiment, a protrusion 424 is formed on one side of the inner cylinder 421, and a jaw portion 330 formed on the base 30 is formed on the movement path of the protrusion 424, thereby forming the inner cylinder 421. The range of motion may be limited.

9 to 15 show the operating state of the motion reproduction device according to an embodiment of the present invention.

Figure 9 shows the initial state of the bed 1,

Figure 10 shows the positive direction pitch movement of the bed 1.

Figure 11 shows the negative direction pitch movement of the bed 1.

Figure 12 shows the positive roll movement of the bed 1.

Figure 13 shows the negative direction roll movement of the bed 1.

Figure 14 shows the positive yaw movement of the bed 1.

Figure 15 shows the negative yaw movement of the bed 1.

The dotted lines shown in FIGS. 10 to 15 indicate the positions of the bed 1 and the drive unit 40 in the initial state.

As shown in FIGS. 10 to 15, the linear motion of the inner cylinder 421 is converted into the angular motion of the bed 1 by the arm 410, thereby reproducing the movement of the bed 1 in six directions. You can.

Although only movement in a single direction is shown in FIGS. 10 to 15 , complex movement in two or more directions can be implemented by controlling the linear movement of the inner cylinder 421.

According to the present invention, various movements of the bed 1 can be reproduced.

In addition, since the initial direction of the bed 1 can be freely changed, it is possible to reproduce the movement of the bed 1 under various conditions.

The preferred embodiments of the present invention described above have been disclosed for illustrative purposes, and those skilled in the art will be able to make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications, changes, and additions will be possible. should be regarded as falling within the scope of the above patent claims.

Those of ordinary skill in the technical field to which the present invention pertains can make various substitutions, modifications and changes without departing from the technical spirit of the present invention. Therefore, the present invention is limited to the above-described embodiments and the accompanying drawings. It is not limited by

1: Bed
10: 1st axis 20: 2nd axis
30: base
31: variable base 32: fixed base
40: driving part
41: 1st driving part 42: 2nd driving part
410: arm 420: linear movement part

Claims (6)

A bed on which objects that reproduce movement are combined;
a first axis formed at one end of the bed;
a second axis formed at the other end of the bed; and
It includes a base to which a plurality of driving units are fixedly coupled,
Characterized in that the first axis and the second axis are connected to each of the driving units and move to reproduce the pitch, roll, and yaw movements of the bed,
The base is,
a fixed base whose position relative to the ground is fixed; and
It is divided into a variable base whose position relative to the ground is moved,
The variable base is guided and moved by at least one guide unit provided,
The driving part connected to at least one of the first axis or the second axis is a first driving part connected to the variable base,
The remaining driving parts excluding the first driving part are provided as a second driving part connected to the fixed base,
Characterized in that the initial direction of the bed changes relative to the ground as the position of the variable base is moved,
The first driving unit and the second driving unit,
A linear movement part at one end of which moves linearly within a predetermined range and the other end of which is coupled to the base; and
Characterized in that it includes an arm, one end of which is connected to the first axis or the second axis and the other end of which is connected to a linear movement unit,
One end of the arm is connected to the first or second axis through a spherical bearing,
At the other end of the arm,
A motion reproduction device comprising a two-axis connection unit having two pins perpendicular to each other, one pin connected to the other end of the arm, and the other pin connected to the linear motion unit.
According to claim 1,
The driving unit,
One end is linearly moved within a predetermined range and the other end is coupled to the base; and
An arm having one end connected to the first axis or the second axis through a spherical bearing and the other end connected to one end of the linear movement unit.
delete According to claim 1,
A motion reproduction device, characterized in that, as the position of the variable base changes, the initial direction of the bed relative to the ground changes within a range of 0° to 90° with respect to the ground. delete delete