KR20100124619A - Dynamic stage using stewart platform - Google Patents

Abstract

PURPOSE: A stage setting using a Stewart platform is provided, which makes transportation and keeping convenient by facilitating separation and assembly. CONSTITUTION: A stage setting using a Stewart platform comprises: a base(10) having three leg parts expanded in the radial shape; a linear guide expanded along each leg part; a guide unit(20) equipped with a guide block moving in a strait line on the linear guide; a driving unit(30) which moves the guide block along each leg part of the base at the same time; a stage platform(40) which is separable into a plurality of parts; a plurality of linear actuators(50) in which the length is individually changed.

Description

Stage equipment using Stewart platform {DYNAMIC STAGE USING STEWART PLATFORM}

The present invention relates to a stage device using the Stuart platform, and more particularly, to a stage device capable of various movements using the Stuart platform capable of six degrees of freedom of movement.

Performing arts are considered to be a representative future industry based on cultural power. New and creative performances require the concept of a new stage. Conventionally, the variable stage for providing a special effect is to make the stage into a disk shape and to rotate, or to make the pre-installed auxiliary stage rise up from the bottom of the stage.

Patent 635,490 discloses a mobile stage apparatus capable of moving the stage itself to a desired position. The stage device is provided with a moving wheel on the bottom surface and can move along the ground, and a turntable is provided in the center to rotate the performer or the performance thereon. However, the movement of the stage device and the rotation of the turntable are only planar movements, and there are limitations in providing various performances.

Patent No. 185,051 discloses a lift floor which moves up and down to switch scenes of a stage while mounting fixtures used for performances are placed. In this device, you can place a fixture or performer on a lift floor located below the stage and then replace the performer or performer in a short time by lifting the lift floor up to the same height as needed. However, the movement of the lift floor is only a linear movement of one degree of freedom in the height direction, and thus there is a limit in providing various performances.

On the other hand, performances in the arts are continuously provided in one place, but are often provided while moving from place to place. In this case, if the size of the stage device is large or heavy, transportation is very difficult.

The present invention is to solve the above-described problems, it is an object of the present invention to provide a stage device having a stage platform as well as providing a variety of movement using the Stuart platform having six degrees of freedom.

Another object of the present invention is to provide a stage device that is easy to transport and storage while being possible to separate, easy to assemble and move.

MEANS TO SOLVE THE PROBLEM In order to solve the above-mentioned subject, according to one form of this invention, the stage apparatus using a Stuart platform is provided. The stage device includes a base having three legs extending radially; A guide unit having a linear guide extending along each leg and a guide block linearly moving on the linear guide; A driving unit for simultaneously moving the guide block along each leg of the base; A stage platform separable into a plurality of parts; And a plurality of linear actuators, one end of which is connected to the guide block and the other end of which is connected to a lower surface of the stage platform, the length of which may be varied individually.

According to another aspect of the present invention, a stage apparatus using a stewart platform includes three leg portions detachably connected to each other and extending radially, wherein each leg portion is a linear guide extending along each leg portion, a straight line on the linear guide. A guide block for movement, each extending from the central portion where each leg portion meets toward the outer end portion of the leg portion and engaging with the guide block to convert its rotational movement into a linear movement of the guide block; A base having two lead screws; A driving unit having a motor disposed in a central portion where each of the leg portions extending in a radial direction, and a driving unit detachably connected to the three lead screws and transmitting a rotation of the shaft of the motor to the three lead screws simultaneously; A stage platform separable into a plurality of parts; And a plurality of linear actuators having one end detachably connected to the guide block and the other end detachably connected to the bottom surface of the stage platform, the length of which may be varied individually.

According to still another aspect of the present invention, there is provided a control method for controlling a stage device, the method comprising: (a) simultaneously moving each guide block located at the outer end side of each leg portion toward the center portion of each leg portion; Increasing the spacing between the bases; (b) stopping the movement of each guide block when each guide block reaches a designated position; And (c) operating each linear actuator such that the stage platform has the spatial arrangement required for the performance while keeping each guide block stationary at the designated position. This is provided.

The stage device according to the present invention can provide a new and creative performance because the stage platform is capable of various movements and lifts using the Stuart platform having six degrees of freedom. That is, the present invention provides a stage platform capable of three-dimensional movement, so that various performances can be produced in combination with an image device or another performance device. In addition, in the case of displaying a new car in an area where a three-dimensional display is required, for example, a motor show, a vehicle, which is an object to be displayed, may be installed on a stage platform and displayed at various angles.

In addition, the stage device according to the present invention is convenient when carrying or storing the stage device is easy to remove and assemble.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

1 is a perspective view of a stage apparatus using a Stewart platform according to an embodiment of the present invention. The stage device includes a base 10 having three legs 12, 14, and 16, a guide unit 20 provided on each leg 12, 14, and 16, and a driving unit 30 for operating the guide unit 20. ), Stage platform 40 and a plurality of linear actuators 50.

The base 10 has three legs 12, 14, 16 extending radially. In the present embodiment, each of the legs 12, 14, 16 are radially disposed at intervals of 120 degrees from each other. As shown, in order to increase the structural rigidity of the base 10, reinforcing members (13, 15, 17) connecting the adjacent legs (12, 14, 16) may be provided. The lower surface of the legs 12, 14, 16 is provided with a plurality of support members 18 for supporting the legs 12, 14, 16 with respect to the ground. The support member 18 is installed to adjust the length so that the legs 12, 14, 16 can be arranged horizontally with respect to the direction of gravity. In addition, at least two wheels 19 are provided on the lower surface of the legs 12, 14, 16 so that the legs 12, 14, 16 can be easily moved. When the legs 12, 14, and 16 are moved, the support members 18 and the support members 18 are adjusted so that they do not come into contact with the ground, and then the wheels 19 are moved. Preferably, each wheel 19 is installed so that the rolling direction of the wheel 19 can be freely changed with respect to the legs (12, 14, 16). Accordingly, the stage device can be easily and quickly moved to the position required for the performance, and can be stably supported against the ground after the movement.

Each leg 12, 14, 16 is provided with a guide portion 20 having a linear guide 22 extending along it and a guide block 24 linearly moving on the linear guide 22. Two linear guides 22 are provided in parallel with each other along both sides of each leg 12, 14, 16. The guide block 24 is guided so as to linearly move along the legs 12, 14, 16 on the two linear guides 22 provided in the legs 12, 14, 16. Since the guide block 24 supports the load of the stage platform 40 and the linear actuator 50, it may be structurally weak when only one linear guide 22 is used. In addition, when the linear guide 22 is structurally weak and deformation occurs, the linear motion of the guide block 24 may not be smoothly performed. Therefore, in the present embodiment, two linear guides 22 extending in parallel to each other are used to ensure structural rigidity and at the same time ensure that the guide block 24 can stably perform linear motion.

The drive unit 30 simultaneously moves the guide block 24 along each leg 12, 14, 16 of the base 10. The drive unit 30 has a motor 32 disposed in the center portion where each leg 12, 14, 16 extending radially of the base 10 meets. The rotating shaft of the motor 32 is connected to the drive shaft 36 provided in each leg 12, 14, 16 via the transmission chain 34. Therefore, three drive shafts 36 are provided in this embodiment. The transmission chain 34 is installed so that the three driving shafts 36 rotate in the same direction at the same time as the rotation shaft of the motor 32 rotates. Each drive shaft 36 is connected with a lead screw 38 extending from the central portion outward along the legs 12, 14, 16 via the gear block. Each gear block includes a bevel gear and connects the drive shaft 36 and the lead screw 38 arranged in directions perpendicular to each other. Each lead screw 38 is connected to the guide block 24 of the above-described guide portion 20, the guide block 24 is linear movement as the lead screw 38 rotates. In this embodiment, the lead screw 38 is disposed along the longitudinal central axis of the legs 12, 14, 16 between the middle portion and the outer ends of the legs 12, 14, 16 and the legs 12. The gear block is connected to the gear block by an electric shaft 37 disposed between the middle portion of the gear parts 14 and 16 and the gear block. Thus, the guide block 24 linearly moves between the middle portion and the outer end of the legs 12, 14, 16 on which the lead screw 38 is disposed. Tapered roller bearings are installed bidirectionally at the connecting end of the lead screw 38 and the legs 12, 14 and 16 to increase the efficiency of power transmission, and the lead screw 38 is connected to the legs 12, 14 and 16. ) To prevent departure. A coupling 39 may be provided between the transmission shaft 37 and the lead screw 38 and between the transmission shaft 37 and the output shaft of the gear block. In particular, it is preferable that the transmission shaft 37 and the gear block are separated from each other. As described later, each component of the stage apparatus can be separated, so that the space occupied when the stage apparatus is moved or stored to a place where a performance is required is reduced.

The stage platform 40 has a generally circular shape. Stage platform 40 may be separated into a plurality of parts for convenience in transporting to the performance venue. For example, as in the present embodiment, the stage platform 40 may be separated into three scalloped portions 42, 44, 46 having a central angle of 120 °. As shown, the stage platform 40 preferably has a truss structure to reduce weight while maintaining the required rigidity.

The linear actuator 50 has one end connected to the guide block 24 and the other end connected to the bottom surface of the stage platform 40. The length of each linear actuator 50 can be varied individually. In this embodiment, all six linear actuators 50 are provided as in a typical Stewart platform. If a specific spatial arrangement or operation (ie, a series of spatial arrangements) is required for the stage platform 40, the length of the six linear actuators 50 can be individually adjusted to provide such arrangement or operation. .

Each linear actuator 50 uses a motor as a drive device. In order to provide the spatial arrangement required for the stage platform 40, it is preferable to use a motor with good controllability since the motor must operate the linear actuator 50 accurately. In this embodiment, a 3.0 kW class servo motor 52 is used. The rotating shaft of the servo motor 52 is connected with the ball lead screw 56 through the chain 54. The ball lead screw 56 is connected with a push rod 58 extending along the longitudinal direction of the linear actuator 50. The push rod 58 has a generally long cylindrical shape, and a ball lead screw 56 is inserted into and connected to one end thereof. Accordingly, when the ball lead screw 56 rotates, the push rod 58 makes a linear motion. The other end of the push rod 58 is connected to the upper joint portion 59 connected to the bottom surface of the stage platform 40. The upper joint portion 59 is rotatable about three axes of rotation that are orthogonal to each other, as in a typical Stuart platform.

On the other hand, the push rod 58 supports the stage platform 40 and the weight of an object or person placed thereon. Accordingly, the push rod 58 is subjected to an axial load and may be subjected to a bending load orthogonal to the axial direction during operation of the stage platform 40. Therefore, in the present embodiment, in order to smoothly move the push rod 58 even under the axial load, the ball lead screw 56 with the ball inserted between the threads is used. As shown, a support beam 62 may be provided along the longitudinal direction of the push rod 58 to support a bending load applied in a direction orthogonal to the longitudinal direction of the push rod 58. The support beam 62 has a guide block 64 connected to one end side of the push rod 58 and a guide 66 for guiding the movement of the guide block 64. Accordingly, the axial load of the push rod 58 is supported by the ball lead screw 56, and the bending direction load orthogonal to the axial direction is supported by the support beam 62. The lower joint part 51 is connected to the end of the support beam 62 and connected to the guide block 24 of the leg parts 12, 14, and 16. The lower joint part 51 is rotatable about three mutually orthogonal rotational axes like the upper joint part 59. As shown, two linear actuators 50 are connected to the guide block 24 of each leg 12, 14, 16.

When the servo motor 52 of the linear actuator 50 rotates, the ball lead screw 56 connected via the chain 54 rotates and the push rod 58 moves linearly. The guide block 64 connected to the push rod 58 moves along the guide 66 provided in the support beam 62 according to the linear movement of the push rod 58. Therefore, the linear motion of the stable push rod 58 can be ensured.

On the other hand, in the present embodiment, the upper joint portion 59 provided at the other end of the linear actuator 50 is not connected along the outer periphery of the stage platform 40 as in the general Stewart platform, but between the center and the outer periphery of the lower surface of the platform. Is connected to a point on the circumference having a predetermined radius. Accordingly, the floor areas occupied by the legs 12, 14, 16 and the stage platform 40 are substantially the same. For example, the radius of the stage platform 40 is approximately 2.5m and the linear actuator 50 can be connected on a circumference approximately 1m from the center of the stage platform 40.

In the stage device according to the present embodiment, each leg 12, 14, 16 of the base 10, the driving unit 30, the linear actuator 50, and the stage platform 40 are detachably connected to each other. In addition, the stage platform 40 may be divided into several parts, for example, three parts. Each leg 12, 14, 16 is radially connected by the reinforcing members 13, 15, 17 and the driving unit 30, and the reinforcing members 13, 15, 17 and the driving unit 30 are connected to the legs ( Removably connecting the 12, 14 and 16, the respective legs 12, 14, 16 are separated. To this end, the coupling 39 connecting the output shaft of the gear block of the drive unit 30 and the transmission shafts 37 of the legs 12, 14, and 16 detachably connects the transmission shaft 37 and the output shaft. In addition, the upper joint portion 59 and the lower joint portion 51 of the linear actuator 50 are detachably connected to the guide block 24 of the stage platform 40 and the leg portions 12, 14, 16, respectively. . Thus, all six linear actuators 50 can be separated from the stage device. As mentioned above, the stage platform 40 is formed by assembling several detachable parts.

As described above, the stage device according to the present invention is easy to transport or store to another place since the component parts can be separated.

The stage device using the Stewart platform described above can operate the stage platform 40 at six degrees of freedom, and can additionally adjust the reference height during operation of the stage platform 40. Hereinafter, a method of controlling the operation of the stage platform 40 in the above-described embodiment will be described.

Initially, in the stage device, all of the guide blocks 24 of each of the legs 12, 14 and 16 are disposed on the outer end side of the legs 12, 14 and 16. This state is referred to hereinafter as the "folded state" for convenience of explanation. The gap between the base 10 and the stage platform 40 in the folded state is the smallest. In this embodiment, the height from the ground of the stage platform 40 in the folded state is approximately 1 m. In general, since the stage facility used for the performance is installed at a height of approximately 1 m from the ground, the stage platform 40 is to be arranged at the same height as other stage facilities. On the other hand, since the structural rigidity is weak in the folded state, it is preferable that the linear actuator 50 is not operated.

In the folded state, each guide block 24 located at the outer end side of each leg 12, 14, 16 is moved toward the center of the leg 12, 14, 16 to a predetermined position simultaneously. Switch the device to "unfolded". The stage device operates in the unfolded state. In this embodiment, since the lead screw is provided only up to the middle portion of each leg 12, 14, 16, this position is the maximum position that the guide block 24 can move. The gap between the stage platform 40 and the base 10 in the unfolded state is greater than the gap in the folded state. For example, in the folded state, the distance between the base 10 of the stage device and the stage platform 40 is about 1 m, and in the unfolded state, the distance is about 1.7 m.

When each guide block 24 reaches the designated position and the stage apparatus is in the unfolded state, the movement of each guide block 24 is stopped. Thereafter, each linear block is held such that each stage block 40 has the spatial arrangement or motion (ie, a series of spatial arrangements) required for the performance while keeping each guide block 24 stationary at this designated position. Operate the actuator 50.

After the performance, the stage platform 40 is moved to the position corresponding to the first unfolded state. That is, the stage platform 40 is disposed in a spatial position parallel to each other with the legs 12, 14 and 16 and coinciding with the center of the legs 12, 14 and 16. Next, each guide block 24 is simultaneously moved to the outer end side of each leg 12, 14, 16 to switch the stage apparatus to the folded state.

The stage apparatus according to the above-described embodiment may provide more various operations to meet the necessity of stage performance since the stage platform may be raised or lowered in the vertical direction, as well as six degrees of freedom provided by the general Stuart platform. .

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

1 is a perspective view according to a preferred embodiment of the present invention,

2 is a front view according to a preferred embodiment of the present invention;

3 is a detailed side view of the present invention;

4 is a detailed exemplary view showing a driving element of the present invention;

5 is an exemplary stage platform of the present invention,

Figure 6 is an exemplary linear actuator of the present invention,

7 is an exemplary embodiment of the linear actuator of the present invention,

8 is an exemplary embodiment of a low state of the present invention;

9 is an exemplary embodiment of a low state of the present invention;

10 is an exemplary view according to an embodiment of the present invention;

11 is an exemplary view according to an embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

10: base 12,14,16: leg portion

13,15,17: reinforcing member 18: support member

19: wheel 20: guide part

22: linear guide 24: guide block

30: drive unit 32: motor

34: drive chain 36: drive shaft

37: drive shaft 38: lead screw

39: coupling 40: stage platform

50: linear actuator 51: lower joint portion

52: servo motor 54: chain

56: ball lead screw 58: push rod

59: upper joint portion 62: support beam

64: guide block 66: guide

Claims (12)

As a stage device using the Stuart platform, A base having three legs extending radially; A guide unit having a linear guide extending along each leg and a guide block linearly moving on the linear guide; A driving unit for simultaneously moving the guide block along each leg of the base; A stage platform separable into a plurality of parts; And A plurality of linear actuators, one end of which is connected to the guide block and the other end of which is connected to the lower surface of the stage platform, the length of which may be varied individually Stage device using a Stewart platform comprising a. In claim 1, Each linear actuator is motor; A ball lead screw rotating by the motor; A push rod having one end engaged with the ball lead screw to linearly move by the rotation of the ball lead screw; A support beam having a guide block connected to one end side of the push rod, and a guide for guiding movement of the guide block, for supporting a bending load applied in a direction orthogonal to a longitudinal direction of the push rod; An upper joint part provided at the other end of the push rod and connected to a lower surface of the stage platform; And A lower joint part provided at an end of the support beam and connected to a guide part of each leg part; Stage device using the Stewart platform, characterized in that it comprises a. The method according to claim 1, The driving unit includes: A motor disposed at a central portion where each leg portion extending radially of the base meets; Three lead screws each extending from the central portion where each leg portion meets toward the outer end portion of the leg portion and engaging with the guide block to convert its rotational movement into a linear movement of the guide block; Three drive shafts each for transmitting torque to the lead screw; And Electric chain for connecting the three drive shaft and the shaft of the motor to transmit the rotation of the shaft of the motor to the three drive shaft at the same time Stage device using the Stewart platform, characterized in that it comprises a. The method according to claim 1, And the other end of each linear actuator is connected to a circumferential point having a predetermined radius between a center of the stage platform bottom surface and an outer circumference portion. The method according to claim 1, Each leg, the driving unit, the stage platform and the linear actuator is a stage device using a stewart platform, characterized in that separated from each other. As a stage device using the Stuart platform, Three leg portions detachably connected to each other and extending radially, wherein each leg portion is a linear guide extending along each leg portion, a guide block linearly moving on the linear guide, each leg from a central portion where each leg portion meets A base having three lead screws extending along each leg toward an outer end of the portion and engaged with the guide block to convert its rotational motion into a linear motion of the guide block; A driving unit having a motor disposed in a central portion where each of the leg portions extending in a radial direction, and a driving unit detachably connected to the three lead screws and transmitting a rotation of the shaft of the motor to the three lead screws simultaneously; A stage platform separable into a plurality of parts; And A plurality of linear actuators having one end detachably connected to the guide block and the other end detachably connected to the bottom surface of the stage platform, the length of which can be varied individually Stage device using a Stewart platform comprising a. The method according to claim 6, Each linear actuator is motor; A ball lead screw rotating by the motor; A push rod having one end engaged with the ball lead screw to linearly move by the rotation of the ball lead screw; A support beam having a guide block connected to one end side of the push rod, and a guide for guiding movement of the guide block, for supporting a bending load applied in a direction orthogonal to a longitudinal direction of the push rod; An upper joint part provided at the other end of the push rod and connected to a lower surface of the stage platform; And A lower joint part provided at an end of the support beam and connected to a guide part of each leg part; Stage device using the Stewart platform, characterized in that it comprises a. The method according to claim 6, The transmission unit, Three drive shafts each for transmitting torque to the lead screw; Three gear blocks for changing the rotational direction of each of the drive shafts and transferring the same to the lead screws; And Electric chain which transmits rotation of the shaft of the motor to the three drive shafts so that the three drive shafts rotate in the same direction with each other Stage device using the Stewart platform, characterized in that it comprises a. The method according to claim 6, And the other end of each linear actuator is connected to a circumferential point having a predetermined radius between the center of the stage platform bottom surface and an outer circumference portion. As a control method for controlling the stage device according to claim 1, (a) increasing the distance between the stage platform and the base by simultaneously moving each guide block located at the outer end side of each leg portion toward the center portion of each leg portion; (b) stopping the movement of each guide block when each guide block reaches a designated position; And (c) operating each linear actuator such that the stage platform has the spatial arrangement required for the performance while keeping each guide block stationary at the designated position; Control method of a stage device comprising a. The method according to claim 10, (d) placing the stage platform in a spatial position parallel to each other with the legs and coincident with the center of the legs; And (e) simultaneously moving each of the guide blocks toward the outer end side of each leg; Method of controlling the stage device further comprising. The method according to claim 10, before step (a), Installing the exhibition object on the upper surface of the stage platform Method of controlling the stage device further comprising.

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