KR20160129279A

KR20160129279A - Multi Degree of Freedom Simulator Driving Apparatus

Info

Publication number: KR20160129279A
Application number: KR1020150061137A
Authority: KR
Inventors: 봉혁
Original assignee: (주)트윈테크
Priority date: 2015-04-30
Filing date: 2015-04-30
Publication date: 2016-11-09

Abstract

The multi-degree of freedom simulator driving apparatus 100 according to the present invention includes a base unit 1; A plurality of actuators (10, 20, 30) provided on the upper end side of the base portion (1) and independently controllable; A platform (40) connected to and supported on an upper portion of the plurality of actuators (10, 20, 30); And a rotary plate 70 rotatably disposed on the platform 40. The plurality of actuators 10, 20 and 30 are connected to the platform 40 in a dual linkage type.

Description

[0001] The present invention relates to a multi-degree-of-freedom ("

The present invention relates to a multi-degree-of-freedom simulator driving apparatus, and more particularly, to a multi-degree-of-freedom simulator driving apparatus that uses a plurality of actuators and a bearing structure using a dual linkage crank arm system, Device.

Generally, a simulator refers to a device that simulates a complex operating situation using a computer to simulate a real scene, and is mainly used for piloting exercises such as test research, aircraft training, and game devices.

The common point of all simulators is to reproduce them in three dimensions like the real scene. However, the components that operate the simulator vary greatly depending on the purpose for which they are used, and the development of the simulator must be paralleled to meet various new applications.

In general, the operation of the simulator consists of roll, pitch, yaw, heave, sway, surge and turning. Rolling means that the planar coordinate axis rotates left and right on the X axis, and pitching means that the planar coordinate axis rotates left and right on the Y axis. Further, the heaving means a linear motion in the up and down direction, the sway means a linear movement in the left and right direction, the surge means a linear movement in the back and forth direction, and the yaw means a rotation movement in the z- .

A simulator described in Korean Utility Model Utility No. 154640 and U.S. Patent No. 5,685,718 discloses a technique for performing a pitch, roll, and swing operation. Although the partial turn operation is performed here, the turn operation of the entire structure of the simulator is limited.

Korean Patent Application No. 2001-0039341 and Utility Model Application No. 1993-0020464 disclose a technique for performing rolling, pitching, heaving, and turning operations. In this case, although the entire structure is turned, the apparatus for generating such an overall turn operation is located at the bottom of the apparatus, and the problem is that, when various operations occur at the same time, And particularly when the mechanisms that cause other operations of the upper part are operated by the hydraulic pressure, there is a problem that the reaction is sensitive to the degree of deterioration and quantity of the oil.

Korean Patent No. 280144, No. 316511, and Registered Utility Model No. 175330 can be seen to perform roll, pitch, and haze operations. These devices have heavy and complicated shapes using three or four hydraulic cylinders and are controlled by the somewhat complicated interactions of the three to four hydraulic cylinders. Further, the structure of the hydraulic cylinder piston for position control has a structure in which the length of elongation and contraction of the piston of the hydraulic cylinder is relatively increased as compared with the apparatus of the present invention. In particular, in order to achieve the position control by the turning operation while keeping the position by the roll and pitching constant, two or three hydraulic cylinders are forced to perform complicated movement at the same time.

In other words, in the past, mostly a 3-degree-of-freedom simulator and a 6-degree-of-freedom simulator are mostly used, and the roll, pitching and hedging operations are performed through the 3-degree of freedom or 6-degree of freedom simulator.

On the other hand, although the conventional simulator allows various position control, it has a problem that it is not easy to realize a structure capable of stably rotating in all directions.

In addition, the 6 DOF simulator is too expensive equipment, and the system is very complicated, resulting in a large number of parts and many troubles. The 3 degree of freedom simulator has a limitation that the operation that can be implemented is limited, so that the sense of experience deteriorates and it is difficult to reproduce the actual motion.

In the past, a hydraulic cylinder or a linear actuator was used as a driving device of a simulator, which complicates the structure of a simulator and causes frequent occurrence of a fault.

The present invention relates to a multi-degree-of-freedom simulator driving apparatus for solving the above problems, and more particularly, to a multi-degree-of-freedom simulator driving apparatus using a plurality of actuators and bearing structures using a dual linkage crank arm system, And it is an object of the present invention to provide a simulator driving apparatus that implements a plurality of degrees of freedom.

Further, the present invention intends to realize a multi-axis motion system by combining various types of actuators in the above-described simulator driving apparatus.

The multi-degree of freedom simulator driving apparatus 100 according to the present invention includes a base unit 1; A plurality of actuators (10, 20, 30) provided on the upper end side of the base portion (1) and independently controllable; A platform (40) connected to and supported on an upper portion of the plurality of actuators (10, 20, 30); And a rotary plate (70) rotatably disposed on the platform (40) or the base part (1), wherein the plurality of actuators (10, 20, 30) Type.

The apparatus comprises a bearing structure (50) disposed between the platform (40) and the rotary plate (70) or between the base part (1) and the rotary plate (70); And a drive motor unit (60) for providing a rotational force to the bearing structure (50), wherein the bearing structure (50) comprises a bearing fastener A first bearing 51 fixed to the first bearing 41 and a second bearing 53 rotatably coupled to the first bearing 51 and connected to the rotating plate 70, The upper end of the second bearing (53) is disposed at a higher position than the upper end of the first bearing (51).

The plurality of actuators (10,20,30) are rotatably mounted on the motor modules (11,21,31) by motor modules (11,21,31) and first rotation shafts (12,22,32) A second crankshaft (19, 29) rotatably connected to the first crankshaft (13, 23, 33) by a first crankshaft (13, 23, 33) A connecting frame 16, 26, 36 fixedly disposed between the second crankshaft 19, 29, 39, and a ball joint (not shown) fixed to the upper end of the connecting frame 16, 26, 36 18, 28, 38).

The driving motor unit 60 includes a driving gear 62 installed on the platform 40 and exposed to the top of the platform 40. The driving gear 62 is connected to the second bearing 53 As shown in Fig.

The plurality of actuators (10, 20.30) are arranged radially with respect to the center of the platform (40) and are arranged with the same spacing on the same circumference with respect to the center of the platform (40).

A potentiometer is provided to measure the rotational angle of the first crankshaft (13, 23, 33) or the second crankshaft (19, 29, 39), and the measured value of the potentiometer And a controller for individually controlling driving of the motor modules (11, 21, 31) to adjust the positions of the crankshafts (13, 23, 33).

The multi-degree of freedom simulator driving apparatus according to the present invention adjusts the rotation angle of the crankshaft or the rotation angle of the driving motor unit 60 of each of the actuators 10, 20, 30 by rolling, pitching, Thereby enabling a variety of degrees of freedom of movement. Particularly, the present invention enables the rotation plate 70 to rotate 360 degrees through the structure including the platform 40, the bearing structure 50, the drive motor unit 60, and the rotation plate 70.

1 is a perspective view of a multi-DOF simulator driving apparatus according to the present invention,
FIG. 2 is a perspective view of a multi-degree of freedom simulator driving apparatus in which a bearing structure constituting the present invention is exposed;
FIG. 3 is a perspective view of the bearing structure removed in FIG. 2,
4 is a perspective view showing a state in which a plurality of actuators using a crank arm system are arranged radially,
5 is a view showing a single actuator in order to show an operating state, and
6 to 8 are operation diagrams illustrating a driving process of the multi-degree of freedom simulator driving apparatus according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. Wherein like reference numerals refer to like elements throughout.

It is an object of the present invention to provide a multi-degree-of-freedom simulator driving apparatus that can be rotationally driven in all directions using a bearing structure, but the present invention is not limited thereto and may be applied to other fields.

The multi-degree-of-freedom simulator driving apparatus according to the present invention can be integrally manufactured or separately manufactured as required. In addition, some components may be omitted depending on the usage pattern.

It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected,""coupled," or "connected. &Quot;

Hereinafter, a multi-degree of freedom simulator driving apparatus 100 according to the present invention will be described with reference to FIGS. 1 to 5. FIG.

The multi-degree of freedom simulator driving apparatus 100 of the present invention comprises a base portion 1, three actuators 10, 20. 30 which are provided on the upper side of the base portion 1 and can be controlled independently, three actuators A bearing structure 50 disposed on the platform 40; a drive motor portion 60 for providing a rotational force to the bearing structure 50; (70) rotatably disposed on the structure (50).

The base portion 1 can be replaced by a bottom surface, and functions to fix the three actuators 10, 20, 30 to the upper surface thereof. For convenience of description, three actuators are referred to as a first actuator 10, a second actuator 20, and a third actuator 30. Its function and structure are all the same.

The first actuator 10 includes a motor module 11 composed of a motor and a reducer, a first crankshaft 13 disposed on both sides of the first rotating shaft 12 and rotatably connected to the motor module 11, A second crankshaft 19 rotatably connected to the first crankshaft 13 by a second rotary shaft 14, a support 15 connected to an upper end of the second crankshaft 19, a pair of supports 15 And a ball joint 18 fixed to the upper end of the connecting frame 16. The connecting frame 16 is fixed to the upper end of the connecting frame 16, Here, the second rotary shaft 14 may have the same structure as the ball joint 18, so that the second crankshaft 19 can rotate in the forward direction with respect to the first crankshaft 13 .

The first actuator 10 includes a first crankshaft 13, a second rotary shaft 14, a second crankshaft 14, (19), a support (15), and the like are symmetrically disposed. Through the above structure, the first actuator 10 operates as a dual linkage type.

As described above, in the present invention, all three actuators (10, 20, 30) are structured as a dual linkage type and stable. In the case of a conventional crankshaft type actuator, a link comes out from only one end of the reducer Without the device, it eliminates the disadvantage that the link collapses mechanically. As a result, it is not necessary to provide a separate device for enabling up and down movement and roll / pitch on the central portion in order to prevent the top plate from falling down as in the conventional case.

The arrangement of the three actuators 10, 20.30 may be arranged radially with respect to the center of the platform 40. That is, the three actuators 10, 20.30 are arranged with the same spacing on the same circumference with respect to the center of the platform 40.

On the other hand, the first crankshafts 13, 23 and 33 of the respective actuators are preferably provided in parallel with each other in the initial state. However, the scope of the present invention is not limited thereto. Each actuator is provided so that it can operate independently of each other by a controller.

The second actuator 20 and the third actuator 30 also have the same structure and function as those of the first actuator 10, so that the second actuator 20 and the third actuator 30 are denoted by the same reference numerals, and a detailed description thereof will be omitted.

The motor module 11 includes a rotating motor and a hollow worm reducer. The rotating motor is preferably an AC motor, but any motor may be used as long as it can generate rotational power. It is preferable that the rotating motor is connected to the speed reducer to increase the torque. Meanwhile, the motor module 11 can be stopped by using the brake function of the worm gear even when a motor having no separate brake function is used in the case of using the hollow worm reducer.

The hollow worm reducer in the form of a hollow shaft is connected to a pair of first crankshafts 13 through a first rotation shaft 12 to rotate the first crankshaft 13. [ It is preferable that the first crankshaft 13 is provided so as to be perpendicular to the first rotation shaft 12, which is the rotation axis of the worm reducer. As described above, according to the present invention, by using the motor module 11 including the rotary motor and the hollow worm reducer, it is possible to apply the invention without using a separate brake function and the rotary power shaft is disposed at both ends of the worm reducer There is an advantage that a separate restraining device is not required at the center of the motion when three-degree-of-freedom motion is constituted.

A second crankshaft 19 is connected to an end of the first crankshaft 13. The first crankshaft 13 and the second crankshaft 19 are connected by a second rotation shaft 14, The rotary shaft 14 is preferably a ball joint. In this specification, ball joint is used as a concept of spherical joint.

That is, in the present invention, when the crank arm is moved, the first crankshaft and the second crankshaft rotate along a plane parallel to the first crankshaft and the second crankshaft. However, the present invention is not limited thereto, 19, the second crankshaft 19 can be movable in a direction perpendicular to the plane of rotation.

By introducing the ball joint fastening structure as described above, it is possible to implement a heaving operation in spite of the fact that three actuators are used in the present invention.

The second crankshaft (19) is installed in a state in which the second crankshaft (19) can translationally move on the support body (15). A pair of supports 15 are rotatably fixed on both sides of the connecting frame 16 arranged in a "C" form on the upper side of the motor module 11. [ That is, the driving force from the motor module 11 to the first and second crankshafts 13 and 19 and the supporting body 15 pushes the connecting frame 16 upward.

A ball joint 18 is provided at a connecting portion between the connecting frame 16 and the platform 40. [ This allows the platform 40 to rotate in all directions with respect to the connecting frame 16, enabling rolling, pitching, hedging, and swinging operations.

The bearing structure 50 includes a first bearing 51 fixed to a bearing fastener 41 formed at the center of the platform 40 and a first bearing 51 rotatably engaged and disengaged And a second bearing (53). In addition, the upper end of the second bearing 53 is disposed to be higher than the upper end of the first bearing 51.

The driving motor unit 60 includes a driving gear 62 mounted on a motor coupling hole 43 formed in the platform 40 and exposed to the top of the platform 40. The driving gear 62 engages with the outer circumferential surface of the second bearing 53. That is, when the driving gear 62 rotates, the second bearing 53 is rotationally driven in a gear-engaged state.

The second bearing 53 receiving the power from the driving gear 62 rotates along the circumference of the first bearing 51. In order to smoothly rotate the second bearing 53, the lower surface of the second bearing 53 and the lower surface of the platform 40 Between the upper surfaces, a rail capable of minimizing friction can be formed.

The lower end of the rotating plate 70 is attached to the upper end of the second bearing 53 in a form of being attached thereto. The rotating plate 70 may be in the form of a rectangular plate as an example. And a lattice support base 72 is disposed on one surface or both surfaces thereof. A plurality of coupling holes 74 are formed on the rotary plate 70 for coupling with the second bearing 53 and coupling means such as bolts can be fastened through the coupling holes 74. The rotation plate 70 can be set so that the distance from the rotation center to the edge is less than or equal to the diameter of the platform 40.

The rotary plate 70 is allowed to rotate independently (yawing motion around the Z axis) by the bearing structure 50 on the platform 40. [ In other words, infinite rotation is possible through the drive motor portion 60 and the bearing structure 50 regardless of the multi-degree of freedom movement by the plurality of actuators 10, 20.30. Communication and power supply between the upper and lower portions of the simulator driving apparatus 100 during the above-described rotational driving becomes possible by using a slip ring.

In another embodiment of the multi-degree of freedom simulator driving apparatus according to the present invention, the bearing structure 50 includes the base portion 1 in a state in which the rotary plate 70 is disposed at the lower end of the base portion 1, And the rotary plate 70 are connected to each other. In other words, a separate rotary plate can be arranged in the lower direction of the base portion 1 to enable infinite rotation.

The bearing structure 50 includes a first bearing 51 fixed to a bearing fastener 41 formed at the center of the base portion 1 and a first bearing 51 rotatably engaged and disengaged And a second bearing (53). In addition, the lower end of the second bearing 53 is disposed at a lower position than the lower end of the first bearing 51.

Hereinafter, a method of operating the multi-degree of freedom simulator driving apparatus of the present invention will be described with reference to FIG. 1 to FIG.

First, it is necessary for the three actuators to rotate by the same angle in order to implement a heaving operation that moves along the Z axis. For example, when all three of the first crankshafts 13, 23, 33 come to a position vertically upwards relative to the ground, the platform 40 comes to the highest position.

Conversely, when all of the three first crankshafts 13, 23, 33 come to a position vertically downward with respect to the ground, the platform 40 comes to the lowest position.

In order to implement a rolling operation that rotates along the X axis, the rotational direction of the second actuator 20 and the third actuator 30 are reversely driven. For example, when the first crankshaft 23 of the second actuator 20 is rotated in the clockwise direction and the first crankshaft 33 of the third actuator 30 is rotated in the counterclockwise direction, The platform 40 on the side of the third actuator 30 moves up and the platform 40 on the side of the third actuator 30 moves down. The platform 40 on the second actuator 20 side is lowered and the platform 40 on the third actuator 30 side is raised. At this time, it is preferable that the first actuator 10 does not operate.

Axis and a pitching operation of rotating along the Y-axis. The first crankshaft 13 of the first actuator 10 is rotated clockwise to raise the second crankshaft 19 and the second crankshaft 19 of the second actuator 20 and the third crankshaft 23 and 33 rotate counterclockwise and the second crankshafts descend, the platform 40 ascends on the first actuator 10 side and the second and third actuators 20 and 30 descends Exercise. The opposite is obviously possible.

A key part of the present invention is to provide a ball joint 18 at the connection between the connecting frame 16 and the platform 40 to implement rolling and pitching operations. When the platform 40 deviates from the horizontal state through rolling and pitching operations, the position of the connecting frames 16 is appropriately adjusted by the ball joint 18 to compensate for the offset distance do.

In order to implement a yawing operation that rotates along the Z axis, power is supplied to the drive motor unit 60 through the control unit to rotate the drive gear 62. The second bearing 53 engaged with the drive gear 62 is rotated along the circumference of the first bearing 51 so that the rotational drive of the rotary plate 70 fixed to the upper end of the second bearing 53 .

6 to 8 illustrate a driving process of the multi-degree of freedom simulator driving apparatus according to the present invention. For example, when the first actuator 10 only operates and the second and third actuators 20 and 30 are not driven .

6 shows a state in which the second rotary shaft 14 which is the connection point of the second crankshaft 19 of the first crankshaft 13 is at the lowest point. Fig. 7 shows a state in which the second rotary shaft 14 is in contact with the first rotary shaft 12, and FIG. 8 shows a state in which the second rotary shaft 14 is at the highest point.

That is, it can be confirmed that the position of the connecting frame 16 sequentially changes from the lowest point to the highest point in accordance with the rotation of the first crankshaft 13 which receives the power from the motor module 11.

In another embodiment, two or more actuators 10, 20, and 30 may be driven simultaneously.

When the user sends an input signal to the control device, the calculation device calculates the position of the actuator and transmits an operation signal to each of the actuators (10, 20, 30) or the drive motor part (60) And feedback it. It is obvious to those skilled in the art that a detailed description will be omitted.

However, in the present invention, a position sensor or an angle sensor is provided on the first rotation shaft 12, 22, 32 of the first crankshaft 13, 23, 33 to measure the rotation angle of the rotation shaft, ). The position sensor or the angle sensor uses a potentiometer or an encoder to determine the position of the first crankshaft and the second crankshaft. This position sensor or angle sensor may also be provided on the rotational axis of the second crankshaft. The second crankshaft is rotatably provided with respect to the first crankshaft but is not directly provided with a power transmitting device, so that the position of the first crankshaft is controlled by varying the position of the first crankshaft in accordance with the signal measured through the position sensor .

The position sensor or the angle sensor may be directly connected to the rotation axis of the first crankshaft to measure the rotation angle or may be measured using a separate belt and pulley structure. Also, the present invention can input an operation signal of the simulator through a steering device such as a joystick. That is, when used in a 4D movie theater or a playground, a signal input to the simulator through a control device is stored in a storage unit in a time-series manner. Thereafter, when a user uses the simulator, And inputs it to the device. In this case, the operator can input and save an input signal corresponding to each scene and situation through the joystick while watching the movie, and reproduce the situation inputted by the operator to the audience when the movie is displayed. If the input signal is coded by a joystick rather than by a computer language, the operation of the simulator can be easily set in advance even for a non-specialist.

As described above, the multi-degree of freedom simulator driving apparatus according to the present invention adjusts the crankshaft rotation angle of each actuator 10, 20, 30 or the rotation angle of the drive motor unit 60, , Heaving, sweating, and the like. Particularly, the present invention enables rotation of the rotary plate 70 by 360 degrees through the structure comprising the platform 40, the bearing structure 50, the ball joint 18, the drive motor portion 60 and the rotary plate 70 do.

Although the preferred embodiments of the present invention have been described, the present invention is not limited to the specific embodiments described above. It will be apparent to those skilled in the art that numerous modifications and variations can be made in the present invention without departing from the spirit or scope of the appended claims. And equivalents should also be considered to be within the scope of the present invention.

1: Base portion
10, 20, 30: Actuator
40: Platform
50: Bearing structure
60: drive motor section
70:
100: Multi-degree-of-freedom simulator drive unit

Claims

A base portion 1;
A plurality of actuators (10, 20, 30) provided on the upper end side of the base portion (1) and independently controllable;
A platform (40) connected to and supported on an upper portion of the plurality of actuators (10, 20, 30); And
And a rotary plate (70) rotatably disposed on the platform (40) or the base portion (1)
Characterized in that the actuators (10, 20, 30) are each connected to the platform (40) in a dual linkage type.
Multi-degree-of-freedom simulator drive.

The method according to claim 1,
The apparatus comprises:
A bearing structure (50) disposed between the platform (40) and the rotary plate (70) or between the base part (1) and the rotary plate (70); And
And a drive motor unit (60) for providing a rotational force to the bearing structure (50)
The bearing structure 50 includes a first bearing 51 fixed to the platform 40 or a bearing coupling 41 formed at the center of the base portion 1 and a second bearing 51 surrounding the first bearing 51 And a second bearing 53 connected to the rotary plate 70 so as to be rotatable with respect to the first bearing 51. The height of the end of the second bearing 53 and the end of the first bearing 51 are different from each other As a result,
Multi-degree-of-freedom simulator drive.

3. The method of claim 2,
The plurality of actuators (10, 20, 30)
A first crankshaft (13, 23, 33) rotatably connected to the motor modules (11, 21, 31) by motor modules (11, 21, 31) and first rotation shafts A second crankshaft (19, 29, 39) rotatably connected to the first crankshaft (13, 23, 33) by a second rotary shaft (14, And a ball joint (18, 28, 38) fixed to an upper end of the connecting frame (16, 26, 36)
Multi-degree-of-freedom simulator drive.

The method of claim 3,
The plurality of actuators (10, 20, 30)
And a pair of first crankshafts (13, 23, 33) at both ends of the first rotation shaft (12, 22, 32)
Multi-degree-of-freedom simulator drive.

The method of claim 3,
The driving motor unit 60 includes a driving gear 62 installed on the platform 40 and exposed to the top of the platform 40. The driving gear 62 is connected to the second bearing 53 And the engaging portion is engaged with the outer peripheral surface of the engaging portion.
Multi-degree-of-freedom simulator drive.

The method according to claim 1,
20. The plurality of actuators 10,20,30 are arranged radially with respect to the center of the platform 40 and are arranged with the same spacing angle on the same circumference with respect to the center of the platform 40 Features,
Multi-degree-of-freedom simulator drive.

The method of claim 3,
A potentiometer is provided to measure the rotational angle of the first crankshaft (13, 23, 33) or the second crankshaft (19, 29, 39), and the measured value of the potentiometer Further comprising a controller for individually controlling driving of each of the motor modules (11, 21, 31) in order to adjust the position of the crankshafts (13, 23, 33)
Multi-degree-of-freedom simulator drive.