KR20190063837A - Multi degrees of freedom platform system for realistic exercise apparatus - Google Patents

Abstract

The present invention relates to a multi-degree of freedom platform system. More particularly, the present invention relates to the multi-degree of freedom platform system for a realistic exercise apparatus, in which a linear back-and-forth motion generated by a linear actuator is converted into a vertical movement in a nonlinear guide portion. Therefore, it is possible to freely implement an uphill, downhill, or sideways inclined environment in the workout equipment while an external force, such as a load applied by a user during a workout, does not directly interfere with the linear motion of the linear actuator so that a user is allowed to experience a variety of off-line environment conditions even in an indoor environment using the workout equipment, thereby enhancing interest of exercise.

Description

[0001] MULTI DEGREES OF FREEDOM PLATFORM SYSTEM FOR REALISTIC EXERCISE APPARATUS [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-degree of freedom platform system, and more particularly, to a multi-degree of freedom platform system in which a linear actuator generated by a linear actuator is changed into a vertical motion in a nonlinear induction unit, It is possible to freely implement an environment in which the upright, downward, or side inclined to the exercise apparatus can be freely implemented while preventing the direct motion from being directly disturbed, thereby enabling various environmental conditions on the off- And more particularly to a multi-degree of freedom platform system for a realistic exercise device.

Generally, a multi-degree-of-freedom system is provided with a separate actuator for each axis for which rotation or motion is required, and performs multi-degrees of freedom drive according to various control algorithms. The linear actuator provided in such a multi-degree-of-freedom system is widely used in various industries such as automation equipment and robot structure. However, since it is mainly developed for precision control, it can be purchased only at a high price. There was difficulty.

Such a multi-degree-of-freedom system can implement various motions such as rolling, moving forward or backward, or moving up and down to the extent that it can be used for the robot's joint structure. However, In addition, since expensive actuators are required to be connected to a complicated joint forming structure to increase the manufacturing cost, the durability is degraded when the actuator is repeatedly exposed to a load or a load, there was.

Accordingly, such a multi-degree-of-freedom system has been limitedly used in an expensive robot joint structure, a medical rehabilitation apparatus, or limited in some expensive facilities such as a motion platform provided in the 4D experience means.

Particularly, since the motion system causes the motion to move back and forth, left and right, and up and down, it occupies the largest part in the 4D effect, and thus the application area is expanded as it is used in movies, entertainment, military flight control training, , High price of linear actuators and durability due to complicated joint structure, and so on.

In recent years, as the interest in health and exercise has increased, there has been an increase in the number of exercises performed in the room using various exercise apparatuses. There have been various attempts to solve the boredom experienced when the user exercises alone in the room have. However, most of these attempts have focused on content-based changes that provide various images or audio that can be accessed while exercising rather than changing the exercise apparatus itself, such as a treadmill.

In addition, in the case of the exercise apparatuses requiring a repetition of the same operation for a long period of time such as a treadmill, it is possible to change the speed or to increase or decrease the degree of load the user is required to exercise by increasing or decreasing the inclination. Considering the characteristics of the treadmill to be rotated, it is difficult to realize various environmental changes such as the off-line of the outdoor.

Korean Patent No. 10-1766576 Korean Patent Publication No. 10-2016-0129279 Korean Patent No. 10-1419831

In the present invention, the forward and backward linear motion generated by the linear actuator is changed into a vertical motion in the nonlinear guide portion so that the external force such as a load applied by the user during the motion does not directly interfere with the linear motion of the linear actuator, The user can freely implement an environment that is inclined downward or sideways or side-by-side. Thus, it is possible to experience various environmental conditions on the off-line in an indoor environment using a fitness device, And to provide a multi-degree-of-freedom platform system.

To achieve the above object, there is provided a multi-degree of freedom platform system for a real-

A base frame positioned on the floor; A floating frame mounted on the upper portion of the base frame and moving up and down by driving the linear actuator; A center support portion supporting the floating frame in a spaced-apart relationship between the base frame and the floating frame; At least three linear actuators positioned on the base frame and linearly moving back and forth in one direction by driving of the motor; A nonlinear induction part provided on the inner side of the base frame along a linear movement direction of each linear actuator and formed with a non-linear curved surface groove directed from the bottom to the top; And a sliding portion which is connected to the linear actuator at one end and is connected to a bottom surface of the floating frame, and which slides along curved grooves of the nonlinear guide portions when the linear actuators move back and forth, And a link portion.

At this time,

Three base supports located at the apex of the triangle; Three base frame pipes connecting the three base supports and forming respective corners of the triangle; And a base flange which is connected to the base frame pipe by a reinforcing bar while being positioned at the center of the inside of the triangle.

Further, in the floating frame,

Three floating supports located at the vertices of the triangle; Three floating frame pipes connecting the three floating supports to each other and forming respective corners of the triangle; And a floating flange which is respectively positioned at an inner center of the triangle and connected to the floating frame pipe by a reinforcing bar.

The center support portion may include a universal joint coupled to the floating flange so as to be tilted while only a part of the floating frame is being driven when a part of the linear actuator is driven and a cylinder for raising or lowering the floating frame as a whole .

Further, in the linear actuator,

A motor that generates rotational motion by an external power source; And a screw shaft connected to the rotating shaft of the motor and having a screw thread formed on an outer circumferential surface of the screw shaft to move up and down a screw thread by a rotational motion of the motor to convert the screw into a linear motion in the forward and backward directions.

The nonlinear guide portion is formed of a plate formed with a curved surface groove penetrating from the base support to the floating support so as to have an inclination tilted toward the upper portion and vertically fixed on the base support.

In addition,

A link arm having one end connected to the linear actuator and the other end connected to a bottom surface of the floating support; A hinge portion rotatably coupling the link arm to the screw shaft of the linear actuator; And a sliding portion that slides along the curved surface groove by linear movement of the screw shaft in a state coupled to the hinge portion.

According to another aspect of the present invention, there is provided an information processing apparatus comprising: an altitude information storage unit for storing elevation and slope of a ground to be matched with image information; A driving information generating unit for generating and storing a control signal for driving the linear actuator to implement the elevation and tilt of the ground stored in the altitude information storage unit in the exercise machine; And a control signal generating unit that generates a control signal that can realize elevation and tilt according to the altitude information matched to the image information according to the degree of reproduction of the image information displayed on the monitor and transmits the control signal to each of the linear actuators provided in the multi- And an integrated control board including an information interlocking unit.

The present invention can freely implement an uphill, downhill, or side inclined environment in a fitness device, thereby enabling the user to experience a variety of environmental conditions in an off-line environment together with an image even in a room using a fitness device, There is an effect.

In addition, the present invention enables vertical movement while moving obliquely along a curved surface groove formed in a nonlinear guide portion instead of a complicated joint structure or a rotating structure for lifting a floating frame, so that an external force such as a load It is possible to prevent direct application to the actuator and improve durability.

1 is a perspective view of a multi-degree of freedom platform system for a feel type exercise machine in accordance with the present invention;
2 is a plan view of a multi-degree of freedom platform system for a feel type exercise machine in accordance with the present invention;
3 is a side view showing a state where the floating frame is positioned at the lowest state according to the present invention.
4 is a side view showing a state in which only one of the floating frames is raised according to the present invention.
5 is a side view showing a state in which the floating frame is positioned at the highest state according to the present invention.
6 is a perspective view of a base frame according to the present invention;
7 is a perspective view of a floating frame according to the present invention;
8 is a perspective view showing a non-linear guide portion according to the present invention.
9 is a perspective view of a link hinge showing a rotatable connection structure of an actuator and a link arm according to the present invention.
FIG. 10 is an exemplary view showing that a treadmill equipped with a multi-degree-of-freedom platform system for a real-feel type exercise machine according to the present invention moves forward, backward, right and left, and up and down according to a tilt appearing in an image.
FIG. 11 is a flowchart showing a process of driving a treadmill equipped with a multi-degree of freedom platform system for a sensation type exercise machine according to the present invention.

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

FIG. 1 is a perspective view of a multi-degree of freedom platform system for a real-feel type exercise machine according to the present invention, and FIG. 2 is a plan view of a multi-degree of freedom platform system for a real-

1 and 2, a multi-degree of freedom platform system for a real-feel type exercise machine according to the present invention includes a base frame 100 positioned on a floor surface, A floating frame 200 which is driven by driving, a central support part 300 which supports the floating frame in a spaced relation between the base frame and the floating frame, At least three linear actuators (400) linearly moving back and forth in one direction and nonlinear curved grooves formed inside the base frame along a linear movement direction of each linear actuator (500) having one end connected to the linear actuator and the other end connected to the linear actuator And a sliding link unit 600 connected to the bottom surface of the floating frame and guiding the up or down movement of the floating frame while sliding along the curved groove of each non-linear guide unit when the linear actuators move back and forth.

The base frame 100 is composed of a frame installed on the bottom surface so as to stably support the multi-degree of freedom platform in spite of the movement of the floating frame. The base frame 100 may be installed directly on the floor of the building according to a place where the multi-degree of freedom platform is to be installed, or may be installed on the bottom of a fitness machine such as a treadmill or a rowing machine.

In order to increase stability, the base frame 100 may be formed of a plate-shaped plate having a bottom surface closed to increase the area of the base frame 100. However, It is preferable that the frame is formed with a bottom opening structure in which the frames are interconnected.

6, the base frame 100 includes three base supports 110 positioned at the vertexes of the triangle, and a pair of base supports 110 connected to each other to form respective corners of the triangle And a base flange 130 connected to the base frame pipe by a reinforcing bar 140 positioned at the center of the inside of the triangle.

The base support 110 is formed of a plate on which the non-linear guide unit 500 is installed. The base flange 130 is formed of a plate on which the center support unit 300 is installed.

6 shows that the base frame 100 has a substantially triangular shape so that the floating frame 200 can be moved up and down in three directions by the linear actuator 400. However, It is needless to say that the present invention is not limited to the shape and may be formed in various shapes such as a rectangle, a pentagon, and a radial shape capable of realizing the upward / downward motion in three or more directions depending on the number of directions in which the floating frame is moved by the linear actuator.

The floating frame 200 is spaced apart from the base frame 100 in order to form a space in which the sliding link portion can be moved by driving the linear actuator. The floating frame 200 can be moved up and down from above the base frame 100 by linear movement of the linear actuator 400.

As shown in FIG. 7, the floating frame 200 includes three floating supports 210 located at the vertexes of the triangle, three floating supports 210 connected to each other, A floating frame pipe 220 and a floating flange 230 connected to the floating frame pipe by the reinforcing bar 240 at the center of the interior of the triangle.

At this time, the floating support 210 is composed of a plate to which one end of the link arm 610 of the sliding link portion moving along the curved groove of the non-linear guide portion can be coupled to the bottom surface, and the floating flange 230 has And a plate capable of supporting the entirety of the floating frame from the center by locating the upper part of the center support part 300.

7, the floating frame 200 may have a triangular shape similar to that of the base frame, and may be formed in various shapes depending on the type of a fitness instrument in which the multi-degree of freedom platform is installed .

The center support part 300 is composed of a universal joint that is coupled to the floating flange 230 so that only a part of the floating frame 200 can be tilted while some linear actuators 400 are driven.

When the sliding portion provided on the sliding link portion 600 reaches the end of the curved surface groove 510 provided in the non-linear guide portion, all the linear actuators of the center support portion 300 are simultaneously or simultaneously driven, And a cylinder capable of realizing a state in which the floating frame is lifted or lowered as shown in FIG. 5.

The linear actuator 400 provides power for moving the sliding portion along a curved surface groove formed in a nonlinear guide portion while performing a back and forth linear motion independently in one direction by driving of a motor. As shown in FIG. 2, And is installed around the central support part 300 in a space between the base frame 100 and the floating frame 200.

That is, the linear actuator 400 is provided for moving up and down the floating frame 200 along a curved groove formed in the nonlinear induction part, and is provided with a nonlinear induction part It is preferable to provide a number corresponding to the number of the optical fibers 500.

1 and 2, the nonlinear induction unit 500 is formed on the upper portion of the base supporter 110 located at the vertex of a substantially equilateral triangle. The linear actuator 400 may also be configured such that the linear motion direction is directed toward a substantially equilateral triangle. Respectively.

The linear actuator 400 includes a motor 410 that generates rotational motion by a power source supplied from the outside, and a linear motor 400 that is connected to the rotational shaft of the motor and converts the rotational motion of the motor into linear motion in the forward and backward directions. And a screw shaft (420). Accordingly, the linear actuator 400 can be linearly moved while raising or lowering the screw thread formed on the outer peripheral surface of the screw shaft 420 while being rotated by the power of the motor.

At this time, the linear actuator 400 is installed so as to have a slope rising from the center support portion 300 at the center toward the installation position of the base supporter 110 toward the outer periphery, It is preferable that the movement can be made obliquely inclined from the base frame 100 toward the floating frame 200.

The linear actuator 400 is configured such that the screw shaft 420 linearly moving back and forth along a curved groove 510 provided in the nonlinear guide portion is vertically rotatable within a predetermined range according to the position of the sliding link portion .

4, the linear actuator 400 is in the lowest state, and the three linear actuators are simultaneously driven together to move the floating frame 200 as shown in FIG. As well as one or two linear actuators alone may be driven to tilt the floating frame 200 to one side as shown in FIG. And then the remaining linear actuators are driven, so that the floating frame 200 can be in a raised state as a whole.

As described above, the three or more linear actuators 400 are driven sequentially or simultaneously, so that the floating frame 200 can be raised or lowered in different degrees or the slope of the floating frame can be variously realized.

As shown in FIG. 8, the nonlinear inducing unit 500 is installed on a plate vertically fixed on the base support 110 so that the nonlinear induction unit 500 has a slope gradually tilted from the base support to the floating support, And a curved surface groove 510 penetrating therethrough is formed.

In order to prevent the link arm 610 from being disengaged during movement by the linear actuator, the link arm 610 may be formed at the center of the non-linear guide portion 500, It is preferable to be composed of two plates spaced apart so as to provide a space that can be settled. In this case, it is needless to say that the curved grooves 510 are formed at the same positions in the two plates constituting the nonlinear induction part 500. The two parallel straight lines on the base supporter 110 shown in FIG. 6 indicate positions where the two plates constituting the nonlinear induction part 500 are respectively installed.

The nonlinear inducing unit 500 is for generating a vertical motion of the floating frame by modifying the back and forth rectilinear motion on the plane generated by the linear actuator into up and down movements.

That is, when using a fitness instrument equipped with a multi-degree-of-freedom platform, the user needs to move up and down the area in which the motion is performed in order to experience the altitude change, and a linear actuator that moves up and down However, in this case, an external force such as a load applied during motion is continuously applied directly to the linear actuator moving up and down, resulting in frequent failure.

Accordingly, in the present invention, the forward and backward linear motions generated by the linear actuator 400 are changed into upward and downward movements in the nonlinear guide portion 500, so that an external force such as a load, So that the occurrence of frequent failures can be prevented.

The sliding link unit 600 includes a link arm 610 having one end connected to the linear actuator and the other end connected to the bottom surface of the floating support, and a link arm 610 rotatably coupled to the screw shaft of the linear actuator And a sliding portion that slides along the curved surface groove by linear movement of the screw shaft in a state of being coupled to the hinge portion.

The sliding link unit 600 has a shape of an alphabetical letter 'V' that is widened in a joint structure with the screw shaft 420 of the linear actuator with the hinge unit 620 as an axis, and the linear actuator 400 The one end of the link arm 610, which can no longer be pushed when the sliding portion is pushed by the driving of the sliding portion, is folded so as to be approximately 90 degrees at the hinge portion 620, thereby raising the floating frame 200.

To this end, the other end of the link arm 610 connected to the bottom of the floating support 210 is fixed to the fixed end of the floating support 210 so as to change the angle with the bottom of the floating support 210, It is preferable that a ball bearing or a universal joint rotatable is provided.

9, the hinge unit 620 may be coupled to the screw shaft 420 of the linear actuator so that one end of the link arm 610 and the other end of the link arm 610 can be coupled to each other, The link hinge 622 at the distal end and the distal end of the link arm 610 are coupled by a hinge pin. FIG. 9A shows a link hinge having a hole into which a hinge pin can be inserted, and FIG. 9B shows a link hinge having a hole into which a hinge pin can be inserted at a screw shaft end.

The sliding portion may include a cylindrical pipe that surrounds the outer circumferential surface of the hinge pin forming a rotatable joint structure, and is hung by a curved surface groove constituting the non-linear guide portion to push up or down the hinge portion.

Since the sliding surface of the sliding portion is in contact with the curved surface of the curved surface, the sliding surface of the sliding surface forms a curved surface with less friction and the hinge pin is received in the inner space. Thus, The frame can be raised.

The multi-degree of freedom platform system for a real-sensible exercise apparatus according to the present invention can generate a vertical movement of the floating frame in at least three directions. Therefore, when applied to a treadmill as shown in FIG. 10, The belt can be raised beyond the simple forward movement of the belt, so that the downward inclined environment as well as the upshift can be appropriately implemented with a treadmill.

Further, by raising the two linear actuators during the movement in the treadmill, an environment tilted to the left side can be realized, and an environment tilted to the right side can be realized by changing the actuator to be raised.

Accordingly, it is possible to realize a downhill slope and an inclined environment that can not be realized in the conventional treadmill, which simply increases the inclination of the walking direction to increase the walking effect or the motion of the flat ground, Experience can increase the interest of the movement.

To this end, a multi-degree of freedom platform system for a real-feel type exercise apparatus according to the present invention includes an altitude information storage unit for storing elevation and slope of a ground to match with image information, A driving information generator for generating and storing a control signal for driving the linear actuator in order to realize the elevation and tilt of the ground surface of the moving object, and a controller for controlling the altitude matched to the image information according to the degree of reproduction of the image information displayed on the monitor And an integrated control board (not shown) including a video information interfacing part for deriving a control signal capable of realizing elevation and inclination according to information and transmitting the control signal to each linear actuator provided in a multi-degree of freedom platform .

FIG. 11 is a flowchart illustrating a process of driving a treadmill equipped with a multi-degree of freedom platform system for a realistic feel type exercise machine according to the present invention.

11, in order to change the tilt of the treadmill belt according to the inclination change or the inclination change of the ground viewed by the image on the monitor, the treadmill equipped with the multi-degree of freedom platform system for the real- First, the altitude change due to the change of the slope of the ground and the change of the slope due to the change of the slope of the ground are stored as the altitude information for the ground, and the altitude information is matched with the image information that can display the image of the ground on the monitor (S10).

Then, the linear actuator to be driven to implement the change of the inclination in the longitudinal direction and the change of the inclination in the lateral direction according to the altitude information is specified on the floating frame, and the degree to which the specified linear actuator is driven to change the height is calculated, Generates a control signal for driving the linear actuator (S20) and stores the generated control signal.

Thereafter, when a user who wishes to experience the sensation-type exercise while viewing the image information on the treadmill selects and reproduces the image information (S30), the selected image information is reproduced on the monitor provided in the treadmill, The stored altitude information and the control signal are also derived (S40).

The altitude information and the control signal derived together with the image information are transmitted to the respective linear actuators (S50) by the control unit provided in the treadmill during the reproduction of the image (S50). The linear actuators receiving the control signals transmit the control signals (S60), the sliding link portion is moved so that the floating frame is raised or lowered (S70), and a front-rear inclination or a left-right inclination is realized on the treadmill belt.

Accordingly, as a user who exercises using a treadmill in the room, a user can perform a more realistic exercise by exercising on a treadmill belt in which a forward / backward slope or a left / right slope is changed, .

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the present invention.

100: Base frame 110: Base support
120: base frame pipe 130: base flange
200: Floating frame 210: Floating support
220: Floating frame pipe 230: Floating flange
300: Central Branch
400: linear actuator 410: motor
420: screw shaft
500: nonlinear induction unit 510: curved groove
600: sliding link portion 610: link arm
620: Hinge section 622: Link hinge

Claims (11)

A base frame positioned on the floor;
A floating frame mounted on the upper portion of the base frame and moving up and down by driving the linear actuator;
A center support portion supporting the floating frame in a spaced-apart relationship between the base frame and the floating frame;
At least three linear actuators positioned on the base frame and linearly moving back and forth in one direction by driving of the motor;
A nonlinear induction part provided on the inner side of the base frame along a linear movement direction of each linear actuator and formed with a non-linear curved surface groove directed from the bottom to the top; And
Wherein the linear actuator is connected to the linear actuator and the other end is connected to the bottom surface of the floating frame, and when the linear actuators move back and forth, sliding links along curved grooves of the non- And a plurality of degrees of freedom platform system for a realistic feel type exercise machine. The method according to claim 1,
The base frame includes:
Three base supports located at the apex of the triangle;
Three base frame pipes connecting the three base supports and forming respective corners of the triangle; And
And a base flange disposed at the center of the interior of the triangle and connected to the base frame pipe by a reinforcement bar, respectively. 3. The method of claim 2,
The floating frame includes:
Three floating supports located at the vertices of the triangle;
Three floating frame pipes connecting the three floating supports to each other and forming respective corners of the triangle; And
And a floating flange, which is positioned at the center of the inside of the triangle and connected to the floating frame pipe by a reinforcing bar, respectively. The method of claim 3,
The center support portion includes a universal joint coupled to the floating flange so that only a part of the floating frame can be tilted while driving a part of the linear actuator and a cylinder for totally raising or lowering the floating frame. A multi-degree of freedom platform system for realistic exercise equipment. 5. The method of claim 4,
The linear actuator includes:
A motor that generates rotational motion by an external power source; And
And a screw shaft connected to the rotation shaft of the motor and having a thread formed on an outer circumferential surface thereof and moving up and down a thread by a rotational motion of the motor and converting the linear motion into a linear motion in a forward and backward direction. Multi-degree-of-freedom platform system. 5. The method of claim 4,
Wherein the linear actuator is installed so as to have a slope that rises from the center support portion in the center toward the installation position of the base support member toward the outer periphery. 5. The method of claim 4,
Wherein the nonlinear induction portion is formed of a plate formed with a curved surface groove penetrating from the base support to the floating support so as to have an inclination tilted toward the top and vertically fixed on the base support, Multi - degree of freedom platform system for instruments. 8. The method of claim 7,
Wherein the nonlinear inducing portion is provided with two plates spaced apart from each other, the two plates each having the curved surface recesses formed so as to form a space in which the sliding link portion can be placed. 8. The method of claim 7,
The sliding link portion includes:
A link arm having one end connected to the linear actuator and the other end connected to a bottom surface of the floating support;
A hinge portion rotatably coupling the link arm to the screw shaft of the linear actuator; And
And a sliding portion that slides along the curved surface groove by linearly moving back and forth of the screw shaft while being coupled to the hinge portion. 10. The method of claim 9,
The other end of the link arm connected to the bottom of the floating support is provided with a rotatable ball bearing or universal joint at a fixed position so as to change the angle formed with the bottom surface of the floating support without any further pushed in the horizontal direction And a plurality of degrees of freedom platform systems for realistic feelers. 11. The method according to any one of claims 1 to 10,
An altitude information storage unit for storing altitude and slope of the ground to be matched with the image information and storing the information together;
A driving information generating unit for generating and storing a control signal for driving the linear actuator to implement the elevation and tilt of the ground stored in the altitude information storage unit in the exercise machine; And
A control signal that can realize elevation and tilt according to the altitude information matched to the image information is derived according to the degree of reproduction of the image information displayed on the monitor and the image signal to be transmitted to each linear actuator provided in the multi- And an integrated control board including an interlocking portion. The multi-degree of freedom platform system for a real-time fitness instrument.

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