TW200844921A - Dynamic platform including rope-driving apparatus - Google Patents

Abstract

A dynamic platform consists of rope driving is disclosed. It features three fulcrums to form the platform plane. Two of the three fulcrums are for connecting two hanging ropes that are driven by two motors, respectively. A universal bearing/joint and a supporting shaft form the other fulcrum. A toggle mechanism is put underneath the platform to constrain the yaw motion of platform. Changing the length of ropes could control the two-degree-of-freedom motion of the platform, pitch and roll. By setting a rotary table, driven by worm and worm gear, on the top of platform could obtain the third controllable degree-of-freedom motion, yaw, of the platform. The applications of this invented dynamic platform could include the simulating training-platform, game and exercise devices.

Description

200844921 IX. Description of the invention: [Technical field of the invention] The present invention is a restraining effect of a three-axis dynamic flat A^ toggle mechanism, which refers to the use of a rope to zoom and 'relative movement, and two rotations: two degrees of freedom ( Pitch, (yaw), thus constitutes a three-axis transport; as a two-degree-of-freedom device as an interactive device. The mouth is matched with any load on the platform [previous technology] / used as a simulator (x, y, z, Pitch, Rol 丨 口 通常 usually uses six free platforms, and the common action is ^ ^ hua platform (Stewart uses six hydraulic cylinders as a ^ there are two. 丨 · hydraulic drive as a feedback. 2. The electric motor is the servo valve 'optical scale actuator, the driving source is the feeding side, ^• use the ^ bead lead screw as the setting action. To change, the length of the eve ^, to make the platform do

Because Shidu Huaping A cylinder, ball lead screw, and ° 彳 & θ with ^ 70 very precise, such as oil pressure used in academic research and military loading; two feeding valve, so usually make sports equipment and other fields , old man;; very good practice, but to develop in the game, fly test I its cost is not easy to achieve. Therefore, in order to say that you can reduce the cost, the present invention proposes a motor as a driving source, and a low-cost dynamic platform, so as to reduce the cost and make the bear-bearing pulley as the actuation. This is effective, it is a game, sports crying hope D is more widely used in a variety of fields, especially in the field of σσ. 200844921 [Summary] The design of the 2 cable 2 state platform is to use three flat ports, one of which is twisted by a universal bearing; the other two fulcrums are respectively connected with a rope to pull the rope by a motor. As shown in the figure, when the moving rope is scaled, the two motors of the flat △ 彳 will be changed at the same time with the left and right angles, and the relative motion of the platform can be caused by the change. >A, ,, cable long movement == ί,: The first consideration is the state of motion, where I number and St Qiu). Its td (empty ^^ degree) n (: to (number of contacts), fi (degree of freedom relative to the number of joints Uti Μ DOF ^ (1) station ί:: Π ̄ move; Γ 'through (1), can be calculated Ping far; ^ \ degrees of freedom as shown in (2) can get three degrees of freedom, eight are Pitch, R0U, Yaw three angles. Then Tiandu knife (2)

^3d〇f = 6(4-5-1)+ 3x5 = 3 DOF stands and only provides two singles: =nch) and roll (10)1) two degrees of reversal force Yu Wanxiang bearing ^ 200844921, in order to overcome the platform may cause the rotation, the main ϊ ί 2 platform yaw angle can not be controlled. For the law 1 two links and four joints 3, such as the construction of 1 section The structure consists of two degrees of freedom, which can be as a result of the flat A front = two of the toggle mechanism payable (3), which will make the platform ", by (1) (pitCh) and roll (roll ) two Γ by degree

2DOF

= 6(6 —8 —1)+1xi + 2x1 + 3 -1DOF

X (3) If you match the game with 1/= and roll two degrees of freedom, you can enter a + 楹 Γ surf, one hand for the first = free ^ ί Authenticity and irritability. The motor is driven by the air-to-air force, which is achieved by the top of the sun and the moon. The rotation a θ is formed by the two-axis dynamic platform, as shown in Figure 3. The second leg f, the mast and the ball bearing are the third. The shaft is generated; the drought has the characteristics of self-locking, and the two ropes can be controlled. The process described by the two degrees of freedom is 2: the relationship between the two degrees, the first material 'For example, riding an off-road bicycle. ^ Thousands; ^The equipment required for play or sports: sports equipment, or racing, surfing, one-handed riding on the three _ state platform of Figure 9 by degree m tangential platform, or 200844921 [Function mode] 1. Three views of the C platform, including three support points, 4, damped V ί / pulley 2 with suspended rope, rope 3 and shaft 5, with three degrees of freedom The support shafts 7 are combined to form a dynamic platform having a degree (Pitch, roll, yaw). • h;: two in the second use - group of financial institutions 8 (its stereo ¥ =,,), installed in the map below the platform can make 3 map U controllable two degrees of freedom (10) Ch, _). The motor is combined with the mast and the second bearing 9 and "1. Above, the upper wheel is supported by the rim, the worm wheel 14 and the 鳇 bearing 13 are integrally connected to the rotating device". For the upper part of the rotating device, it can be combined with any 'flat: phase::. 5., five is the combination of Figure 2 and Figure 4. Figure 2 is combined with the four rotating platform to make the 自由 free degree of freedom. The dynamic platform, the three-dimensional figure of the figure has three embodiments of the motion platform: the first rotation:::: Ye Qing Treadmill is placed in the projection screen of the present invention, the projector is set; the foot: the car two wins the front of the bicycle Set the connection shown in the illustration), play the game and play with the computer (not shown in the real world, through the microcontroller 盥Ι / Ό S 4 wild sports film or virtual and sports platform triaxial angular position salty 1 is not shown in the figure) (not shown in the figure t), you can return to the road surface undulation of the tachometer speed sensor virtual time to achieve a more straight = platform motion posture with a controllable brake, for example Magnetic powder brake feel. Further show the clothes in the picture) 8 200844921 Although the simulation of the ancient and the ancient is to change the load of the rider. To limit the scope of this bamboo shoots "乂" to expose the above as follows, but it is not the spirit of the scope of protection; two fixed = [simple description of the schema] = one Two freedoms of the two degrees of freedom of the dynamic platform node mechanism; Figure: force five and right-two ΐ plate in the two-axis rotating device ^ toggle mechanism. Stereoscopic schematic thousand mouth j two: solid degree of freedom rope type Figure 9 of the dynamic platform: Stereoscopic diagram of Ci set... Figure 3 is a three-dimensional diagram of the three-dimensional diagram 3 Lost wood rope type dynamic platform as a whole [Main component symbol description] 1 · Platform 8 · Financial institution 9 · Seat pumping 10· Seat bearing Π · Mast 12 · Motor 13 · Ball bearing 14 · Worm gear 15 · Rotating plate 2 · Pulley 3 · Cable 4 · Rope 5 · Motor 6. Universal bearing or universal joint 7 · Support shaft

Claims (1)

200844921 X. Patent application scope: = 3 = The levy is composed of three fulcrums, and the third fulcrum is composed of a universal bearing or a constrained flat axis. The bottom of the platform is provided with a toggle mechanism to pitch the pitch. With the roll (10) 丨) two degrees of freedom can be: ΙΓϊ ΐ ΐ 1 第 1 item of the dynamic platform, which changes the length of the rope. ^, can be hunt by the motor to roll the rope to complete. Lee = the dynamic platform of item 1, stepping into the two-axis flat 4 疋 turntable, making it a three-axis motion platform. 5. Apply for worm gears, worms and motors. Month, the target audience! The dynamic platform of the item is further used as a feedback control for the 6th sensor. . The dynamic platform of the application for the patent of the 24th patent, the further integration of l, i: sports game equipment, multimedia modules, including, the Xi Lili game equipment placed on the second axis rotary table;; f = two The projection screen is set in front of the sports game equipment = system broadcast, or cross-country movie or virtual reality;, two !!,, and package microcontroller and 1/0 interface and motion platform ? Movement; drama equipment speed sensor 'can achieve more real: with the evil situation to match the virtual reality of the situation change, to the dynamic platform of the '::j range of the sixth item, where the sports game "in i is up and ^ - Steps to combine the controllable brake on the up and down slope of the early half-wheel to change the rider's negative 200844921. 8 · If the application of the patent scope is moved, the equipment is a crying, & 0, # 口 The sports game is like crying, if step combines the controllable brake with the load: "Move the road to simulate downstream or countercurrent" to change the rower's negative 9. As in the scope of claim 6 The kinetic energy a-, the equipment is wf, Λ 千 thousand, which sports games 10 lit' thieves, surfboards, horseback riding, racing, motorcycles and so on. The addition of Zhuangshen - 'if the dynamic platform of the third range of the scope' is further on the platform u: a one-axis angular position sensor for feedback control. Molding 'and please Π, the dynamic platform of item 3' is further combined with control = 杈 group, sports game equipment, multimedia modules, including two, moving game equipment placed on the third axis rotary table; The projection screen is arranged in front of the sports game equipment, and is arranged behind the sports game equipment, and plays a game or a cross-country movie or virtual time with the computer; a module including a microcontroller and a 1/〇 interface and a motion platform ^Angular position sensor and motion game equipment speed sensor can be used to match the situational changes of the virtual reality with the platform motion posture, and to build a more realistic feeling. Applying for the dynamic platform of the 11th scope of the patent, the sports t equipment refers to the bicycle, and further controls the brake junction = simulates the up and down slope on the bicycle wheel to change the rider's load. 13 The dynamic platform of claim 11 of the scope of the patent, wherein the sport = play equipment refers to the rowing machine, and further the controllable brake knot: simulates a forward or reverse flow at the paddle of the rowing raft to change the load of the rower. ~ As for the dynamic platform of the 11th patent application scope, the sports game equipment refers to skis, surfboards, horseback riding, racing cars, motorcycles 11 200844921 cars, etc. 12