201201891 六、發明說明： 【發明所屬之技術領域】 本發明為建構-具有至少一個旋轉自由度的動 態平台，其特徵為利用馬達帶動織索，藉由改變繩索 的長度變化，使動態平台產生一到兩轴自由度⑽咖 ，的相對角度、變化，並加入一組獨立旋轉裝置，作 為動態平台的第三個自由度(yaw)，此動態平台上可 搭配放置任何的裝置及設備。 【先前技術】 目前坊間有許多種類的動態平台，大多是以其平 台的自由度作為區分，大部分可區為三軸自由度及六 軸自由度兩大類。三軸自由度為繞X軸旋轉（r〇u)、 繞Y軸旋轉（pitch)及繞z軸旋轉（yaw)的三個旋轉方 向，而六轴自由度為除了包含俯仰（pitch)、滾轉（r〇U) 及偏擺（yaw)三個旋轉方向外，另包含沿著乂、丫及z 轴方向的平移運動，其較典型的六軸自由度動態平台 為史都華平台（Stewart platform)。 史都華平台常見的作動方式有兩種：丨.液壓驅動 方式使用六支油壓缸作為致動器，驅動器為伺服閥， 光學尺做為回饋。2.電氣作動方式使用六支滾珠導螺 201201891 =動广驅動源為飼服馬達，編碼器或光學尺 产付知獨立的油璧缸或導螺桿需要改變多少長 度’以使平台做出設定的動作。 文〜長 缸、編=華平台所使用之元件非常精密，例如油壓 學尺及舰閥等，造價非常昂貴，此 0又、吊使用於學術研究哎軍拿.呈捃 發展在遊戲、運動器材算㈣ 4擬訓練，而要 實現。另外這考量其成本則不容易 單一平Α盥，心 自由度的變化幅度受限於 早千台與驅動機構的牽制，並谝 擬真感仍有不足。 曰遍都不大’對於動態 號，2?^之恤目㈣她Μ雇_ 坪，、r '、'驅動動態平台整體結構以懸吊的方式設 平^卜成==結構體積較為龐大’且繩索裸露於動態 發料鄉明繩索伸縮改變造成使用者的危險。且此 形，例如於平台上農設 广貫際清 ==:路“水平轉至上坡時，讓使 提升的喊覺是"降’與實際騎乘時的前端向上 度與第^由另外在安全防護上，第-自由 馬、隶μ 動_裝置中，受限於有政 …、驅動電力時無法保持煞車或鎖固作用，容易 201201891 使平台會因重力作用產生回復力，造成平台擺動傾向 重力負載端方向，給騎乘者帶來危險。 因此本發明將設計一維護簡單、佔地面積小、成 本低廉、安全性佳及旋轉變化幅度大，符合實際模擬 情境的繩索驅動的動態平台，其能結合各種遊戲裝 置、運動器材等裝置。 • 【發明内容】 繩索驅動的動態平台的設計方式為於平台本體 下方設置三個支點，其中一固定支點為一具三個自由 度的球窩接頭與支樓柱所構成，另兩支點分別連結繩 索，並於兩繩索相對於固定支撐柱的另一側藉由重力 作用，使繩索保持張力。藉由馬達帶動繩索兩支點位 置變化及重力作用所產生的回復力，使平台相對於固 疋支點產生俯仰角（pitch)、滾轉角（Γ〇11)及偏擺角（yaw) 二個自由度的相對運動，如圖一所示。 然而當使用繩索作為俯仰角（pitch)與滾轉角（r〇n) 驅動來源時，將受限於繩索無法產生足夠的拘束，造 成偏擺角（yaw)的運動狀態隨平台重心位置產生飄 移。因此爲解決此偏航角的飄移問題，將於動態平台 的下方裴設一伸縮裝置，如氣壓缸、導螺桿、伸縮滑 軌、伸縮缸或連桿機構等，增加平台的拘束力，將使 201201891 動態平台的自由度簡化為俯仰角（pitch)與滾轉角（roll) 個自由度，圖一為於平台下方位置裝設一連桿機構 的實施例之一，此連桿機構是由一個具三個自由度的 旋轉接頭、兩個連桿與兩個具一個自由度的旋轉接頭 所構成。 對於第二個自由度偏擺角（yaw)的運動機構，本 發明利用馬達帶動—個旋轉台機構，㈣轉台如圖四 所不，將此旋轉台裝設於前述二軸平台上。 經由上述的設計流程得知由—固定支禮柱、球离 j碩及由兩條繩索拉動平台的相對位置，達成控制平 個自由度，第二個自由度則是獨立在繩索控制的 自由度之外’構成一個具三個自由度之繩索式動態平201201891 VI. Description of the Invention: [Technical Field] The present invention is a dynamic platform having at least one rotational degree of freedom, characterized in that a motor is used to drive a woven rope, and a dynamic platform is generated by changing a length change of the rope. To the two-axis degree of freedom (10) coffee, the relative angle, change, and add a set of independent rotating device, as the third degree of freedom (yaw) of the dynamic platform, this dynamic platform can be equipped with any device and equipment. [Prior Art] There are many kinds of dynamic platforms in the market. Most of them are distinguished by the degree of freedom of their platforms. Most of them can be divided into three categories: three-axis freedom and six-axis freedom. The three-axis degrees of freedom are three rotation directions about the X-axis (r〇u), the Y-axis rotation, and the z-axis rotation (yaw), and the six-axis degrees of freedom are in addition to the pitch and roll. In addition to the three rotation directions of (r〇U) and yaw (yaw), the translational motion along the 乂, 丫 and z axes is more typical. The typical six-axis DOF dynamic platform is the Stewart platform (Stewart). Platform). There are two common modes of operation on the Stewart platform: 丨. The hydraulic drive uses six hydraulic cylinders as actuators, the drive is a servo valve, and the optical scale is used as feedback. 2. The electric actuation mode uses six ball guide screws 201201891 = the dynamic drive source is the feed motor, the encoder or the optical ruler produces the independent oil cylinder or the lead screw needs to change the length 'to make the platform set the action . The components used in the text ~ long cylinder, knitting = Hua platform are very precise, such as hydraulic pressure gauges and ship valves, etc., the cost is very expensive, this 0, hang used in academic research 哎 拿 . 捃 捃 捃 捃 捃 捃 捃 捃 捃Equipment calculation (4) 4 is intended to be trained, but to be realized. In addition, it is not easy to consider the cost of the single flatness. The degree of change in the degree of freedom of the heart is limited by the restraint of the early thousand units and the driving mechanism, and the real feeling is still insufficient. It’s not big enough for the dynamic number, 2?^'s shirt (four) she hired _ ping, r ', 'drive dynamic platform overall structure to suspend the way to set up ^ Bu Cheng == structure volume is relatively large' And the rope is exposed to the dynamic hair of the township. And this shape, for example, on the platform, the agricultural setting is wide and clear ==: Road "When the level is turned uphill, let the scream of promotion be "down' and the front end of the actual ride up and the second In terms of safety protection, the first-free horse, the _ _ device, is limited by the government ..., can not maintain the brake or lock when driving power, easy 201201891 so that the platform will generate restoring force due to gravity, causing the platform to swing The direction of the gravity load end is dangerous to the rider. Therefore, the present invention designs a rope-driven dynamic platform that is simple in maintenance, small in floor space, low in cost, good in safety, and large in rotational variation, and conforms to the actual simulation scenario. It can be combined with various game devices, sports equipment, etc. • [Summary] The design of the rope-driven dynamic platform is to set three fulcrums under the platform body, one of which is a ball socket with three degrees of freedom. The joint is composed of a branch column, and the other two points are respectively connected to the rope, and the rope is held by the gravity of the two ropes on the other side of the fixed support column. By the motor driving the two fulcrum positions of the rope and the restoring force generated by gravity, the platform produces two pitches, a pitch angle (Γ〇11) and a yaw angle (yaw) relative to the fixed fulcrum. The relative motion of degrees is shown in Figure 1. However, when the rope is used as the driving source of the pitch and roll angle (r〇n), it will be limited by the fact that the rope cannot produce enough restraint, resulting in a yaw angle (yaw The motion state shifts with the position of the center of gravity of the platform. Therefore, in order to solve the drift problem of the yaw angle, a telescopic device such as a pneumatic cylinder, a lead screw, a telescopic slide rail, a telescopic cylinder or a connecting rod will be disposed under the dynamic platform. Institutions, etc., increasing the binding force of the platform will simplify the degree of freedom of the 201201891 dynamic platform to pitch and roll degrees. Figure 1 shows an example of installing a link mechanism at the lower position of the platform. One of the linkages consists of a rotary joint with three degrees of freedom, two links and two rotary joints with one degree of freedom. For the second degree of freedom yaw The moving mechanism, the invention uses a motor to drive a rotating table mechanism, and (4) the turntable is as shown in Figure 4. The rotating table is mounted on the two-axis platform. Through the above design flow, it is known that the ball is fixed and the ball is fixed. From the relative position of the master and the two ropes to pull the platform, the control of the flat degree of freedom is achieved, and the second degree of freedom is independent of the degree of freedom of the rope control to form a rope-type dynamic flat with three degrees of freedom.
達驅動繩索裝置中，受限於有些馬達於無驅 ，時無核制車❹錢仙，使平台會因重力 作用產生回復力，造成 向，造成騎乘者的不^ 力負裁端方 明": 可預期與可能的危險，因而本發 °又°，、·且捲繩換組，其爆炸圖如圖六所示，此模組 :二種無法:轉的特性設計例如蝸輪蝎桿等，其特 去逆Γ㈣#做為動力源輸人帶動蜗輪旋轉，並益 、=由蜗輪帶動蜗桿旋轉，因此動態平台不合因〜 驅動電力而造成平台因重力作用傾斜，；會停 201201891 留於原處。 繩索驅動的動態平台可用於遊戲、運動訓練或軍 事訓練等Μ擬器材，平台上方可架設橢圓機、跑步 機、㈣+、腳踏車、划船、滑雪、衝浪、騎馬等運 動的器材’或賽車、摩托車等遊戲的ϋ材，皆可選擇 性架設於圖人的兩個自由度之繩索式動態平台上，或 於圖十一的三個自由度之繩索式動態平台上。In the drive rope device, it is limited that some motors are not driven, and there is no nuclear car to make money, so that the platform will generate a restoring force due to gravity, causing the direction, causing the rider’s power to be negative. ": can be expected and possible danger, so the hair is ° °, and · and the rope is replaced, the explosion diagram shown in Figure 6, this module: two kinds of can not: the characteristics of the design, such as the worm gear mast Etc., it specially goes against the Γ (4) # as the power source to drive the worm wheel to rotate, and benefit, = the worm wheel drives the worm to rotate, so the dynamic platform does not match the driving power caused the platform to tilt due to gravity; will stop 201201891 In the original place. The rope-driven dynamic platform can be used for simulation equipment such as games, sports training or military training. The platform can be equipped with elliptical machines, treadmills, (4)+, bicycles, boating, skiing, surfing, horseback riding and other sports equipment or racing cars and motorcycles. The coffins of the game, such as cars, can be selectively placed on the rope-type dynamic platform of the two degrees of freedom of the figure, or on the rope-type dynamic platform of three degrees of freedom in Figure 11.
【實施方式】 1. 圖-為繩索式動態平台之三視圖，包括三個支點所 構成之平台卜其中以支撐柱3與球窩接頭2構成 一個支點’繩索7和8構成^支點，藉由馬達4 控制繩索長短，組合成一個具有三個旋轉自由度 (pitch，roll, yaw)之動態平台。[Embodiment] 1. Fig. - is a three-view view of a rope type dynamic platform, including a platform composed of three fulcrums, wherein a support point 3 and a ball joint 2 constitute a fulcrum 'ropes 7 and 8 constitute a fulcrum, by The motor 4 controls the length of the rope and combines them into a dynamic platform with three degrees of rotational freedom (pitch, roll, yaw).
2. 圖二中顯示於圖一中的平台下方裝設一組連桿機 構1〇(其立體圖顯示於圖三），使平台僅具有俯仰 (pitch)與滾轉（roll)兩個可控的自由度。 3. 圖四為馬達20、旋轉台21所組成之可控旋轉平台 裝置，將此可控旋轉平台裝置裝設於圖二平台上， 使成為一具有三個自由度之動態平台，如圖五所 示。 4.圖六為繩索長度改變的蝸輪蝸桿捲繩模組的爆炸 201201891 圖，其中包括馬達30、聯軸器31、連座軸承（32 及36)、蜗桿33、媧輪35、連座軸承（34及38)及 槽輪37所結合。當然也可以利用馬達直接配備蝸 輪減速機以減少聯軸器31、連座軸承（32)等，更加 縮減驅動模組的體積，圖七為搭配堝輪減速機所設 計的捲繩模組。 5. 圖八及圖九為另加入蝸輪蝸桿捲繩模組的動態平 口驅動方式，將圖六設計的蝸輪蝸桿捲繩模組裝設 於具有兩個自由度及三個自由度的動態平台上，做 為繩索改變驅動裝置。 6. 圖十中顯示利用氣壓缸5〇或是伸縮缸取代圖八中 的連才干機構’使平台具有可控的兩個自由度⑽咖 roll)。 7·圖十二中顯示利用氣壓缸5〇取代圖九中的連桿機 構’使平台具有可控的三個自由度（pitch，吨 yaw) ° I圖十四中顯示單-自由度的運動平台，其為利用一 個自由度的旋轉接頭61取代圖一的球寫接頭2，並 且只需要—個馬達60作為驅動源。 ’其特徵為利用三個 其中第一支點是由球 、’’不合5之，本發明之動態平台 支點所構成之平面作為動態平台， 9 201201891 f接頭與切抽所組成，另第二與第三纽分別以連姓 一條繩索的方式構成，第—支點相對於第二與第三支點 連線之距離要小於平台承載物體與使用者後的重心相對 於第一與第三支點連線的距離，㈣物體與使用者的重 心需落於支撐軸相對第二支點與第三支點的另一側，平 台底部設一連桿機構或伸縮裝置以約束平台產生偏擺 (㈣，控制兩繩索長度時，可以使平台作俯仰⑽叫與 鲁滾轉（roll)兩個自由度的可控運動。為了縮小平台體 積’捲動繩索的驅動馬達與其驅動器可設置於平台底°下。 、另外’本發明之動態平台’因為利用重力做為回饋 以拉緊繩索，所以可葬由娜去 乂 j粕由繩索的柔軟性，提供更大的俯 仰（Ρ_角度與滾轉⑽〇角度。例如，在設計上，讓平 台寬度與長度越小，俯仰(pitch)與滾轉（r〇ii)的極限角度 就越大。又或是’設計上，支撐軸高度越高，配合較長 »的繩索，則俯仰（pitch)與滾轉⑽的極限角度也會越 大。有關第三旋轉軸之偏擺（卿）角度，因為設計上為一 旋轉平台，其角度最大可達到正負18〇度。換言之，本 發明可以藉由繩索長度、支撐軸高度、平台寬度與長度 的調整，加上提供偏擺（yaw)角度的旋轉平台，就能符合 各種三個旋轉自由度的運動平台需求，成本低、彈性高， 甚至進-步將支❹高度、平台寬度與長度設計成讓使 用者能自行調整的機構’例如支撐軸設計為千斤頂的機 201201891 構’就可自由改變其高度。 實施例 .如圖十三所示，乃是將越野腳踏車放置於本發明的 運動平台之第三軸旋轉台上面，同時於腳踏車前方設置 至少-投影幕配合至少—投影機則設置於腳踏車後方， 並且與電腦（未顯示於圖示中 口丁之中）連線，播放遊戲或越 #彡運動的影片或虛擬實境，透過微控制器與1/0介面（未 顯示於圖示之中）以及運動平台的三轴角位置感測器， 與腳踏車速度感測器（未顯示於圖示之中），可以回镇改 變平台運動姿態配合虛擬時境的路面起伏，以達到更真 實的感覺。進一步將可控式制動器例如磁粉式制動器（未 -圖示之中）結合於車輪模擬上下坡路面，以改變 騎車者的負載。注意此處之投影機裝置，也可由顯示n • 或電視來取代。 σ :、、、:本务明已以一較佳貫施例揭露如上，然其並非 用^限定本發明’任何熟習此技藝者，在不脫離本發明 之精神和範圍内，當可作各種之更動與潤飾，因此本發 明之保護範圍當視後附之申請專利範圍所界定者為準。 【圖式簡單說明】 圖一二個自由度之動態平台之三視圖 201201891 圖二加裝連桿機構之兩個自由度動態平台側視圖 圖三連桿機構立體示意圖 圖四第三軸旋轉裝置立體示意圖 圖五具三個自由度之繩索驅動動態平台之側視圖 圖六媧輪蝸桿捲繩模組之立體爆炸示意圖 圖七搭配蜗輪減速機之捲繩模組示意圖 圖八具兩個自由度之繩索驅動動態平台之立體示意圖 Φ 圖九具三個自由度之繩索驅動動態平台之側視圖 圖十裝設氣壓缸之兩個自由度動態平台之側視圖 圖十一具三個自由度之繩索式動態平台之立體示意圖 圖十二裝設氣壓缸之三個自由度動態平台之立體示 意圖 圖十三運用於運動休閒娛樂的繩索式動態平台整體之 立體示意圖 圖十四具一個自由度之繩索驅動動態平台之立體示意 圖 【主要元件符號說明] 1.平台 7.繩索 2.球寫接頭 8.繩索 3.支撐柱 10.連桿機構 4.馬達 11. 一個自由度旋轉接頭 5.槽輪 12.連桿 6.連座轴承 13. —個自由度旋轉接頭 12 201201891 14. 連桿 15. 三個自由度旋轉接頭 20. 馬達 21. 旋轉台 30. 馬達 31. 聯軸器 32. 連座轴承 φ 33.蝸桿 34. 連座轴承 35. 蝸輪 36. 連座轴承 37. 槽輪 38. 連座轴承 40. 馬達 41. 蝸輪減速機 42. 槽輪 43. 連座轴承 50.氣壓缸 60 馬達 61單自由度的旋轉接頭2. Figure 2 shows a set of linkages 1〇 below the platform shown in Figure 1 (the perspective view is shown in Figure 3), so that the platform has only two controllable pitch and roll. Degree of freedom. 3. Figure 4 shows the controllable rotary platform device consisting of motor 20 and rotary table 21. The controllable rotary platform device is installed on the platform of Figure 2, making it a dynamic platform with three degrees of freedom, as shown in Figure 5. Shown. 4. Figure 6 is an exploded view of the worm gear winding module with a change in rope length 201201891, including the motor 30, the coupling 31, the seat bearings (32 and 36), the worm 33, the boring wheel 35, and the pedestal bearing (34). And 38) and the combination of the sheave 37. Of course, it is also possible to use a motor directly equipped with a worm gear reducer to reduce the coupling 31, the seat bearing (32), etc., and to further reduce the volume of the drive module. Figure 7 shows the rope module designed with the 埚 wheel reducer. 5. Figure 8 and Figure 9 show the dynamic flat-port drive mode of the worm-gear-roller module. The worm-gear-roller model of Figure 6 is assembled on a dynamic platform with two degrees of freedom and three degrees of freedom. , as a rope to change the drive. 6. Figure 10 shows the use of a pneumatic cylinder 5 or a telescopic cylinder instead of the connector in Figure 8 to provide the platform with two degrees of freedom (10). 7. Figure 12 shows the use of a pneumatic cylinder 5〇 instead of the linkage mechanism in Figure 9 to give the platform three controllable degrees of freedom (pitch, yaw) ° I show the movement of single-degree of freedom in Figure 14. The platform replaces the ball writing joint 2 of Fig. 1 with a rotary joint 61 of one degree of freedom, and only one motor 60 is required as a driving source. 'It is characterized in that three of the first fulcrums are made of balls, ''not in 5', the plane formed by the dynamic platform fulcrum of the present invention is used as a dynamic platform, 9 201201891 f joint and cut pumping, second and second The three new states are respectively constructed by connecting a surname to a rope. The distance between the first fulcrum and the second and third fulcrums is smaller than the distance between the center of gravity of the platform carrying object and the user relative to the first and third fulcrums. (4) The center of gravity of the object and the user shall fall on the other side of the support shaft relative to the second fulcrum and the third fulcrum. The bottom of the platform is provided with a link mechanism or a telescopic device to restrain the platform from yaw ((4), when controlling the length of the two ropes) The platform can be pitched (10) and ruddered by two degrees of freedom of controllable motion. In order to reduce the platform volume, the drive motor of the scrolling rope and its driver can be placed at the bottom of the platform. The dynamic platform 'because gravity is used as feedback to tighten the rope, so you can bury it by the softness of the rope, providing greater pitch (Ρ_angle and roll (10)〇 angle For example, in design, the smaller the width and length of the platform, the greater the limit angle of pitch and roll (r〇ii). Or the 'design, the higher the height of the support shaft, the longer the fit. »The rope, the greater the limit angle between pitch and roll (10). The yaw angle of the third axis of rotation is designed to be a rotating platform with an angle of up to plus or minus 18〇. In other words, the present invention can meet the requirements of various three rotational degrees of freedom by adjusting the length of the rope, the height of the support shaft, the width and length of the platform, and the rotating platform providing the yaw angle. Low cost, high flexibility, and even the step-by-step design of the height of the support, the width and length of the platform so that the user can adjust the mechanism, such as the structure of the support shaft designed as a jack 201201891, can freely change its height. As shown in FIG. 13, the off-road bicycle is placed on the third axis rotary table of the motion platform of the present invention, and at least the projection screen is matched with at least the projection in front of the bicycle. It is placed behind the bicycle and connected to the computer (not shown in the illustration) to play the game or the video or virtual reality of the game, through the microcontroller and 1/0 interface (not shown) In the illustration) and the three-axis angular position sensor of the motion platform, and the bicycle speed sensor (not shown in the figure), it is possible to change the platform motion posture to match the virtual road surface fluctuations, A more realistic feeling is achieved. Further, a controllable brake such as a magnetic powder brake (not shown) is combined with the wheel to simulate the ups and downs of the road to change the load of the rider. Note that the projector device here also It can be replaced by a display n • or a television. σ : , , , : The present invention has been disclosed above in a preferred embodiment, but it is not intended to limit the invention 'any of the skilled artisan without departing from the invention. The scope of protection of the present invention is defined by the scope of the appended claims. [Simple diagram of the diagram] Figure 1 Three views of the dynamic platform of two degrees of freedom 201201891 Figure 2 Two-degree-of-freedom dynamic platform side view of the installation of the linkage mechanism Three-link diagram of the three-link mechanism Figure 4 Three-axis rotation device three-dimensional Schematic diagram of a three-degree-of-freedom rope-driven dynamic platform side view Figure six-wheel worm winding rope module three-dimensional explosion diagram Figure seven with a worm gear reducer rope module schematic diagram eight two degrees of freedom rope Three-dimensional diagram of driving dynamic platform Φ Figure 9 Side view of rope-driven dynamic platform with three degrees of freedom Figure 10 Side view of two degrees of freedom dynamic platform with pneumatic cylinders Eleven ropes with three degrees of freedom Stereoscopic diagram of the platform Figure 12 is a three-dimensional schematic diagram of a three-degree-of-freedom dynamic platform equipped with a pneumatic cylinder. Figure 13 is a three-dimensional schematic diagram of a rope-type dynamic platform for sports and recreation. Figure 14 A rope-driven dynamic platform with one degree of freedom. Stereoscopic diagram [main component symbol description] 1. Platform 7. Rope 2. Ball writing joint 8. Rope 3. Support column 10. Linkage machine 4. Motor 11. One degree of freedom rotary joint 5. Slotted wheel 12. Connecting rod 6. Seat bearing 13. One degree of freedom rotary joint 12 201201891 14. Connecting rod 15. Three degrees of freedom rotary joint 20. Motor 21. Rotating Table 30. Motor 31. Coupling 32. Seat bearing φ 33. Worm 34. Seat bearing 35. Worm gear 36. Seat bearing 37. Groove 38. Seat bearing 40. Motor 41. Worm gear reducer 42. Seat bearing 50. Pneumatic cylinder 60 Motor 61 single degree of freedom rotary joint
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