TWI407993B - The cam-type/2 axis interactive orthogonal motion base system - Google Patents

Abstract

Different from the traditional simulation base that uses hydraulic or air pressure systems, the Cam-type/2 axis interactive orthogonal motion base this creation highlights features modular design. It adopts two sets of the same cams that are orthogonally placed on the base so that the motion base can allow two degree-of-freedom movements. Between the base plate and the active plate, two linear resistors are orthogonally placed to detect the information of the positions of the two degree-of-freedom movements. The motion control provides real-time control through communication with the computer system via a high-speed USB. This motion base features its values of simplicity and industrial applicability, and can be applied to simulate game machines with motion, educational systems, navigation systems, motion theatres, and products of virtual reality purposes.

Description

Two-axis orthogonal cam driven motion platform

The present invention relates to a two-axis orthogonal cam-driven motion platform, in particular, without using a hydraulic or pneumatic system, two sets of identically configured cam drive groups are orthogonally arranged on the base platform to drive the movable platform to have two freedoms. Dynamic simulation device for rotational motion.

Traditional games that use 3D technology, with a sports platform that works in conjunction with the game situation, provide game players with a deeper experience, such as flying, racing and tank battles, but generally use hydraulic technology sports platform, the disadvantage is volume Larger, more components and maintenance requirements, making assembly difficult, difficult to repair, less costly and cost-effective considerations, due to the above problems, it is not suitable for use.

The main object of the present invention is to disclose a two-axis orthogonal cam-driven motion platform, which comprises at least a base platform, a movable platform and two sets of cam driving groups having the same position and different positions, without using a conventional hydraulic or pneumatic system. The two sets of cam drive sets of the same structure are orthogonally disposed on the base platform to drive the movable platform to perform a rotational motion with two degrees of freedom.

In the two-axis orthogonal cam-driven motion platform, a two-linear resistance is further orthogonally arranged between the base platform and the movable platform for sensing information of a two-degree-of-freedom moving position of the movable platform.

The two-axis orthogonal cam-driven motion platform has the following advantages: 1. Using two cam design groups with the same modular design structure, orthogonal configuration to drive platform. The modular design has the advantages of simplifying design and manufacturing. The orthogonal configuration also reduces the complexity of the platform control. 2. The information of the two-degree-of-freedom motion position of the active platform uses the high-speed universal serial bus to communicate with the computer. Control, and this computer system can also provide high flexibility and integration with other systems, such as game systems, teaching systems, navigation systems, dynamic cinemas and virtual reality; 3. Known two-axis cam motion platform (see attachment) The cam positions are parallel to each other, and the relative position of the center column is an isosceles triangle, and the two sets of cam driving groups of the present invention are orthogonal to each other, and the positioning position is different when calculating the movable platform position. In addition, the structure of the present invention is relatively easy to determine the exact position. In addition, the linear resistance of the present invention is a standard component, so that the position of the measuring platform is more accurate.

As shown in the first figure and the second figure, the two-axis orthogonal cam-driven motion platform disclosed by the present invention has a base platform (20), a column (30), a movable platform (40) and two sets of structures. a cam driving group (10) having different positions; wherein the column (30) is disposed on the base platform (20), and a top joint yoke mechanism (401) is disposed at a top of the column (30) The universal joint yoke mechanism (401) is coupled to the movable platform (40). The universal joint yoke mechanism (401) is configured to support and limit the movable platform (40) relative to the base platform (20) (such as the X-axis and/or the Y-axis shown in the first figure) The connection structure of the degree of freedom rotational motion enables the movable platform (40) to perform a two-degree-of-freedom rotational motion. The movable platform (40) is configured with two upper seats (402) at opposite positions corresponding to the vertical positions of the columns (30) (hereinafter referred to as orthogonal), except that the two upper seats (402) are made The relative position with the universal joint yoke mechanism (401) is also orthogonally arranged In addition, when the two sets of cam driving groups (10) are respectively connected to the connection points of the movable platform (40), the positions of the two upper seats (402) are required to be matched with the respective uppers. The socket (402) constitutes a pivotal connection, and the result is that the two sets of cam driving groups (10) are orthogonally disposed on the base platform in a relative position corresponding to the vertical position of the column (30). 20) On.

As shown in the third figure, each set of cam driving groups (10) of the present invention is a power link assembly comprising a motor (101), a speed reduction mechanism (102), a cam (103), and a spherical bearing ( 105) and a cam link (104); wherein one end of the cam link (104) is pivotally connected to the cam (103), and the other end is provided with the spherical bearing (105) and the movable platform The upper seat (402) of (40) constitutes a pivotal connection; the motor (101) outputs power, and the cam (103) is rotated by the speed reduction mechanism (102) to drive the cam link (104) Driving the movable platform (40) to perform a motion of one degree of freedom (such as the X-axis or the Y-axis shown in the first figure).

The motor (101) of the cam drive set (10) can be replaced with an actuator that provides rotational torque.

When the cam link (104) of one of the cam driving groups (10) is connected to the movable platform (40) through one of the upper seats (402) pivotally connected to the movable platform (40), as long as the output power is The motor (101) rotates the cam (103) through the speed reduction mechanism (102), and drives the associated cam link (104) to drive the movable platform (40) to perform the X-axis direction as shown in the first figure (below). Referred to as the first axis) rotary motion; and the cam link (104) of the other set of cam drive groups (10) is coupled to the movable platform (402) and the movable platform (the other pivot seat) of the movable platform (40) 40) After the connection, as long as the motor (101) whose output power is driven to rotate the cam (103) through the speed reduction mechanism (102), the driving cam link (104) is driven to drive the movable platform (40) as shown in the first figure. The Y-axis direction (hereinafter simply referred to as the second axis) is shown as a rotational motion.

As shown in the first figure and the second figure, a cam driving group (10) for driving the movable platform (40) to perform a first-axis rotational motion is provided on the output shaft of the speed reducing mechanism (102). A linked light blocking piece (106) is used adjacent to a light blocking sensor (107), and after being fixed on the base platform (20), is used together with the light blocking piece (106) To sense a rotation area of the cam (103); and a cam driving group (10) for driving the movable platform (40) to perform a second axis rotation movement, the output shaft of the speed reduction mechanism (102) is provided a light blocking piece (106) coupled therewith, a light blocking sensor (107) is used next to the light blocking piece (107), and after being fixed on the base platform (20), the light blocking piece (106) Together they are used to sense the area of rotation of their cam (103).

The photointerrupting sheet (106) and the photointerrupting sensor (107) may be replaced with an encoder or a potentiometer.

As shown in the first figure and the second figure, between the base platform (20) and the movable platform (40), two linear resistors are orthogonally disposed at opposite positions corresponding to the vertical position of the column (30) ( 50), for sensing the position information of the first axis and/or the second axis rotational motion of the two degrees of freedom of the movable platform (40).

The linear resistor (50) may be replaced with one of an encoder, a potentiometer, an accelerometer, an optical gauge or a gyroscope.

The combination of the above is a mechanism type configuration, according to the Gruebler's formula for spatial mechanism: Where F is the overall degree of freedom of the mechanism, L is the total number of mechanisms, j is the total number of joints, and f _i is the degree of freedom of the ith joint. In this case, L = 6, j = 7, Obtaining the overall degree of freedom of the mechanism F = 4 ; wherein the cam links (104) of the two sets of cam driving groups (10) each have a degree of freedom, since the degree of freedom is relative to the spherical bearing (105) Redundant degree of freedom, this part can be ignored in actual operation. It follows that the two-axis orthogonal cam (103) driven motion platform of the present invention has two degrees of freedom, and the motion state can be controlled by two sets of cam driving groups (10) arranged orthogonally.

In the present invention, the two sets of cam drive groups (10) are modularly designed and adopt an orthogonal configuration. In terms of workspace analysis, the conventional dynamic platform requires the work space to be evenly distributed to meet the needs of various scenarios, and the orthogonal configuration in the present invention can achieve a complete and symmetrical workspace, which is for motion control. It is a great niche. If the two cam drive groups (10) adopt a non-orthogonal configuration, the action amplitude of one dimension will be smaller than the action range of the other dimension, and the uneven distribution of the work space will increase the complexity of the design of the drive mechanism and the design of the motion control. It is not easy to design and manufacture the cam drive group (10) in a modular manner, which will also increase the manufacturing cost.

For a specific embodiment of the two-axis orthogonal cam-driven motion platform of the present invention, please refer to the fourth figure, if the cam driving group (10) for driving the movable platform (40) to perform the first-axis rotational motion is decelerated The mechanism (102) drives the cam (103) to rotate to the start point (limit point) of the stroke, and the cam link (104) raises the pivotally mounted upper socket (402), and at the same time, drives the movable platform (40) a cam drive group (10) for performing a second axis rotational motion, wherein the speed reduction mechanism (102) drives the cam (103) to rotate to the midpoint of the stroke, and the cam link (104) remains stationary, which will cause the movable platform (40) Producing a first degree of rotational motion of one degree of freedom. Due to the production of the active platform (40) Movement, the linear resistor (50) is linked to generate a displacement signal for feedback and control. Similarly, if the cam drive group (10) for driving the movable platform (40) to perform the second axis rotary motion, the speed reduction mechanism (102) drives the cam (103) to rotate to the start point (limit point) of the stroke, The cam link (104) raises the pivotally mounted upper seat (402), and at the same time, the cam drive group (10) for driving the movable platform (40) to perform the first axis rotational movement, the speed reduction mechanism thereof (102) The drive cam (103) is rotated to the midpoint of the stroke, and the cam link (104) remains stationary, which will cause the movable platform (40) to produce a second degree of rotational motion of one degree of freedom. Thus, the movable platform (40) can be rotated by two degrees of freedom by driving two sets of cam driving groups (10) exhibiting an orthogonal configuration, and the two sets of cam driving groups (10) are modules. The same design and the same structure have the advantages of simplified design and reduced cost manufacturing.

Referring to FIG. 5, the two-axis orthogonal cam-driven motion platform system disclosed in the present invention comprises a cabin system (60), a computer system (70), and an electronic control system (80). The two-axis orthogonal cam driven motion platform. The cabin system (60) includes a cabin seat (601), an input/output unit (602), a display unit (603), a sound unit (604), and its required support structure and appearance. When the player (consumer) experiences the game situation simulation, rides the provided cockpit seat (601) to receive the sound and light effect from the display unit (603) and the sound effect unit (604), The input/output unit (603) transmits a response to the game situation simulation. The computer system (70) includes a separate display interface unit (701), a game context simulation interface processing unit (702), an audio interface processing unit (703), an instant platform dynamic control processing unit (704), and an interaction. Game context simulation processing unit (705). The independent display interface unit (701) processes the visual effects required by the display unit (603) in the cabin system (60). The sound effect The interface processing unit (703) processes the sound effects required by the sound unit (604) in the cabin system (60). The game context simulation interface processing unit (702) accepts from the player (consumer) and the cockpit system via the high speed universal serial bus (90) and the input/output unit (602) in the cockpit system (60). ) Sensor information related to the installation. The interactive game context simulation processing unit (705) accepts the input/output unit (602) and the instant platform dynamic control processing unit (704) to perform an interactive game context simulation process, and then outputs the dynamic data (100) to the The input/output unit (602) is configured to adjust conditions within the cabin system (60) while outputting dynamic data (100) to the immediate platform dynamic control processing unit (704) for on-the-fly platform dynamic control. The real-time platform dynamic control processing unit (704) immediately accepts the dynamic information (100) of the game context simulation interface processing unit (702) and the interactive game context simulation processing unit (705) for real-time platform dynamic control processing. The high speed universal serial bus (90) communicates with the electronic control system (80). The electronic control system (80) includes a motor dynamic control and self-detection unit (801) and each shaft motor drive unit (802).

One of the advantages of the system architecture disclosed in the present invention is that the motor dynamic control and self-detection unit (801) in the electronic control system (80) is a general-purpose module design, which can cope with the demand of one or more motors (101), and can drive plural Motors (101) provide flexibility in application, significantly reducing system resources and design development costs. The second advantage of this system architecture is that high-speed universal serial bus (90) is used for data communication between subsystems. The transmission bandwidth is fast and fast enough to meet the needs of dynamic control of real-time platform, and the flexibility of the system is expanded. The third advantage of the system architecture is that in the two-axis orthogonal cam-driven motion platform, the light blocking piece (106) is applied, and the light blocking sensor (107) is used to sense the rotating area of the cam (103), completely Avoid exercise The problem of multiple branches of learning greatly reduces the complexity of control. The fourth advantage of the system architecture is that in the two-axis orthogonal cam-driven motion platform, a linear resistor (50) is used to generate the displacement signal, and the signal shows the absolute displacement of the movable platform (40). If the rotational displacement of the motor unit (101) is measured and converted to the displacement of the movable platform (40), signal sensing errors may occur due to gear backlash, machining dimensional tolerances, and assembly errors. By measuring the absolute displacement of the movable platform (40) directly by the linear resistor (50), the above error can be avoided, the platform control accuracy can be improved, and the player (consumer) experience can be further deepened. The fifth advantage of the system architecture, the computer system (70) already includes an instant platform dynamic control processing unit (704), which eliminates the need for additional microprocessors and corresponding hardware, greatly reducing hardware requirements and reducing design development costs. Therefore, it is more economical and practical than the conventional sports platform system architecture.

Based on the above, it is expected that the review function will understand the two-axis orthogonal cam-driven motion platform system of the present invention, which is economical and simplified in application, and has patent requirements such as industrial utilization, novelty and advancement, and is expected to be approved as soon as possible. The patent is very sensible.

10‧‧‧Cam Drive Group

101‧‧‧Motor

102‧‧‧Speed reduction mechanism

103‧‧‧ cam

104‧‧‧Cam Link

105‧‧‧Spherical bearings

106‧‧‧Photomask

107‧‧‧Light occlusion sensor

20‧‧‧Base platform

30‧‧‧ column

40‧‧‧Event Platform

401‧‧‧ universal joint yoke mechanism

402‧‧‧上座

50‧‧‧linear resistance

60‧‧‧Cockpit system

601‧‧‧Cockpit seats

602‧‧‧Input/output unit

603‧‧‧Display unit

604‧‧‧Sound unit

70‧‧‧ computer system

701‧‧‧Independent display interface unit

702‧‧‧ Game Situation Simulation Interface Processing Unit

703‧‧‧Sound Interface Processing Unit

704‧‧‧Instant Platform Dynamic Control Processing Unit

705‧‧‧Interactive game situation simulation processing unit

80‧‧‧Electronic control system

801‧‧‧Motor Dynamic Control and Self-Test Unit

802‧‧‧Axis motor drive unit

90‧‧‧High speed universal serial bus

100‧‧‧Dynamic data

The first figure is a schematic diagram of a two-axis orthogonal cam driven motion platform of the present invention.

The second figure is an exploded view of the two-axis orthogonal cam driven motion platform of the present invention.

Third: is a schematic diagram of a cam drive set of the present invention.

Figure 4: Side view of a two-axis orthogonal cam-driven motion platform.

Figure 5: System architecture diagram of a two-axis orthogonal cam-driven motion platform.

10‧‧‧Cam Drive Group

101‧‧‧Motor

102‧‧‧Speed reduction mechanism

103‧‧‧ cam

104‧‧‧Cam Link

105‧‧‧Spherical bearings

106‧‧‧Photomask

107‧‧‧Light occlusion sensor

20‧‧‧Base platform

30‧‧‧ column

40‧‧‧Event Platform

401‧‧‧ universal joint yoke mechanism

402‧‧‧上座

50‧‧‧linear resistance

Claims (6)

A two-axis orthogonal cam-driven motion platform comprising: a base platform; a movable platform; a column disposed on the base platform; a universal joint yoke mechanism disposed on the top of the column and The movable platform constitutes a connection to support and limit the movable platform to perform at least two degrees of freedom rotational movement with respect to the base platform; and two sets of cam driving groups; wherein the two sets of cam driving groups are respectively disposed at the On the base platform, and corresponding to the column, the orthogonal arrangement is arranged, and the two sets of cam driving groups and the movable platform respectively form a pivotal connection point, and the vertical column also has an orthogonal configuration; wherein each group The cam drive group is a power link assembly comprising a motor, a speed reduction mechanism, a cam, a cam link and a spherical bearing, one end of the cam link is pivotally connected to the cam, and the other end is provided for setting The connection point of the spherical bearing and the movable platform is pivoted, and the power of the motor drives the cam through the speed reduction mechanism to drive the cam connection , To urge said movable platform for a degree of freedom of rotational movement. The two-axis orthogonal cam-driven motion platform according to claim 1, wherein the output shaft of the speed reduction mechanism of the cam driving group is provided with a light blocking piece that is coupled with the same, and is used alongside A light occlusion sensor is mounted on the substrate platform for sensing the cam rotation area of the cam drive group. A two-axis orthogonal cam-driven motion platform as described in claim 2, The photointerrupting sheet and the photointerrupting sensor are replaced by an encoder or a potentiometer. The two-axis orthogonal cam-driven motion platform according to claim 1, wherein the base platform and the movable platform are disposed in an orthogonal position at a relative position corresponding to the vertical column of the vertical column. The two linear resistors are used to sense the movement position information of the movable platform. The two-axis orthogonal cam-driven motion platform of claim 4, wherein the linear resistor is replaced by an encoder, a potentiometer, an accelerometer, an optical scale or a gyroscope. The two-axis orthogonal cam-driven motion platform of claim 1, wherein the motor of the cam drive group is replaced by an actuator that provides rotational torque.