TWI426941B - Rope-driven dynamic platform - Google Patents

Description

Rope driven dynamic platform

The present invention is to construct a dynamic platform having at least one rotational degree of freedom, which is characterized in that the motor is used to drive the rope, and the dynamic platform generates a relative angular change of one to two axes of pitch by changing the length change of the rope. And add a set of independent rotating devices as the third degree of freedom (yaw) of the dynamic platform, which can be equipped with any device and equipment.

At present, there are many kinds of dynamic platforms in the market, most of which 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 degrees of freedom. The three-axis degrees of freedom are three rotation directions around the X-axis, pitch around the Y-axis, and yaw around the Z-axis; and the six-axis degrees of freedom are in addition to pitch and roll ( In addition to the three rotation directions of roll and yaw, the translational motion along the X, Y and Z axes is more typical. The typical six-axis DOF dynamic platform is the Stewart platform.

There are two common modes of operation on the Stewart platform: 1. 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 lead screws as actuators, the drive source is a servo motor, and the encoder or optical scale is used as feedback. Through the forward kinematics or reverse kinematics in robotics, it is possible to know how much length the independent hydraulic cylinder or lead screw needs to change in order for the platform to make the set action.

The components used in the Stewart platform are very sophisticated, such as hydraulic cylinders, encoders, optical scales and servo valves. The cost is very expensive. This equipment is usually used for academic research or military vehicle simulation training, but to develop in the game. In the field of sports equipment, it is not easy to consider the cost. In addition, the degree of change in the degrees of freedom of such platforms is limited by the single platform and the driving mechanism, which is generally not large, and there is still a lack of dynamic immersive feeling.

The applicant of the case of the Republic of China Invention Patent No. 200844921, the overall structure of the rope-driven dynamic platform is designed to be suspended, resulting in a bulky overall structure, and the rope is exposed outside the dynamic platform, which is easy to cause users to change due to the expansion and contraction of the rope. danger. Moreover, the dynamic behavior simulation of the invention patent design is less than the actual situation, for example, a bicycle is installed on the platform to simulate the road surface condition when riding the bicycle, and the user is allowed to turn when the road surface is turned from horizontal to uphill. It feels that the back is falling backwards, which is different from the feeling that the front end of the actual ride is lifted upwards. In addition, in terms of safety protection, the first degree of freedom and the second degree of freedom are in the motor-driven rope device, which is limited by the fact that some motors cannot maintain the braking or locking action when there is no driving power, and the platform is likely to generate a restoring force due to gravity. The platform swings toward the direction of the gravity load end, posing a danger to the rider.

Therefore, the present invention will design a dynamic platform that is simple in maintenance, small in area, low in cost, good in safety, and large in rotational variation, and conforms to the actual simulation scenario, and can be combined with various game devices, sports equipment and the like.

The rope-driven dynamic platform is designed to have three fulcrums under the platform body. One of the fixed fulcrums is a three-degree-of-freedom ball joint and a support column, and the other two points are respectively connected to the rope and the two ropes. The rope is held in tension by gravity with respect to the other side of the fixed support column. The three-degree-of-freedom relative motion of the platform relative to the fixed fulcrum by pitch, roll and yaw is generated by the motor driving the two fulcrum positions of the rope and the restoring force generated by the gravity. As shown in Figure 1.

However, when a rope is used as a pitch and roll drive source, it will be limited by the fact that the rope does not produce sufficient restraint, causing the yaw motion to drift with the position of the platform's center of gravity. 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 linkage mechanism, will be installed under the dynamic platform to increase the binding force of the platform, which will enable The degree of freedom of the dynamic platform is simplified to two degrees of freedom of pitch and roll. FIG. 2 is one of the embodiments in which a link mechanism is disposed at a position below the platform. A three-degree-of-freedom rotary joint, two links and two rotary joints with one degree of freedom.

For a third degree of freedom yaw motion mechanism, the present invention utilizes a motor to drive a rotary table mechanism that is mounted to the two-axis platform as shown in FIG.

Through the above design process, it is known that the relative position of the platform is pulled by a fixed support column, a ball joint and the two ropes, and the two degrees of freedom of the control platform are achieved; the third degree of freedom is independent of the degree of freedom of the rope control. In addition, it constitutes a rope-type dynamic platform with three degrees of freedom.

In the motor-driven rope device, it is limited that some motors cannot maintain the braking or locking action when there is no driving power, so that the platform will generate a restoring force due to gravity, causing the platform to swing toward the gravity load end direction, causing the rider not to Expected and possible hazard, the present invention designs a set of rope modules, the exploded view of which is shown in Figure 6. The module utilizes an irreversible characteristic design such as a worm gear, etc., which is characterized only by the worm The power source input drives the worm wheel to rotate, and the worm wheel can not rotate in the reverse direction. Therefore, the dynamic platform does not cause the platform to tilt due to gravity due to the loss of driving power of the motor, and only stays in 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, exercise bikes, bicycles, boating, skiing, surfing, horse riding and other sports equipment, or racing cars and motorcycles. The equipment of the game can be selectively mounted on the two-degree-of-freedom rope-type dynamic platform of Figure 8, or on the three-degree-of-freedom rope-type dynamic platform of Figure 11.

1. Figure 1 is a three-view view of a rope type dynamic platform, comprising a platform 1 composed of three fulcrums, wherein the support column 3 and the ball joint 2 constitute a fulcrum, and the ropes 7 and 8 constitute the other two points, by the motor 4 Control the length of the rope and combine it into a dynamic platform with three pitch, roll, yaw.

2. Figure 2 shows a set of linkages 10 installed under the platform in Figure 1 (the perspective view is shown in Figure 3), so that the platform has only two controllable freedoms of pitch and roll. degree.

3. Figure 4 shows the controllable rotary platform device consisting of motor 20 and rotary table 21. The controllable rotary platform device is mounted 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 rope module with varying rope lengths, including motor 30, coupling 31, seat bearings (32 and 36), worm 33, worm gear 35, and seat bearings (34 and 38) Combined with 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 and the seat bearing (32), and to further reduce the volume of the drive module. FIG. 7 is a rope module designed with a worm gear reducer.

5. Figure 8 and Figure 9 show the dynamic platform driving method of the worm gear winding rope module. The worm gear winding rope model designed in 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 50 or a telescopic cylinder instead of the linkage mechanism in Figure 8, giving the platform two controllable pitches.

7. Figure 12 shows the use of a pneumatic cylinder 50 in place of the linkage mechanism of Figure 9, giving the platform three controllable degrees of freedom (pitch, roll, yaw).

8. A single degree of freedom motion platform is shown in Fig. 14, which replaces the ball joint 2 of Fig. 1 with a rotary joint 61 of one degree of freedom, and only one motor 60 is required as a drive source.

In summary, the dynamic platform of the present invention is characterized in that a plane formed by three fulcrums is used as a dynamic platform, wherein the first fulcrum is composed of a ball joint and a support shaft, and the second and third fulcrums are respectively connected. A rope is constructed in such a manner that the distance between the first pivot point and the second and third pivot points is smaller than the distance between the center of gravity of the platform bearing object and the user relative to the second and third pivot points, and the carrying object and the user The center of gravity needs to 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 yaw of the platform. When controlling the length of the two ropes, the platform can be made Pitch and roll controllable motion with two degrees of freedom. In order to reduce the size of the platform, the drive motor of the rolling rope and its driver can be placed under the platform.

In addition, the dynamic platform of the present invention can provide a larger pitch angle and roll angle by the flexibility of the rope because gravity is used as feedback to tighten the rope. For example, in design, the smaller the width and length of the platform, the greater the extreme angle of pitch and roll. Or, in design, the higher the height of the support shaft and the longer the rope, the greater the limit angle of pitch and roll. Regarding the yaw angle of the third rotating shaft, since the design is a rotating platform, the angle can be up to plus or minus 180 degrees. In other words, the present invention can meet the requirements of various three rotational freedom motion platforms 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, and the cost is low. Highly flexible, and even further designed the support shaft height, platform width and length so that the user can adjust the mechanism, such as the mechanism of the support shaft designed as a jack, you can freely change its height.

Example

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 one projection screen is disposed in front of the bicycle, and at least one projector is disposed behind the bicycle, and is connected to the computer. (not shown) Connected to play a game or cross-country movie or virtual reality, through the microcontroller and I/O interface (not shown) and the three-axis angular position of the motion platform The sensor, and the bicycle speed sensor (not shown in the figure), can feedback the change of the platform motion posture and the virtual road surface undulation to achieve a more realistic feeling. Further, a controllable brake such as a magnetic powder brake (not shown) is incorporated into the wheel to simulate an uphill and downhill road surface to change the rider's load. Note that the projector unit here can also be replaced by a display or a television.

Although the present invention has been described above in terms of a preferred embodiment, it is not intended to limit the invention, and it is obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention. The scope of the invention is defined by the scope of the appended claims.

1. . . platform

2. . . Ball joint

3. . . Support column

4. . . motor

5. . . Slot wheel

6. . . Seat bearing

7. . . rope

8. . . rope

10. . . Linkage

11. . . One degree of freedom rotary joint

12. . . link

13. . . One degree of freedom rotary joint

14. . . link

15. . . Three degree of freedom rotary joint

20. . . motor

twenty one. . . Rotary table

30. . . motor

31. . . Coupling

32. . . Seat bearing

33. . . Worm

34. . . Seat bearing

35. . . Worm gear

36. . . Seat bearing

37. . . Slot wheel

38. . . Seat bearing

40. . . motor

41. . . Worm gear reducer

42. . . Slot wheel

43. . . Seat bearing

50. . . Pneumatic cylinder

60. . . motor

61. . . Single degree of freedom rotary joint

Figure 1. Three views of the dynamic platform of three degrees of freedom

Figure 2 Two-degree-of-freedom dynamic platform side view with additional linkage

Figure 3 Stereo view of the linkage mechanism

Figure 4 is a three-dimensional schematic diagram of the third axis rotating device

Figure 5. Side view of a rope-driven dynamic platform with three degrees of freedom

Figure 6 Schematic diagram of the three-dimensional explosion of the worm gear winding module

Figure 7 Schematic diagram of the rope module with the worm gear reducer

Figure 8. Stereoscopic diagram of a rope-driven dynamic platform with two degrees of freedom

Figure IX Side view of a rope-driven dynamic platform with three degrees of freedom

Figure 10 Side view of two degrees of freedom dynamic platform with pneumatic cylinders installed

Figure 11 is a perspective view of a rope-type dynamic platform with three degrees of freedom

Figure 12 is a three-dimensional schematic diagram of a three-degree-of-freedom dynamic platform with a pneumatic cylinder

Figure 13 is a three-dimensional schematic diagram of the overall rope-type dynamic platform used in sports and recreation

Figure 14 is a perspective view of a rope-driven dynamic platform with one degree of freedom

1. . . platform

2. . . Ball joint

3. . . Support column

4. . . motor

5. . . Slot wheel

6. . . Seat bearing

7. . . rope

8. . . rope

Claims (17)

A dynamic platform is characterized in that a plane formed by three fulcrums is used as a dynamic platform, wherein the first fulcrum is composed of a ball joint and a support shaft, and the second and third fulcrums are respectively connected by a rope. The distance between the first fulcrum and the second fulcrum is smaller than the distance between the platform-bearing object and the user's center of gravity relative to the second and third fulcrums, and the weight of the bearing object and the user needs to fall on The support shaft is opposite to the second fulcrum and the third fulcrum, and the gravity is used as feedback to tighten the rope, and a bottom mechanism or a telescopic device is arranged at the bottom of the platform to restrain the platform from generating yaw, and when controlling the length of the two ropes The platform can be made to control the movement of two degrees of freedom, pitch and roll. The dynamic platform of claim 1, wherein the method of changing the length of the rope can be accomplished by a motor rolling the rope, the motor being disposed under the platform. For example, the dynamic platform of claim 1 of the patent scope, wherein the width and length of the platform can be adjusted to change the extreme angles of pitch and roll before and after the platform motion. For example, in the dynamic platform of claim 1, the height of the support shaft can be adjusted to match the length of the rope to change the limit angle of pitch and roll before and after the platform motion. For example, the dynamic platform of claim 1 of the patent scope, in which the control rope is long The degree of the method can be accomplished by adding a worm gear reducer to the motor to wind the rope. For example, the dynamic platform of claim 1 is wherein the telescopic device is a pneumatic cylinder or a hydraulic cylinder or a telescopic slide rail. For example, the dynamic platform of claim 1 of the patent scope is further equipped with a rotating platform on the two-axis platform to make it a three-axis motion platform. For example, in the dynamic platform of claim 1 of the patent scope, a two-axis angular position sensor is further added to the platform for feedback control. For example, the dynamic platform of claim 1 is further combined with a control module, a sports game device, and a multimedia module, including a sports game device placed on the dynamic platform; a multimedia module including at least one projector projected on the sports game device a front curtain or wall or at least one television or at least one display, and connected to a computer, or connected to the Internet, playing a game or off-road movie or virtual reality; at least one control module including a microcontroller The two-axis angular position sensor and the motion game equipment speed sensor with the I/O interface and the motion platform can feedback the change of the platform motion posture and the virtual reality context change to achieve a more realistic feeling. For example, in the dynamic platform of claim 9, the sports game equipment refers to a bicycle, and further combines the controllable load device on the bicycle wheel to simulate the ups and downs of the road surface to change the rider's load. For example, in the dynamic platform of claim 9, the sports game equipment is selected from the group consisting of rowing machines, skis, surfboards, horseback riding machines, racing cars, motorcycles, and further integrating the controllable load device with the sports game equipment, Change the user's load. For example, in the dynamic platform of claim 7 of the patent scope, a three-axis angular position sensor is further added to the platform for feedback control. For example, the dynamic platform of claim 7 is further combined with a control module, a sports game device, and a multimedia module, including a sports game device placed on the third axis rotary table; a multimedia module including at least one projector projected on a curtain or wall in front of the sports game device or at least one television or at least one display, and connected to the computer, or connected to the Internet, playing a game or off-road video or virtual reality; at least one control module includes The microcontroller and I/O interface as well as the three-axis angular position sensor and the motion game equipment speed sensor of the motion platform can feedback the change of the platform motion posture and the virtual reality context change to achieve a more realistic feeling. For example, in the dynamic platform of claim 13, the sports game equipment refers to a bicycle, and the load device is further combined with the bicycle wheel to simulate the ups and downs of the road surface to change the load of the rider. Such as the dynamic platform of the 13th patent application scope, the sports tour The play equipment is selected from rowing machines, skis, surfboards, horseback riding machines, racing cars, motorcycles, and further incorporates a controllable load device to the sports game equipment to change the load of the user. A dynamic platform is characterized in that a plane formed by two fulcrums is used as a dynamic platform, wherein the first fulcrum is composed of a single-degree-of-freedom joint and a support shaft, and the second fulcrum is formed by connecting a rope, the first fulcrum The distance from the second fulcrum is smaller than the distance between the platform-carrying object and the user's center of gravity relative to the first fulcrum, and the weight of the bearing object and the user needs to fall on the other side of the support shaft relative to the second fulcrum, using gravity As a feedback to tighten the rope and control the length of the rope, the platform can be controlled for forward and backward pitch. For example, the dynamic platform of claim 16 wherein the method of changing the length of the rope can be accomplished by a motor rolling the rope, the motor being disposed under the platform.