WO2016108595A1

WO2016108595A1 - Yacht simulator

Info

Publication number: WO2016108595A1
Application number: PCT/KR2015/014443
Authority: WO
Inventors: Won Sik Lee; Tae In Kim
Original assignee: Yudostar Co., Ltd.
Priority date: 2014-12-30
Filing date: 2015-12-29
Publication date: 2016-07-07
Also published as: KR20160080592A

Abstract

Disclosed is a yacht simulator which includes a body in which an occupant compartment is provided, an operation unit provided on one side of the occupant compartment and capable of being manipulated by a user, a rope connected to the operation unit, a rotatable bobbin wound by the rope, a torque sensing device coupled to the bobbin and sensing a rotational torque of the bobbin, and a motor coupled to the torque sensing device.

Description

YACHT SIMULATOR

The present disclosure relates to a yacht simulator.

A yacht simulator is a device which enables the user to experience the effects of sailing a yacht. A yacht is a high-speed and western-style small sailing boat used for sightseeing, sailing, racing, or sailing-related sports games. Yachting enables one to improve his or her body’s ability to adapt especially in terms of balance and flexibility, thereby leading to overall physical development.

Due to development of society, more and more people have come to enjoy water sports. However, buying a personal yacht for leisure activities can be a huge economic burden for people. In addition, since yachting is a sea sports, there is always a possibility of an accident to happen due to weather conditions or lack of sailing proficiency.

In light of the issues mention above, a yacht simulator has been recently proposed which has advantages of a real yacht with less drawbacks thereof, so that a user may experience the sensation of sailing a real yacht.

The following is a related art of a yacht simulator.

1. Application No. (Filing date): KR10-2012-0043001 (April 25, 2012)

2. Title: The virtual navigation system for ship

A yacht simulator of the related art discloses a driving device, which is likely to malfunction and has low operation reliability due to its complicated structure.

In addition, it falls short of providing a user with a vivid sense of reality.

To solve the above objectives, the present disclosure aims to propose a yacht simulator which provides a user with a vivid sense of reality.

The present disclosure provides a yacht simulator including: a body in which an occupant compartment is provided; an operation unit provided on one side of the occupant compartment and capable of being manipulated by a user; a rope connected to the operation unit; a rotatable bobbin wound by the rope; a torque sensing device coupled to the bobbin and sensing a rotational torque of the bobbin; and a motor coupled to the torque sensing device.

The yacht simulator may further include a support rotatably supporting both sides of the bobbin; and a bobbin shaft penetrating the support and coupled to the bobbin.

The yacht simulator may further include a guide pulley provided on one side of the bobbin and capable of being wound by the rope; and a shaft coupled to the guide pulley.

The yacht simulator may further include springs installed on an outer surface of the shaft and disposed on both sides of the guide pulley.

The yacht simulator may further include a nut supporting one side of a spring.

The yacht simulator may further include at least one pulley assembly provided on one side of the bobbin and wound by the rope.

The pulley assembly may include a first pulley wound by the rope; a second pulley disposed on one side of the first pulley; and a third pulley disposed on the other side of the first pulley.

The rope winding the bobbin may wind an outer surface of the first pulley to be extended to a space between the first pulley and the second pulley, and then wind a part of an outer surface of the third pulley.

The yacht simulator may further include a first coupler for coupling a shaft of the motor and a first torque shaft of the torque sensing device; and a second coupler for coupling the bobbin shaft and the first torque shaft of the torque sensing device.

The yacht simulator may further include a motor driving unit required to drive the motor; and a controller controlling the motor driving unit to cause the motor to generate a reaction force.

The yacht simulator may further include a display unit displaying information on operation states of the yacht simulator, wherein the information on operation states comprises weather information and information on a moving direction or speed of a yacht which changes according to a user’s manipulation.

The yacht simulator may further include an input unit used to input predetermined condition information; and wherein weather information or a simulation difficulty level is able to be input through the input unit.

The yacht simulator may further include a motion driving device which is provided below the body and comprises: a lower plate; driving unit assemblies which are coupled to the lower plate and in which a motor generating a rotation force and a linear actuator converting rotation of the motor into linear movement are provided; leg assemblies rotatably coupled to the driving unit assemblies, respectively; and an upper plate being spaced apart upward from the lower plate and coupled to the leg assemblies.

The linear actuator may include a rotation shaft rotatably coupled to the motor and having a first thread formed thereon; a shaft housing on which a nut member having a second thread coupled to the first thread is provided; and a slider coupled to the shaft housing and linearly moving forward or backward.

Each of the leg assemblies may include a leg body extended from the driving unit assembly to the upper plate; a first rotation block provided on one side of the leg body and rotatably coupled to the slider; and a second rotation block provided on the other side of the leg body and ratatably coupled to the upper plate.

According to embodiments, there is provided a device according to an actual yacht, and a user is able to experience yacht sailing by manipulating the yacht.

According to embodiments, there is provided a device, modelled after an actual yacht, and a user is able to experience yacht sailing by manipulating the device.

In particular, a motor’s driving force, which is the lift force applied to a sail, is transmitted to the user when the user manipulates a second operation unit, and, the user is able to control the speed of the yacht by pulling or releasing the said operation unit, and therefore, the device allows the user to experience sailing a yacht.

In addition, a motion driving device is provided which is configured to convert rotation of a motor into linear movement by a linear actuator so as to allow a plurality of sliders to slide forward and backward in four directions and thus efficiently mimic the movement of a yacht.

FIG. 1 is a perspective view illustrating configurations of a yacht simulator according to an embodiment.

FIG. 2 is a perspective view illustrating some configurations of a body of a yacht simulator according to an embodiment.

FIG. 3 is a front view illustrating configurations of a yacht simulator according to an embodiment.

FIG. 4 is a perspective view illustrating some configurations of a yacht simulator according to an embodiment.

FIGS. 5 and 6 are perspective views illustrating configurations of a sail driving device according to embodiments.

FIG. 7 is a exploded perspective view illustrating configuration of a sail driving device according to an embodiment.

FIG. 8 is a cross-sectional view cut by I-I' shown in FIG. 5.

FIG. 9 is a diagram illustrating some configurations of a pulley assembly according to an embodiment.

FIG. 10 is a block diagram illustrating configurations of a yacht simulator according to an embodiment.

FIG. 11 is a diagram illustrating configurations of a display unit of a yacht simulator according to an embodiment.

FIG. 12 is a perspective view illustrating a motion driving device according to an embodiment.

FIG. 13 is a plane view illustrating a motion driving device according to an embodiment.

FIG. 14 is a side view illustrating a motion driving device according to an embodiment.

FIG. 15 is an exploded perspective view illustrating a motion driving device according to an embodiment.

FIG. 16 is a perspective view illustrating configurations of a driving unit assembly according to an embodiment.

FIG. 17 is a diagram illustrating inner configurations of a driving unit assembly according to an embodiment.

FIG. 18 is a cross-sectional view cut by II-II' shown in FIG. 16.

FIGS. 19 and 20 are diagrams illustrating a case where an upper plate according to an embodiment moves in a front-and-back direction (that is, an X-axis direction).

FIGS. 21 and 22 are diagrams illustrating a case where an upper plate according to an embodiment moves in a left-and-right direction (that is, a Y-axis direction).

FIGS. 23a and 23b are diagrams illustrating a case where an upper plate according to an embodiment moves in a downward direction (that is, a Z-axis direction).

FIGS. 24a and 24b are diagrams illustrating a case where an upper plate according to an embodiment moves in an upward direction (that is, a Z-axis direction).

FIGS. 25 and 26 are diagrams illustrating yawing movement of an upper plate according to an embodiment.

The invention is described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure is thorough, and will fully convey the scope of the invention to those skilled in the art.

FIG. 1 is a perspective view illustrating configurations of a yacht simulator according to an embodiment, FIG. 2 is a perspective view illustrating some configurations of a body of a yacht simulator according to an embodiment, FIG. 3 is a front view illustrating configurations of a yacht simulator according to an embodiment, and FIG. 4 is a perspective view illustrating some configurations of a yacht simulator according to an embodiment.

Referring to FIGS. 1 to 4, a yacht simulator according to an embodiment includes a body 11 having an occupant compartment 12 for a user to sit on, and a plurality of

operation units

20 and 50 which are provided in the body 11.

The occupant compartment 12 may be formed such that at least part of the body 11 is recessed downwardly to allow a user to sit therein.

The plurality of

operation units

20 and 50 include a first operation unit 20, which allows the user to manipulate a rudder 31 provided to control a driving direction of the yacht, and a second operation unit 50, which allows the user to control a direction of a sail 95a functioning as a power source. With reference to FIG. 1, the first operation unit 20 may be provided in a rear side of the occupant compartment 12, whereas the second operation unit 50 may be provided on a front side of the occupant compartment 12.

If a user manipulates the first operation unit 20, the rudder 31 rotates around a specific hinge part so that the user may experience a change in a moving direction of a yacht. In addition, if the user manipulates the second operation unit 50, a boom (not shown) onto which the sail of the yacht is fixed moves to control a lift force created by wind so as to control a driving force of the yacht.

The yacht simulator 10 further includes a motion driving device 100 which is provided below the body 11 and controls overall motions of the yacht simulator 10. The motions include motions led by a front-and-back, up-and-down, or yawing movement.

The yacht simulator 10 further includes a rudder driving device 30 which is provided below the rear side of the body 11 and connected to the first operation unit 20. The rudder driving device 30 is considered to be a device that controls movement of the rudder 31 according to manipulation of the first operation unit 20.

The yacht simulator 10 further comprises a sail driving device 60 which is provided below a front portion of the body 11 and connected to the second operation unit 50. The sail driving device 60 is considered as a device that controls movement of the boom according to manipulation of the second operation unit 50.

The yacht simulator 10 further includes a supporting device 108 which supports the lower part of the body 11 and is coupled to the motion driving device 100. The supporting device 108 may be installed between the body 11 and the motion driving device 100.

The yacht simulator 10 further includes a rotation link 105 which supports one side of the supporting device 108 and one side of the motion driving device 100. The rotation link 105 includes one end coupled to a fixing part 109 of the supporting device 108 and the other end rotatably coupled to a support 102 of the motion driving device 100.

The rotation link 105 may support the motion driving device 100 and the supporting device 108 and transfer a driving force of the motion driving apparatus 100 to the supporting device 108 or the body 11.

The sail driving device 60 may be wound by a rope 55. In order to control a direction of the sail 95a relative to wind, the rope 55 may wind or unwind. If the rope 55 winds or unwinds, a location of the boom 95b supporting the sail 95a may be adjusted.

The second operation unit 50 and the rope 55 are connected to each other. The second operation unit 50 may form at least part of the rope 55 and may be held by a user.

The rope 55 winding the sail driving device 60 around may be extended toward the occupant compartment 12. Specifically, a rope through-hole 15 through which the rope 55 is able to pass is formed in the body 11. The rope 55 may be extended from the sail driving device 60 to the occupant compartment 12 by passing through the rope through-hole 15 from the lower part of the body 11.

The body 11 includes a rope holder 17 which supports the rope 55. The rope holder 17 may be coupled to one side of the body 11 and extended toward the occupant compartment 12 by a predetermined length. The rope holder 17 includes a hanger 17a on which the rope 55 is able to hang.

The body 11 further includes a manipulation pulley 57 wound by a rope which passes the hanger 17a, and a pulley fastener 57 which fixes the manipulation pulley 57 onto the body 11. The manipulation pulley 57 and the pulley fastener 18 may be disposed on one side of a recessed part of the body 11, wherein the recessed part of the body 11 forms the occupant compartment 12.

FIGS. 5 and 6 are perspective views illustrating configurations of a sail driving device according to an embodiment, FIG. 7 is a exploded perspective view illustrating configurations of a sail driving device according to an embodiment, FIG. 8 is a cross-sectional view cut by I-I' shown in FIG. 5, and FIG. 9 is a diagram illustrating some configurations of a pulley assembly according to an embodiment.

Referring to FIGS. 5 to 9, the sail driving device 60 includes a motor 61 and a torque sensing device 63, wherein the motor 61 generates a driving force, and the torque sensing device 63 senses a rotational torque of the rope 55 which winds or unwinds by a user’s manipulating the second operation unit 50. A motor shaft 61a is provided in the motor 61.

The sail driving device 60 includes a bobbin 70 being connected to the torque sensing device 63 and wound by the rope 55, a pulley assembly 75 by a rope winding the bobbin 70, and a guide device 80 wound by the rope 55, which the pulley assembly 75 and guides winding and unwinding of the rope 55.

The sail driving device 60 further includes a housing 62 accommodating the torque sensing device 63. The motor 61 may be coupled outside the housing 62. At least part of the housing 62 may be elongated along one side of the bobbin 70.

The sail driving device 60 further includes a first support 71a and a second support 71b, wherein the first support 71a is coupled to the housing 62 and supports one side of the bobbin 70 whereas a second support 71b is spaced apart from the first support 71a to be coupled to the housing 62 and supports the other side of the bobbin 70.

The sail driving device 60 further includes a first bobbin shaft 73a and the first bobbin bearing 74a, wherein the first bobbin shaft 73a penetrates the first support 71a to be coupled to one side of the bobbin 70, and the first bobbin bearing 74a is provided outside the first bobbin shaft 73a. The first bobbin bearing 74a may be installed within the first support 71a which the first bobbin shaft 73a penetrates.

The sail driving device 60 further includes a second bobbin shaft 73b and a second bobbin bearing 74b, wherein the second bobbin shaft 73b penetrates the second support 71b to be coupled to the other side of the bobbin 70, and the second bobbin bearing 74b is provided outside the second bobbin shaft 73b. The second bobbin bearing 74b may be installed within the second support 71b which the second bobbin shaft 73b penetrates.

The first bobbin 70 is disposed between the first support 71a and the second support 71b and rotatably supported by the first support 71a and the second support 71b. The bobbin 70 may rotate around the first support 71a and the second support 71b.

The sail driving device 60 further includes a first torque shaft 63a and a second torque shaft 63b, which are provided on both sides of the torque sensing device 63. The sail driving device 60 further includes a first coupler 64a and a second coupler 64b, wherein the first coupler 64a couples the motor shaft 61a and the first torque shaft 63a, and the second coupler 64b couples the second torque shaft 63b and the second bobbin shaft 73b to be coupled to each other.

If a user pulls the second operation unit 50, the rope 55 may unwind from the bobbin 70 and the bobbin 70 may rotate accordingly. A rotation force of the bobbin 70 is transferred to the torque sensing device 63 through the second bobbin shaft 73b and the second coupler 64b. The torque sensing device 63 may sense an amount of rotation or a rotational force which is transferred by the bobbin 70.

The motor 61 may generate a reaction force based on the amount of rotation or the rotational torque sensed by the torque sensing device 63, and the reaction force generated by the motor 61 may be transferred to the torque sensing device 63 through the first coupler 63 and the first torque shaft 63a and transferred to the bobbin 70, thereby possibly providing resistance to a user.

The sail driving device 60 further includes a pulley assembly 75 wound by the rope 55 which winds the bobbin 70 around. The pulley assembly 75 includes two coupled plates 77, and a plurality of

pulleys

76a, 76b, and 76c which are rotatably installed between the two coupled plates 77.

The plurality of

pulleys

76a, 76b, and 76c includes a first pulley 71a, a second pulley 76b disposed on one side of the first pulley 76a, and a third pulley 76c disposed on the other side of the first pulley 76a.

The rope 55 winding the bobbin 70 may wind an outer surface of the first pulley 76a to be extended to a space between the first pulley 76a and the second pulley 76b. The rope 55 may wind a lower part of the second pulley 76b to be extended upwardly, and then wind a part of an outer surface, that is, the top, of the third pulley 76c to be extended toward the guide device 80.

The sail driving device 60 further includes a pulley support 79 onto which the pulley assembly 75 is mounted. The pulley support 79 may be disposed between the first support 71a and the second support 71b, and coupled to the top sides of the first support 71a and the second support 71b.

As such, the pulley assembly 75 is provided on one side of the bobbin 70 to cause the rope 55 to unwind from the bobbin 70 and pass through the plurality of

pulleys

76a, 76b, and 76c, so that it is possible to prevent the rope 55 from being twisted. In addition, when the rope 55 is winding the bobbin 70 around, the rope 55 having passed through the plurality of

pulleys

76a, 76b, and 76c may be directed toward the bobbin 70, so that it is possible to prevent the rope 55 from being twisted and to allow the rope 55 to stably wind the bobbin 70 around.

When the rope 55 is winding or unwinding, the guide device 80 may help tension to be stably provided to a user.

The guide device 80 includes a shaft 81 and a guide pulley 82, wherein the shaft 81 rotatably supports the first support 71a and the second support 71b, and the guide pulley 82 is coupled to the shaft 81 and wound by the rope 55.

A groove 72 accommodating one side of the shaft 81 is formed on the first support 71a. In addition, a groove accommodating the other end of the shaft 81 is formed on the second support 71b. The shaft 81 may rotate between the first support 71a and the second support 71b.

The guide device 80 further includes a bearing 72a which is disposed in the groove 72 and guides rotation of the shaft 81 on an outer surface of the shaft 81.

The guide device 80 further includes springs 83 and nuts 84, wherein the springs 83 are installed on an outer surface of the shaft 81 and disposed on both sides of the guide pulley 82, and the nuts 84 support the springs 82. One of the springs 83 may be disposed between one surface of the guide pulley 82 and one of the nuts, and another spring may be disposed between the other surface of the guide pulley 82 and another nut.

The guide pulley 82 is provided between the springs 83 and may move in a left or right direction according to a location of the rope 55 as the rope 55 winds or unwinds from the bobbin 70. At this point, the springs 83 may be elastically deformed, and the guide pulley 82 may remain supported by the springs 83. As such, the rope 55 may wind or unwind while being supported by the springs 83, and thus, tension of the rope 55 may be stably transferred to all users.

The rope 55 winding around the bobbin 70 may wind around the guide pulley 82 and then extended externally from the sail driving device 60. A housing through-hole 62a which the rope 55 penetrates may be formed on the housing 62. The rope 55 winding the guide pulley 82 may be extended externally from the housing 62 through the housing through-hole 62a. For convenience of explanation, the rope through-hole 15 may be named a “first through-hole”, and the housing through-hole 62a may be named a “second through-hole.”

FIG. 10 is a block diagram illustrating configurations of a yacht simulator according to an embodiment, and FIG. 11 is a diagram illustrating configurations of a display unit of a yacht simulator according to an embodiment.

Referring to FIGS. 10 and 11, the yacht simulator 10 includes the torque sensing device 63 sensing an amount of rotation or a rotational torque of the bobbin 70, a motor driving unit 82 driving the motor 61, and a control unit 90 controlling the motor driving unit 92 based on the amount of rotation or the rotational torque sensed by the torque sensing device 63.

The motor 61 includes a sensing device which is capable of sensing an amount of rotation or a rotating position of the motor 61. The information sensed by the sensing device may be fed back through the motor driving unit 82 to the control unit 90. For example, the sensing device may include an encoder.

The yacht simulator 10 further includes a memory 91 which stores the rotational torque sensed by the torque sensing device 63 and the reaction force generated by the motor 61.

The yacht simulator 10 further includes a display 95 which displays information on operation states of the yacht simulator 10. Weather information may be displayed on the display 95. In addition, an image of a yacht moving according to a user’s manipulation, for example, a moving direction or speed of the yacht, may be displayed on the display 95.

FIG. 11 illustrates the display 95 which displays a virtual yacht. The virtual yacht may include a sail 95a, and a boom 95b supporting the bottom of the sail 95a and able to control a direction of the sail 95a relative to wind W. A location of the boom 95b may be changed according to manipulation of the second operation unit 50.

For example, in a case where the sail 95a is directed in a direction which crosses wind, a greater lift force is applied to the sail 95a so that the speed of the virtual yacht may increase. In another example, in a case where the sail 95a is directed in a direction which is in parallel with wind, a smaller lift force is applied to the sail 95a, so that the speed of the virtual yacht may decrease. Of course, in a case where the sail 95a is constantly directed in a specific direction, the lift force becomes greater. The lift force may be created by a driving force, that is, a reaction force, of the motor 61.

The weather information may include information on wind strength or wave height. The yacht simulator 10 further includes an input unit using which a user is able to input specific condition information required for simulation. Specifically, the input unit 93 may include an input unit using which the user is able to input the weather information or a simulation difficulty level. For example, the higher the simulation difficulty level is, the higher the wave height is set.

Then, the memory 91 may store information in which a reaction force of the motor 61 is mapped to the weather information or the simulation difficulty level. For example, the greater the wind strength is, the greater the lift force is applied to the sail 95a, and the greater the reaction force of the motor 61 is set.

The reaction force is considered to be a driving force that is opposite to a direction toward which the bobbin 70 rotates when a user pulls the second operation unit 50. For example, if the bobbin 70 rotates clockwise when the user pulls the second operation unit 50, the reaction force may be a driving force for rotating the bobbin 70 counterclockwise. In another example, if the bobbin 70 rotates counterclockwise, the reaction force may be a driving force for rotating the bobbin 70 clockwise.

There are brief descriptions about operations of a yacht simulator according to an embodiment.

When a user experience a yacht simulator, the user may pull the second operation unit 50 to cause the rope 55to unwind from the bobbin 70 in an attempt to change a moving speed of a yacht whose simulation is displayed on the display 95.

A state where a user does not pull the second operation unit 50, that is, a state where the rope 55 fully winds around the bobbin 70, may be considered a state where the sail 85a is facing wind W, that is, a state where the sail 95a is approximately at 90° to a direction of the wind W. In this case, wind is applied directly to the sail 95a, so that the greatest lift force corresponding to set wind strength may be applied.

On the other hand, when the user pulls the second operation unit 50, the rope 55 unwinds from the bobbin 70, and, in this case, the sail 95a may move in a direction in which the sail 95 becomes in parallel with a direction of the wind W. Accordingly, a lift force which is smaller than a lift force corresponding to the set wind strength may be applied to the sail 95a, and thus, the speed of the yacht may decrease.

If a user pulls the second operation unit 50 with power greater than a reaction force of the motor 61, the rope 55 may unwind from the bobbin 70, and thus, the speed of the yacht may decrease. Alternatively, if the user pulls the second operation unit 50 with power less than the reaction force of the motor 61, the rope 55 may wind the bobbin 70, and thus, the speed of the yacht may increase.

Specifically, if the user pulls the second operation unit 50, the bobbin 70 rotates in a specific direction as the rope 55 unwind from the bobbin 70. An amount of rotation or a rotational torque of the bobbin 70 is sensed by the torque sensing device 63.

The sensed amount of rotation or rotational torque is transferred to the control unit 90, and, based on the information sensed by the torque sensing device, the control unit 90 determines strength of a reaction force to be generated in the motor 61. Then, the control unit 90 controls the motor driving unit 92 according to the determined reaction force so as to cause the motor 46 to generate a specific driving force.

In this case, the generated driving force may occur in a direction that is opposite to a direction in which the user pulls the second operation unit 50, so that the user may feel resistance. The user may feel that the resistance is a lift force created by wind.

FIG. 12 is a perspective view illustrating a motion driving device according to an embodiment, FIG. 13 is a plane view illustrating a motion driving device according to an embodiment, FIG. 14 is a side view illustrating a motion driving device according to an embodiment, and FIG. 15 is an exploded perspective view illustrating a motion driving device according to an embodiment.

Referring to FIGS. 12 to 15, a yacht simulator according to an exemplary embodiment includes a motion driving device 100 which generates and transfers movement.

The motion driving device 100 includes a lower plate 110, an upper plate 120 being spaced apart upwardly from the lower plate 110, driving unit assemblies 200 provided on both sides of the lower plate 110, and leg assemblies 300 extended from the driving unit assemblies 200 to the upper plate 120.

The lower plate 110 is extended in a front-and-back direction approximately in parallel with the ground. Here, the term “front” indicates a direction towards the right side in FIG. 14, which is considered the front side of a user when user gets on the yacht simulator. In addition, a direction toward the left side in FIG. 14 is considered the rear side of the user. In addition, a left direction and a right direction may be respectively considered a direction toward the top and a direction toward the bottom in FIG. 13. The same definition of directions is applied to the following descriptions.

The upper plate 120 may be disposed below a space in which a user sits. That is, the upper plate 120 may be coupled below the supporting device 108.

During operation of the motion driving device 100, the upper plate 120 may perform a front-and-back, left-and-right, up-and-down, or yawing movement while remaining in parallel with the lower plate 110.

There are provided a plurality of driving unit assemblies 200, and the driving unit assemblies 200 may be provided on the front and rear on both sides of the lower plate 110. For example, there may be provided four driving unit assemblies 200 which are disposed on the left front, the right front, the left rear, and the right rear of the lower plate 110 while being spaced apart from one another.

Specifically, each of the driving unit assemblies 200 includes a driving motor 210 generating a rotational force, and a linear actuator coupled to one side of the driving motor 210.

The linear actuator includes a device which converts rotation of the driving motor 210 into linear movement. The device includes a slider 230 which is able to linearly move forward and backward. Detailed descriptions about the driving unit assemblies 200 are provided as follow.

A leg assembly 300 is coupled to the slider 230. The leg assembly 300 may rotate or move according to forward or backward movement of the slider 230. In addition, there may be provided four leg assemblies 300 to be coupled to the upper plate 120. Leg coupling parts 122 to which the four leg assemblies are coupled are formed on the upper plate 120. Each of the leg coupling parts 122 may be a hole which is formed by penetration of the upper plate 120.

Specifically, the leg assembly 300 includes a leg body 310 extended from the slider 230 to the upper plate 120, a first rotation block 320 provided on one side of the leg body 310 and rotatably coupled to the slider 230, and a second rotation block 330 provided on the other side of the leg body 310 and rotatably coupled to the upper plate 120.

The leg assembly 300 further includes a first block coupling part 312 which couples the leg body 310 and the first rotation block 320. The first block coupling part 312 includes a first coupling shaft 313a which is inserted into the first rotation block 320. The first coupling shaft 313a is extended in an up-and-down direction (that is, a vertical direction).

The first block coupling part 312 may be coupled to the first rotation block 320 by the first coupling shaft 313 to thereby rotate around a vertical axis along with the first rotation block 320.

The leg assembly 300 further includes a first hinge part 315a which allows the leg body 310 to be rotatably coupled to the first block coupling part 312. The first hinge part 315a includes a hinge shaft which penetrates one side of the leg body 310 to be coupled to the first block coupling part 312. The leg body 310 may rotate around the first hinge part 315a in an up-and-down direction.

The leg assembly 300 further includes a second block coupling part 314 which couples the leg body 310 and the second rotation block 330. The second block coupling part 314 includes a second coupling shaft 313b which is inserted into the second rotation block 330. The second coupling shaft 313b is extended in an up-and-down direction (that is, a vertical direction).

The second block coupling part 314 may be coupled to the second rotation block 330 by the second coupling shaft 313b to thereby rotate about a vertical axis along with the first rotation block 320.

The leg assembly 300 further includes a second hinge part 315b which allows the leg body 310 to be rotatably coupled to the second block coupling part 314. The second hinge part 315b includes a hinge shaft which penetrates the other side of the leg body 310 to be coupled to the second block coupling part 312. The leg body 310 may rotate around the hinge part 315b in an up-and-down direction.

FIG. 16 is a perspective view illustrating configurations of a driving unit assembly according to an embodiment, FIG. 17 is a diagram illustrating inner configurations of a driving unit assembly according to an embodiment, and FIG. 18 is a cross-sectional view cut by II-II' shown in FIG. 16.

Referring to FIGS. 16 to 18, a driving unit assembly 200 according to an embodiment includes a driving motor generating a rotational force, a driving motor 210 generating a rotational force, and a linear actuator converting rotation of the driving motor 210 into linear movement.

The linear actuator includes a case forming an interior installation space, a rotation shaft 215 provided within the case 220 and rotatably coupled to the driving motor 210, and a shaft housing 232 accommodating the rotation shaft 215. FIG. 13 is a diagram of the driving unit assembly seen from top to down in a case where a top surface of the case 220 is removed.

The linear actuator further includes a nut member 233 which is provided in the shaft housing 232 and cooperates with the rotation shaft 215. Being fixed onto the housing 232, the nut member 233 may be coupled to the rotation shaft 215 in a thread-coupling manner.

A first thread 215a may be formed on an outer surface of the rotation shaft 215. A second thread 233a cooperating with the first thread 215a is formed on an outer surface of the nut member 233.

If the rotation shaft 215 rotates, the first thread 215a and the second 233a cooperate so that the nut member 233 may move forward or backward. As the nut member 233 moves, the shaft housing 232 may also move.

The linear actuator further includes a connector 236 coupled above the housing 232, and a slider 230 coupled above the connector 236 and able to move along a top surface of the case 220.

The connector 236 includes an outer extension which penetrates the case 220 to be extended outwardly from the case 220. The slider 230 is coupled above the outer extension 237 to be disposed on the top surface of the case 220.

The case 220 is extended forward and backward along a forward and backward path of the slider 230, and the top surface of the case 220 is considered to form a guide surface on which the slider 230 moves. In addition, a guide hole 222 which the outer extension 237 penetrates is formed on the case 220. The guide hole 222 may be formed by cutting both sides of the case 220.

The connector 236 and the slider 230 may move forward or backward along with the shaft housing 232. The slider 230 may move along a path between a front end and a rear end of the case 220.

The linear actuator further includes a guide bar 235 coupled to the slider 230 and extended downwardly. The guide bar 235 is movably coupled to the lower plate 110 so as to guide the slider 230 to move forward and backward. A guide groove (not shown) accommodating an end of the guide bar 235 and able to slide may be formed on the lower plate 110.

Hereinafter, there are provided descriptions about operations of the motion driving device 100 according to an embodiment with reference to accompanying drawings.

FIGS. 19 and 20 are diagrams illustrating a case where an upper plate according to an embodiment moves in a front and back direction (that is, an X-axis direction).

Referring to FIG. 19, the slider 230 includes four sliders. The four sliders 230 include a first slider 230a provided on the right front of the motion driving device 100, a second slider 230b provided on the left front of the motion driving device 100, a third slider 230c provided on the left rear of the motion driving device 100, and a fourth slider 230d provided on the right rear of the motion driving device 100.

Once the four driving assemblies 200 starts to drive, the four sliders 230 may move in a preset direction, that is, a forward or backward direction. Then, the leg assemblies 300 operate differently according to changed positions of the four sliders 230, and a direction of a force transferred from the leg assemblies 300 to the upper plate 120 may be determined accordingly. According to the direction of the force, a moving direction of the upper plate 120 may be changed.

FIG. 19 illustrates a case where the four sliders 230 move so as to cause the upper plate 120 to move backward. Specifically, the first slider 230a and the second slider 230b moves toward a central portion Po of the case 220, whereas the third slider 230c and the fourth slider 230d moves toward a rear portion P2 of the case 220.

In this case, due to operations of the first rotation block 320, the leg body 310, and the second rotation block 330, the upper plate 120 moves backward. At this point, the upper plate 120 moves while remaining in parallel with the lower plate 110.

FIG. 20 illustrates a case where the four sliders 230 moves so as to cause the upper plates 120 to move forward. Specifically, the first slider 230a and the second slider 230b move toward a front portion P1 of the case 220, whereas the third slider 230c and the fourth slider 230d move toward a central portion Po of the case 220.

In this case, due to operations of the first rotation block 320, the leg body 310, and the second rotation block 330, the upper plate 120 moves forward. At this point, the upper plate 120 moves while remaining in parallel with the lower plate 110.

That is, in a case where the two

front sliders

230a and 230b move toward one part of the case 220 while the two

rear sliders

230c and 230d move toward another part of the case 220, the upper plate 120 may be able to move forward or backward.

FIG. 21 illustrates a case where the four sliders 230 moves so as to cause the upper plate 120 to move to a left direction. Specifically, the first slider 230a and the third slider 230c move toward a central portion Po of the case 220, the second slider 230b moves toward a rear portion P2 of the case 220, and the fourth slider 230d moves toward a front portion P1 of the case 220.

In this case, due to operations of the first rotation block 320, the leg body 310, and the second rotation block 330, the upper plate 120 moves in a left direction. At this point, the upper plate 120 moves while remaining in parallel with the lower plate 110.

FIG. 22 illustrates a case where the four sliders 230 move so as to cause the upper plate 120 to move in a right direction. Specifically, the second slider 230a and the fourth slider 230c move toward a central portion Po of the case 220, the first slider 230a moves toward a rear portion P2 of the case 220, and the third slider 230c moves toward a front portion P1 of the case 220.

In this case, due to operations of the first rotation block 320, the leg body 310, and the second rotation block 330, the upper plate 120 moves in a right direction. At this time the upper plate 120 moves while remaining in parallel with the lower plate.

That is, in a case where the two

left sliders

230a and 230c move toward one part of the case 220, and the two

right sliders

230b and 230d are disposed to come close to each other, the upper plate 120 moves in a left direction; however, if the above elements move in the opposite manner, the upper plate 120 may move in a right direction.

FIGS. 23A and 23B illustrate a case where the four sliders 230 move so as to cause the upper plate 120 to move downward. Specifically, the first to

fourth sliders

230a, 230b, 230c, and 230d move toward a central portion Po of the case 220. That is, the four sliders 230 may move to be distant from one another.

In this case, due to operations of the first rotation block 320, the leg body 310, and the second rotation block 330, the upper plate 120 moves downward. At this point, the upper plate 120 moves while remaining in parallel with the lower plate 110.

Although not shown in the drawings, if the four sliders 230 move to be further more distant from one another than what is shown in FIGS. 23A and 23B, that is, if the first and

second sliders

230a and 230b move toward a front portion P1 of the case 220, and the third and

fourth sliders

230c and 230d move toward a rear portion P2 of the case 220, the upper plate 120 may move toward a much lower position than what is shown in FIGS. 23A and 23B.

FIGS. 24A and FIG. 24B illustrate a case where the four sliders 230 move so as to cause the upper plate 120 to move upward. Specifically, the first and

second sliders

230a and 230b move toward a rear portion P2 of the case 220, and the third and

fourth sliders

230c and 230d move toward a front portion P1 of the case 220. That is, the four sliders 230 move to come close to one another.

In this case, due to operations of the first rotation block 320, the leg body 310, and the second rotation block 330, the upper plate 120 moves upward. At this point, the upper plate 120 moves while remaining in parallel with the lower plate 110.

FIG. 25 illustrates a case where the four sliders 230 move so as to cause the upper plate 120 to perform yawing movement which indicates that the upper plate 120 rotates counterclockwise about a virtual and vertical rotational axis. Specifically, the first slider 230a moves toward a rear portion P2 of the case 220, the second to

fourth sliders

230b, 230c, and 230d move toward a central portion Po of the case 220.

In this case, due to operation of the first rotation block 320, the leg body 310, and the second rotation block 330, the upper plate 120 performs yawing movement which indicates counterclockwise rotation. At this point, the upper plate 120 moves while remaining in parallel with the lower plate 110.

FIG. 26 illustrates a case where the four sliders 230 move so as to cause the upper plate 120 to perform yawing movement which indicates that the upper plate 120 rotates clockwise about a virtual and vertical rotational axis. Specifically, the first, third, and

fourth sliders

230a, 230c, and 230d move toward a central portion Po of the case 220, and the second slider 230b moves toward a rear portion P2 of the case 220.

In this case due to operations of the first rotation block 320, the leg body 310, and the second rotation block 330, the upper plate 120 performs yawing movement indicating clockwise rotation. At this point, the upper plate 120 moves while remaining in parallel with the lower plate 110.

That is, in a case where three out of the four sliders 230 move toward respective central parts Po of each corresponding case 220 and the remaining one slider 230 moves toward a rear portion P2 of the case 220, the upper plate 120 performs yawing movement.

As such, since the four leg assemblies 300 of the motion driving device may operate differently according to positions of the four sliders 230 which are able to move backward and forward, the upper plate 120 may move effectively.

According to embodiments, there is provided a device according to an actual yacht, and a user is able to experience yacht sailing by manipulating the yacht, thus an industrical applicability is remarkable.

Claims

A yacht simulator comprising:

a body in which an occupant compartment is provided;

an operation unit provided on one side of the occupant compartment and capable of being manipulated by a user;

a rope connected to the operation unit;

a rotatable bobbin wound by the rope;

a torque sensing device coupled to the bobbin and sensing a rotational torque of the bobbin; and

a motor coupled to the torque sensing device.
The yacht simulator of claim 1, further comprising:

a support rotatably supporting both sides of the bobbin; and

a bobbin shaft penetrating the support and coupled to the bobbin.
The yacht simulator of claim 2, further comprising:

a guide pulley provided on one side of the bobbin and capable of being wound by the rope; and

a shaft coupled to the guide pulley.
The yacht simulator of claim 3, further comprising:

springs installed on an outer circumferential surface of the shaft and disposed on both sides of the guide pulley.
The yacht simulator of claim 4, further comprising a nut supporting one side of a spring.
The yacht simulator of claim 1, further comprising:

at least one pulley assembly provided on one side of the bobbin and wound by the rope.
The yacht simulator of claim 6, wherein the pulley assembly comprises:

a first pulley wound by the rope;

a second pulley disposed on one side of the first pulley; and

a third pulley disposed on the other side of the first pulley.
The yacht simulator of claim 7, wherein the rope winding the bobbin around winds an outer circumferential surface of the first pulley to be extended to a space between the first pulley and the second pulley, and then winds a part of an outer circumferential surface of the third pulley.
The yacht simulator of claim 2, further comprising:

a first coupler for coupling a shaft of the motor and a first torque shaft of the torque sensing device; and

a second coupler for coupling the bobbin shaft and the first torque shaft of the torque sensing device.
The yacht simulator of claim 1, further comprising:

a motor driving unit configured to drive the motor; and

a controller controlling the motor driving unit to cause the motor to generate a reaction force based on the rotational torque sensed by the torque sensing device.
The yacht simulator of claim 1, further comprising a display unit displaying information on operation states of the yacht simulator, and

wherein the information on operation states comprises weather information or information on a moving direction or speed of a yacht which changes according to a user’s manipulation.
The yacht simulator of claim 1, further comprising an input unit used to input predetermined condition information, and

wherein weather information or information on a simulation difficulty level is able to be input through the input unit.
The yacht simulator of claim 1, further comprising a motion driving device which is provided below the body, the motion driving device comprising:

a lower plate;

a plurality of driving unit assemblies which are coupled to the lower plate and in which a motor generating a rotation force and a linear actuator converting rotation of the motor into linear movement are provided;

a plurality of leg assemblies rotatably coupled to the plurality of driving unit assemblies, respectively, and

an upper plate being spaced apart upward from the lower plate and coupled to the plurality of leg assemblies.
The yacht simulator of claim 13, wherein the linear actuator comprises:

a rotation shaft rotatably coupled to the motor and having a first thread formed thereon;

a shaft housing on which a nut member having a second thread coupled to the first thread is provided; and

a slider coupled to the shaft housing and linearly moving forward or backward.
The yacht simulator of claim 13, wherein each of the plurality of leg assemblies comprises:

a leg body extended from one of the plurality of driving units assembly to the upper plate;

a first rotation block provided on one side of the leg body and rotatably coupled to the slider; and

a second rotation block provided on the other side of the leg body and rotatably coupled to the upper plate.