WO2017164564A1 - Three-degree-of-freedom motion platform for virtual reality experience - Google Patents

Three-degree-of-freedom motion platform for virtual reality experience Download PDF

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Publication number
WO2017164564A1
WO2017164564A1 PCT/KR2017/002855 KR2017002855W WO2017164564A1 WO 2017164564 A1 WO2017164564 A1 WO 2017164564A1 KR 2017002855 W KR2017002855 W KR 2017002855W WO 2017164564 A1 WO2017164564 A1 WO 2017164564A1
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WIPO (PCT)
Prior art keywords
movement means
upper plate
movement
linear actuator
link bar
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PCT/KR2017/002855
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French (fr)
Korean (ko)
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이지선
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이지선
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G31/02—Amusement arrangements with moving substructures
    • A63G31/04—Amusement arrangements with moving substructures with jolting substructures
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G31/02—Amusement arrangements with moving substructures
    • A63G31/08—Amusement arrangements with moving substructures with looping, hopping, or throwing motions of the substructure
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes

Definitions

  • the present invention relates to a three-degree-of-freedom motion platform for a virtual reality experience in which a motion simulator is implemented in connection with the virtual reality experience content, and more specifically, a top, a bottom, a pitch, and a back and forth rotation of a top plate, Maximize the effect of virtual reality experiences in extreme sports simulators such as motorcycles, ski jumps, etc. by performing roll (left and right rotation) movements, while the top plate rotates up and down during the pitch movements and implements the pitch movements in a large motion movement.
  • the 3 degree of freedom motion platform for a virtual reality experience is implemented in connection with the virtual reality experience content, and more specifically, a top, a bottom, a pitch, and a back and forth rotation of a top plate.
  • the virtual reality simulator is a device that implements virtual reality in conjunction with a simulation program, and is composed of an image device, a control device, an exercise device, and a control device.
  • motion devices and the control devices are referred to as motion platforms (or motion bases).
  • Such a conventional motion platform has been disclosed in various forms.
  • Applicant in the Republic of Korea Utility Model Registration No. 20-0469149 to install three movement means in the opposite position facing the same center between the base and the top plate, the three movement means is installed vertically the actuator, the top of the actuator top plate
  • the three actuators are connected by ball joints to control the raising and lowering of the three actuators, thereby inducing the three-dimensional movement by inducing the top, bottom, pitch, and roll movements of the upper plate. It is to make
  • Republic of Korea Utility Model Registration No. 20-0469146 is to install three movement means in the opposite position facing the same center between the base and the top plate, the three movement means is installed horizontally by the actuator, the horizontal movement by the actuator
  • the moving actuator and the upper plate are connected by link and ball joint to control the horizontal movement of the three actuators so that the upper, lower, pitch, and roll movements of the upper plate are performed. It is a complex induction that produces three-dimensional motion.
  • the conventional motion platform has a structure in which three movement means are installed at opposite positions facing the same center between the base and the upper plate, and have a space problem that occupies a lot of space in which the three movement means are installed, and the three movement means;
  • the shaft portion to which the upper plate is connected is formed in an axial structure in which the upper plate is rotated to face each other, so that the pitch (rotation of the front and rear) and the roll (left and right rotation) of the upper plate are limited.
  • the upper plate had a structural limit that can only rotate in a limited range of ⁇ 15 ⁇ ⁇ 20 ° maximum.
  • the conventional motion platform has a technology that can implement this as a large motion. There was no.
  • the present applicant studies to develop a technology capable of realizing a pitch motion in a larger motion than the conventional heave, pitch, and roll motions of a three-way guided motion platform. I tried.
  • the present invention has been invented to solve the above-mentioned problems of the prior art, and the top (heave), pitch (rear and back), roll (roll) of the top plate to implement a motion simulator in conjunction with the virtual reality experience content
  • an extreme sports simulator such as a motorcycle or a ski jump.
  • the present invention uses three movement means to move the heave, pitch, and roll, as well as yaw, pitch, and surge motion. The goal is to make it possible.
  • the first, second and third movement means are installed between the base plate and the top plate to induce the movement of the top plate, the pitch, the front and the back, and the roll.
  • the first and second movement means is the left and right center, the third movement means in the front position between the first and second movement means connected to the upper plate and the joint so as to enable rotation in the same direction, the upper plate by the first and second movement means Perform a heave (up and down), roll (left and right rotation) movement, a pitch by the third movement means (pitch; front and rear rotation), during the pitch movement by the third movement means
  • the upper plate is characterized in that it is configured to implement a pitch motion in a large motion while rotating back and forth around the joint of the first and second movement means.
  • the first and second movement means includes a horizontal linear actuator, a first link bar connected to the rod of the linear actuator by a rotary joint and a spherical joint on the upper plate, and a center of the first link bar.
  • a second link bar connected to the base plate by a rotary joint
  • the third movement means comprises: a rotation means, a third link bar axially coupled to the rotation shaft of the rotation means, and a top plate connected to the third link bar by a rotation joint.
  • the fourth link bar is connected to the spherical joint is characterized in that the configuration.
  • the first and second movement means is characterized in that the linear actuator is installed vertically, by connecting the rod top and the upper plate of the linear actuator by a spherical joint.
  • the third movement means is characterized in that the linear actuator is connected to the base plate by a rotary joint, and the rod of the linear actuator is connected to the upper plate by a spherical joint.
  • the spherical joint of the first and second movement means is characterized in that the shaft is installed so as to be movable left and right on the center bar installed in the width direction on the bracket of the upper plate lower.
  • the present invention is the first and second movement means between the base plate and the upper plate, the left and right side center, the third movement means in the front position between the first and second movement means connected to the upper plate and the joint so as to enable rotation in the same direction
  • the first and second movement means of the upper plate (heave; the upper and lower), roll (left and right rotation) movement, the pitch (pitch (front and rear rotation)) by the third movement means to perform, but by the third movement means
  • the upper plate rotates back and forth around the joint of the first and second movement means, thereby implementing a pitch movement in a larger motion than the conventional one.
  • first, second, and third movement means has a structure in which the installation space can be minimized as compared with the conventional structure.
  • the motion of the upper plate is provided in a structure capable of rotating 90 degrees, three movement means (heave; up and down), pitch (front and back rotation), roll (rolling left and right) movement as well as yaw (yaw) ), Pitch (pitch), and surge (surge) movement can also be implemented to have a more effective effect.
  • FIG. 1 is a perspective view showing an embodiment of the present invention.
  • Figure 2 is a perspective view of the upper plate separated state of FIG.
  • FIG. 3 is a front view of FIG. 1;
  • FIG. 4 is a side view of FIG. 1;
  • 5 and 6 are front views showing the upper plate pitch motion.
  • FIG. 7 is a perspective view showing another embodiment of the present invention.
  • FIG. 8 is a front view of FIG. 7;
  • FIG. 9 is a perspective view showing another embodiment of the present invention.
  • FIG. 10 is a front view of FIG. 9;
  • FIG. 11 is a perspective view showing another embodiment of the present invention.
  • FIG. 12 is a front view of FIG. 11;
  • FIG. 13 is a front view showing a change in motion using the embodiment of Figures 1 to 4.
  • the three degree of freedom motion platform for the virtual reality experience of the present invention is the base plate 10, the top plate 20 and the first, second, and third movements installed between the base plate and the top plate as shown in Figs.
  • the means 31, 32 and 33 are adapted to induce the top, bottom, pitch, and roll movements of the top plate.
  • first and second movement means 31 and 32 are connected to the left and right centers, and the third movement means 33 is rotated in the same direction by the upper plate and the joint at the front position between the first and second movement means.
  • the upper plate rotates back and forth around the joint of the first and second movement means during the pitch movement by 33, and is configured to implement the pitch movement in a large motion.
  • first, second, and third movement means 31, 32, 33 may be implemented in various embodiments.
  • the first and second movement means 31 and 32 may include a horizontal linear actuator 40 and a revolute joint (rod) to the rod 41 of the linear actuator. 2) a first link bar 42 connected to the upper plate by a spherical joint 3 and a rotary joint 2 connected to the center of the first link bar and the base plate 10. It consists of a second link bar 43.
  • the third movement means 33 includes a rotation means 50, a third link bar 52 axially coupled to the rotation axis of the rotation means, and a rotation joint 2 to the third link bar 52. And a fourth link bar 53 connected to the top plate by spherical joints 3.
  • the spherical joints 3 of the first and second movement means 31 and 32 are axially installed on the center rod 22 installed in the width direction on the bracket 21 below the upper plate 20 so as to be movable left and right. do.
  • the upper end of the first link bar 42 flows to the left and right to smoothly provide the roll movement.
  • the heave movement is to move the upper plate 20 up and down while the first, second, and third movement means 31, 32, 33 operate simultaneously.
  • the roll movement is to rotate the top plate 20 in the left-right direction C-D as shown in FIG. 4 while the first and second movement means 31 and 32 are alternately operated.
  • the first and second movement means 31 and 32 are connected to the rod 41 by the rotary joint 2 while the rod 41 of the horizontal linear actuator 40 operates back and forth, and a spherical joint on the upper plate.
  • the first link bar 43 connected to (3) and the link operation of the second link bar 43 connected to the center of the first link bar and the base plate 10 by the rotary joint 2 to each other. While moving up and down alternately, the upper plate 20 is rotated in the left and right direction (CD).
  • the spherical joint 3 connected to the top plate 20 is axially inserted into the center bar 22 of the bracket 21 at the bottom of the top plate and slid left and right to perform left and right rotational movements, that is, roll movements of the top plate 20. It will be provided smoothly.
  • the pitch movement is performed by the spherical joint 3 of the first and second movement means 31 and 32 connected to the upper plate 20 during the rotation movement by the third movement means 33. It rotates in the front and rear direction (AB) while being the center, and in this process, there is no structure that interferes as in the prior art, so that the pitch movement of the large motion is possible while the rotation works at a large angle.
  • the third movement means 33 is a third link bar 52 which is axially coupled to the rotation axis of the rotation means 50, and the third link bar 52 is connected to the rotary joint (2) to the upper plate
  • a fourth link bar 53 connected to a spherical joint 3 is connected in series to rotate the third link bar 52 and the third and fourth link bars 52 by the rotation of the rotation means.
  • the upper plate 20 is rotated by a large angle in the front-rear direction AB by the joint motion of 53, and the pitch movement is performed in a large motion.
  • Figures 7 to 8 of the present invention is different from the first and second movement means (31, 32) as compared to the embodiment of Figures 5 and 6.
  • This is configured by vertically installing the linear actuator 40 'that is not horizontal, and connecting the upper end of the rod 41 and the upper plate 20 of the linear actuator with a spherical joint 3.
  • Such an embodiment of the present invention is to move the top plate 20 up and down, left and right directions (CD) by performing a (heavy) movement, a roll (left and right) movement by the linear actuator 40 'rather than a horizontal Will rotate).
  • the third movement means 33 is formed differently as compared with the embodiments of FIGS. 5 and 6.
  • linear actuator 40 “rather than a rotation means, and connects the lower portion of the linear actuator to the base plate 10 with the rotary joint 2, and connects the upper rod 41 of the linear actuator to the upper plate 20. It is configured by connecting with a spherical joint (3).
  • This embodiment of the present invention is a pitch (front and rear rotation) movement by the expansion and contraction of the rod 41 of the linear actuator (40 "), not the rotation means, the first and second movement means 31, 32 As the joint 3 becomes the center of rotation, the top plate rotates in the front-back direction AB. In this process, there is no structure that interferes as in the prior art, so that the pitch movement of the large motion can be performed while rotating at a large angle.
  • the linear actuator 40 "is rotated by the lower part connected to the base plate 10 by the rotary joint 2, and the upper rod 41 is connected to the upper plate 20 by the spherical joint 3 and rotated. It works.
  • first, second, and third movement means 31, 32, 33 are formed differently than those of FIGS. 5 and 6.
  • the third movement means 33 is composed of a linear actuator 40 ′′, the lower portion of the linear actuator is connected to the base plate 10 by a rotary joint 2, and the upper rod 41 of the linear actuator is an upper plate. It is configured by connecting with a spherical joint (3) to (20).
  • Such an embodiment of the present invention is the vertical actuator (40 '), not the horizontal (heave), roll (left and right) to the upper plate 20 by the vertical movement, the left and right directions ( CD).
  • the pitch movement is performed by the expansion and contraction of the rod 41 of the linear actuator 40 "instead of the rotation means.
  • the spherical joints of the first and second movement means 31 and 32 3) becomes the center of rotation and rotates the top plate in the front and rear direction (AB) in this process, there is no structure to interfere as in the prior art is to be rotated to operate at a large angle as the pitch movement of a large motion is possible.
  • the present invention by using the first, second, third movement means 31, 32, 33 in the state that the upper plate 20 is rotated 90 degrees by the third movement means 33, Up, down, pitch, and roll movements, as well as yaw, pitch, and surge movements.
  • the base 10 is vertically positioned to the side in the state where the top plate 20 is rotated 90 degrees by the third movement means 33, and the top plate 20 is horizontally positioned at the top.
  • the surge movement is enabled by operating the upper plate in the front-back direction A'-B 'while the first and second movement means 31 and 32 and the third movement means 33 are operated simultaneously. will be.
  • the upper plate 20 is moved by the interlocking operation of the first and second link bars 42 and 43 by retracting the rod 41 of the linear actuator 40 from the first and second movement means 31 and 32.
  • the upper plate 20 is moved by the interlocking operation of the third and fourth link bars 52 and 53 by rotating the rotary shaft of the rotating means 50 in the third movement means 33 while moving in the rearward direction B '.
  • the upper plate 20 can be moved rearward in a horizontal state.
  • the first and second link bars 42 and 43 are advanced by advancing the rod 41 of the linear actuator 40.
  • the upper plate 20 By moving the upper plate 20 in the front direction (A ') by the interlocking operation of the rotational axis of the rotating means 50 at the same time by the interlocking operation of the third, fourth link bar 52, 53, the upper plate 20 ) By moving in the forward direction (A '), the upper plate 20 is possible to move forward in a horizontal state, so that the surge (surge) movement is possible.
  • the yaw movement is to move the upper plate 20 to the left and right while the first movement means 31 and the second movement means 32 alternately operate. That is, the upper plate is rotated so that the spherical joint 3 is rotated about the rotation center by the first movement means 31 moving the upper plate 20 forward and backward, and the second movement means 32 is similarly the upper plate. As the upper plate is rotated so that the spherical joint 3 is rotated to the center of rotation by moving the front and rear sides 20, the upper plate is rotated so as to be twisted left and right where the first and second movement means 31 and 32 are located. yaw) exercise is possible.
  • the pitch movement may include the spherical joint 3 of the first and second movement means 31 and 32 connected to the upper plate 2 during the rotation movement by the third movement means 33. While rotating in the front and rear direction (A'-B ') will be the pitch movement.
  • the surge, yaw, and pitch motions are similarly applied to other embodiments shown in FIGS. 7 to 12. That is, the linear actuator 40 'replaces the first movement means 31 and the second movement means 32, and the linear actuator 40' 'replaces the third movement means 33 and is the same as described above. Will work.
  • the first and second movement means 31 and 32 are centered between the base plate and the upper plate, and the third movement means 33 is connected to the upper plate and the joint at the front position between the first and second movement means.
  • the first and second movement means of the upper (heave), roll (left and right) movement, the pitch by the third movement means (pitch) Since the upper plate rotates back and forth around the joint of the first and second movement means during the pitch movement by the third movement means 33, the motor cycle is realized in a larger motion than before. Extreme sports simulators such as ski jumping, etc. will maximize the virtual reality experience.
  • the motion of the upper plate is provided in a structure that can be rotated by 90 degrees, so that the movement of the heave (heave; up and down), pitch (forward and backward), and roll (left and right) by the three movement means, as well as yaw ), Pitch, and surge motion can be implemented.

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Abstract

The present invention relates to a three-degree-of-freedom motion platform for virtual reality experience. More specifically, first to third movement means are mounted between a base plate and an upper plate, wherein the first and second movement means (31) (32) are disposed at the left and right middle positions, the third movement means (33) is disposed at a front position between the first and second movement means, and each of the first to third movement means is connected to the upper plate by a joint such that the first to third movement means can rotate in the same direction, whereby a heave motion (vertical motion) and a roll motion (left-and-right rotation) of the upper plate is performed by the first and second movement means, and a pitch motion (forward-and-backward rotation) of the upper plate is performed by the third movement means. When the pitch motion (forward-and-backward rotation) is performed by the third movement means (33), the upper plate rotates back and forth about the joints of the first and second movement means, thereby implementing a large pitch motion as compared to the prior art. Accordingly, the present invention maximizes the effects of virtual reality immersion in extreme sports simulators such as motorcycle and ski jump simulators.

Description

가상현실 체험을 위한 3자유도 모션 플랫폼3 degree of freedom motion platform for virtual reality experience
본 발명은 가상현실 체험 콘텐츠와 연계하여 모션 시뮬레이터를 구현하는 가상현실 체험을 위한 3자유도 모션 플랫폼에 관한 것으로서, 좀더 상세하게는 상판의 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동을 행하되, 피치 운동시 상판이 전후로 최대 회전하면서 피치 운동을 큰 동작동으로 구현하므로 모터 사이클, 스키 점프 등과 같은 익스트림 스포츠 시뮬레이터(Extreme sports simulator) 등에서 가상 현실 체험 효과를 극대화하는 가상현실 체험을 위한 3자유도 모션 플랫폼에 관한 것이다.The present invention relates to a three-degree-of-freedom motion platform for a virtual reality experience in which a motion simulator is implemented in connection with the virtual reality experience content, and more specifically, a top, a bottom, a pitch, and a back and forth rotation of a top plate, Maximize the effect of virtual reality experiences in extreme sports simulators such as motorcycles, ski jumps, etc. by performing roll (left and right rotation) movements, while the top plate rotates up and down during the pitch movements and implements the pitch movements in a large motion movement. The 3 degree of freedom motion platform for a virtual reality experience.
일반적으로 가상현실 시뮬레이터는 시뮬레이션 프로그램과 연동하여 가상 현실을 구현하는 장치로서, 영상장치, 조종장치, 운동장치, 제어장치로 구성되는 것이다.In general, the virtual reality simulator is a device that implements virtual reality in conjunction with a simulation program, and is composed of an image device, a control device, an exercise device, and a control device.
여기서 운동장치와 제어장치에 해당하는 것을 모션 플랫폼(또는 모션 베이스)라 칭한다.Here, the motion devices and the control devices are referred to as motion platforms (or motion bases).
이와 같은 종래 모션 플랫폼은 다양한 형태로 개시된 바 있다. 본 출원인은 대한민국 등록실용신안 제20-0469149호에서 베이스와 상판 사이로 동일 중심을 향하는 대향 위치에 3개의 운동수단을 설치하되, 상기 3개의 운동수단은 엑츄에이터를 수직 설치하고, 상기 엑츄에이터의 상단을 상판에 볼 조인트로 연결 설치하여 상기 3개의 엑츄에이터를 승하강 제어하는 것에 의해 상판의 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동을 복합 유도하여 3차원 움직임을 만들어 내는 것이다.Such a conventional motion platform has been disclosed in various forms. Applicant in the Republic of Korea Utility Model Registration No. 20-0469149 to install three movement means in the opposite position facing the same center between the base and the top plate, the three movement means is installed vertically the actuator, the top of the actuator top plate The three actuators are connected by ball joints to control the raising and lowering of the three actuators, thereby inducing the three-dimensional movement by inducing the top, bottom, pitch, and roll movements of the upper plate. It is to make
또한, 대한민국 등록실용신안 제20-0469146호에서는 베이스와 상판 사이로 동일 중심을 향하는 대향 위치에 3개의 운동수단을 설치하되, 상기 3개의 운동수단은 엑츄에이터를 수평 설치하고, 상기 엑츄에이터에 의해 수평 이동하는 이동 작동구와 상판을 링크와 볼 조인트로 연결 설치하여 상기 3개의 엑츄에이터를 수평 이동 제어하는 것에 의해 상판의 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동을 복합 유도하여 3차원 움직임을 만들어 내는 것이다.In addition, the Republic of Korea Utility Model Registration No. 20-0469146 is to install three movement means in the opposite position facing the same center between the base and the top plate, the three movement means is installed horizontally by the actuator, the horizontal movement by the actuator The moving actuator and the upper plate are connected by link and ball joint to control the horizontal movement of the three actuators so that the upper, lower, pitch, and roll movements of the upper plate are performed. It is a complex induction that produces three-dimensional motion.
그러나 상기한 종래 모션 플랫폼은 3개의 운동수단이 베이스와 상판 사이로 동일 중심을 향하는 대향 위치로 설치하는 구조로 이루어져 상기 3개의 운동수단이 설치되는 공간을 많이 차지하는 공간상의 문제와 상기 3개의 운동수단과 상판이 연결되는 축 부분이 서로 대향 회전하는 축 구조로 형성되어 상판을 회전시키는 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동 각도가 제한적일 수 밖에 없는 한계를 갖고 있었다.However, the conventional motion platform has a structure in which three movement means are installed at opposite positions facing the same center between the base and the upper plate, and have a space problem that occupies a lot of space in which the three movement means are installed, and the three movement means; The shaft portion to which the upper plate is connected is formed in an axial structure in which the upper plate is rotated to face each other, so that the pitch (rotation of the front and rear) and the roll (left and right rotation) of the upper plate are limited.
즉, 상기 상판이 최대 ±15~ ±20°범위에서 제한적으로 회전할 수 밖에 없는 구조적 한계를 갖고 있었다.That is, the upper plate had a structural limit that can only rotate in a limited range of ± 15 ~ ± 20 ° maximum.
한편, 최근 각종 게임이나 운전 시뮬레이션 등 가상 현실 체험 콘텐츠와 연결되는 모션 시뮬레이터의 응용 분야가 더욱 확대되고 있고, 새로운 UX(User Experience)를 요구하는 수요도 급증하고 있는 추세이다.Meanwhile, the field of application of the motion simulator, which is connected to the virtual reality experience contents such as various games and driving simulations, has been expanded in recent years, and the demand for a new UX (User Experience) has been increasing rapidly.
특히, 모터사이클이나 스키점프 등과 같은 익스트림 스포츠 시뮬레이터(Extreme sports simulator) 등의 경우에 전진 방향 운동이 가상 현실 체험 효과에 많은 영향을 미치게 됨에도 불구하고 종래 모션 플랫폼으로는 이를 큰 동작으로 구현할 만한 기술이 없었다.In particular, in the case of extreme sports simulators such as motorcycles and ski jumps, although the forward movement has a great influence on the virtual reality experience effect, the conventional motion platform has a technology that can implement this as a large motion. There was no.
이에 본 출원인은 3자 유도 모션 플랫폼의 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동 중에서 피치 운동을 종래 보다 큰 동작으로 구현할 수 있는 기술을 개발하고자 연구노력하였다.Accordingly, the present applicant studies to develop a technology capable of realizing a pitch motion in a larger motion than the conventional heave, pitch, and roll motions of a three-way guided motion platform. I tried.
본 발명은 상기한 종래 기술이 갖는 제반 문제점을 해결하고자 발명된 것으로서, 가상현실 체험 콘텐츠와 연계하여 모션 시뮬레이터를 구현하도록 상판의 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동을 행하되, 피치 운동시 상판이 전후로 최대 회전하면서 피치 운동을 큰 동작동으로 구현하므로 모터 사이클, 스키 점프 등과 같은 익스트림 스포츠 시뮬레이터(Extreme sports simulator) 등에서 가상 현실 체험 효과를 극대화하도록 하는데 그 목적이 있다.The present invention has been invented to solve the above-mentioned problems of the prior art, and the top (heave), pitch (rear and back), roll (roll) of the top plate to implement a motion simulator in conjunction with the virtual reality experience content The left and right rotations, but the top plate rotates back and forth during the pitch movement, and the pitch movement is implemented in a large motion motion so that the effect of virtual reality is maximized in an extreme sports simulator such as a motorcycle or a ski jump. There is a purpose.
본 발명은 3개의 운동수단에 의해 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동은 물론 요(yaw), 피치(pitch), 서지(surge) 운동도 구현할 수 있도록 하는데 그 목적이 있다.The present invention uses three movement means to move the heave, pitch, and roll, as well as yaw, pitch, and surge motion. The goal is to make it possible.
이러한 본 발명은 베이스 판과 상판 사이로 제1,2,3 운동수단을 설치하여 상판의 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동을 유도함에 있어서, 상기 제1,2 운동수단은 좌우측 중앙, 제3 운동수단은 제1,2 운동수단 사이의 전방 위치에서 상판과 조인트로 동일 방향의 회전이 가능하도록 연결 설치하여 제1,2 운동수단에 의한 상판의 히브(heave; 상하), 롤(roll; 좌우 회전) 운동, 제3 운동수단에 의한 피치(pitch; 앞뒤 회전)을 수행하되, 상기 제3 운동수단에 의한 피치(pitch; 앞뒤 회전) 운동시 상판이 제1,2 운동수단의 조인트를 중심으로 전후 회전하면서 피치 운동을 큰 동작으로 구현하도록 구성함에 그 특징이 있다.In the present invention, the first, second and third movement means are installed between the base plate and the top plate to induce the movement of the top plate, the pitch, the front and the back, and the roll. The first and second movement means is the left and right center, the third movement means in the front position between the first and second movement means connected to the upper plate and the joint so as to enable rotation in the same direction, the upper plate by the first and second movement means Perform a heave (up and down), roll (left and right rotation) movement, a pitch by the third movement means (pitch; front and rear rotation), during the pitch movement by the third movement means The upper plate is characterized in that it is configured to implement a pitch motion in a large motion while rotating back and forth around the joint of the first and second movement means.
본 발명에 따르면, 상기 제1,2 운동수단은 수평의 리니어 엑츄에이터와, 상기 리니어 엑츄에이터의 로드에 회전 조인트로 연결되고 상판에 구형 조인트로 연결되는 제1 링크바와, 상기 제1 링크바의 중앙과 베이스 판에 회전 조인트로 연결되는 제2 링크바로 구성하고, 상기 제3 운동수단은 회전 수단과, 상기 회전 수단의 회전축에 축 결합되는제3 링크바와, 상기 제3 링크바에 회전 조인트로 연결되고 상판에 구형 조인트로 연결되는 제4 링크바로 구성함에 그 특징이 있다.According to the present invention, the first and second movement means includes a horizontal linear actuator, a first link bar connected to the rod of the linear actuator by a rotary joint and a spherical joint on the upper plate, and a center of the first link bar. And a second link bar connected to the base plate by a rotary joint, wherein the third movement means comprises: a rotation means, a third link bar axially coupled to the rotation shaft of the rotation means, and a top plate connected to the third link bar by a rotation joint. The fourth link bar is connected to the spherical joint is characterized in that the configuration.
본 발명에 따르면, 상기 제1,2 운동수단은 리니어 엑츄에이터를 수직 설치하고, 상기 리니어 엑츄에이터의 로드 상단과 상판을 구형 조인트로 연결하여 구성함에 그 특징이 있다.According to the invention, the first and second movement means is characterized in that the linear actuator is installed vertically, by connecting the rod top and the upper plate of the linear actuator by a spherical joint.
본 발명에 따르면, 상기 제3 운동수단은 리니어 엑츄에이터 하부를 베이스 판에 회전 조인트로 연결하고, 상기 리니어 엑츄에이터의 로드를 상판에 구형 조인트로 연결하여 구성함에 그 특징이 있다.According to the invention, the third movement means is characterized in that the linear actuator is connected to the base plate by a rotary joint, and the rod of the linear actuator is connected to the upper plate by a spherical joint.
본 발명에 따르면, 상기 제1,2 운동수단의 구형 조인트는 상판 하부의 브라켓에 폭 방향으로 설치된 중심봉에 좌우 유동 가능하게 축 설치하여 구성함에 그 특징이 있다.According to the present invention, the spherical joint of the first and second movement means is characterized in that the shaft is installed so as to be movable left and right on the center bar installed in the width direction on the bracket of the upper plate lower.
이러한 본 발명은 베이스 판과 상판 사이에서 제1,2 운동수단은 좌우측 중앙, 제3 운동수단은 제1,2 운동수단 사이의 전방 위치에서 상판과 조인트로 동일 방향의 회전이 가능하도록 연결 설치하여 제1,2 운동수단에 의한 상판의 히브(heave; 상하), 롤(roll; 좌우 회전) 운동, 제3 운동수단에 의한 피치(pitch; 앞뒤 회전)을 수행하되, 상기 제3 운동수단에 의한 피치(pitch; 앞뒤 회전) 운동시 상판이 제1,2 운동수단의 조인트를 중심으로 전후 회전하면서 피치 운동을 종래 보다 큰 동작으로 구현하게 되는 것이다.The present invention is the first and second movement means between the base plate and the upper plate, the left and right side center, the third movement means in the front position between the first and second movement means connected to the upper plate and the joint so as to enable rotation in the same direction The first and second movement means of the upper plate (heave; the upper and lower), roll (left and right rotation) movement, the pitch (pitch (front and rear rotation)) by the third movement means to perform, but by the third movement means During pitch movement, the upper plate rotates back and forth around the joint of the first and second movement means, thereby implementing a pitch movement in a larger motion than the conventional one.
이로 인해 모터 사이클, 스키 점프 등과 같은 익스트림 스포츠 시뮬레이터(Extreme sports simulator) 등에서 가상 현실 체험 효과를 극대화할 수 있게 되는 것이다.This maximizes virtual reality experiences in extreme sports simulators such as motorcycles and ski jumps.
또한, 상기 제1,2,3 운동수단을 일렬 설치하는 구조에 의해 종래 구조에 비해 설치 공간도 최소화할 수 있는 효과를 갖는 것이다.In addition, the first, second, and third movement means has a structure in which the installation space can be minimized as compared with the conventional structure.
또한, 상기 상판의 모션을 90도 회전이 가능한 구조로 제공하므로 3개의 운동수단에 의해 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동은 물론 요(yaw), 피치(pitch), 서지(surge) 운동도 구현할 수 있어 사용 효율성이 더욱 우수한 효과도 갖는 것이다.In addition, since the motion of the upper plate is provided in a structure capable of rotating 90 degrees, three movement means (heave; up and down), pitch (front and back rotation), roll (rolling left and right) movement as well as yaw (yaw) ), Pitch (pitch), and surge (surge) movement can also be implemented to have a more effective effect.
도 1은 본 발명의 일 실시 예를 보여주는 사시도.1 is a perspective view showing an embodiment of the present invention.
도 2는 도 1의 상판 분리 상태 사시도.Figure 2 is a perspective view of the upper plate separated state of FIG.
도 3은 도 1의 정면도.3 is a front view of FIG. 1;
도 4는 도 1의 측면도.4 is a side view of FIG. 1;
도 5 및 도 6은 상판 피치 운동을 보여주는 정면도.5 and 6 are front views showing the upper plate pitch motion.
도 7은 본 발명의 다른 실시 예를 보여주는 사시도.7 is a perspective view showing another embodiment of the present invention.
도 8은 도 7의 정면도.8 is a front view of FIG. 7;
도 9는 본 발명의 또 다른 실시 예를 보여주는 사시도.9 is a perspective view showing another embodiment of the present invention.
도 10은 도 9의 정면도.10 is a front view of FIG. 9;
도 11은 본 발명의 또 다른 실시 예를 보여주는 사시도.11 is a perspective view showing another embodiment of the present invention.
도 12는 도 11의 정면도.12 is a front view of FIG. 11;
도 13은 도 1 내지 도 4의 실시 예를 이용한 운동 변화를 보여주는 정면도.13 is a front view showing a change in motion using the embodiment of Figures 1 to 4.
이하, 상기한 본 발명의 바람직한 실시 예를 첨부 도면을 참조하여 구체적으로 살펴보기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
본 발명의 가상현실 체험을 위한 3자유도 모션 플랫폼은 도 1 내지 도 12에 도시된 바와 같이 베이스 판(10), 상판(20) 그리고 상기 베이스 판과 상판 사이로 설치되는 제1,2,3 운동수단(31)(32)(33)에 의해 상판의 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동을 유도하도록 이루어지는 것이다.The three degree of freedom motion platform for the virtual reality experience of the present invention is the base plate 10, the top plate 20 and the first, second, and third movements installed between the base plate and the top plate as shown in Figs. The means 31, 32 and 33 are adapted to induce the top, bottom, pitch, and roll movements of the top plate.
특히, 상기 제1,2 운동수단(31)(32)은 좌우측 중앙, 제3 운동수단(33)은 제1,2 운동수단 사이의 전방 위치에서 상판과 조인트로 동일 방향의 회전이 가능하도록 연결 설치하여 제1,2 운동수단에 의한 상판의 히브(heave; 상하), 롤(roll; 좌우 회전) 운동, 제3 운동수단에 의한 피치(pitch; 앞뒤 회전)을 수행하되, 상기 제3 운동수단(33)에 의한 피치(pitch; 앞뒤 회전) 운동시 상판이 제1,2 운동수단의 조인트를 중심으로 전후 회전하면서 피치 운동을 큰 동작으로 구현하도록 구성되는 것이다.In particular, the first and second movement means 31 and 32 are connected to the left and right centers, and the third movement means 33 is rotated in the same direction by the upper plate and the joint at the front position between the first and second movement means. Installed to perform a heave (up and down) of the upper plate by the first and second movement means, a roll (left and right rotation) movement, and a pitch (back and forth rotation) by the third movement means, wherein the third movement means The upper plate rotates back and forth around the joint of the first and second movement means during the pitch movement by 33, and is configured to implement the pitch movement in a large motion.
본 발명에서 상기 제1,2,3 운동수단(31)(32)(33)은 다양한 실시 예로 구현이 가능하다.In the present invention, the first, second, and third movement means 31, 32, 33 may be implemented in various embodiments.
먼저, 도 1 내지 도 6의 실시 예에서 상기 제1,2 운동수단(31)(32)은 수평의 리니어 엑츄에이터(40)와, 상기 리니어 엑츄에이터의 로드(41)에 회전 조인트(revolute joint)(2)로 연결되고 상판에 구형 조인트(spherical joint)(3)로 연결되는 제1 링크바(42)와, 상기 제1 링크바의 중앙과 베이스 판(10)에 회전 조인트(2)로 연결되는 제2 링크바(43)로 구성된다.First, in the embodiments of FIGS. 1 to 6, the first and second movement means 31 and 32 may include a horizontal linear actuator 40 and a revolute joint (rod) to the rod 41 of the linear actuator. 2) a first link bar 42 connected to the upper plate by a spherical joint 3 and a rotary joint 2 connected to the center of the first link bar and the base plate 10. It consists of a second link bar 43.
그리고 상기 제3 운동수단(33)은 회전 수단(50)과, 상기 회전 수단의 회전축에 축 결합되는 제3 링크바(52)와, 상기 제3 링크바(52)에 회전 조인트(2)로 연결되고 상판에 구형 조인트(spherical joint)(3)로 연결되는 제4 링크바(53)로 구성된다.The third movement means 33 includes a rotation means 50, a third link bar 52 axially coupled to the rotation axis of the rotation means, and a rotation joint 2 to the third link bar 52. And a fourth link bar 53 connected to the top plate by spherical joints 3.
이때, 상기 제1,2 운동수단(31)(32)의 구형 조인트(3)는 상판(20) 하부의 브라켓(21)에 폭 방향으로 설치된 중심봉(22)에 좌우 유동 가능하게 축 설치하여 구성된다.At this time, the spherical joints 3 of the first and second movement means 31 and 32 are axially installed on the center rod 22 installed in the width direction on the bracket 21 below the upper plate 20 so as to be movable left and right. do.
즉, 상기 제1,2 운동수단(31)(32)에 의한 롤(roll; 좌우 회전) 운동시 제1 링크바(42)의 상단이 좌우로 유동하면서 롤 운동을 원활히 제공하도록 구성되는 것이다.That is, during the roll movement by the first and second movement means 31 and 32, the upper end of the first link bar 42 flows to the left and right to smoothly provide the roll movement.
이러한 본 발명의 실시 예에 의한 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동에 대해 설명하기로 한다.It will be described with respect to the (heave; up and down), the pitch (rear) and the roll (left and right rotation) movement according to an embodiment of the present invention.
상기 히브(heave; 상하) 운동은 제1,2,3 운동수단(31)(32)(33)이 동시에 작동하면서 상판(20)을 상하 운동시키는 것이다.The heave movement is to move the upper plate 20 up and down while the first, second, and third movement means 31, 32, 33 operate simultaneously.
상기 롤(roll; 좌우 회전) 운동은 제1,2 운동수단(31)(32)이 서로 엇갈리게 작동하면서 상판(20)을 도 4에서와 같이 좌우 방향(C-D)으로 회전 운동시키는 것이다.The roll movement is to rotate the top plate 20 in the left-right direction C-D as shown in FIG. 4 while the first and second movement means 31 and 32 are alternately operated.
이때, 상기 제1,2 운동수단(31)(32)은 수평의 리니어 엑츄에이터(40)의 로드(41)가 전후로 작동하면서 상기 로드(41)에 회전 조인트(2)로 연결되고 상판에 구형 조인트(3)로 연결되는 제1 링크바(43)와, 상기 제1 링크바의 중앙과 베이스판(10)에 회전 조인트(2)로 연결되는 제2 링크바(43)의 링크 작동에 의해 서로 엇갈리게 승하강하면서 상판(20)을 좌우 방향(C-D)으로 회전 운동시키게 되는 것이다.At this time, the first and second movement means 31 and 32 are connected to the rod 41 by the rotary joint 2 while the rod 41 of the horizontal linear actuator 40 operates back and forth, and a spherical joint on the upper plate. The first link bar 43 connected to (3) and the link operation of the second link bar 43 connected to the center of the first link bar and the base plate 10 by the rotary joint 2 to each other. While moving up and down alternately, the upper plate 20 is rotated in the left and right direction (CD).
이 과정에서 상기 상판(20)에 연결되는 구형 조인트(3)는 상판 하부의 브라켓(21)의 중심봉(22)에 축 삽입되어 좌우로 습동하면서 상판(20)의 좌우 회전 운동, 즉 롤 운동을 원활하게 제공하게 되는 것이다.In this process, the spherical joint 3 connected to the top plate 20 is axially inserted into the center bar 22 of the bracket 21 at the bottom of the top plate and slid left and right to perform left and right rotational movements, that is, roll movements of the top plate 20. It will be provided smoothly.
그리고 상기 피치(pitch; 앞뒤 회전) 운동은 제3 운동수단(33)에 의한 회전 운동시 상판(20)과 연결되는 제1,2 운동수단(31)(32)의 구형 조인트(3)가 회전 중심이 되면서 전후 방향(A-B)으로 회전하는데, 이 과정에서 종래와 같이 간섭되는 구조가 없어 큰 각도로 회전 작동하게 되면서 큰 동작의 피치 운동이 가능하게 되는 것이다.In addition, the pitch movement is performed by the spherical joint 3 of the first and second movement means 31 and 32 connected to the upper plate 20 during the rotation movement by the third movement means 33. It rotates in the front and rear direction (AB) while being the center, and in this process, there is no structure that interferes as in the prior art, so that the pitch movement of the large motion is possible while the rotation works at a large angle.
특히, 상기 제3 운동수단(33)은 회전 수단(50)의 회전축에 축 결합되는 제3 링크바(52)와, 상기 제3 링크바(52)에 회전 조인트(2)로 연결되고 상판에 구형 조인트(spherical joint)(3)로 연결되는 제4 링크바(53)를 일렬 연결하여 상기 회전 수단의 회전에 의해 제3 링크바(52)의 회전 운동과 제3,4 링크바(52)(53)의 관절 운동으로 상판(20)을 전후 방향(A-B)으로 큰 각도로 회전 작동하게 되면서 큰 동작으로 피치 운동하게 되는 것이다.In particular, the third movement means 33 is a third link bar 52 which is axially coupled to the rotation axis of the rotation means 50, and the third link bar 52 is connected to the rotary joint (2) to the upper plate A fourth link bar 53 connected to a spherical joint 3 is connected in series to rotate the third link bar 52 and the third and fourth link bars 52 by the rotation of the rotation means. The upper plate 20 is rotated by a large angle in the front-rear direction AB by the joint motion of 53, and the pitch movement is performed in a large motion.
또한, 본 발명 도 7 내지 도 8의 실시 예는 도 5 및 도 6의 실시 예와 비교하여 볼때 제1,2 운동수단(31)(32)을 달리 형성한 것이다.In addition, the embodiment of Figures 7 to 8 of the present invention is different from the first and second movement means (31, 32) as compared to the embodiment of Figures 5 and 6.
이는 수평이 아닌 리니어 엑츄에이터(40')를 수직 설치하고, 상기 리니어 엑츄에이터의 로드(41) 상단과 상판(20)을 구형 조인트(3)로 연결하여 구성된 것이다.This is configured by vertically installing the linear actuator 40 'that is not horizontal, and connecting the upper end of the rod 41 and the upper plate 20 of the linear actuator with a spherical joint 3.
이러한 본 발명의 실시 예는 수평이 아닌 수직의 리니어 엑츄에이터(40')에 의해 히브(heave; 상하) 운동, 롤(roll; 좌우 회전) 운동을 행하여 상판(20)을 상하 운동, 좌우 방향(C-D)으로 회전 운동시키게 되는 것이다.Such an embodiment of the present invention is to move the top plate 20 up and down, left and right directions (CD) by performing a (heavy) movement, a roll (left and right) movement by the linear actuator 40 'rather than a horizontal Will rotate).
또한, 상기 제3 운동수단(33)에 의한 피치(pitch; 앞뒤 회전) 운동시 리니어 엑츄에이터(40') 상단의 구형 조인트(3)가 회전 중심이 되면서 상판을 전후 방향(A-B)으로 회전하는데, 이 과정에서 종래와 같이 간섭되는 구조가 없어 큰 각도로 회전 작동하게 되면서 큰 동작의 피치 운동이 가능하게 되는 것이다.In addition, when the spherical joint (3) of the upper end of the linear actuator (40 ') during the pitch (movement of the front and rear) movement by the third movement means 33 rotates the top plate in the front-rear direction (AB) as the center of rotation, In this process, there is no structure that interferes as in the prior art, so that the rotary motion is operated at a large angle, thereby enabling a pitch motion of a large motion.
또한, 본 발명 도 9 내지 도 10의 실시 예에서는 도 5 및 도 6의 실시 예와 비교하여 볼때 제3 운동수단(33)을 달리 형성한 것이다.In addition, in the embodiments of FIGS. 9 to 10 of the present invention, the third movement means 33 is formed differently as compared with the embodiments of FIGS. 5 and 6.
이는 회전 수단이 아닌 리니어 엑츄에이터(40")를 이용하되, 상기 리니어 엑츄에이터 하부를 베이스 판(10)에 회전 조인트(2)로 연결하고, 상기 리니어 엑츄에이터의 상부 로드(41)를 상판(20)에 구형 조인트(3)로 연결하여 구성된 것이다.It uses a linear actuator 40 "rather than a rotation means, and connects the lower portion of the linear actuator to the base plate 10 with the rotary joint 2, and connects the upper rod 41 of the linear actuator to the upper plate 20. It is configured by connecting with a spherical joint (3).
이러한 본 발명의 실시 예는 회전 수단이 아닌 리니어 엑츄에이터(40")의 로드(41) 신축에 의해 피치(pitch; 앞뒤 회전) 운동을 하는데, 제1,2 운동수단(31)(32)의 구형 조인트(3)가 회전 중심이 되면서 상판을 전후 방향(A-B)으로 회전하는데, 이 과정에서 종래와 같이 간섭되는 구조가 없어 큰 각도로 회전 작동하게 되면서 큰 동작의 피치 운동이 가능하게 되는 것이다.This embodiment of the present invention is a pitch (front and rear rotation) movement by the expansion and contraction of the rod 41 of the linear actuator (40 "), not the rotation means, the first and second movement means 31, 32 As the joint 3 becomes the center of rotation, the top plate rotates in the front-back direction AB. In this process, there is no structure that interferes as in the prior art, so that the pitch movement of the large motion can be performed while rotating at a large angle.
이때, 상기 리니어 엑츄에이터(40")는 하부가 베이스 판(10)에 회전 조인트(2)로 연결되어 회전 작동하고, 상부 로드(41)는 상판(20)에 구형 조인트(3)로 연결되어 회전 작동하는 것이다.At this time, the linear actuator 40 "is rotated by the lower part connected to the base plate 10 by the rotary joint 2, and the upper rod 41 is connected to the upper plate 20 by the spherical joint 3 and rotated. It works.
또한, 본 발명 도 11 내지 도 12의 실시 예에서는 도 5 및 도 6의 실시 예와 비교하여 볼때 제1,2,3 운동수단(31)(32)(33)을 달리 형성한 것이다.In addition, in the embodiments of FIGS. 11 to 12, the first, second, and third movement means 31, 32, 33 are formed differently than those of FIGS. 5 and 6.
즉, 제1,2 운동수단(31)(32)은 리니어 엑츄에이터(40')를 수직 설치하고, 상기 리니어 엑츄에이터의 로드(41) 상단과 상판(20)을 구형 조인트(3)로 연결하고, 상기 제3 운동수단(33)은 리니어 엑츄에이터(40")으로 구성하되, 상기 리니어 엑츄에이터 하부를 베이스 판(10)에 회전 조인트(2)로 연결하고, 상기 리니어 엑츄에이터의 상부 로드(41)를 상판(20)에 구형 조인트(3)로 연결하여 구성된 것이다.That is, the first and second movement means 31 and 32 vertically install the linear actuator 40 ', connect the upper end of the rod 41 and the upper plate 20 of the linear actuator with a spherical joint 3, The third movement means 33 is composed of a linear actuator 40 ″, the lower portion of the linear actuator is connected to the base plate 10 by a rotary joint 2, and the upper rod 41 of the linear actuator is an upper plate. It is configured by connecting with a spherical joint (3) to (20).
이러한 본 발명의 실시 예는 수평이 아닌 수직의 리니어 엑츄에이터(40')에 의해 상기 히브(heave; 상하) 운동, 롤(roll; 좌우 회전) 운동을 행하여 상판(20)을 상하 운동, 좌우 방향(C-D)으로 회전 운동시키게 되는 것이다.Such an embodiment of the present invention is the vertical actuator (40 '), not the horizontal (heave), roll (left and right) to the upper plate 20 by the vertical movement, the left and right directions ( CD).
또한, 회전 수단이 아닌 리니어 엑츄에이터(40")의 로드(41) 신축에 의해 피치(pitch; 앞뒤 회전) 운동을 수행하는 것이다. 이때 제1,2 운동수단(31)(32)의 구형 조인트(3)가 회전 중심이 되면서 상판을 전후 방향(A-B)으로 회전하는데, 이 과정에서 종래와 같이 간섭되는 구조가 없어 큰 각도로 회전 작동하게 되면서 큰 동작의 피치 운동이 가능하게 되는 것이다.In addition, the pitch movement is performed by the expansion and contraction of the rod 41 of the linear actuator 40 "instead of the rotation means. At this time, the spherical joints of the first and second movement means 31 and 32 3) becomes the center of rotation and rotates the top plate in the front and rear direction (AB) in this process, there is no structure to interfere as in the prior art is to be rotated to operate at a large angle as the pitch movement of a large motion is possible.
한편, 본 발명은 제3 운동수단(33)에 의해 상판(20)을 90도 회전시킨 상태에서 제1,2,3 운동수단(31)(32)(33)을 이용하여 전술한 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동은 물론 요(yaw), 피치(pitch), 서지(surge) 운동도 구현할 수 있는 것이다.On the other hand, the present invention by using the first, second, third movement means 31, 32, 33 in the state that the upper plate 20 is rotated 90 degrees by the third movement means 33, Up, down, pitch, and roll movements, as well as yaw, pitch, and surge movements.
이는 도 13에서와 같이 상판(20)을 제3 운동수단(33)에 의해 90도 회전시킨 상태에서 베이스(10)가 측방에 수직 위치하고, 상판(20)은 상부에 수평 위치하도록 설치하는 것이다.As shown in FIG. 13, the base 10 is vertically positioned to the side in the state where the top plate 20 is rotated 90 degrees by the third movement means 33, and the top plate 20 is horizontally positioned at the top.
이 상태에서 서지(surge) 운동은 제1,2 운동수단(31)(32)과 제3 운동수단(33)이 동시 작동하면서 상판을 전후 방향(A'-B')으로 작동하여 가능하게 되는 것이다.In this state, the surge movement is enabled by operating the upper plate in the front-back direction A'-B 'while the first and second movement means 31 and 32 and the third movement means 33 are operated simultaneously. will be.
즉, 상기 제1,2 운동수단(31)(32)에서 리니어 엑츄에이터(40)의 로드(41)를 후퇴시켜 제1,2 링크바(42)(43)의 연동 작동으로 상판(20)을 후 방향(B')으로 이동시킴과 동시에 제3 운동수단(33)에서 회전수단(50)의 회전축을 회전시켜 제3,4 링크바(52)(53)의 연동 작동으로 상판(20)을 후 방향(B')으로 이동시켜 상판(20)이 수평 상태로 후방 이동이 가능하고, 반대로 상기 리니어 엑츄에이터(40)의 로드(41)를 전진시켜 제1,2 링크바(42)(43)의 연동 작동으로 상판(20)을 전 방향(A')으로 이동시킴과 동시에 회전수단(50)의 회전축을 역 회전시켜 제3,4 링크바(52)(53)의 연동 작동으로 상판(20)을 전 방향(A')으로 이동시켜 상판(20)이 수평 상태로 전방 이동이 가능하므로 이를 반복하면서 서지(surge) 운동이 가능하게 되는 것이다.That is, the upper plate 20 is moved by the interlocking operation of the first and second link bars 42 and 43 by retracting the rod 41 of the linear actuator 40 from the first and second movement means 31 and 32. The upper plate 20 is moved by the interlocking operation of the third and fourth link bars 52 and 53 by rotating the rotary shaft of the rotating means 50 in the third movement means 33 while moving in the rearward direction B '. By moving in the rearward direction B ', the upper plate 20 can be moved rearward in a horizontal state.On the contrary, the first and second link bars 42 and 43 are advanced by advancing the rod 41 of the linear actuator 40. By moving the upper plate 20 in the front direction (A ') by the interlocking operation of the rotational axis of the rotating means 50 at the same time by the interlocking operation of the third, fourth link bar 52, 53, the upper plate 20 ) By moving in the forward direction (A '), the upper plate 20 is possible to move forward in a horizontal state, so that the surge (surge) movement is possible.
또한, 상기 요(yaw) 운동은 제1 운동수단(31)과 제2 운동수단(32)이 교번되게 작동하면서 상판(20)을 좌우로 움직임 작동하는 것이다. 즉, 상기 제1 운동수단(31)이 상판(20)을 전,후방으로 이동시키는 것에 의해 상판이 구형 조인트(3)를 회전 중심으로 틀어지게 회전되고, 마찬가지로 제2 운동수단(32)이 상판(20)을 전후방으로 이동시키는 것에 의해 상판이 구형 조인트(3)를 회전 중심으로 틀어지게 회전되면서 상판이 제1, 2 운동수단(31) (32)이 위치하는 좌우로 틀어지도록 회전하여 요(yaw) 운동이 가능하게 되는 것이다. In addition, the yaw movement is to move the upper plate 20 to the left and right while the first movement means 31 and the second movement means 32 alternately operate. That is, the upper plate is rotated so that the spherical joint 3 is rotated about the rotation center by the first movement means 31 moving the upper plate 20 forward and backward, and the second movement means 32 is similarly the upper plate. As the upper plate is rotated so that the spherical joint 3 is rotated to the center of rotation by moving the front and rear sides 20, the upper plate is rotated so as to be twisted left and right where the first and second movement means 31 and 32 are located. yaw) exercise is possible.
그리고, 상기 피치(pitch) 운동은 제3 운동수단(33)에 의한 회전 운동시 상판(2)에 연결되는 제1,2 운동수단(31)(32)의 구형 조인트(3)가 회전 중심이 되면서 전후 방향(A'-B')으로 회전하여 피치 운동하게 되는 것이다.In addition, the pitch movement may include the spherical joint 3 of the first and second movement means 31 and 32 connected to the upper plate 2 during the rotation movement by the third movement means 33. While rotating in the front and rear direction (A'-B ') will be the pitch movement.
또한, 상기 서지(surge)와 요(yaw), 피치(pitch) 운동은 도 7내지 도12에서 보여지는 다른 실시예에서도 마찬가지로 적용된다. 즉, 리니어 엑츄에이터 (40')가 제1운동수단(31)과 제 2운동수단(32)를 대체하고, 리니어 엑츄에이터 (40'')가 제 3운동수단(33)을 대체하여 위에서 설명한 것과 동일하게 작동하게 되는 것이다.In addition, the surge, yaw, and pitch motions are similarly applied to other embodiments shown in FIGS. 7 to 12. That is, the linear actuator 40 'replaces the first movement means 31 and the second movement means 32, and the linear actuator 40' 'replaces the third movement means 33 and is the same as described above. Will work.
따라서, 본 발명은 베이스 판과 상판 사이에서 제1,2 운동수단(31)(32)은 좌우측 중앙, 제3 운동수단(33)은 제1,2 운동수단 사이의 전방 위치에서 상판과 조인트로 동일 방향의 회전이 가능하도록 연결 설치하여 제1,2 운동수단에 의한 상판의 히브(heave; 상하), 롤(roll; 좌우 회전) 운동, 제3 운동수단에 의한 피치(pitch; 앞뒤 회전)을 수행하되, 상기 제3 운동수단(33)에 의한 피치(pitch; 앞뒤 회전) 운동시 상판이 제1,2 운동수단의 조인트를 중심으로 전후 회전하면서 피치 운동을 종래보다 큰 동작으로 구현하므로 모터 사이클, 스키 점프 등과 같은 익스트림 스포츠 시뮬레이터(Extreme sports simulator) 등에서 가상 현실 체험 효과를 극대화하게 되는 것이다.Therefore, in the present invention, the first and second movement means 31 and 32 are centered between the base plate and the upper plate, and the third movement means 33 is connected to the upper plate and the joint at the front position between the first and second movement means. Connected and installed to allow rotation in the same direction, the first and second movement means of the upper (heave), roll (left and right) movement, the pitch by the third movement means (pitch) Since the upper plate rotates back and forth around the joint of the first and second movement means during the pitch movement by the third movement means 33, the motor cycle is realized in a larger motion than before. Extreme sports simulators such as ski jumping, etc. will maximize the virtual reality experience.
뿐만 아니라 상기 상판의 모션을 90도 회전이 가능한 구조로 제공하므로 3개의 운동수단에 의해 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동은 물론 요(yaw), 피치(pitch), 서지(surge) 운동도 구현할 수 있는 것이다.In addition, the motion of the upper plate is provided in a structure that can be rotated by 90 degrees, so that the movement of the heave (heave; up and down), pitch (forward and backward), and roll (left and right) by the three movement means, as well as yaw ), Pitch, and surge motion can be implemented.

Claims (6)

  1. 베이스 판(10)과 상판(20) 사이로 제1,2,3 운동수단(31)(32)(33)을 설치하여 상판의 히브(heave; 상하), 피치(pitch; 앞뒤 회전), 롤(roll; 좌우 회전) 운동을 유도하는 가상현실 체험을 위한 3자유도 모션 플랫폼에 있어서,The first, second and third movement means 31, 32 and 33 are provided between the base plate 10 and the top plate 20, so that the top, bottom, pitch, and roll of the top plate In a 3 degree of freedom motion platform for a virtual reality experience that induces a roll motion,
    상기 제1,2 운동수단(31)(32)은 좌우측 중앙, 제3 운동수단(33)은 제1,2 운동수단 사이의 전방 위치에서 상판과 조인트로 동일 방향의 회전이 가능하도록 연결 설치하여 제1,2 운동수단에 의한 상판의 히브(heave; 상하), 롤(roll; 좌우 회전) 운동, 제3 운동수단에 의한 피치(pitch; 앞뒤 회전)을 수행하되,The first and second movement means 31 and 32 are connected to the left and right centers, and the third movement means 33 is connected to the upper plate and the joint in the front position between the first and the second movement means to enable rotation in the same direction. Performing a heave (up and down) of the upper plate by the first and second movement means, a roll (left and right rotation) movement, and a pitch by the third movement means,
    상기 제3 운동수단(33)에 의한 피치(pitch; 앞뒤 회전) 운동시 상판이 제1,2 운동수단의 조인트를 중심으로 전후 회전하면서 피치 운동을 큰 동작으로 구현하도록 이루어진 것을 특징으로 하는 가상현실 체험을 위한 3자유도 모션 플랫폼.Virtual reality, characterized in that the upper plate is rotated back and forth around the joint of the first and second movement means during the pitch movement by the third movement means 33 to implement the pitch movement in a large motion 3 degree of freedom motion platform for the experience.
  2. 제1항에 있어서,The method of claim 1,
    상기 제1,2 운동수단(31)(32)은 수평의 리니어 엑츄에이터(40)와, 상기 리니어 엑츄에이터의 로드(41)에 회전 조인트(2)로 연결되고 상판에 구형 조인트(3)로 연결되는 제1 링크바(42)와, 상기 제1 링크바의 중앙과 베이스 판(10)에 회전 조인트(2)로 연결되는 제2 링크바(43)로 구성하고,The first and second movement means 31 and 32 are connected to the horizontal linear actuator 40 and the rod 41 of the linear actuator by a rotary joint 2 and to the upper plate by a spherical joint 3. A first link bar 42 and a second link bar 43 connected to the center of the first link bar and the base plate 10 by a rotary joint 2,
    상기 제3 운동수단(33)은 회전 수단(50)과, 상기 회전 수단의 회전축에 축 결합되는 제3 링크바(52)와, 상기 제3 링크바(52)에 회전 조인트(2)로 연결되고 상판에 구형 조인트(3)로 연결되는 제4 링크바(53)로 구성한 것을 특징으로 하는 가상현실 체험을 위한 3자유도 모션 플랫폼.The third movement means 33 is connected to the rotating means 50, the third link bar 52 which is axially coupled to the rotation axis of the rotating means, and the rotary joint 2 to the third link bar 52 And a fourth link bar (53) connected to the upper plate by a spherical joint (3).
  3. 제1항에 있어서,The method of claim 1,
    상기 제1,2 운동수단(31)(32)은 리니어 엑츄에이터(40')를 수직 설치하고, 상기 리니어 엑츄에이터의 로드(41) 상단과 상판(20)을 구형 조인트(3)로 연결 구성하고,The first and second movement means (31, 32) is installed vertically the linear actuator (40 '), and configured to connect the upper end of the rod 41 and the upper plate 20 of the linear actuator with a spherical joint (3),
    상기 제3 운동수단(33)은 회전 수단(50)과, 상기 회전 수단의 회전축에 축 결합되는 제3 링크바(52)와, 상기 제3 링크바(52)에 회전 조인트(2)로 연결되고 상판과 구형 조인트(3)로 연결되는 제4 링크바(53)로 구성한 것을 특징으로 하는 가상현실 체험을 위한 3자유도 모션 플랫폼.The third movement means 33 is connected to the rotating means 50, the third link bar 52 which is axially coupled to the rotation axis of the rotating means, and the rotary joint 2 to the third link bar 52 And a fourth link bar (53) connected to the top plate and the spherical joint (3) by the three degree of freedom motion platform for a virtual reality experience.
  4. 제1항에 있어서,The method of claim 1,
    상기 제1,2 운동수단(31)(32)은 수평의 리니어 엑츄에이터(40)와, 상기 리니어 엑츄에이터의 로드(41)에 회전 조인트(2)로 연결되고 상판에 구형 조인트(3)로 연결되는 제1 링크바(42)와, 상기 제1 링크바의 중앙과 베이스 판(10)에 회전 조인트(2)로 연결되는 제2 링크바(43)로 구성하고,The first and second movement means 31 and 32 are connected to the horizontal linear actuator 40 and the rod 41 of the linear actuator by a rotary joint 2 and to the upper plate by a spherical joint 3. A first link bar 42 and a second link bar 43 connected to the center of the first link bar and the base plate 10 by a rotary joint 2,
    상기 제3 운동수단(33)은 리니어 엑츄에이터(40") 하부를 베이스 판(10)에 회전 조인트(2)로 연결 설치하고, 상기 리니어 엑츄에이터의 로드(41)를 상판(20)에 구형 조인트(3)로 연결되게 구성한 것을 특징으로 하는 가상현실 체험을 위한 3자유도 모션 플랫폼.The third movement means 33 is installed by connecting the lower portion of the linear actuator 40 "to the base plate 10 with the rotary joint 2, and connecting the rod 41 of the linear actuator to the upper plate 20 with a spherical joint ( 3) 3 degrees of freedom motion platform for a virtual reality experience, characterized in that configured to be connected to.
  5. 제1항에 있어서,The method of claim 1,
    상기 제1,2 운동수단(31)(32)은 리니어 엑츄에이터(40')를 수직 설치하고, 상기 리니어 엑츄에이터의 로드(41) 상단과 상판(20)을 구형 조인트(3)로 연결 구성하고,The first and second movement means (31, 32) is installed vertically the linear actuator (40 '), and configured to connect the upper end of the rod 41 and the upper plate 20 of the linear actuator with a spherical joint (3),
    상기 제3 운동수단(33)은 리니어 엑츄에이터(40") 하부를 베이스 판(10)에 회전 조인트(2)로 연결 설치하고, 상기 리니어 엑츄에이터의 로드(41)를 상판(20)에 구형 조인트(3)로 연결되게 구성한 것을 특징으로 하는 가상현실 체험을 위한 3자유도 모션 플랫폼.The third movement means 33 is installed by connecting the lower portion of the linear actuator 40 "to the base plate 10 with the rotary joint 2, and connecting the rod 41 of the linear actuator to the upper plate 20 with a spherical joint ( 3) 3 degrees of freedom motion platform for a virtual reality experience, characterized in that configured to be connected to.
  6. 제2항 내지 제5한 중 어느 한 항에 있어서,The method according to any one of claims 2 to 5,
    상기 제1,2 운동수단(31)(32)의 구형 조인트(3)는 상판 하부의 브라켓(21)에 폭 방향으로 설치된 중심봉(22)에 좌우 유동 가능하도록 축 설치하여 구성한 것을 특징으로 하는 가상현실 체험을 위한 3자유도 모션 플랫폼.The spherical joints 3 of the first and second movement means 31 and 32 are axially installed on the central rod 22 installed in the width direction on the bracket 21 of the upper plate so as to be movable left and right. 3 degree of freedom motion platform for real life experience.
PCT/KR2017/002855 2016-03-23 2017-03-16 Three-degree-of-freedom motion platform for virtual reality experience WO2017164564A1 (en)

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