WO2019211474A1

WO2019211474A1 - Apparatus to simulate driving a land vehicle

Info

Publication number: WO2019211474A1
Application number: PCT/EP2019/061458
Authority: WO
Inventors: Diego MINEN
Original assignee: Vi-Grade Ag
Priority date: 2018-05-03
Filing date: 2019-05-03
Publication date: 2019-11-07
Also published as: IT201800005022A1

Abstract

Apparatus to simulate driving a land vehicle such as a car, a sports car, a bus, a van, or suchlike. The apparatus comprises a fixed base platform (11) provided with a flat support surface (12), a mobile platform (13) located on said base platform (11), sliding means (15) associated with the mobile platform (13) to allow it to slide on the support surface (12), first movement means (16) associated with the base platform (11) and with the mobile platform (13) to translate the mobile platform (13) on the support surface (12) in a first direction (X) and a second direction (Y) coordinated with the first direction (X), and to rotate the mobile platform (13) around a third direction (Z) normal to the support surface (12) and coordinated with the first direction (X) and the second direction (Y), and a driving station (26) associated with the mobile platform (13) by second movement means (27).

Description

“APPARATUS TO SIMULATE DRIVING A LAND VEHICLE”

* * * * *

FIELD OF THE INVENTION

The present invention concerns an apparatus to simulate driving a land vehicle such as a car, a sports car, a bus, a van, or suchlike.

In particular, the apparatus is able to reproduce the driving conditions of one of the above vehicles along pre-established routes and with the driving modes determined by a driver.

The present invention can also be used to train personnel to drive and/or to simulate the driving experience, without a driver, for one or more passengers.

BACKGROUND OF THE INVENTION

Apparatuses to simulate driving land vehicles are known, one of which is described in WO-A-2013/114179 which comprises a fixed base platform, a mobile platform located above the base platform, and a driving station associated with the mobile platform and in which, in normal use, a driver is seated.

Three linear actuators are associated with the base platform and the mobile platform to move the latter with respect to the base platform.

In particular, the base platform is provided with a flat support surface while the mobile platform is provided with sliding means, such as air bearings, disposed resting on the support surface of the base platform and which allow the mobile platform to slide on the support surface.

The actuators translate the mobile platform in a first direction, and a second direction coordinated with the first direction, and rotate it around a third direction, normal to the support surface and coordinated with the first direction and second direction.

The driving station usually comprises a seat element for a driver, command means that can be actuated by the driver such as a steering wheel, brake, clutch, and accelerator pedals, and a projection screen, onto which the driving environment in which the driver is immersed during the simulation is projected.

The driving station is associated with the mobile platform by means of a kinematic mechanism, which comprises a plurality of telescopic actuators, defining a hexapod kinematic structure. The actuators move the driving station in space both translating it along the three coordinated axes, and also providing rotations around the same axes. In other words, the driving station can be moved in all its six degrees of freedom.

This known simulation apparatus, therefore, allows to obtain a high flexibility of simulation since nine different movement modes of the driving station can be managed. In particular, three possible movements are permitted by the actuators provided between the fixed platform and the mobile platform, while another six possible movements are permitted by the actuators of the hexapod kinematic structure.

A further type of apparatus to simulate driving a land vehicle is described in WO-A-2017/021323. The apparatus described in this document, unlike what is described in WO-A-2013/114179, provides that the movement of the mobile platform on the fixed platform is determined by forces exerted on the mobile platform by four cables, suitably tensioned to determine the precise positioning of the mobile platform.

The simulation apparatus described in WO-A-2017/021323 is particularly suitable for driving simulation in which high performances in terms of system response are required which, in their turn, require ample space for the movement of the mobile platform.

One purpose of the present invention is to provide an apparatus to simulate driving a land vehicle that is simple to produce and manage.

It is also a purpose of the present invention to provide an apparatus to simulate driving a land vehicle that is economical.

Another purpose is to provide an apparatus to simulate driving a land vehicle that is compact and has reduced weight and bulk.

The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

SUMMARY OF THE INVENTION

The present invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention or variants to the main inventive idea.

In accordance with the above purposes, the present invention concerns an apparatus to simulate driving a land vehicle, said apparatus comprising: - a fixed base platform provided with a flat support surface,

- a mobile platform located on the base platform,

- sliding means associated with the mobile platform to allow the latter to slide on the support surface,

- first movement means associated with the base platform and with the mobile platform to translate the mobile platform on the support surface in a first direction and a second direction coordinated with the first direction, and to rotate the mobile platform around a third direction normal to the support surface and coordinated with the first direction and the second direction,

- a driving station associated with the mobile platform by second movement means.

According to one aspect of the invention, the second movement means are configured to translate the driving station only in a fourth direction parallel to the third direction and to rotate the driving station only around a fifth direction and a sixth direction coordinated with each other and with the fourth direction.

The second movement means therefore allow to move the driving station with respect to three of its six degrees of freedom, while the first movement means allow to move the driving station with respect to another three of the six degrees of freedom of a body. Furthermore, the particular combination of movement of the driving station generated by the first movement means and the second movement means ensures the movement of the driving station with respect to all its six degrees of freedom, without redundancies or overlaps of degrees of freedom. This allows to obtain a simulation apparatus that is extremely simple to manage and command, as well as extremely compact. Thanks to the possibility of moving the driving station in space, that is, according to the six degrees of freedom, this simulation apparatus also ensures that a highly reliable simulation of driving a vehicle is obtained.

The present invention also concerns a method to simulate driving a land vehicle which provides to:

- position a mobile platform on a flat support surface of a fixed base platform,

- make the mobile platform slide on the support surface by means of sliding means associated with the mobile platform and by first movement means associated with the base platform and with the mobile platform and which translate the mobile platform on the support surface in a first direction and a second direction coordinated with the first direction, and rotate the mobile platform around a third direction normal to the support surface and coordinated with the first direction and the second direction, and

- move a driving station with respect to the mobile platform by means of second movement means.

According to one aspect of the method, the second movement means translate the driving station only in a fourth direction parallel to the third direction and rotate the driving station only around a fifth direction and a sixth direction coordinated with each other and with the fourth direction.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other characteristics of the present invention will become apparent from the following description of some embodiments, given as a non-restrictive example with reference to the attached drawings wherein:

- fig. 1 is a perspective view of an apparatus to simulate driving a land vehicle according to the present invention;

- figs. 2, 3 and 4 are perspective views of the apparatus in fig. 1 in which some components have been omitted to allow to display details that would otherwise be hidden;

- fig. 5 is a schematic view in partial section of fig. 4;

- fig. 6 is a view from below of fig. 4.

To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can conveniently be incorporated into other embodiments without further clarifications.

DETAILED DESCRIPTION OF SOME EMBODIMENTS

With reference to figs. 1 and 2, an apparatus to simulate driving a land vehicle, according to the present invention, is indicated as a whole with the reference number 10.

The apparatus 10 comprises a fixed base platform 11 provided with a flat support surface 12 on which a mobile platform 13 is located.

The base platform 11 can be defined by the floor of a building, or by a suitably produced platform. The base platform 11 can have a substantially rectangular shape, or it can have different shapes and sizes, for example a polygonal, circular or combined curved and polygonal shape.

The support surface 12 is suitably finished, for example by grinding and polishing, to make it extremely smooth and to allow the mobile platform 13 to slide on it.

The particular finishing of the support surface 12 prevents the onset of unwanted vibrations in the mobile platform 13 during its movement on the base platform 11.

The support surface 12 defines a movement space 14 (fig. 3) which delimits the space within which the mobile platform 13 can move.

The support surface 12 and the movement space 14 defined thereby have a plan surface extension greater than the plan sizes of the mobile platform 13.

According to possible solutions of the present invention the apparatus comprises sliding means 15 associated with the mobile platform 13 to allow the latter to slide on the support surface 12.

According to possible embodiments, the sliding means 15 can comprise pneumostatic sliding blocks, configured to generate an air gap between the base platform 11 and themselves, allowing to slightly raise the mobile platform 13 to allow it to slide on the support surface 12.

The sliding means 15 provide to maintain the mobile platform 13 suspended, that is, resting, on the base platform 11 , avoiding the use of mechanical sliding means, such as sliding guides and sliding blocks, on the sliding guides.

In some embodiments, the sliding means 15 can comprise mechanical -type elements, such as ball bearings.

According to variant embodiments, the sliding means 15 can comprise magnetic elements, such as bearings with magnetic support.

According to possible solutions, the mobile platform 13 is provided, in the present case, with at least three sliding means 15 disposed at equal distances on the external perimeter of the mobile platform 13 to provide for its support.

According to another aspect of the present invention, the apparatus comprises first movement means 16 associated with the base platform 11 and the mobile platform 13 and configured to translate the mobile platform 13 on the support surface 12 in a first direction X and a second direction Y coordinated with the first direction X, and to rotate the mobile platform 13 around a third direction Z normal to the support surface 12 and coordinated with the first direction X and the second direction Y.

The first direction X, the second direction Y and the third direction Z therefore define a set of three coordinated axes.

The rotation of the mobile platform 13 around the third direction Z allows to simulate the yaw of a vehicle.

According to a possible solution, the first movement means 16 are configured to translate the mobile platform 13 on the support surface 12 only in the first direction X and the second direction Y, and to rotate the mobile platform 13 only around the third direction Z.

It is quite evident that, by combining the movements in the first direction X and the second direction Y, it is also possible to move the mobile platform 13 in other directions that lie on the plane of the support surface 12.

It is therefore possible to provide to control three of the six overall degrees of freedom of the apparatus 10 with the first movement means 16.

According to a possible solution of the invention, the first movement means 16 comprise a plurality of cables 17 connected by a first portion thereof to the mobile platform 13 and by a second portion to respective actuation members 18 configured to move the cables 17 and vary the distance between the connection zone of the cable 17 to the mobile platform 13 and the connection zone of the cable 17 to the actuation members 18, and determine a movement of the mobile platform 13 with respect to the base platform 11.

According to possible solutions, the first movement means 16 comprise four actuation members 18 disposed distanced from each other, for example according to a diagram at the vertices of a rectangle, that is, disposed at 90° one with respect to the other.

The presence of four actuation members 18 allows to obtain a redundancy of degrees of freedom suitable to always maintain the cables 17 in a stretched condition and therefore prevent them from loosening in such a way that a control of the positioning of the mobile platform 13 with respect to the base platform 11 is not ensured. According to possible embodiments, the actuation members 18 can be installed in a fixed position with respect to the base platform 1 1, for example they can be installed on the base platform 11 , for example at its edges.

By way of example only, it can be provided that the actuation members 18 are installed on the base platform 11 outside the movement space 14.

However, it is not excluded that the actuation members 18 are installed on fixed structures outside the base platform 1 1, as shown in figs. 1-3.

According to possible embodiments, the actuation members 18, through their actuation, maintain the respective cable 17 associated therewith under tension to guarantee the positioning, and the maintenance in position, of the mobile platform 13 with respect to the base platform 11.

By way of example only, the actuation members 18 are commanded so that each cable 17 is tensioned by an appropriate force. By way of example only, the tension to which the cable 17 is subjected is such that, during use, the latter is subjected to a minimum deflection, that is, an inflection such as to prevent contact between the cable 17 and the base platform 11.

According to possible embodiments, the cables 17 can be made of polymeric and/or composite material, for example polyethylene (PE), in particular High Density Polyethylene (HOPE) or Ultra High Molecular Weight Polyethylene (UHMWPE). In this way it is possible to reduce the mass of the cables 17, and consequently further reduce the sizes of the actuation members 18 and the overall bulk of the apparatus 10.

According to variant embodiments, the cables 17 can be defined by steel cables.

The mobile platform 13 is provided with a connection body 19 in correspondence with which the cables 17 are connected.

According to a possible formulation of the present invention, the connection body 19 has a discoidal shape and the cables 17 are partly wound/unwound on its external circumferential surface during use.

According to the solution shown in fig. 5, the connection body 19 is provided with a plurality of guides 20 made on its circumferential surface and in each of which one of the cables 17 is partly wound/unwound. The circumferential surface of the connection body 19 develops substantially orthogonal to the support surface 12 of the base platform 11.

The guides 20 can have a substantially circular configuration, that is, each one is made substantially parallel to the support surface 12, and the cable 17 is wound on them. The circular configuration of the guides 20 ensures that during the movement of the mobile platform 13, that is, when the cables 17 are wound/unwound on the guides 20, there is no variation in the height of the cable 17 with respect to the base platform 11.

According to possible embodiments, the guides 20 can comprise at least one aperture 21 facing toward the inside of the connection body 19 (fig. 3), to allow the entry and attachment of the cables 17 inside the connection body 19.

According to some embodiments, each cable 17 can be connected by one of its first ends to the mobile platform 13, and by one of its second ends, opposite the first end, to the actuation member 18. This solution allows to limit the overall lengths of the cables 17 and prevents them from interfering with movements of the mobile platform 13 or of the actuation members 18.

According to a variant embodiment (fig. 3), the mobile platform 13 can be provided with anchoring columns 22 in which the cables 17 are wound and attached.

The anchoring columns 22 are positioned inside the connection body 19. The anchoring columns 22 have an oblong development which is substantially orthogonal to the support surface 12.

According to a possible solution, each cable 17 can be anchored to two of the anchoring columns 22 defining a first cable branch which connects to one of the actuation members 18 and a second cable branch which connects to another of the actuation members 18. In this way, in the case of four actuation members 18 two cables 17 are used, the opposite ends of which are connected to the actuation members 18 while the central zone is connected to the anchoring columns 22. This solution prevents damage to the cables 17 and ensures a quick and certain connection of the cables 17 to the central zone.

According to a possible solution, each cable 17 can therefore be connected by one of its first ends to a first of the actuation members 18, be wound around the guides 20 of the connection body 19, and enter into the latter through one of the apertures 21 According to a possible embodiment, the cable 17 can be wound in a plurality of coils around a first of the anchoring columns 22, and subsequently wound around a second of the anchoring columns 22.

After being wound on the second anchoring column 22, the cable 17 is made to exit through one of the apertures 21 of the connection body 19 and partly wound around one of the guides 20 of the latter. The second end of the same cable 17 is then connected to a second of the actuation members 18.

However, it is not excluded that between the winding around the first anchoring column 22 and the winding around the second anchoring column 22 the cable 17 can be attached to the connection body 19 and/or to the anchoring columns 22 in other ways, not shown.

According to possible embodiments, each actuation member 18 comprises a pulley 23 connected to a motor 24 configured to make the pulley 23 rotate around an axis of rotation Q thereof. The cable 17 is connected to the pulley 23, so that with a drive of the motor 24 it is possible to determine a winding or unwinding of the cable 17 on the pulley 23 and, consequently, the movement of the mobile platform 13 on the base platform 11.

The motor 24 can be selected from a group comprising an electric motor, a hydraulic motor, a pneumatic motor.

According to one formulation of the present invention, the axis of rotation Q of the pulley 23 is orthogonal to the support surface 12, thus allowing to maintain the cables 17 substantially parallel to the support surface 12.

By driving the actuation members 18, if the first end of one of the cables 17 is unwound from the pulley 23, the other end is wound onto the connection body 19, thus ensuring the tensioning of the cable 17.

Each pulley 23 is provided with at least one groove 25 with a helicoidal development in which the cable 17 is positioned during the winding/unwinding action. The groove 25 can have a helicoidal development so as to prevent several coils of cable 17 from overlapping during the actuation of the pulley 23. By way of example only, the groove 25 is provided with two or more coils around which the cable 17 is wound on two or more turns.

A reduction member can be interposed between the motor 24 and the pulley 23 configured to reduce the rotation speed imparted by the motor 24 to the pulley 23. According to possible embodiments, a movement member can be connected to each actuation member 18 configured to move the actuation member 18 in a direction parallel to the axis of rotation Q of the pulley 23 to maintain the cables 17 substantially parallel to the base platform 11, that is, to the support surface 12 of the base platform 11. In fact, if the grooves 25 of the pulleys 23 have a helicoidal development, the movement member can move the pulleys 23 axially to dispose the cables 17 always parallel to the support surface 12, even during the operations of winding and unwinding the cables 17 on the pulleys 23.

Furthermore, the movement member allows to maintain each cable 17 substantially parallel to the corresponding guide 20 made in the connection body 19 and in which the cable 17 is positioned.

According to possible solutions, the movement member can comprise a screw jack, a linear actuator, a motor.

By way of example only, the movement member can comprise a recirculating ball jack which controls in a precise manner the movement of the pulley 23 according to the movements that are imparted to the mobile platform 13.

According to possible embodiments, the mobile platform 13 can move in the first direction X and the second direction Y, and rotate around the third direction Z based on the unwinding or winding of the cable 17 on the pulleys 23 and on the simultaneous winding or unwinding of the cable 17 on the connection body 19.

According to a possible alternative embodiment, not shown in the drawings, the first movement means 16 can comprise a plurality of linear actuators, such as for example screw jacks, or recirculating ball jacks connected with a first end in a fixed position and outside the movement space 14 and with a second end, opposite the first, connected to the mobile platform 13.

According to a possible solution, the second ends of the linear actuators can be connected on a circumference which is contained in the mobile platform 13. According to further embodiments, the number of linear actuators is three and in at least one of their operating positions they are disposed in such a manner as to be reciprocally angled with respect to each other by an angle of about 120°. It can also be provided that the linear actuators all lie on a common lying plane which is substantially parallel to the support surface 12.

According to another aspect of the present invention, the apparatus 10 comprises a driving station 26 installed on the mobile platform 13 by means of second movement means 27.

According to possible embodiments, the driving station 26 can cooperate with a projection screen, onto which a driving environment is projected to immerse a user during the simulation.

The driving station 26 can comprise a frame 28 (fig. 1), or shell, which at least partly reproduces the cabin of the land vehicle.

In the cabin defined by the frame 28 there can be, for example, a seat and command means for a driver, such as a steering wheel, pedals, and an instrument panel, not shown in the drawings.

Alternatively or additionally, there can be seats for one or more passengers.

The driving station 26 comprises a support plate 29 in which the second movement means 27 are connected. The support plate 29 can be integrally associated with the frame 28.

According to a possible solution of the present invention, the second movement means 27 are configured to translate the driving station 26 only in a fourth direction W parallel to the third direction Z and to rotate the driving station 26 only around a fifth direction J and sixth direction K.

The fifth direction J and the sixth direction K are coordinated with each other and with the fourth direction W. In this way the fourth direction W, the fifth direction J and the sixth direction K in their turn define a set of three axes coordinated with each other, with respect to which the above movements are carried out. The subdivision of the degrees of freedom, that is, of the movements of the driving station 26 as defined by the first movement means 16 and by the second movement means 27, is in this case particularly optimized to for the simulation of driving land vehicles, wherein accelerations on the flat plane and yaws are highly accentuated, that is, with transients that can also be very prolonged over time, and therefore are associated with the first movement means 16, while pitching, rolling and movements in a direction orthogonal to the support surface 12 are present but with transients of driver exposure that are lower than those of the first movement means 16, and are therefore associated with the second movement means 27.

This subdivision of the degrees of freedom therefore allows to optimize the conformation, as well as the control and management of the first movement means 16 and of the second movement means 27, in relation to the simulations, typical of a land vehicle, which have to be performed.

According to a possible solution, the second movement means 27 comprise three linear actuators 30 connected by a first end to the mobile platform 13 and by a second end, opposite the first, to the driving station 26.

According to some solutions, the second movement means 27 comprise only three linear actuators 30.

According to a possible solution, the linear actuators 30 are located on a same lying plane which is substantially parallel to the support surface 12. This solution allows to maintain the driving station 26 in a very low position, and close to the support surface 12. This greatly increases the reproduction fidelity of the apparatus 10.

The linear actuators 30 can be angularly distanced from each other by an angle of about 120°. This disposition allows to obtain the combination of the movements in directions W, J and K.

According to a possible solution, the three linear actuators 30 are connected to the driving station 26, in this case to the support plate 29, by articulated mechanisms 31a, 31b and 31c.

The articulated mechanisms 31a, 31b, 31c can comprise at least one of either levers, connecting rods, rods, or suchlike.

According to possible solutions, shown in fig. 4, the articulated mechanisms 31 a, 31b, 31c each comprise a lever 32 and a rod 33 pivoted to the lever 32 and located, during use, in at least one of its operating conditions, orthogonal to the support surface 12. The lever 32 is connected to a respective linear actuator 30 while the rod 33 is connected to the driving station 26.

According to a possible solution, a first and a second of the articulated mechanisms 31a, 31b provide that the lever 32 and the rod 33 are pivoted to each other by a spherical joint 37 (with reference to fig. 4 the rod 33 located on the left and the rod 33 located on the right).

A third of the articulated mechanisms 31c provides that the lever 32 and the rod 33 are pivoted to each other around a pivoting axis R by means of a hinge or cylindrical joint 39. The pivoting axis R is located substantially parallel to the support surface 12 (fig. 4).

Each lever 32 is provided with a fulcrum 34 (fig. 5) around which the lever 32 is rotated, and in which the fulcrum 34 is attached to the mobile platform 13 for example by means of a support element 35.

The fulcrum 34 is located substantially parallel to the lying plane of the mobile platform 13.

According to a possible solution, the lever 32 is also provided with a first pivoting portion 36a in which the respective linear actuator 30 is pivoted, and a second pivoting portion 36b in which the respective rod 33 is connected (fig. 5), with a spherical joint 37 or hinge 39, as described above.

The lever 32 has a kneepad conformation, that is, the joining line of the first pivoting portion 36a with the fulcrum 34 is angled with respect to the joining line of the second pivoting portion 36b with the fulcrum 34.

In this way, rotating the lever 32 around its fulcrum 34 determines a lowering or raising of the second pivoting portion 36b and consequently of the rod 33 connected thereto with respect to the mobile platform 13.

The rods 33 of the articulated mechanisms 31a, 31b and 31c are connected to the driving station 26 by another ball or universal joint 38.

According to another embodiment of the invention, the mobile platform 13 comprises a central shaft 40 positioned during use substantially parallel to the fourth direction W and selectively slidable in this direction, in a guide body 41. The guide body 41 is integrally associated with the mobile platform 13. The central shaft 40 therefore allows to translate the driving station 26 in the fourth direction W.

According to possible embodiments, the central shaft 40 can be provided with elements suitable to facilitate the support and/or movement of the driving station 26, for example a helicoidal spring or a pneumatic cylinder, in particular a pneumatic cylinder with active regulation of the internal pressure.

According to a further solution, the central shaft 40 is connected to the driving station 26 with a universal or spherical joint, that is, to the support plate 29, around a first hinging axis T, which is substantially parallel to the support surface 12, that is, perpendicular to the development axis of the central shaft 40, and around a second hinging axis S, orthogonal both to the first hinging axis T and also to the development axis of the central shaft 40.

The particular conformation of the articulated mechanisms 31a, 31b, 31c combined with the presence of the central shaft 40, which is connected to the driving station 26, allows to obtain the movements of the driving station 26 in directions W, J, and K.

According to possible embodiments, a support device 42 can be associated with the support platform 13 (fig. 1) configured to support possible electrical supply cables and/or cables to transmit signals or suchlike from a zone external to the base platform 11.

According to these embodiments, the support device 42 can be configured to support flexible pipes to feed compressed air to the sliding means 15.

According to a possible solution, shown by way of example in fig. 6, a vibration damping device 43 can be associated with the mobile platform 13, configured to absorb the oscillations induced by the cables 17 on the mobile platform 13.

This allows to absorb the high frequencies of oscillation to which the cables 17 can, by their nature, be subjected and which can unpleasantly alter the perception of movement at high frequency induced at least by the first movement means 16 and by the second movement means 27.

According to possible embodiments, the vibration damping device 43 can be configured to move the inertial mass of the mobile platform 13 in the same direction and in the opposite direction to the movement thereof, so as to make its acceleration faster and improve the effectiveness of the driving simulation.

The vibration damping device 43 can comprise at least a damping mass 44 and actuation members 45 configured to move the damping mass 44 with respect to the mobile platform 13, and induce on the latter inertia stresses such as to eliminate the oscillations of the mobile platform 13.

The combination of the damping mass 44 and the respective actuation members 45 allows to generate respective mass, spring and damper groups or systems, wherein said groups act in different directions to dampen the oscillations to which the mobile platform 13 can be subjected due to the effect of the vibration of the cables 17.

According to a possible solution, the actuation members 45 are configured to allow a translation of the damping mass 44 in two coordinated directions, substantially parallel to the support surface 12, and to allow a rotation of the damping mass 44 around a third direction coordinated with the first two. In this way a vibration damping device 43 is made which is able to dampen the vibrations according to three degrees of freedom.

According to the embodiment shown in fig. 11, the actuation members 45 are disposed, during use, substantially parallel to the support surface 12 and reciprocally distanced from each other.

According to a possible solution, the vibration damping device 43 comprises at least three actuation members 45 disposed angularly distanced from each other, for example by 120° with respect to each other, to allow the translations on the plane and the rotation around an axis orthogonal to the plane.

According to another solution, the vibration damping device 43 can be installed in a barycentric position of the mobile platform 13 to optimize the vibration damping actions in the various directions.

The vibration damping device 43 can be managed by a control unit configured to compare substantially continuously the instantaneous movements of the mobile platform 13 with the target ones, that is, the set movements, and to act accordingly to ensure clean target stresses that can be perceived in the driving station 26, for example with a frequency higher than 40Hz.

In this way instant corrections are obtained on the processing algorithms of the drives, based for example on the detection of the position of the mobile platform 13.

According to possible embodiments, the vibration damping device 43 can be moved downward, that is, in the direction W and toward the base platform 11, so that an abutment surface 46 of the vibration damping device 43 contacts the support surface 12. In this way, advantageously, the vibration damping device 43 can act as a brake, possibly an emergency brake, on the mobile platform 13.

According to possible embodiments, the vibration damping device 43 can be moved in the direction W by a spring system with pneumatic preload.

Advantageously, the vibration damping device 43 can comprise a friction element defining at least part of the abutment surface 46 so as to increase the friction force between the damping device 43 and the support surface 12. It is clear that modifications and/or additions of parts may be made to the apparatus to simulate driving a land vehicle as described heretofore, without departing from the field and scope of the present invention.

It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of apparatus to simulate driving a land vehicle, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

In the following claims, the sole purpose of the references in brackets is to facilitate reading: they must not be considered as restrictive factors with regard to the field of protection claimed in the specific claims.

Claims

1. Apparatus to simulate driving a land vehicle, said apparatus comprising:

- a fixed base platform (1 1) provided with a flat support surface (12),

- a mobile platform (13) located on said base platform (11),

- sliding means (15) associated with said mobile platform (13) to allow it to slide on said support surface (12),

- first movement means (16) associated with said base platform (11) and with said mobile platform (13) to translate said mobile platform (13) on said support surface (12) in a first direction (X) and a second direction (Y) coordinated with said first direction (X), and to rotate said mobile platform (13) around a third direction (Z) normal to said support surface (12) and coordinated with said first direction (X) and said second direction (Y),

- a driving station (26) associated with said mobile platform (13) by second movement means (27),

characterized in that said second movement means (27) are configured to translate said driving station (26) only in a fourth direction (W), parallel to said third direction (Z), and to rotate said driving station (26) only around a fifth direction (J) and a sixth direction (K) coordinated with each other and with said fourth direction (W).

2. Apparatus as in claim 1, characterized in that the second movement means (27) comprise three linear actuators (30) connected by a first end to said mobile platform (13) and by a second end, opposite the first end, to the driving station (26).

3. Apparatus as in claim 2, characterized in that said linear actuators (30) are located on the same lying plane, parallel to said support surface (12).

4. Apparatus as in claim 2 or 3, characterized in that the second movement means (27) comprise only three linear actuators (30) connected to the driving station (26) by articulated mechanisms (31a, 31b and 31c).

5. Apparatus as in claim 4, characterized in that said articulated mechanisms (31a, 31b and 31 c) each comprise a lever (32) and a rod (33) pivoted to the lever (32) and located, during use, in at least one operating condition, orthogonal to said support surface (12), said lever (32) being connected to a respective linear actuator (30) and said rod (33) being connected to said driving station (26).

6. Apparatus as in claim 5, characterized in that a first and a second of said articulated mechanisms (31a, 31b) provide that the lever (32) and the rod (33) are pivoted to each other by a spherical joint (37), and in that a third of said articulated mechanisms (31c) provides that the lever (32) and the rod (33) are pivoted to each other around a pivoting axis (R) by a hinge or cylindrical joint (39).

7. Apparatus as in claim 5 or 6, characterized in that said lever (32) has a kneepad conformation.

8. Apparatus as in any claim hereinbefore, characterized in that said mobile platform (13) comprises a central shaft (40) positioned during use substantially parallel to the fourth direction (W) and selectively slidable in a guide body (41) integrally associated with said mobile platform (13), said central shaft (40) being connected by a universal joint to the driving station (26) around a hinging axis (T) substantially parallel to said support surface (12).

9. Apparatus as in any claim hereinbefore, characterized in that said first movement means (16) comprise a plurality of cables (17) connected by a first portion to the mobile platform (13) and by a second portion to respective actuation members (18) configured to move the cables (17) and to vary the distance between the connection zone of the cable (17) to the mobile platform (13) and the connection zone of the cable (17) to the actuation members (18), and to determine a movement of the mobile platform (13) with respect to the base platform (1 1).

10. Method to simulate driving a land vehicle that provides to position a mobile platform (13) on a flat support surface (12) of a fixed base platform (11), to make said mobile platform (13) slide on the support surface (12) by means of sliding means (15) associated with said mobile platform (13) and by first movement means (16) associated with said base platform (11) and with said mobile platform (13) and which translate said mobile platform (13) on said support surface (12) in a first direction (X) and a second direction (Y) coordinated with said first direction (X), and rotate said mobile platform (13) around a third direction (Z) normal to said support surface (12) and coordinated with said first direction (X) and said second direction (Y), and to move a driving station (26) with respect to said mobile platform (13) by second movement means (27), characterized in that said second movement means (27) translate the driving station (26) only in a fourth direction (W), parallel to said third direction (Z), and rotate said driving station (26) only around a fifth direction (J) and a sixth direction (K) coordinated with each other and with said fourth direction (W).