WO2020091134A1 - Motion system - Google Patents

Abstract

The present invention relates to a motion system for performing a multi-degree-of-freedom operation on a plane. More specifically, the present invention relates to a motion system which has a compact and stable structure, and can output strong motion on a plane such that precise and dynamic motion can be achieved even under high load. To this end, provided according to an aspect of the present invention is a motion system which moves along orthogonal X-Y axes on a plane, the motion system comprising: an upper-plate frame moving in the X-axis and Y-axis directions; a first movement part for moving the upper-plate frame in the X-axis direction; and a second movement part for moving the first movement part in the Y-axis direction.

Description

Motion system

The present invention relates to a motion system that performs a multiple degree of freedom operation on a plane. More specifically, the present invention relates to a motion system that has a compact, stable structure, and outputs powerful motion on a plane to realize precise and dynamic motion even under high load.

A motion platform that simulates various motions is a device that repeatedly reproduces the movements of various motion bodies, such as a car, an electric vehicle, an aircraft, or a tank, and operates by an input program to allow a user to board an actual motion body. It allows you to experience the same things you did.

The motion platform technology has already been widely applied to fields such as military, industry, education, and entertainment. In a variety of applications, including, for example, film, entertainment, flight control training, and training of special equipment experts, it is developing to maximize the realistic experience by integrating with virtual reality technology.

The conventional motion platform disclosed in Korean Registered Patent Publication No. 10-1049198 is provided with a plurality of motors fixed to the base and a plurality of links operated by the motors, but the plurality of links are orthogonal or vertical. When operating in a standing state, there is a limitation in installation space due to an increase in the volume of the entire device, and the position of the center of gravity is increased, resulting in structural instability.

In addition, since the load applied in the process of using the motion platform is concentrated on the bar-shaped link, the link may be deformed or broken when a strong motion is output, and thus there is a limit to express a strong and dynamic motion.

In addition, it is important that such a motion platform is compact and provides various degrees of freedom. That is, the motion platform needs to have a small size while being able to implement a combination of horizontal planar motion, elevating motion, yawing, pitching, and rolling motion.

These demands are getting bigger due to the virtual reality (VR) technology that is emerging as a hot issue. The virtual reality experience can be similar to the actual experience even if only the VR headset is worn in place of the existing giant monitor, so a bulky device or equipment such as a monitor is unnecessary.

However, the conventional motion platform is not manufactured in consideration of the VR environment, and has a disadvantage in that it cannot be used for home or personal use due to its large size and dullness.

Therefore, it is necessary to improve these areas.

The technical problem to be solved in the present invention is to provide a compact, stable structure, and output a powerful motion on a plane to provide a motion system capable of realizing precise and dynamic motion even under high load.

The XY-axis motion system according to an aspect of the present invention for solving the above technical problem is an XY-axis motion system that moves along an XY-axis orthogonal to a plane, and an upper frame that moves in the X-axis and Y-axis directions, and It includes a first moving portion for moving the upper frame in the X-axis direction and a second moving portion for moving the first moving portion in the Y-axis direction.

In this case, the first moving part is mounted on the first base frame providing the supporting force, the first side frame provided along the circumference of the first base frame, and the upper surface of the first base frame to move the top frame. It may include a first driving member.

In addition, the second moving part is mounted on an upper surface of the second base frame and the second side frame and the second base frame provided along the circumference of the second base frame to provide support force. It may include a second driving member to move.

In this case, the first driving member and the second driving member include a first driving motor and a second driving motor mounted on upper surfaces of the first base frame and the second base frame, and the first driving motor and the first 2 Each of the first lead screw and the second lead screw connected to the driving motor and the first ball screw and the second ball screw moving in the axial direction when the first lead screw and the second lead screw rotate, respectively It can contain.

Further, in the first base frame and the second base frame, a motor arrangement in which the first drive motor and the second drive motor are respectively inserted and arranged such that the first drive motor and the second drive motor are disposed downward in the height direction Each hole may be formed.

In addition, a first mounting groove in which the first ball nut is mounted is formed on a lower surface of the upper frame, and a second mounting groove in which the second ball nut is mounted is formed on a lower surface of the first base frame.

A first extension surface is formed at an upper end of the first side frame in the axial direction of the first driving member among the first side frames so as to cover an upper portion of the first base frame by a predetermined area, and the second side frame Among them, a second extension surface may be formed at an upper end of the second side frame positioned in the axial direction of the second driving member to cover the upper portion of the second base frame by a predetermined area.

At this time, a first protrusion extending upward to surround the first driving motor may be formed on the first extending surface adjacent to the first driving motor.

A first insertion groove extending upwardly so as to surround the first protrusion is formed on a lower surface of the upper frame, and the first insertion groove may be extended along a movement direction of the first ball nut.

At this time, a second protrusion extending upward to surround the second driving motor may be formed on the second extended surface adjacent to the second driving motor.

In addition, a second insertion groove extending upwardly so as to surround the second protrusion is formed on the lower surface of the first base frame, and the second insertion groove may be extended along the moving direction of the second ball nut.

A first engagement surface to which the first extension surface is coupled is formed at an upper end of the first side frame located in a direction perpendicular to the axial direction of the first driving member among the first side frames, and the A second engagement surface to which the second extension surface is coupled may be formed at an upper end of the second side frame positioned in a direction perpendicular to the axial direction of the second driving member.

At this time, a first protruding surface extending upward from the first engaging surface is formed at an upper end of the first side frame, and an upper end of the first protruding surface is located on the same plane as the upper end of the first extending surface, and the A second protruding surface extending upward from the second engaging surface is formed at an upper end of the second side frame, and an upper end of the second protruding surface may be located on the same plane as the upper end of the second extending surface.

At this time, through holes may be formed in the upper frame, the first base frame, and the second base frame, respectively.

The multi-degree-of-freedom motion system according to another aspect of the present invention includes an operation plate performing a three-degree-of-freedom operation on a plane, a driving unit operating the operation plate, a base frame supporting a lower portion of the driving unit, the operation plate and Includes a side frame provided along the circumference of the base frame to surround the driving unit, a top plate frame performing a three-degree of freedom operation with the operation plate, and a bellows frame connecting the top of the side frame and the circumference of the top frame. do.

The driving unit may be provided with a plurality of driving members to respectively support a plurality of positions arranged on the lower surface of the operation plate.

At this time, the drive member, a drive motor mounted on the upper surface of the base frame, a lead screw connected to the drive motor to rotate axially, and a support for supporting both sides of the lead screw so that the lead screw is axially rotatable, respectively A block, a transport block moving in the axial direction when the lead screw is rotated, and a hinge coupled to the transport block to be rotatable around the transport block, and a head extending along the longitudinal direction is coupled to a lower surface of the operation plate The extended arm and one side are hinged to the base block so as to be rotatable around the base block, the other side is hinged to the body of the extension arm, and induces rotational movement of the extension arm when the transfer block moves It includes the base arm.

The head of the extension arm is provided with a ball joint, and a lower end of the operation plate is provided with a link bracket extending downward and a fourth link bar coupled to the link bracket, and the ball joint is rotatable to the fourth link bar. Can be combined.

In addition, the head of the extended arm is disposed to be inclined at a predetermined angle with the body of the extended arm, inclined to be arranged so that the head of the extended arm and the lower surface of the operation plate are arranged in parallel with the head of the extended arm moved upward. Can be.

In addition, a plurality of legs of the extension arm and the support arm may be formed to support both sides of the transfer block and the support block, respectively.

At this time, a pair of coupling bushings penetrating the leg is provided to allow each of the legs to be rotatable, one of the coupling bushings being through-coupled in one direction of the leg, and the other of the coupling bushings is the leg It can be coupled through in the other direction.

In addition, a chamfered surface may be formed along the longitudinal direction on the outer circumferential surfaces of the extension arm and the support arm.

In the support block, an inlet groove capable of being drawn in when the head of the extension arm moves downward may be formed.

In the base frame, a motor placement groove in which the driving motor is inserted and disposed may be formed such that the driving motor is disposed downward in the height direction.

In addition, an insertion hole through which the upper portion of the ball joint can be inserted may be formed in the operation plate.

At this time, the driving member may be provided with a guide block coupled to the transport block and a guide rail guiding the guide block to move in the axial direction.

At least one through hole may be formed in the upper frame and the base frame, respectively.

Or, it may be further disposed on an upper portion of the operation plate, a rotation drive unit provided with a rotating member rotating about an axis perpendicular to the operation plate.

At this time, the rotation drive unit may include a drive motor having a drive shaft horizontally disposed on the operation plate, and a power transmission member transmitting the driving force of the drive motor to the rotation member.

The power transmission member, the first power transmission member for converting and transmitting the driving force of the drive motor horizontally disposed on the operation plate in a direction perpendicular to the operation plate and the driving force transmitted through the first power transmission member It may include a second power transmission member for transmitting the to the rotating member.

At this time, the first power transmission member may include a drive gear coupled to the drive shaft of the drive motor and a driven gear coupled to the drive gear and rotating about an axis perpendicular to the operation plate.

In addition, the second power transmission member may include a driving pulley that rotates coaxially with the driven gear, a driven pulley coupled to the lower portion of the rotating member, and a timing belt that simultaneously surrounds the driving pulley and the driven pulley. .

In addition, a fixed frame is provided so that the rotating member is fixed in position on the upper surface of the operation plate, and a spacer member may be provided on the lower surface of the fixed frame so that the rotating member is spaced apart from the upper surface of the operation plate.

In addition, an upper panel frame, a bellows frame, and a side frame may be additionally provided on an upper portion of the upper panel frame.

According to another aspect of the present invention, a housing having an internal space and a placement hole having a predetermined area on a first surface is formed through; And a driving member including a rotating member rotating about a virtual central axis and a driving motor providing a driving force to the rotating member, wherein the driving part includes the inside so that the rotating member is exposed to the outside through the placement hole. Provided is a yawing motion system fixed to one side of a space.

At this time, the housing includes a lower plate portion to which the driving unit is fixed on one surface, a side wall portion extending a certain height upward from the lower plate portion to form the inner space, and an upper plate portion covering an open upper portion of the inner space It may be, and the placement hole may be formed in the upper plate portion.

In addition, the upper plate portion may include an outer plate exposed to the outside and a reinforcing plate coupled to one surface of the outer plate, and the reinforcing plate includes at least one receiving portion formed through to accommodate some height of the driving portion. Can be.

Alternatively, the lower plate portion may further include a through portion formed through the region corresponding to the placement hole.

At this time, the driving unit, the first rotary shaft is a driving motor disposed in a horizontal direction with respect to the bottom surface of the interior space, and the rotating member is rotatably coupled via a bearing part and fixed to the bottom surface of the interior space A fixed frame and a power transmission unit for transmitting the power of the drive motor to rotate the rotating member may be included.

The power transmission unit is the same as the first power transmission unit for changing the rotational force of the drive motor in the rotational direction centering on the second rotational axis disposed in a direction perpendicular to the first rotational axis, and the rotational direction of the first power transmission unit It may include a second power transmission unit for rotating the rotating member in the direction.

In this case, the first power transmission unit may be a straight bevel gear including a drive gear coupled to the first rotation axis and a driven gear coupled to the second rotation axis.

At this time, the second power transmission unit may include a driving pulley coupled to the second rotating shaft, a driven pulley coupled to the lower side of the rotating member, and a timing belt surrounding the driving pulley and driven pulley simultaneously.

In addition, the lower end of the second rotating shaft may be formed to be spaced apart from the bottom surface by a predetermined distance.

Alternatively, the driving unit may further include a tension adjusting means coupled to the fixed frame so as to adjust the tension of the timing belt by pressing the timing belt in one direction.

At this time, the driving unit may further include a sensor for checking the zero position of the driven pulley.

In addition, the bearing portion may be a slewing bearing including a ring-shaped outer bearing coupled to the fixed frame and a ring-shaped inner bearing rotatably coupled to the inside of the outer bearing, wherein the rotating member and the inner bearing Can be fixed.

At this time, the second rotating shaft may be arranged to be located outside the fixed frame.

The yawing motion system may include at least one spacer member disposed between the bottom surface of the interior space and the fixed frame, and the fixed frame spaced apart from the bottom surface of the interior space through the spacer member. Can be deployed.

In this case, the rotating member includes a hollow portion formed through the height direction, and a slip ring may be disposed on the hollow portion side.

In addition, a soundproof member having a predetermined thickness may be disposed inside the housing to surround the inner surface of the side wall portion.

Since the motion system according to the present invention having the above-described configuration has a compact and stable structure, it occupies less installation space, improves space utilization, and prevents safety accidents during use. By outputting, you can realize precise and dynamic movement even at high loads, so you can double the motion effect on the plane.

In addition, the motion system according to the present invention can be implemented in various combinations with other systems for realizing a linear reciprocating motion or a three-degree-of-freedom motion by configuring the entire system as a unit module.

1 is a side view showing a state in which the XY-axis motion system according to the first embodiment of the present invention is applied.

2 is a perspective view showing a state in which the XY-axis motion system according to the first embodiment of the present invention is assembled.

3 and 4 are perspective views illustrating an exploded state of the XY-axis motion system according to the first embodiment of the present invention, and these are views illustrating states viewed from different angles.

5 and 6 are perspective views showing a first moving part according to a first embodiment of the present invention, FIG. 5 is a view showing a state in which all components of the first moving part are disassembled, and FIG. 6 is a first side frame This is an exploded view.

7 and 8 are perspective views showing a second moving part according to a first embodiment of the present invention, FIG. 7 is a view showing a state in which all components of the second moving part are disassembled, and FIG. 8 is a second side frame This is an exploded view.

9 is a side view showing a state in which a multi-degree of freedom motion system according to a second embodiment of the present invention is applied.

10 is a perspective view showing a state in which a multi-degree of freedom motion system according to a second embodiment of the present invention is assembled.

11 and 12 are perspective views showing a multi-degree-of-freedom motion system in an exploded state according to a second embodiment of the present invention.

13 is a perspective view showing a driving unit and a base frame according to a second embodiment of the present invention.

14 is a perspective view showing an exploded state of a driving member according to a second embodiment of the present invention.

15 is a cross-sectional view of the portion I-I of FIG. 14.

16 is a side view showing the operating state of the drive member according to the second embodiment of the present invention, (a) is a view showing a state in which the lower surface of the operating plate is disposed at the lowest position, (b) is operating It is a view showing a state in which the lower surface of the plate is disposed at the highest position.

17 is a side view showing a driving member according to a third embodiment of the present invention.

18 and 19 are perspective views illustrating a state in which a multi-degree of freedom motion system according to a third embodiment of the present invention is applied.

20 is a perspective view illustrating a state in which a multi-degree of freedom motion system according to a third embodiment of the present invention is disassembled.

21 is a perspective view showing a state viewed from the lower side of the rotation driving unit according to the third embodiment of the present invention.

22 is a perspective view showing a state in which a multi-degree of freedom motion system according to a fourth embodiment of the present invention is applied.

23 is a view showing a yawing motion system according to a fifth embodiment of the present invention.

FIG. 24 is a view of FIG. 23 viewed from the bottom.

FIG. 25 is a view showing a state in which the outer plate is separated from the upper plate portion in FIG. 23.

26 is a view showing a state in which the main configuration in FIG. 23 is separated.

27 is a view showing a state in which the driving unit is fixed to the lower plate in the yawing motion system according to the fifth embodiment of the present invention.

FIG. 28 is a view showing a state in which the driving unit is separated in FIG. 27.

29 is a view of the driving unit from the bottom in the yawing motion system according to the fifth embodiment of the present invention.

30 is an exploded view of FIG. 29.

FIG. 31 is a view of FIG. 29 taken through a portion of the bearing part and the fixed frame.

FIG. 32 is a view of a portion of the second rotation shaft, the drive pulley, and the driven gear in FIG. 29 cut away.

33 is a view showing a case in which the soundproof member is applied to FIG. 26.

34 is a state diagram of a chair mounted on a yawing motion system according to a fifth embodiment of the present invention.

35 is a state diagram of another type of chair mounted on the yawing motion system according to the fifth embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains may easily practice. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. In the drawings, parts not related to the description are omitted in order to clearly describe the present invention, and the same reference numerals are attached to the same or similar elements throughout the specification.

In this specification, terms such as “include” or “have” are intended to indicate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and one or more other features. It should be understood that the presence or addition possibilities of fields or numbers, steps, actions, components, parts or combinations thereof are not excluded in advance. In addition, when a part such as a layer, film, region, plate, etc. is said to be "above" another part, this includes not only the case "directly above" the other part but also another part in the middle. Conversely, when a portion of a layer, film, region, plate, or the like is said to be “under” another portion, this includes not only the case “underneath” another portion, but also another portion in the middle.

As shown in Figure 1, the electric field box 1010, the XY-axis motion system and the user seat 1020 are sequentially stacked on a flat bottom surface. The battlefield box 1010 supplies power to the XY-axis motion system and controls the movement of each of the moving parts 200 and 300 so that these movements can be output through the seat 1020 through the top frame 1100. It is provided.

The XY-axis motion system moving along the XY axis orthogonal to the plane includes a top plate frame 1100 moving in the X-axis and Y-axis directions, and a first moving unit 1200 moving the top plate frame 1100 in the X-axis direction. It includes a second moving unit 1300 to move in the Y-axis direction.

That is, the Y-axis movement by the second moving unit 1300 directly moves the first moving unit 1200 in the Y-axis direction, and the first moving unit 1200 moves in the Y-axis direction as described above. By directly moving the top plate frame 1100 in the X-axis direction, the top plate frame 1100 and the seat 1020 mounted thereto are moved in the X-axis and Y-axis directions.

In this case, the first moving part 1200 and the second moving part 1300 may be stacked by changing the arrangement order. That is, the top frame 1100, the second moving part 1300 and the first moving part 1200 are stacked in this order. When configured in this way, the first moving unit 1200 moves the second moving unit 1300 in the X-axis direction, and the second moving unit 1300 moves the upper frame 1100 in the state of moving in the X-axis direction. By directly moving in the axial direction, the upper frame 1100 and the seat 1020 mounted thereto are moved in the X-axis and Y-axis directions.

In this way, the XY-axis motion system in which the upper frame 1100, the first moving part 1200, and the second moving part 1300 are sequentially stacked is low in overall height, so it is important to configure it compactly. It will be described later.

As shown in FIG. 2, a plurality of through holes H through which power and control lines penetrate are formed in the upper frame 1100, and in addition to these through holes H, a certain portion is added for weight reduction of the system. It is also possible to remove. In this case, the through hole H may be formed in the first base frame 210 of the first moving part 200 and the second base frame 310 of the second moving part 300 in addition to the upper frame. However, it is important to remove parts that do not affect the structural rigidity of the system when additional parts are removed to reduce the weight of the system.

3 and 4, the aforementioned first moving part 1200 includes a first base frame 1210 providing a support force, and a first side provided along the periphery of the first base frame 1210. A first driving member 1230 mounted on the upper surfaces of the frame 1220 and the first base frame 1210 may move the upper frame 1100.

That is, the first moving part 1200 is composed of a first driving member 1230 for moving the upper frame 1100, a first base frame 1210 and a first side frame 1220 surrounding the first driving member 1230, and the first side The frame 1220 is provided along the circumference of the first base frame 1210. The first moving part 1200 is modularized in this way, and thus, the first moving part 1200 is separated from the top frame 1100 or the second moving part 1300 to be repaired or replaced.

Similarly, the above-described second moving part 1300 also includes a second driving member 1330 moving the first moving part 1200, a second base frame 1310 and a second side frame 1320 surrounding the second driving member 1330, , The second side frame 1320 is provided along the circumference of the second base frame 1310. The second moving part 1300 is also modularized in this way, and as described above, the second moving part 1300 is separated from the first moving part 1200 to be repaired or replaced.

The first driving member 1230 generating movement in the X-axis direction is connected to a first driving motor 1231 mounted on an upper surface of the first base frame 1210 and a driving shaft of the first driving motor 1231 A first lead screw 1232 that is axially rotated and a first ball nut 1303 that moves in the axial direction when the first lead screw 1232 is rotated are provided. That is, the first ball nut 1303 is moved away from or closer to the first drive motor 1231 according to the rotation direction of the first drive motor 1231 drive shaft.

In this way, when the first lead screw 1232 is connected to the drive shaft of the first drive motor 1231 and configured to move the first ball nut 1233 according to its rotation, it becomes more compact than using a conventional link structure. , Stability is improved by lowering the position of the center of gravity. In addition, even if the load is concentrated on the first ball nut 1233, the first lead screw 1232 supporting the first ball nut 1233 effectively supports the first ball nut 1233 and is not deformed or damaged. , Through this, it is possible to express powerful and dynamic movements.

Likewise, the second driving member 1330 that generates movement in the Y-axis direction includes a second driving motor 1331 mounted on the upper surface of the second base frame 1310 and a driving shaft of the second driving motor 1331. A second lead screw 1332 connected to the shaft and axially rotated, and a second ball nut 1333 moving in the axial direction when the second lead screw 1332 rotates are provided. That is, the second ball nut 1333 moves in a direction away from or closer to the second drive motor 1331 according to the rotation direction of the second drive motor 1331 drive shaft, and thus the second drive motor 1331 ) When the second lead screw 1332 is connected to the drive shaft, and the second ball nut 1333 is configured to move in accordance with its rotation, it is more compact than using a conventional link structure, and the position of the center of gravity is lowered for stability. This improves, and the second lead screw 1332 supporting the second ball nut 1333 effectively supports the second ball nut 1333 even if the load is concentrated on the second ball nut 1333. Or, it is not damaged, and through this, powerful and dynamic movements can be expressed.

At this time, as shown in FIG. 5, a motor arrangement hole 1211 is formed in the first base frame 1210 so that the first drive motor 1231 is disposed downward in the height direction, and the first drive motor 1231 is It is fixed in a state inserted into the motor arrangement hole 1211.

When the X-axis direction and the Y-axis direction are defined as mutually orthogonal directions on a plane, the above-mentioned height direction means a direction perpendicular to these X and Y axes simultaneously.

That is, when the first driving motor 1231 is fixed in the inserted state in the motor placement hole 1211, the height of the first driving motor 1231 protruding to the upper surface of the first base frame 1210 is lowered, and thus the first driving motor 1231 is lowered. The moving part 1200 becomes compact.

In addition, a first bracket 1231a and a second bracket 1231b are provided to fix both ends of the first lead screw 1232, respectively, and the first bracket 1231a and the second bracket 1231b are also downward in the height direction. It is preferable that separate grooves are formed in the first base frame 1210 to be disposed, and that the first bracket 1231a and the second bracket 1231b are inserted into these grooves.

In addition to this, the first ball nut 1303 moving in the X-axis direction according to the rotation of the first drive motor 1231 is also preferably configured to form a separate groove in the first base frame 1210 and be disposed downward.

A first slider 1235 supporting the lower surface of the upper frame 1100 is provided on the upper surface of the first base frame 1210 for stable movement of the upper frame 1100, and the first slider 1235 is a first guide Moving along the rail 1234, the first seating groove 1234a is formed in the first base frame 1210 where the first guide rail 1234 is mounted to reduce the overall height of the system.

In addition, a first machining reference bar 1236 that serves as a reference for machining each groove may be provided on the upper surface of the first base frame 1210.

In addition, as shown in FIG. 7, a motor arrangement hole 1311 is formed in the second base frame 1310 so that the second drive motor 1331 is disposed downward in the height direction, and the second drive motor 1331 is It is fixed in the state inserted into the motor arrangement hole (1311).

As described above, when the second driving motor 1331 is fixed while being inserted into the motor arrangement hole 1311, the height of the second driving motor 1331 protruding to the upper surface of the second base frame 1310 is lowered, and thus the second driving motor 1331 is lowered. The moving part 1300 becomes compact.

In addition, a third bracket 1331a and a fourth bracket 1331b are provided to fix both ends of the second lead screw 1332, respectively, and the third bracket 1331a and the fourth bracket 1331b are also arranged in a height direction. It is preferable that separate grooves are formed in the second base frame 1310 so as to be disposed downward, and the third brackets 1331a and the fourth brackets 1331b are fixed to the grooves.

In addition to this, the second ball nut 1333 moving in the Y-axis direction according to the rotation of the second driving motor 1331 is also preferably configured to form a separate groove in the second base frame 1310 and be disposed downward.

A second slider 1335 is provided on the upper surface of the second base frame 1310 to support the lower surface of the first base frame 1210 for stable movement of the first base frame 1210, and this second slider 1335 Is moved along the second guide rail 1334, a second seating groove 1334a is formed in a portion of the second base frame 1310 on which the second guide rail 1334 is mounted, thereby reducing the overall height of the system. have.

In addition, a second processing reference bar 1336 serving as a reference for processing each groove may be provided on the upper surface of the second base frame 1310.

As illustrated in FIG. 4, a first mounting groove 1110 in which a first ball nut 1303 is mounted is formed on a lower surface of the upper frame 1100. That is, the lower portion of the first ball nut 1303 is inserted into a separate groove formed on the upper surface of the first base frame 1210, and the upper portion of the first ball nut 1303 is formed on the lower surface of the upper frame 1100. 1 When configured to be inserted into the mounting groove 1110, the overall height in the state where the first moving part 1200 and the top frame 1100 are combined is reduced to be compact.

Similarly, a second mounting groove 1212 in which the second ball nut 1333 is mounted is formed on the lower surface of the first base frame 1210. That is, the lower portion of the second ball nut 1333 is inserted into a separate groove formed on the upper surface of the second base frame 1310, and the upper portion of the second ball nut 1333 is formed on the lower surface of the first base frame. When configured to be inserted into the mounting groove 1212, the overall height is reduced and compact in a state in which the first moving part 1200 and the second moving part 1300 are combined.

As a result, the upper and lower parts of the first ball nut 1303 and the second ball nut 1333 are configured to be movable while being inserted, thereby reducing the overall height of the system, thereby providing a compact and stable structure. Space utilization is improved.

5 and 6, an upper portion of the first base frame 1210 is disposed at an upper end of the first side frame 1220 located in an axial direction of the first driving member 1230 among the first side frames 1220. The first extended surface 1221 is formed to cover the predetermined area.

As described above, the first driving member 1230 is protected by the first base frame 1210 and the first side frame 1220, and the upper portion of the first driving member 1230 is provided by the top frame 1100. Is protected.

As described above, when the upper frame 1100 and the first moving unit 1200 are arranged in a vertical line, the upper frame 1100 is moved along the X axis by the first driving member 1230. Due to this movement, the upper portion of the first moving portion 1200 is partially opened. In this state, when foreign matter flows into the first moving portion 1200, the first driving member 1230 may be damaged. It becomes possible. Therefore, in order to prevent this, the first extension surface 1221 is formed on the upper end of the first side frame 1220 positioned in the axial direction of the first driving member 1230, and the first extension surface 1221 is the top plate frame 1100 ) Is configured to cover an upper predetermined area of the first base frame 1210 that is opened according to the movement.

Since the upper frame 1100 is reciprocated along the X axis by the first driving member 1230, the first extension surface 1221 is a pair of first side frames located in the axial direction of the first driving member 1230 It is preferable to form all in (1220).

7 and 8, the second base frame 1310 is disposed at the upper end of the second side frame 1320 positioned in the axial direction of the second driving member 1330 among the second side frames 1320. A second extension surface 1321 may be formed to cover the upper portion of the portion by a predetermined area.

As described above, the second driving member 1330 is protected by the second base frame 1310 and the second side frame 1320, and the upper portion of the second driving member 1330 is the first moving part 1200 In particular, it is protected by the first base frame 1210, as described above, the first moving part 1200 and the second moving part 1300 are arranged by the second driving member 1330 in a vertically arranged state. When the first moving part 1200 moves along the Y axis, the upper portion of the second moving part 1300 is partially opened as much as the first moving part 1200 moves, and in this state, the second moving part 1300 When a foreign material enters the inside, a problem that the second driving member 1330 is damaged may be generated. Therefore, in order to prevent this, the second extended surface 1321 is formed on the upper end of the second side frame 1320 positioned in the axial direction of the second driving member 1330, and the second extended surface 1321 is the first moving part The upper base region of the second base frame 1310 that is opened according to the movement of the 1200 is configured to be covered.

In addition, since the first moving part 1200 reciprocates along the Y axis by the second driving member 1330, the second extension surface 1321 is a pair of axial directions of the second driving member 1330. It is preferable to form all in the second side frame 1320.

5 and 6, a first protruding portion 1221a extending upward to surround the first driving motor 1231 is formed on the first extending surface 1221 adjacent to the first driving motor 1231. Can be. That is, the first extension surface 1221 is the first extension surface 1221 because the purpose is to block the inflow of foreign substances by covering a certain area of the first base frame 1210 that is opened according to the movement of the top frame 1100. ) Is preferably formed to a height that does not interfere with other components disposed on the upper surface of the first base frame 1210. However, since the height of the first drive motor 1231 is the highest among other configurations disposed on the upper surface of the first base frame 1210, the first extended surface 1221 is the height of the first drive motor 1231. Although it may be formed higher, there may be another problem that the overall height of the first moving part is increased. Accordingly, the height of the first extension surface 1221 forms a height to a level that does not interfere with other components except the first drive motor 1231, whereby the part where the interference occurs with the first drive motor 1231 In the first driving motor 1231, the first protruding portion 1221a extended upward to surround the first driving motor 1231 is formed to prevent mutual interference between the first extending surface 1221 and the first driving motor 1231.

At this time, as illustrated in FIG. 4, a first insertion groove 1120 extending upwardly to surround the first protrusion 1221a is formed on a lower surface of the upper frame 1100, and the first insertion groove 1120 is The first ball nut 1303 may be formed to extend along the movement direction.

That is, since the upper frame 1100 moves in a seated state on the first extended surface 1221, as the height of the first extended surface is lowered, the overall height of the system is also lowered to be compact. However, as described above, in the portion where the first protrusion 1221a is formed, the first protrusion 1221a is formed by forming the first insertion groove 1120 into which the first protrusion 1221a is inserted in the upper frame 1100. This effectively prevents the overall height of the system from increasing.

At this time, it is preferable that the first insertion groove 1120 into which the first protrusion 1221a is inserted extends along the movement direction of the first ball nut 1233. This is to prevent interference with the first protrusion 1221a in the process of moving the top frame 1100 due to the movement of the first ball nut 1233.

7 and 8, a second protrusion 1321a extending upward to surround the second drive motor 1331 is provided on the second extension surface 1321 adjacent to the second drive motor 1331. Can be formed. That is, it is preferable that the height at which the second extension surface 1321 is formed is formed to a height that does not interfere with other components disposed on the upper surface of the second base frame 1310, but the second base frame Among the components arranged on the upper surface of 1310, the height is formed to a level that does not interfere with other components except the second driving motor 1331, and this causes interference with the second driving motor 1331. In the part, a second protrusion 1321a extending upward to surround the second driving motor 1331 is formed to prevent mutual interference between the second extending surface 1321 and the second driving motor 1331. .

At this time, as shown in FIG. 4, a second insertion groove 1210a extending upward to surround the second protrusion 1321a is formed on the lower surface of the first base frame 1210, and this second insertion groove 1210a ) May be formed to extend along the movement direction of the second ball nut 1333.

That is, since the first base frame 1210 moves in a seated state on the second extension surface 1321, the overall height of the system is also lowered and compact as the height of the second extension surface is lowered. However, as described above, in the portion where the second protrusion 1321a is formed, the second protrusion 1321a is formed by forming the second insertion groove 1210a into which the second protrusion 1321a is inserted in the first base frame 1210. ) Can effectively prevent the overall height of the system from increasing.

At this time, it is preferable that the second insertion groove 1210a into which the second protrusion 1321a is inserted extends along the movement direction of the second ball nut 1333. This is to prevent interference with the second protrusion 1321a in the process of moving the first base frame 1210 due to the movement of the second ball nut 1333.

As shown in FIG. 3, a first extension surface 1221 is disposed at an upper end of the first side frame 1220 located in a direction perpendicular to the axial direction of the first driving member 1230 among the first side frames 1220. A first engaging surface 1222 to be joined is formed.

Likewise, a second engagement surface to which the second extension surface 1321 is coupled to the upper end of the second side frame 1320 located in a direction perpendicular to the axial direction of the second driving member 1330 among the second side frames 1320. 1322 may be formed.

When the first engagement surface 1222 and the second engagement surface 1322 are formed in this way, it is possible to prevent the height of the entire system from being increased by the first extension surface 1221 or the second extension surface 1321. In addition, structural stability is improved as the first side frame 1220 and the second side frame 1320 are firmly coupled to each other.

At this time, a first protruding surface extending upward from the first engaging surface 1222 is formed at an upper end of the first side frame 1220, and the upper end of the first protruding surface is the same as the upper end of the first extending surface 1221. Located on a flat surface, a second protruding surface extending upward from the second engaging surface 1322 is formed at the top of the second side frame 1320, and the top of the second protruding surface is the top of the second extending surface 1321 It can be configured to be located on the same plane. Through this, the first side frame 1220 and the second side frame 1320 are firmly coupled to each other, and the upper frame 1100, the first moving portion 1200, and the second moving portion 1300 are stable between the top and bottom. Can be combined.

9 to 12, the electric field box 2010, the multi-degree of freedom motion system, and the user's seat 2020 are sequentially stacked on a flat bottom surface. The battlefield box 2010 supplies power to the multi-degree-of-freedom motion system and controls movement of the driving unit 2200 so that movements of the operation plate 2100 and the upper frame 2500 can be output through the seat 2020. It is provided.

An operation plate 2100 performing a three-degree-of-freedom operation on a plane, a driving unit 2200 operating the operation plate 2100, a base frame 2300 supporting a lower portion of the driving unit 2200, and the above-described operation The side frame 2400 provided along the periphery of the base frame 2300 so as to surround the plate 2100 and the driving unit 2200, and a top frame 2500 performing a three-degree of freedom operation with the operation plate 2100, and And a bellows frame 2600 connecting the top of the side frame 2400 and the circumference of the top frame 2500.

That is, the driving unit 2200 operates the operation plate 2100 three degrees of freedom, and the upper plate frame 2500 is connected to the operation plate 2100 to operate three degrees of freedom together with the operation plate 2100.

At this time, a bellows frame 2600 is provided between the upper frame 2500 and the side frame 2400. That is, the side frame 2400 and the top frame 2500 are provided to prevent the driving unit 2200 from being exposed to the outside. When the side frame 2400 and the top frame 2500 are directly connected, a side frame made of a solid material Due to the 2400, there may be a problem that it is difficult to perform the three-degree-of-freedom operation due to the top plate frame 2500. 2600) is provided. When the bellows frame 2600 is provided as described above, when the upper frame 2500 performs a three-degree-of-freedom operation in a state where the side frame 2400 is fixed, the wrinkles are stretched and the same operation is possible and the driving unit ( 2200) can be effectively prevented from external exposure.

To fasten the bellows frame 2600, bellows fastening members 2610 and 2620 are provided at upper and lower ends of the bellows frame 2600, respectively. The bellows fastening member 610 provided at the top of the bellows frame 2600 is fastened to the top frame 2500, and the top frame is provided with a top plate fixing member 2510 to fasten the bellows fastening member 610. In addition, the bellows fastening member 620 provided at the bottom of the bellows frame 2600 is fastened to the top of the side frame 2400.

In addition, if the operation plate 2100 and the driving unit 2200 are modularized as described above, they can be separated and repaired or replaced.

In order to operate the operation plate 2100 three degrees of freedom, the driving unit 2200 is provided with a plurality of driving members 2210, and the plurality of driving members 2210 respectively provide a plurality of positions on the lower surface of the operation plate 2100. It is configured to support.

The plurality of driving members 2210 fixed to the base frame 2300 all have the same configuration and operation, except that the driving members 2210 located in the central portion of the drawing have opposite directions from the other two driving members 2210. to be. In addition, the ball joint 2217 of the driving member 2210 located in the central portion is installed in a different direction from the ball joint 2217 provided on the other driving member 2210, and a detailed description thereof will be described later.

13 and 14, the driving member 2210 includes a driving motor 2211 mounted on an upper surface of the base frame 2300, and a lead screw 2212 connected to the driving motor 2211 and axially rotated. ), And the support block 2213 respectively supporting both sides of the lead screw 2212 so that the lead screw 2212 can be axially rotated, and a transfer block 2214a moving in the axial direction when the lead screw 2212 is rotated. , An extension arm 2215 and one side that is hinged to the transfer block 2214a so as to be pivotable around the transfer block 2214a, and the head 2215a extending along the longitudinal direction is coupled to the lower surface of the operation plate 2100 Is hinged to the support block 2213 so as to be pivotable around the support block 2213, the other side is hinged to the body 2215b of the extension arm 2215, and the extension arm when the transfer block 2214a is moved Including the base arm (2216) to induce the rotational motion of (2215) .

When the driving motor 2211 is driven, the rotation torque of the driving motor 2211 is transmitted to the lead screw 2212, and the lead screw 2212 is rotated. When the lead screw 2212 is axially rotated, the transfer block 2214a reciprocates along the axial direction, and the head 2215a of the extending arm 2215 moves up and down in the vertical direction.

At this time, the drive motor 2211 provided in each drive member 2210 drives independently. That is, the height of the head 2215a of the extension arm 2215 is configured to be independently adjustable.

In addition, a ball joint 2217 is provided at the head 2215a of the extension arm 2215, and a fourth link coupled to the link bracket 2110 and the link bracket 2110 extending downward on the lower surface of the operation plate 2100. A bar 2215e is provided, and the ball joint 2217 can be rotatably coupled to the fourth link bar 2215e.

That is, when the fourth link bar 2215e is fitted in the horizontal direction while the link bracket 2110 is aligned with each ball joint 2217, the operation plate 2100 is mounted to the driving unit 2200.

Of the three link brackets 2110, fixing the central link bracket 2110 to form a right angle with respect to the other link bracket 2110 flows in an inclined state in a specific direction while the operation plate 2100 is also operated with 3 degrees of freedom. This is to avoid falling.

The operation of the above-described extension arm 2215 and the support arm 2216 will be described in detail as follows.

First, one end of the extension arm 2215 is hinged to the transport block 2214a through the first link bar 2215d. It is natural that the extension arm 2215 can rotate up and down using the first link bar 2215d as a rotation axis.

In addition, the head 2215a provided at the other end of the extension arm 2215 is provided with a ball joint 2217, and the ball joint 2217 is connected to the link bracket 2110 through a fourth link bar 2215e. . As described above, the above-described ball joint 2217 is an accessory having the same shape as a normal eye bolt and a rod end, and passes through the fourth link bar 2215e to drive member 2210 and operation plate 2100. Connect At this time, the fourth link bar 2215e penetrates the ball joint 2217, and the ball joint 2217 is configured to be slidable along the axial direction of the fourth link bar, so that the operation of the operation plate 2100 is smooth. To be done.

In addition, as described above, the link bracket 2110 also uses the fourth link bar 2215e as a rotation axis to enable rotational movement.

The above support arm 2216 is hinged to one side support block 2213 through a second link bar 2216d, so that the second link bar 2216d can be rotated up and down using a rotation axis.

In addition, the other side of the support arm 2216 is connected to the body 2215b of the extension arm 2215 through the third link bar 2216e. The support arm 2216 makes the rotational movement possible by using the third link bar 2216e as a rotation axis.

When the drive motor 2211 is driven in the coupled state as described above, the lead screw 2212 is rotated so that the transfer block 2214a moves in the axial direction, through which the leg 2215c of the extended arm 2215 is transferred. The head 2215a of the extension arm 2215 is raised while rotating simultaneously with the movement along the block 2214a.

Conversely, when the lead screw 2212 is rotated in the opposite direction by the driving of the driving motor 2211, the head 2215a of the extension arm 2215 is lowered while the transfer block moves in the opposite direction.

As shown in FIG. 16, the head 2215a of the extended arm 2215 is disposed to be inclined at a predetermined angle with the body 2215b of the extended arm 2215, but the head 2215a of the extended arm 2215 moves upwards In one state, the inclination may be formed such that the head 2215a of the extending arm 2215 and the lower surface of the operation plate 2100 are disposed in parallel.

That is, when the head 2215a of the extended arm 2215 moves upward by a predetermined height (h) to the highest position (top dead center) of the extended arm 2215, the extension line 1130 ). With this configuration, the upper and lower heights of the system are lowered to make the system overall compact, and the position of the center of gravity is lowered to improve stability, and through this, it is possible to express strong and dynamic movement.

In addition, a plurality of legs 2215c and 2216c of the extension arm 2215 and the support arm 2216 can be formed to support both sides of the transfer block 2214a and the support block 2213, respectively, and through this, the load is deflected It can be prevented from improving the structural stability.

A pair of engaging bushings 2215f and 2216f are provided through the legs 2215c and 2216c so that each leg 2215c and 2216c can be rotated. 2216c) through the coupling in one direction, the other coupling bushing 2215f, 2216f may be through-coupled in the other direction of the legs 2215c, 2216c, through which the ease of assembly of the coupling bushing 2215f, 2216f This improves, and effective support becomes possible.

The mutually facing coupling bushes 2215f and 2216f are preferably configured to abut each other.

In addition, as illustrated in FIG. 15, chamfered surfaces 2215g and 2216g may be formed along the longitudinal direction on the outer circumferential surfaces of the extended arm 2215 and the support arm 2216, and when configured in this way, the extended arm 2215 In the course of the rotation of the support arm 2216 and the interference between each other can be prevented.

In addition, as shown in FIG. 14, the receiving block 2213a, which can be drawn in when the head 2215a of the extending arm 2215 moves downward, may be formed in the supporting block 2213. That is, in the state where the head 2215a of the extended arm 2215 is moved to the lowest position (lower dead center), a part of the head 2215a is formed into a retractable groove 2213a. When configured in this way, when the extension arm 2215 is rotated, it is possible to prevent interference with the support block 2213, and a position at which the head 2215a of the extension arm 2215 can be lowered can be formed lower. Therefore, the height of the entire system is reduced, making it compact. That is, the structural stability is improved because the position of the center of gravity is lowered.

As shown in FIG. 12, a motor placement groove 2310 in which the driving motor 2211 is inserted and disposed so that the driving motor 2211 is disposed downward in the height direction may be formed in the base frame 2300.

The aforementioned height direction means a direction perpendicular to the top surface of the base frame 2300.

That is, when the driving motor 2211 is fixed in a state in which it is inserted and disposed in the motor placement groove 2310, the height of the driving motor 2211 protruding to the upper surface of the base frame 2300 is lowered, thereby making the system overall compact.

Similarly, an insertion hole 2120 in which the upper portion of the ball joint 2217 can be inserted may be formed in the operation plate 2100, thereby preventing interference with the ball joint 2217 when the operation plate 2100 is operated. It can be done, and the system can be configured compactly.

At this time, as illustrated in FIGS. 10 and 12, at least one through hole H may be formed in the upper frame 2500 and the base frame 2300, respectively. For the control of the driving unit 2200, the through-hole H passes through a power line and a signal line provided in the electric field box 2010, and by configuring in this way, it is possible to prevent the power line and the signal line from being exposed to the outside.

As shown in FIG. 9 to prevent the driving member 2210 from shaking even when a load is applied in the course of the operation of each driving member 2210, a guide block 2218 supporting the movement of the driving member 2210 and A guide rail 2219 may be provided. At this time, the guide rail 2219 is mounted and fixed on the base frame 2300, and the guide block 2218 is coupled to the transport block 2214a and configured to move along the guide rail 2219.

18 and 19, a rotation driving unit 2700 disposed on the operation plate 2100 and having a rotation member 2710 rotating about an axis perpendicular to the operation plate 2100 is further provided. It can contain.

That is, the operation plate 2100 is configured to be rotatable through the rotation driving unit 2700 in the process of performing a three degree of freedom operation by the driving unit 2200. As a result, the seat 2020 connected to the rotation driving unit 2700 is capable of four-degree-of-freedom operation, so that a more dynamic motion can be expressed.

A link bracket 2110 is provided on the lower surface of the operation plate 2100, and a cable groove 2140 through which a power line and a signal line can pass may be formed.

20 and 21, the rotational drive unit 2700 includes a drive motor 2730 having a drive shaft horizontally disposed on the operation plate 2100, and a rotational member 2710 driving force of the drive motor 2730 It may include a power transmission member (2720) for transmitting to.

That is, the rotating member 2710 is rotated by using the driving force of the driving motor 2730. At this time, the driving motor 2730 is horizontally disposed on the operation plate 2100. When configured in this way, the height of the rotation driving unit 2700 is lowered, so that the overall height of the system can be lowered.

However, the power transmission member 2720 is provided to effectively transmit the driving force of the driving motor 2730 in a state in which the driving shaft of the driving motor 2730 and the rotating shaft of the rotating member 2710 are vertically arranged with each other.

The power transmission member 2720 is a first power transmission member 2721 and a first power transmission member 2721 for converting and transmitting the driving force of the drive motor 2730 horizontally disposed on the operation plate 2100 in a direction perpendicular to the operation plate 2100 1 may include a second power transmission member 2722 that transmits the driving force transmitted through the power transmission member 2721 to the rotating member 2710.

That is, it is possible to effectively transmit the driving force of the driving motor 2730 through the first power transmission member 2721 even when the driving shaft of the driving motor 2730 and the rotating shaft of the rotating member 2710 are vertically arranged with each other.

At this time, the first power transmission member 2721 is coupled to a drive gear 2721a and a drive gear 2721a coupled to the drive shaft of the drive motor 2730, rotates around an axis perpendicular to the operation plate 2100 It may include a driven gear (2721b).

In addition, the second power transmission member 2722 is a driven pulley 2722a that rotates coaxially with a driven gear 2721b, a driven pulley 2722b coupled to a lower portion of the rotating member 2710 and a driving pulley 2722a ) And a timing belt 2722c surrounding the driven pulley 2722b at the same time.

The first power transmission member 2721 may be a power transmission method using a known straight bevel gear, and the second power transmission member 2722 may be a power transmission method using a known pulley.

Through this, when the drive shaft of the drive motor 2730 rotates, the drive gear 2721a coupled to the drive shaft may rotate, and the driving force of the drive motor 2730 is the driven gear 2721b, the drive pulley 2722a, and The driven pulleys 2722b can be rotated by the operation of the timing belts 2722c being linked to each other. Accordingly, the rotation member 2710 fixedly coupled with the driven pulley 2722b can be rotated through rotation of the driven pulley 2722b.

In addition, a fixed frame 2740 is provided so that the rotating member 2710 is positioned on the upper surface of the operating plate 2100, and the rotating member 2710 is provided from the upper surface of the operating plate 2100 on the lower surface of the fixed frame 2740. Spaced members 2701 may be provided to be spaced apart.

When the separation member 2771 is provided as described above, when the rotating member 2710 rotates, interference with the operation plate 2100 can be prevented, so that the rotating member 2710 can be smoothly rotated.

In addition, the fixed frame 2740 may be provided with a bearing member 2750 so that the rotating member 2710 can rotate smoothly, and a known slewing bearing can be used as the bearing member 2750.

As shown in FIG. 22, it is also possible to additionally install the top frame 2500, the bellows frame 2600, and the side frame 2400 on top of the top frame 2500. That is, a plurality of sets capable of multi-degree-of-freedom motions are arranged, and by configuring in this way, more various motions can be expressed.

At this time, it is also possible to remove the top plate frame 2500 disposed under the side frame 2400 located at the top, and directly connect the side frame 2400 located at the top and the bellows frame 2600 located at the bottom. When configured in this way, since the upper frame 2500 is not provided between the set provided at the top and the set provided at the bottom, it is possible to lower the height of the entire system.

The yawing motion system 3100 according to the fifth embodiment of the present invention may include a housing 3110 and a driving unit 3120, as illustrated in FIGS. 23 to 26.

At this time, the yawing motion system 3100 according to the fifth embodiment of the present invention is a driving unit 3120 for realizing yawing motion is configured in a module form and is mounted inside the housing 3110 to enable independent operation. The entire system can be implemented in a single module.

Accordingly, the yawing motion system 3100 according to the fifth embodiment of the present invention may be capable of 360-degree free rotational motion based on a virtual central axis, and other systems such as a 3 degree of freedom motion system or a 2 degree of freedom motion system. It can be used to implement complex movements with the field.

To this end, the housing 3110 may have a housing shape having an internal space S for accommodating the driving unit 3120 therein, as shown in FIG. 26, and is disposed through a predetermined area on one surface. Ball 3114.

At this time, a part of the driving part 3120 may be exposed to the outside through the placement hole 3114. As an example, as shown in FIG. 23, the placement hole 3114 rotates around a virtual central axis when driving the driving motor 3121 among the driving units 3120 accommodated in the inner space S. A space for arranging (3126) may be provided, and the rotating member (3126) may be freely rotated while exposed to the outside through the placement hole (3114).

Accordingly, in the yawing motion system 3100 according to the fifth embodiment of the present invention, even if the driving unit 3120 is disposed in the inner space of the housing 3110, the rotating member 3126 does not allow the placement hole 3114 to be disposed. When the object 3010 requiring yawing motion is fastened to the rotating member 3126 by being exposed to the outside, the object 3010 can freely yaw through simple fixing (see FIG. 34).

In addition, the housing 3110 may include a through portion 3116 formed through a region corresponding to the placement hole 3114. In this case, the surface on which the through portion 3116 is formed may be a surface opposite to the surface on which the placement hole 3114 is formed, and the through portion 3116 is one of the driving parts 3120 like the placement hole 3114. A part may be exposed to the outside through the through part 3116, and the through part 3116 may be sealed through a separate cover plate 3119 detachably coupled to the housing 3110 when not in use. .

Accordingly, the yaw motion system 3100 according to the fifth embodiment of the present invention may be driven by any one of the placement holes 3114 and the through parts 3116 formed on both surfaces of the housing 3110, the driving part 3120. A part of can be exposed to the outside. Due to this, the Yonging motion system 3100 according to the fifth embodiment of the present invention is an object 3010 in which a part of the driving part 3120 exposed to the outside through the placement hole 3114 and the through part 3116 needs to move. ) To increase the degree of freedom of installation of the object 3010, as well as the yawing motion of the object 3010 as well as the binding method with the object 3010, the object 3010 in the forward and backward directions. You can also rotate.

For example, as shown in FIG. 35, when two yaw motion systems 3100 are installed in a vertical direction, and when two yaw motion systems 3100 are connected to each other through separate rotation shafts 3020, the rotation shafts The object 3010 coupled to the 3020 may be rotated in the front and rear directions around the rotation axis 3020.

In addition, at least one opening 3118 communicating with the inner space S may be formed through the housing 3110 in addition to the placement hole 3114 and the through portion 3116.

In one example, the at least one opening 3118 may be formed on the same surface on which the through portion 3116 is formed. The opening 3118 may serve as a passage through which a cable for supplying external power to the driving unit 3120 disposed in the internal space S passes. Here, the opening 3118 may be sealed through a separate cover plate 3119 detachably coupled to the housing 3110 when not in use.

In addition, the housing 3110 may be formed with a receiving part 3115 for accommodating some height of the entire height of the driving part 3120 mounted in the inner space S.

As a non-limiting example, the housing 3110 includes a lower plate portion 3111 to which the driving portion 3120 is fixed on one surface, a side wall portion 3112 and a side wall portion extending at a predetermined height upward from the lower plate portion 3111. It may include a top plate portion 3113 coupled to the upper side of the portion (3112).

At this time, the side wall portion 3112 may be a ring-shaped frame structure, a lower plate portion 3111 having a predetermined area may be coupled to the lower border side of the side wall portion 3112, and the side wall portion 3112 ) The upper plate portion 3113 having a predetermined area may be coupled to the upper border side.

Accordingly, an interior space S defined through the upper plate portion 3113, the side wall portion 3112 and the lower plate portion 3111 may be formed inside the housing 3110.

Here, the side wall portion 3112 may be formed of a single member, or a plurality of members may be combined with each other. Further, the upper plate portion 3113 may be formed of a single member, but two or more members may be combined with each other.

In this case, the placement hole 3114 may be formed to penetrate the upper plate portion 3113, and the through portion 3116 and the opening 3118 may include the lower plate portion 3111 as shown in FIG. It can be formed to penetrate.

Accordingly, the driving part 3120 may be accommodated in the inner space S in a state fixed to the lower plate part 3111, and the rotating member 3126 is exposed to the outside through the placement hole 3114. The driving unit 3120 may receive power from the outside through the opening 3118.

At this time, the upper plate portion 3113 may be formed of a single plate-shaped member, but may have a plurality of members coupled to each other.

As an example, the upper plate portion 3113 may include an outer plate 3113a exposed to the outside and a reinforcement plate 3113b coupled to one surface of the outer plate 3113a as illustrated in FIGS. 25 and 26.

At this time, the reinforcing plate 3113b may be provided in a plate shape having a predetermined thickness and disposed on the lower side of the outer plate 3113a, and an edge side of the reinforcing plate 3113b may be an upper portion of the side wall portion 3112. It can be combined with the rim side. Through this, the reinforcing plate 3113b can reinforce the strength of the outer plate 3113a exposed to the outside.

In this case, the placement hole 3114 may be formed to penetrate the outer plate 3113a and the reinforcing plate 3113b at the same time as shown in FIGS. 25 and 26, and the receiving portion 3115 is the reinforcing part. It may be formed only on the side of the plate 3113b.

Here, the outer plate 3113a may be a single member, but may have a shape in which two members are combined with each other. In this case, the outer plate 3113a may be formed such that the placement hole 3114 is positioned at a portion where two members are molded together. In addition, the reinforcing plate 3113b may include at least one weight reducing portion formed therein to reinforce the strength of the outer plate 3113a while reducing the overall weight.

The driving unit 3120 may provide a driving force for rotating the rotating member 3126 exposed to the outside through the placement hole 3114 when the power is applied, based on a virtual central axis. The driving unit 3120 may be driven through a separate control unit (not shown). Here, the control unit may be provided inside the housing 3110, like the driving unit 3120, or may be configured in the form of a separate console box outside the housing 3110.

At this time, the driving unit 3120 may be disposed in the interior space S as described above, and may be fixedly installed on the bottom surface of the interior space S, for example, one surface of the lower panel 3111. have.

In the driving unit 3120, when the power is supplied, the driving force generated through the driving motor 3121 is transmitted to the rotating member 3126 through the power transmission units 3124 and 3125, so that the rotating member 3126 is virtual. It may be a method of rotating about the central axis.

To this end, the driving unit 3120 may include a driving motor 3121, a fixed frame 3122, a rotating member 3126, and a power transmission unit 3124, 3125 as shown in FIG. 30.

The driving motor 3121 may generate a driving force for rotating the rotating member 3126 when power is supplied. The driving motor 3121 may be an electric motor, and may be connected to an external power source through an opening 3118 formed through the lower plate 3111.

At this time, the driving motor 3121 may include a first rotational shaft 3121a that rotates when power is supplied, and the first rotational shaft 3121a is a bottom surface of the internal space S, that is, a lower plate portion 3111 ) May be disposed in a horizontal direction with respect to one surface.

The fixing frame 3122 may be fixed to the bottom surface of the inner space (S), that is, one surface of the lower plate portion 3111. In the fixed frame 3122, the rotating member 3126 exposed to the outside through the placement hole 3114 may be rotatably coupled through the bearing portion 3123.

To this end, the bearing part 3123 may be rotatably coupled to the rotating member 3126 therein. A ring-shaped outer bearing 3123a coupled to the fixed frame 3122 and a ring-shaped inner bearing 3123b rotatably coupled to the inside of the outer bearing 3123a may be included, and the rotating member 3126 may be fixed to the inner bearing 3123b. In one example, the bearing portion 3123 may be a known slewing bearing.

Through this, when the inner bearing 3123b rotates, the rotating member 3126 may be rotated through the inner bearing 3123b.

At this time, the inner bearing 3123b may be rotated based on a virtual central axis by transmitting the driving force of the driving motor 3121 through the power transmission units 3124 and 3125. Here, the virtual central axis may be a direction perpendicular to the first rotation axis 3121a.

To this end, the power transmission units 3124 and 3125 change the rotational force of the drive motor 3121 to a rotational direction centered on the second rotational shaft 127 disposed in a direction perpendicular to the first rotational shaft 3121a. It may be composed of a first power transmission unit (3124) and a second power transmission unit (3125) for rotating the rotating member (3126) in the same direction as the rotational direction of the first power transmission unit (3124).

Here, the second rotating shaft 127 may be disposed outside the fixed frame 3122 to which the rotating member 3126 is rotatably coupled, and the upper end side of the second rotating shaft 127 is the top plate portion ( Some height can be accommodated through the receiving portion 3115 of the 3113), and more specifically, the receiving portion 3115 formed on the reinforcing plate 3113b, and between the second rotating shaft and the receiving portion to support the upper end of the second rotating shaft. Bearings can be installed.

Accordingly, the rotating member 3126 can be smoothly rotated through driving of the driving motor 3121 even though the virtual central axis, which is the center of the rotational movement, forms a direction perpendicular to the first rotating axis 3121a. have.

At this time, the lower end of the second rotation shaft 127 may be arranged to be spaced apart from the bottom surface by a predetermined distance. As such, the lower end of the second rotation shaft is formed to be spaced apart from the bottom surface by being rotatably fixed to the receiving portion 3115 of the upper plate portion 3113, thereby reducing the overall height of the driving portion installed inside the motion system.

Meanwhile, the first power transmission unit 3124 may include a driving gear 3124a coupled to the first rotating shaft 3121a and a driven gear 3124b coupled to the second rotating shaft 127.

In addition, the second power transmission unit 3125 includes a driving pulley 3125a coupled to the second rotating shaft 127 and a driven pulley 3125b coupled to the lower side of the rotating member 3126 and the driving pulley ( 3125a) and a driven belt 3125b that simultaneously surrounds the driven pulley 3125b. In this case, as shown in FIG. 31, the driven pulley 3125b may be fixed to the lower side of the rotating member 3126, and the timing belt 3125c may be provided on the upper side and lower side of the driven pulley 3125b. ) A pair of departure preventing members 3125d may be coupled to protrude outward to prevent the driven pulley 3125b from escaping.

In the present invention, the first power transmission unit 3124 may be a power transmission method using a known linear bevel gear, and the second power transmission unit 3125 may be a power transmission method using a known pulley.

Through this, when the first rotating shaft 3121a of the driving motor 3121 rotates, the driving gear 3124a coupled to the first rotating shaft 3121a may be rotated, and the driving force of the driving motor 3121 may be rotated. Is based on an imaginary central axis in which the driven pulley 3125b is parallel to the second rotation axis 127 by the operation of the driven gear 3124b, the driving pulley 3125a, and the timing belt 3125c. Can be rotated. Accordingly, the rotating member 3126 fixedly coupled to the driven pulley 3125b may be rotated through the driven pulley 3125b.

In this case, as illustrated in FIG. 32, the driven gear 3124b may be coupled to be located on the upper side of the second rotation shaft 127, and the driving pulley 3125a may be the second rotation shaft 127. It can be combined to be located on the lower side of. In addition, the rotating member 3126 may be formed of a single member having a predetermined height, but the plate (3126a) is exposed to the outside through the placement hole 3114 and the plate having a predetermined height ( It may include a connecting member (3126b) coupled to the lower portion of 3126a).

Here, the plate 3126a may be fixedly coupled to the inner bearing 3123b, as shown in FIG. 31, and the connecting member 3126b may be fixedly coupled to the lower side of the driven pulley 3125b. have. In addition, the rotating member 3126 may include a hollow portion 3126c formed through the height direction, and the hollow portion 3126c may be formed on both the plate 3126a and the connecting member 3126b side. have. At this time, a known slip ring (not shown) may be disposed on the hollow portion 3126c side. Such a slip ring can electrically connect parts disposed on the upper side of the rotating member 3126 and parts disposed on the lower side of the rotating member 3126, so that even if the rotating member 3126 rotates, The cable for connection can be prevented from being twisted or twisted.

Accordingly, in the yawing motion system 3100 according to the fifth embodiment of the present invention, even if the driving motor 3121 for rotating the rotating member 3126 is disposed in a horizontal direction with one surface of the lower plate portion 3111. The rotating member 3126 may be smoothly rotated in a desired direction through the first power transmission unit 3124 and the second power transmission unit 3125.

Therefore, the yawing motion system 3100 according to the fifth embodiment of the present invention can compactly configure the entire height of the driving unit 3120 even if the entire driving unit 3120 is disposed in the inner space S. The overall height of the yawing motion system 3100 can be reduced.

At this time, the fixed frame 3122, as shown in FIGS. 26 to 28, via at least one spacer member 3117 disposed between the lower surface of the fixed frame 3122 and the lower plate 3111. It may be fixed to the lower plate portion 3111.

That is, the spacer member 3117 is provided to have a predetermined height, so that the fixed frame 3122 may be spaced apart at a predetermined distance from the lower plate portion 3111.

Due to this, even if the second rotating shaft 127 is disposed outside the fixed frame 3122, the drive pulley 3125a constituting the second power transmission unit 3125 through the space formed through the spacer 3117 ) And the driven pulley 3125b can be smoothly connected through the timing belt 3125c.

In addition, a space is formed between the fixed frame 3122 and the lower plate 3111 through the spacer 3117 to properly arrange cables introduced through the opening 3118 formed in the lower plate 3111. Can be.

Meanwhile, the driving part 3120 may further include a tension adjusting means 3128 for maintaining the tension of the timing belt 3125c constituting the second power transmission part 3125 as shown in FIG. 29. . The tension adjusting means 3128 may be arranged to press the middle of the length of the timing belt 3125c in one direction. Here, the tension adjusting means 3128 may be coupled to one side of the fixed frame 3122.

In addition, the driving unit 3120 may further include a sensor 3129 for checking the rotational position of the rotating member 3126.

The sensor 3129 may be coupled to the fixed frame 3122 as illustrated in FIG. 29, and a sensing unit for confirming the position may be disposed to be located on the bottom side of the driven pulley 3125b. Accordingly, the rotational position of the rotating member 3126 can be confirmed through the positioning of the driven pulley 3125b.

In addition, the driving unit 3120 may be provided with a known reducer 3130 at the front end of the driving motor 3121. Through this, the rotational speed of the driving motor 3121 may be reduced through the reduction gear 3130.

In this case, the noise generated by the reduction gear 3130 may be reduced by arranging the soundproof member 3140 having a predetermined thickness inside the housing 3110. In one example, the soundproof member 3140 may be disposed to surround the inner surface of the side wall portion 3112, as shown in FIG. However, it is noted that the soundproof member 3140 may be disposed to surround the inner surfaces of the lower plate portion 3111 and the upper plate portion 3113 together with the side wall portion 3112.

Although one embodiment of the present invention has been described, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art to understand the spirit of the present invention, within the scope of the same spirit, addition and modification of components However, other embodiments may be easily proposed by deletion, addition, or the like, but this will also be considered to be within the scope of the present invention.

Claims (20)

1. In the motion system to move along the XY axis orthogonal to the plane,

   A top plate frame moving in the X-axis and Y-axis directions;

   A first moving unit moving the upper frame in the X-axis direction; And

   A second moving part moving the first moving part in the Y-axis direction;

   Motion system comprising a.
2. According to claim 1,

   The first moving part,

   A first base frame providing support force;

   A first side frame provided along the circumference of the first base frame; And

   A first driving member mounted on an upper surface of the first base frame to move the upper frame;

   Motion system comprising a.
3. According to claim 2,

   The second moving part,

   A second base frame providing support force;

   A second side frame provided along the circumference of the second base frame; And

   A second driving member mounted on an upper surface of the second base frame to move the first base frame;

   Motion system comprising a.
4. According to claim 3,

   The first driving member and the second driving member,

   A first drive motor and a second drive motor mounted on upper surfaces of the first base frame and the second base frame;

   A first lead screw and a second lead screw connected to the first drive motor and the second drive motor, respectively, to rotate axially; And

   A first ball nut and a second ball nut moving in an axial direction when the first lead screw and the second lead screw rotate;

   Motion system, characterized in that each comprises a.
5. The method of claim 4,

   A first extension surface is formed at an upper end of the first side frame in the axial direction of the first driving member among the first side frames so as to cover an upper portion of the first base frame by a predetermined area,

   A motion system characterized in that a second extension surface is formed at an upper end of the second side frame located in the axial direction of the second driving member among the second side frames so as to cover an upper portion of the second base frame by a predetermined area. .
6. The method of claim 5,

   And a first protrusion extending upward to surround the first drive motor is formed on the first extension surface adjacent to the first drive motor.
7. The method of claim 5,

   And a second protrusion extending upward to surround the second driving motor is formed on the second extended surface adjacent to the second driving motor.
8. The method of claim 5,

   A first engagement surface to which the first extension surface is coupled is formed at an upper end of the first side frame located in a direction perpendicular to the axial direction of the first driving member among the first side frames,

   A motion system according to claim 2, wherein a second engagement surface to which the second extension surface is coupled is formed at an upper end of the second side frame positioned in a direction perpendicular to the axial direction of the second driving member.
9. An operation plate that performs a three-degree-of-freedom operation on a plane;

   A driving unit for operating the operation plate;

   A base frame supporting a lower portion of the driving unit;

   A side frame provided along the circumference of the base frame to surround the operation plate and the driving unit;

   A top plate frame performing a three-degree-of-freedom operation together with the operation plate; And

   A bellows frame connecting the top of the side frame and the circumference of the top frame;

   Motion system comprising a.
10. The method of claim 9,

    The drive unit is provided with a plurality of drive members to support each of a plurality of positions arranged on the lower surface of the operation plate, a motion system, characterized in that.
11. The method of claim 10,

    The drive member,

    A drive motor mounted on an upper surface of the base frame;

    A lead screw connected to the drive motor to rotate axially;

    Support blocks for supporting both sides of the lead screw so that the lead screw is axially rotatable;

    A transfer block moving in the axial direction when the lead screw is rotated;

    An extension arm hinged to the transport block so as to be rotatable about the transport block, and an extended head coupled to a lower surface of the operation plate along a lengthwise direction; And

    One side is hinged to the support block so as to be rotatable around the support block, the other side is hinged to the body of the extension arm, the support arm inducing a rotational movement of the extension arm when the transport block is moved;

    Motion system comprising a.
12. The method of claim 11,

    A motion system, characterized in that in the support block, an inlet groove capable of being drawn in when the head of the extension arm moves downward.
13. The method of claim 11,

    The driving member is provided with a guide block coupled to the transport block, and a guide system for guiding the guide block to move in an axial direction.
14. The method of claim 9,

    The motion system further comprises a rotation drive unit disposed on the operation plate and provided with a rotation member rotating about an axis perpendicular to the operation plate.
15. A housing having an internal space and having a predetermined area on one surface through which a placement hole is formed; And

    It includes; a rotating member rotating about the virtual central axis, and a driving unit including a driving motor that provides a driving force to the rotating member.

    The driving unit is a motion system fixed to one surface of the inner space so that the rotating member is exposed to the outside through the placement hole.
16. The method of claim 15,

    The housing,

    A lower plate part to which the driving part is fixed on one surface,

    A side wall portion extending a predetermined height upward from the lower plate portion to form the interior space, and

    It includes a top plate portion covering the open top of the interior space,

    The placement hole is formed in the upper plate motion system.
17. The method of claim 15,

    The driving unit,

    A driving motor in which the first rotation axis is disposed in a horizontal direction with respect to the bottom surface of the interior space,

    A fixed frame in which the rotating member is rotatably coupled via a bearing part and fixed to the bottom surface of the interior space,

    A motion system including a power transmission unit that transmits power of the driving motor to rotate the rotating member.
18. The method of claim 17,

    The power transmission unit

    A first power transmission unit for changing the rotational force of the drive motor in a rotational direction centered on a second rotational axis disposed in a direction perpendicular to the first rotational axis;

    A motion system including a second power transmission unit for rotating the rotating member in the same direction as the rotational direction of the first power transmission unit.
19. The method of claim 18,

    The first power transmission unit is a motion system that is a linear bevel gear including a drive gear coupled to the first rotating shaft and a driven gear coupled to the second rotating shaft.
20. The method of claim 18,

    The bearing portion is a swing bearing including a ring-shaped outer bearing coupled to the fixed frame and a ring-shaped inner bearing rotatably coupled to the inside of the outer bearing, and the rotating member is fixedly coupled to the inner bearing system.

Images