• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a two-degree-of-freedom exercise system device applied to simulation training or virtual reality games, so that the slide movement of the top plate can be performed smoothly. To this end, a base 1 serving as a main body, a pair of guide rails 2 fixedly installed side by side on the base, a slider 3 fitted to the guide rails and horizontally moving, and a rod fixedly mounted on the base Actuator 4 for linear movement connected to the slider, an upper plate 6 hingedly rotatable about the axis 7 to the slider, and an auxiliary guide rail 10 fixed to the base in parallel with the guide rail. ), An auxiliary slider 9 extending from the slide and fitted to the auxiliary guide rail, and an actuator 8 for rotational movement installed between the auxiliary slider and the upper plate to rotate the upper plate.
    公开号:KR20000049497A
    申请号:KR1020000016880
    申请日:2000-03-31
    公开日:2000-08-05
    发明作者:전용민；홍경의
    申请人:홍경의；다모테크놀러지 주식회사；
    IPC主号:
    专利说明:

    Motion System with two degrees of freedom
    The present invention relates to a two-degree-of-freedom exercise system device that is applied to simulation training or a virtual reality game, and more specifically, to allow the top plate slide movement to be performed smoothly.
    In general, two degrees of freedom motion is roughly divided into a rotational movement (roll movement) in which the top plate rotates about the front axis (X axis), and a rotational movement (pitch movement) in which it rotates about the side axis (Y axis).
    When applying such exercise system to simulation training or virtual reality game, the acceleration / deceleration movement of the target vehicle to be simulated, for example, car, tank, aircraft, ship, etc. takes about 40% of the whole movement part. Despite the fact that it is an element, there is a limit to the realization because there is no means to properly express such a part.
    In addition, in terms of structural aspects, the position of the axis for reproducing the movement is generally installed vertically. As a result, a large stress is applied to a type actuator having a large axial force during driving or components to which the shaft is attached. In order to improve durability during initial design, the size of parts had to be enlarged more than necessary, and expensive materials with high strength had to be used.
    The present invention has been made to solve such a problem in the prior art, by using two actuators to provide a two-degree of freedom exercise system device that can reproduce the rotational movement as well as the roll movement while the top plate is appropriately decelerated There is this.
    Another object of the present invention is to allow a roll motion and a rotational motion to be performed at the same time to reproduce a completely different movement from the existing device.
    According to an aspect of the present invention for achieving the above object, a base serving as a main body, a pair of guide rails fixedly installed side by side to the base, a slider fitted to the guide rail and horizontally moved, and fixedly installed on the base A linear motion actuator having a rod connected to the slider, an upper plate hingedly pivotally coupled to the slider, an auxiliary guide rail fixed to the base in parallel with the guide rail, and extending from the slide to the auxiliary guide rail. There is provided a two-degree of freedom exercise system device comprising an auxiliary slider fitted and a rotary actuator installed to be movable horizontally together with the slider, the rod being connected to the top plate to rotate the top plate.
    1 is a perspective view showing the configuration of the present invention
    2A and 2B are side views of the present invention,
    Figure 2a is a state in which the top plate is positioned horizontally and located in the middle of the base
    Figure 2b is a state in which the upper plate in the horizontal state is transferred by the drive of the actuator for linear motion
    3A and 3B are longitudinal cross-sectional views of FIG. 2A;
    3A is a state diagram in which the top plate maintains a horizontal state
    Figure 3b is a state in which the top plate is inclined to one side by the actuator for rotational movement
    4 is a cross-sectional view taken along the line A-A of FIG. 3A
    ※ Explanation of symbols about main part of drawing ※
    1: Base 2: Guide rail
    3: slider 4: linear actuator
    6: top plate 8: actuator for rotary motion
    9: auxiliary slider 10: auxiliary guide rail
    11a, 11b: sliding roller
    Hereinafter, with reference to Figures 1 to 4 showing an embodiment of the present invention in more detail as follows.
    1 is a perspective view showing the configuration of the present invention, Figures 2a and 2b is a side view of the present invention and Figures 3a and 3b is a longitudinal cross-sectional view of Figure 2a, the present invention is a pair of the base (1) acting as the main body The guide rails 2 are fixedly installed side by side, and the slider 3 is fitted with horizontal movement along the guide rails.
    The actuator 4 for linear motion is fixedly installed on the upper surface of the base 1 so that the rod 4a is fixed to the end of the slider 3, and the central portion of the upper plate 6 is attached to the slider 3 by the shaft ( 7) It is hinged to rotate left and right around.
    The horizontal movement distance of the upper plate 6 can be changed according to the length change of the linear actuator 4, as well as the speed can be reproduced according to the acceleration and deceleration movement of the linear actuator.
    In addition, the slide 3 is provided with a rotary motion actuator 7 for rotating the upper plate 6 while moving horizontally with the slider, the rod 8a is hinged to the upper plate 6, the upper plate ( The rotation amount of 6) can also be changed according to the change in the length of the actuator 7 for rotational movement, and of course, the speed can be reproduced according to the acceleration / deceleration movement of the actuator 7 for rotational movement.
    The rotary actuator 7 may be installed directly on the slider 3, but in one embodiment of the present invention, the slide to the one side of the slider 3 so that the linear and rotational movement of the upper plate 6 is more smoothly performed. The auxiliary slider 9 is formed so as to extend from the top, and the actuator 7 for rotational movement is provided on the auxiliary slider 9.
    In this case, the auxiliary guide rail 10 is parallel to the guide rail to one side of the guide rail 2 so that horizontal movement of the auxiliary slider 9 to which a force (reaction) is applied during the rotational movement of the upper plate 6 is smoothly performed. Is fixed to the base 1 so that one end of the auxiliary slider 9 is fitted to the auxiliary guide rail 10.
    Further, sliding rollers 11a and 11b are rotatably installed on the slider 3 and the auxiliary slider 9, respectively, so that the sliding rollers are fitted to the guide rails 2 and the auxiliary guide rails 10, respectively. This is to minimize the frictional resistance between the guide rail 2 and the auxiliary guide rail 10 during the horizontal movement of the slider 3 so that the horizontal movement of the slider 3 is smoothly performed.
    The linear motion actuator 4 may apply a cylinder operated by pneumatic or hydraulic pressure, a ball screw that rotates according to the driving of the motor, if necessary, but the rotary motion actuator 8 may be driven by the driving of the motor. Since there is a structural limitation in applying a rotating ball screw, it is preferable to apply a cylinder operated by pneumatic or hydraulic pressure.
    However, when the amount of rotational movement of the upper plate 6 is small, a cam that rotates in accordance with the driving of the motor may be applied instead of the actuator 8 for rotational movement. However, when the cam is installed only on one side such as a cylinder, the cam is installed on the opposite side. The problem that the top plate falls to one side when a load is applied causes the cam to be installed on both sides of the top plate 6, which is structurally disadvantageous and lowers noise and durability, but there is no problem in realizing the present invention.
    Referring to the operation of the present invention configured as described above is as follows.
    First, the length of the linear motion actuator 4 and the rotational motion actuator 8 is appropriately selected according to the desired simulation training or virtual reality game to constitute the present invention.
    The length of the linear motion actuator 4 and the rotary motion actuator 8 can be reproduced by the speed of the slider 3 or the angular speed and the inclination angle of the upper plate 6.
    However, 100% movement reproduction by the linear motion actuator 4 and the rotary motion actuator 8 is impossible due to the limitation of the motion area of the motion system.
    Therefore, it is necessary to convert the target motion into a proper exercise system reproduction exercise.
    It should be set to define a detection limit of ergonomic linear motion or rotational motion to high pass filter the motion command by a controller (not shown) so that the top plate 6 moves only within the detection limit.
    In addition, in order to reproduce the continuous and continuous motion of the target body (top plate), the range of motion area should be secured. This is because the resilience of the exercise system must be maintained. It should be set so as to instruct the return length command of the linear motion actuator 4 and the rotary motion actuator 8.
    In this state, when the linear actuator 4 is driven to move the rod 4a forward or retreat, the slider 3 moves horizontally along the guide rail 2 in order to horizontally move the upper plate 6. When the driving speed of the linear actuator 4 is increased or decreased, the horizontal movement speed of the slider 3 is increased or decreased.
    In the above operation, the slider 3 is coupled to the guide rail 2 by the sliding roller 11a, so the frictional resistance is minimized, so that the horizontal movement of the slider is performed smoothly, and the rotation is fixed to the auxiliary slider 9. Since the exercise actuator 8 does not drive, the upper plate 6 does not rotate left and right.
    On the other hand, when the linear motion actuator 4 is not driven, the rotary motion actuator 8 installed on the auxiliary slider 9 is driven so that the rod 8a is moved forward or retracted, and the upper plate hinged to the rod. (6) is hinged rotatably about the slider (3) and the shaft (7) so that the pivoting motion is stably within the range of the forward or backward amount of the rod (8a).
    As described above, the upper plate 6 which performs linear motion and rotational motion in accordance with the driving of the linear motion actuator 4 and the rotational motion actuator 8 includes the linear motion actuator 4 and the rotational motion actuator 8. Is driven at the same time, the upper plate (6) is fixed about the axis (7) in accordance with the drive of the rotary motion actuator (8) during the horizontal movement of the guide rail (2) in accordance with the drive of the linear motion actuator (4) Since the movement is within the scope, it can be usefully applied to simulation training of cars, tanks, aircraft, ships, and games for virtual reality.
    As described above, the present invention has the following advantages over the conventional apparatus.
    First, the range of linear motion and rotational motion of the upper plate 6 can be freely secured according to the operating length of the linear motion actuator 4 and the rotary motion actuator 8 so that the application range can be further expanded. do.
    Secondly, the horizontal motion of the upper plate 6 can be reproduced, thereby increasing the durability of the structure against the vertical load.
    Third, the slider 3 and the auxiliary slider 9 are fitted to the guide rail 2 and the auxiliary guide rail 10 by sliding rollers 11a and 11b, thereby minimizing frictional inertia due to the change of direction. In addition to increasing efficiency, it also minimizes noise generation during operation.
    权利要求:
    Claims (5)
    [1" claim-type="Currently amended] A base acting as a main body, a pair of guide rails fixed to the base side by side, a slider fitted to the guide rail to move horizontally, a linear motion actuator fixed to the base and connected to a slider, and the slider A two-degree of freedom exercise system device comprising a top plate that is hinged rotatably about an axis, and a rotary actuator installed horizontally together with the slider to connect a rod to the top plate to rotate the top plate.
    [2" claim-type="Currently amended] The method of claim 1,
    A two degree of freedom exercise system device characterized in that the actuator for rotational movement is installed on the auxiliary slider by fixing the auxiliary slider to one side of the slider.
    [3" claim-type="Currently amended] The method of claim 2,
    And an auxiliary guide rail installed in parallel with the guide rail on the base such that the auxiliary slider is fitted to the auxiliary guide rail.
    [4" claim-type="Currently amended] The method of claim 1,
    And a sliding roller is rotatably installed on the slider so that the sliding roller is fitted to the guide rail.
    [5" claim-type="Currently amended] The method of claim 2 or 3,
    And a sliding roller rotatably installed on the auxiliary slider so that the sliding roller is fitted to the auxiliary guide rail.
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    同族专利:
    公开号 | 公开日
    KR200199065Y1|2000-10-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    2000-03-31|Application filed by 홍경의, 다모테크놀러지 주식회사
    2000-03-31|Priority to KR1020000016880A
    2000-08-05|Publication of KR20000049497A
    优先权:
    申请号 | 申请日 | 专利标题
    KR1020000016880A|KR20000049497A|2000-03-31|2000-03-31|Motion System with two degrees of freedom|
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