CN111260991A - Pneumatic multi-degree-of-freedom simulation device - Google Patents

Abstract

The invention mainly discloses a pneumatic multi-degree-of-freedom simulation device which comprises a support, a gas supply device capable of supplying high-pressure gas, a pneumatic rotating mechanism capable of driving the support to rotate forwards or backwards by taking the high-pressure gas as power, a pneumatic lifting mechanism capable of driving the support to swing in different directions by taking the high-pressure gas as power, a plurality of valves and a valve control unit. The valve control unit and the plurality of valves can determine how to supply the high-pressure gas to the pneumatic rotating mechanism and the pneumatic lifting mechanism so as to control the actions of the two mechanisms. The invention has low price and can carry out multi-degree-of-freedom movement, so that a user who sits on the device can experience the feeling similar to that of actually driving a racing car, an airplane or other carriers.

Description

Pneumatic multi-degree-of-freedom simulator

technical field

The invention relates to a driving simulation device suitable for simulating driving of racing cars, airplanes or other vehicles, in particular to a pneumatic multi-degree-of-freedom simulation device.

Background technique

The racing simulation devices on the market can be roughly divided into two types according to their driving methods, namely, the electric cylinder and the rocker arm driving method. No matter which method is used, it is used to drive a bracket, so that a seat on the bracket can be driven. The movement of multiple degrees of freedom is generated, so that the user sitting on the seat can experience the feeling of driving a racing car. However, these two driving methods use motors (such as servo motors) as power sources behind them. Since the operation of each degree of freedom requires a motor as a power source, the price of the existing racing simulators will be too high. It is difficult to generalize to ordinary families. In addition, the existing home racing simulators still remain in the form of a simulated frame without a moving structure, or only provide one or two degrees of freedom, such as rotation and up-and-down motion. Although this type of home racing simulator can reduce the price, it cannot simulate the driving of an actual racing car, so the experience it can provide is of course unsatisfactory.

SUMMARY OF THE INVENTION

In view of the problem that the existing driving simulation device is difficult to take into account the experience effect and the price, the present invention provides an aerodynamic multi-degree-of-freedom simulation device to solve the problem.

More specifically, the pneumatic multi-degree-of-freedom simulation device of the present invention includes a bracket, an air supply device capable of supplying high-pressure gas, and a pneumatic rotation capable of driving the bracket to rotate in a forward or reverse direction by using the high-pressure gas as a power. Mechanism, a pneumatic lifting mechanism capable of using the high pressure gas as the power to drive the support to swing in different directions, a plurality of valves and a valve control unit. A plurality of the valves respectively receive the high-pressure gas supplied by the gas supply device, and are respectively controlled by the valve control unit to be opened or closed correspondingly. The opened valve supplies the received high pressure gas to the pneumatic rotating mechanism and/or the pneumatic lifting mechanism, and the closed valve interrupts the supply of the high pressure gas.

In one embodiment, the pneumatic lifting mechanism of the present invention includes a base and a plurality of pneumatic cylinders with spacer rings arranged on the base. The base is arranged on the pneumatic rotating mechanism, and is driven by the pneumatic rotating mechanism to rotate. The cylinder bodies of a plurality of the pneumatic cylinders are arranged on the base, and the cylinder bodies are respectively connected with a plurality of the valves, and receive high pressure gas from the connected valves. The pneumatic cylinder uses high-pressure gas to drive its own telescopic rod to extend and retract, and the ends of the telescopic rod of each pneumatic cylinder are respectively connected to the bracket.

In one embodiment, each of the telescopic rods of the pneumatic cylinders of the present invention is covered with a buffer spring, and a plurality of the buffer springs are used to provide elastic buffering to the bracket.

In one embodiment, the above-mentioned pneumatic lifting mechanism of the present invention includes a fixing ring, and the fixing ring is connected and fixed to the cylinder blocks of the plurality of pneumatic cylinders.

In one embodiment, the air supply device of the present invention is arranged on the base.

In one embodiment, the above-mentioned pneumatic rotating mechanism of the present invention includes a rotating part, a rotating driving device and a transmission mechanism. One end of the rotating part is connected and fixed to the base of the pneumatic lifting mechanism. The rotation driving device is connected with a plurality of the valves, receives high pressure gas from the connected valves, and uses the high pressure gas to drive a rotating shaft of itself to rotate. The transmission mechanism is driven by the rotation driving device, and drives the rotation part to rotate.

In one embodiment, the above-mentioned transmission mechanism of the present invention includes a driving gear driven to rotate by the rotation driving device, a plurality of driven gears surrounding the driving gear, and an inner gear ring. The plurality of driven gears are synchronously driven to rotate by the driving gear. The inner gear ring is connected and fixed on the other end of the rotating part, surrounds the plurality of driven gears, and is driven to rotate by the plurality of driven gears.

In one embodiment, the valve control unit of the present invention includes a microprocessor, a plurality of the valves are disposed in the rotary drive device and each pneumatic cylinder, and the microprocessor analyzes the coordinates received from a computer. data, and convert a plurality of the coordinate data into motion data representing the motion corresponding to the degree of freedom, and then convert a plurality of the motion data into corresponding valve switch data, and determine the corresponding valve switch data according to the plurality of valve switch data. The opening and closing of the valve is used to control the action of the rotary drive device and/or the plurality of the pneumatic cylinders.

In one embodiment, the valve control unit of the present invention further includes a position feedback module, the rotating shaft of the rotation driving device and the telescopic rods of the plurality of pneumatic cylinders respectively have an initial position, and the position feedback module detects the rotation. The rotating shaft of the driving device and the positions of the telescopic rods of the plurality of pneumatic cylinders after the action are compared, and the detected positions are compared with the corresponding initial positions, and the comparison results are sent to the microprocessor. The microprocessor updates the motion data in real time according to the received comparison result, so as to control the next action of the rotary driving device and/or the plurality of the pneumatic cylinders.

Compared with the prior art, the pneumatic multi-degree-of-freedom simulation device of the present invention has the advantages of low price and easy generalization to general households because it does not use a motor. of users experience the experience of driving a racing car, airplane or other vehicle in a similar way to the real world, thereby solving the above-mentioned problems of existing driving simulation devices.

Description of drawings

FIG. 1 shows a three-dimensional external view of a preferred embodiment of the pneumatic multi-degree-of-freedom simulation device of the present invention.

Figures 2 and 3 show three-dimensional external views of part of the mechanism of the preferred embodiment.

Description of reference numbers:

1: Pneumatic multi-degree-of-freedom simulation device

10: seat body

101: Shell

11: Pneumatic rotating mechanism

110: Rotate the drive

111: Transmission mechanism

112: Rotary part

111A: Drive Gear

111B: driven gear

111C: Internal gear ring

12: Pneumatic lifting mechanism

120: Base

121: Pneumatic cylinder

122: Buffer spring

123: Retaining ring

130: Valve Control Unit

13: Valve group

14: Bracket

140: Frame

141: Tray

15: Air supply device

2: Seat

Detailed ways

FIG. 1 shows a preferred embodiment of a pneumatic multi-degree-of-freedom simulation device 1 of the present invention, such as a racing simulation device, an airplane simulation device or a driving simulation device for other vehicles, which supports a seat 2 and drives the seat 2 to operate The multi-degree-of-freedom movement allows a user on the seat 2 to experience the feeling of multi-degree-of-freedom movement. In this embodiment, the pneumatic multi-degree-of-freedom simulation device 1 includes a base 10 and an optional casing 101 for shielding the related mechanisms mentioned later.

As shown in FIG. 2 (the housing 101 is omitted in the figure), the pneumatic multi-degree-of-freedom simulation device 1 further includes a pneumatic rotating mechanism 11 , a pneumatic lifting mechanism 12 , a valve group 13 , and a valve control mechanism, which are arranged on the base body 10 . The unit 130 , a bracket 14 , and an air supply device 15 .

As shown in FIG. 3 , the pneumatic rotating mechanism 11 is located at the bottom, and includes a rotating driving device 110 , a transmission mechanism 111 and a rotating portion 112 . In this embodiment, the rotation driving device 110 can be selected from a pneumatic rotary cylinder (or called a rotary cylinder), and the transmission mechanism 111 can be selected from a planetary gear transmission mechanism, but it is not limited thereto.

The rotation driving device 110 can drive the rotating part 112 to rotate through the transmission mechanism 111 . More specifically, the rotation driving device 110 is connected to the valve group 13, receives the high pressure gas from the valve group 13, and uses the high pressure gas to drive a rotating shaft (not shown in the figure) to rotate. The rotating shaft drives a driving gear 111A of the transmission mechanism 111 to rotate, and thus drives a plurality of driven gears 111B surrounding the driving gear 111A to rotate, so that an internal gear ring 111C surrounding the plurality of driven gears 111B follows to rotate, thereby driving the rotating part 112 to rotate.

As shown in FIG. 2 , the pneumatic lifting mechanism 12 includes a base 120 and a plurality of pneumatic cylinders 121 arranged on the base 120 with a spacer ring. The base 22 is connected and fixed with the rotating part 112 of the pneumatic rotating mechanism 11 . The cylinders of the plurality of pneumatic cylinders 121 are disposed on the base 120 and are approximately equidistant from the center of the base 120 . Each cylinder is connected to the valve group 13, and receives the high-pressure gas from the valve group 13, and uses the high-pressure gas to drive its own telescopic rod to extend and retract (the telescopic rod will be described later in the figure). surrounded by buffer spring 122). The ends of the telescopic rods of each pneumatic cylinder 121 are respectively connected to a frame 140 of the bracket 14 , and the connection method can be pivoting, welding, or other fixing methods. There is a tray 141 in the center of the frame 140. The tray 141 is used to lock the seat 2. It is preferable to use a general gaming chair tray structure, so that the user can easily purchase the desired gaming chair in the market. , there is no need to purchase a specific chair separately.

In one embodiment, each of the telescopic rods of the pneumatic cylinders 121 can be covered with a buffer spring 122 , and the buffer springs 122 are used to provide elastic buffering to the frame 140 .

In one embodiment, the pneumatic lifting mechanism 12 further includes a fixing ring 123 , and the fixing ring 123 is connected and fixed to the cylinder bodies of the plurality of pneumatic cylinders 121 , so that the multiple pneumatic cylinders 121 can stand firmly on the base 120 . superior.

The air supply device 15 can be an external type or a built-in type. In this embodiment, the latter is adopted, that is, the air supply device 15 can be fixed at the center of the base 120 or an appropriate position on the base body 10 . In addition, the air supply device 15 can be selected from a small air compressor. In any case, the gas supply device 15 is connected to the valve group 13 , and supplies the above-mentioned high-pressure gas required by the pneumatic rotating mechanism 11 and/or the pneumatic lifting mechanism 12 during operation through the valve group 13 .

The valve group 13 can be fixed at an appropriate position on the base 120 or the base body 10, and has a plurality of valves (not shown in the figure) inside, and a plurality of the valves respectively receive the high-pressure gas supplied by the gas supply device 15, They are respectively controlled by the valve control unit 130 to be opened or closed correspondingly. The received high pressure gas is supplied to the pneumatic rotating mechanism 11 and/or the pneumatic lifting mechanism 12 when the valve is opened, and the supply of the high pressure gas is interrupted when the valve is closed.

The valve can choose solenoid valve or electric valve. Each of the clockwise and counterclockwise rotation operations of the rotation driving device 110 of the pneumatic rotating mechanism 11 needs to be equipped with a valve. Each of the lifting and lowering operations of each pneumatic cylinder 121 also needs to be equipped with a valve.

The valve control unit 130 includes a microprocessor (not shown in the figure), is coupled to a plurality of the valves, and selectively controls the opening and closing of the plurality of valves. In one embodiment, the valve control unit 130 is coupled to a computer (not shown in the figure). A motion control program executed by the computer, such as a racing game program. A display screen (not shown) of the computer can be set in front of the seat 2 for viewing by a user on the seat 2, and the display screen can also be set in a VR (Virtual Reality) used by the user. ) devices such as VR headsets. During the process of executing the racing game program, the computer sends coordinate data to the valve control unit 130 . The processor of the valve control unit 130 analyzes the received coordinate data and converts them into motion data representing the motion of the corresponding degrees of freedom, and then converts the motion data into valve switch data, and determines the corresponding valve according to the valve switch data The opening and closing of the rotating drive device 110 and/or the plurality of the pneumatic cylinders 121 are controlled, so as to make the bracket 14 move with corresponding degrees of freedom.

In one embodiment, the valve control unit 130 further includes a position feedback module (not shown in the figure), and the position feedback module has a plurality of position detectors (not shown in the figure) disposed on the seat body 10, and the position detection The device detects the position of the rotating shaft of the rotary drive device 110 and the telescopic rods of the plurality of pneumatic cylinders 121 after the action, compares the detected position with the initial position, and transmits the comparison result to the microprocessor. The microprocessor updates the motion data in real time according to the received comparison result, so as to control the next action of the rotation driving device 110 and/or the plurality of pneumatic cylinders 121 .

When the rotation driving device 110 of the pneumatic rotating mechanism 11 drives the rotating part 112 to rotate under the control of the valve control unit 130 and the valve group 13, the entire bracket 14 will rotate accordingly. In short, the pneumatic rotating mechanism 11 can be controlled by the valve. Under the control of the unit 130, the bracket 14 is driven to rotate in the forward or reverse direction. When the telescopic rod of any pneumatic cylinder 121 of the pneumatic lifting mechanism 12 expands and contracts under the control of the valve control unit 130 and the valve group 13 , the part of the bracket 14 corresponding to any pneumatic cylinder 121 will move up and down accordingly, in short , the pneumatic lifting mechanism 12 can drive the bracket 14 to move in different directions under the control of the valve control unit 130 . Therefore, under the cooperative operation of the pneumatic rotating mechanism 11 and the pneumatic lifting mechanism 12 , the bracket 14 can move with multiple degrees of freedom, and so does the chair 2 on the bracket 14 . This means that the user in the chair 2 will be able to experience a feeling close to the real driving of a racing car, an airplane or other vehicle.

Compared with the prior art, the pneumatic multi-degree-of-freedom simulation device 1 of the present invention achieves low-cost performance through the above-mentioned pneumatic rotating mechanism 11, pneumatic lifting mechanism 12, valve control unit 130 and valve group 13 without using a motor. A simulation device for multi-degree-of-freedom motion, which enables users who ride on the simulation device to experience the feeling of driving a racing car, aircraft or other vehicles in real life, solving the problem that the existing driving simulation device is difficult to take into account the experience effect and the price. .

Claims (9)

1. A pneumatic multi-degree-of-freedom simulation device comprises:

a support;

a gas supply device, which can supply high-pressure gas;

a pneumatic rotating mechanism which can drive the bracket to rotate positively or reversely by taking the high-pressure gas as power;

the pneumatic lifting mechanism can drive the bracket to swing in different directions by taking the high-pressure gas as power;

a valve control unit; and

the valves respectively receive the high-pressure gas supplied by the gas supply device and are controlled by the valve control unit to be correspondingly opened or closed, wherein the opened valves supply the received high-pressure gas to the pneumatic rotating mechanism and/or the pneumatic lifting mechanism, and the closed valves interrupt the supply of the high-pressure gas.

2. The pneumatic multiple degree of freedom simulation apparatus of claim 1, wherein the pneumatic lifting mechanism comprises:

the base is arranged on the pneumatic rotating mechanism and is driven by the pneumatic rotating mechanism to rotate; and

the pneumatic cylinders are annularly arranged on the base at intervals, cylinder bodies of the pneumatic cylinders are arranged on the base, the cylinder bodies are respectively connected with the valves and receive high-pressure gas from the connected valves, the pneumatic cylinders drive a telescopic rod of the pneumatic cylinders to extend and contract by utilizing the high-pressure gas, and the tail ends of the telescopic rods of the pneumatic cylinders are respectively connected with the support.

3. The pneumatic multiple degree of freedom simulation apparatus of claim 2, wherein the extension rod of each pneumatic cylinder is sleeved with a buffer spring, and a plurality of the buffer springs are used for providing elastic buffer action to the support.

4. The pneumatic multi-degree-of-freedom simulation apparatus of claim 2 or 3, wherein the pneumatic lifting mechanism includes a fixing ring which is connected and fixed to cylinder bodies of the plurality of pneumatic cylinders.

5. The pneumatic multiple degree of freedom simulation apparatus of claim 4, wherein the gas supply device is disposed on the base.

6. The pneumatic multiple degree of freedom simulation apparatus of claim 2, wherein the pneumatic rotation mechanism comprises:

one end of the rotating part is connected and fixed with the base of the pneumatic lifting mechanism;

a rotation driving device which is connected with a plurality of valves, receives high-pressure gas from the connected valves and drives a rotating shaft of the rotation driving device to rotate by utilizing the high-pressure gas; and

a transmission mechanism driven by the rotation driving device and transmitting the rotation of the rotation part.

7. The pneumatic multiple degree of freedom simulation apparatus of claim 6, wherein the transmission mechanism comprises:

a driving gear driven by the rotation driving device to rotate;

a plurality of driven gears surrounding the driving gear, the plurality of driven gears being synchronously driven to rotate by the driving gear; and

and the inner gear ring is connected and fixed at the other end of the rotating part, encircles a plurality of driven gears and is driven by the driven gears to rotate.

8. The pneumatic multiple degree of freedom simulation apparatus of claim 6 wherein a plurality of the valves are disposed on the rotation driving device and each pneumatic cylinder, the valve control unit comprises a microprocessor that receives and analyzes coordinate data from a computer, converts the coordinate data into motion data representing motion in a corresponding degree of freedom, converts the motion data into corresponding valve opening and closing data, and determines opening and closing of the corresponding valve according to the valve opening and closing data.

9. The pneumatic multi-degree-of-freedom simulation apparatus of claim 8, wherein the valve control unit further comprises a position feedback module, the shaft of the rotation driving device and the telescopic rods of the plurality of pneumatic cylinders have initial positions respectively, the position feedback module detects positions of the shaft of the rotation driving device and the telescopic rods of the plurality of pneumatic cylinders after operation, compares the detected positions with the corresponding initial positions, and transmits the comparison result to the microprocessor, and the microprocessor updates the motion data in real time according to the received comparison result.

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