JPH11235471A - Horizontal and inclined position adjuster - Google Patents

Abstract

PROBLEM TO BE SOLVED: To manufacture at low cost and widely use a horizontal and inclined position adjuster which is employed in, for instance, a steering training simulator, a motion sheet interlocking with images in a movie theater, an adjusting mechanism of a horizontal level, a sensible game machine in a playing parlor or the like and which gives a horizontal state or a desired inclined state to an object mounted thereon. SOLUTION: A horizontal and inclined position adjuster comprises a fixed frame 1, a movable frame 2 on which an object is mounted to make a movement, a connecting means 3 for connecting the movable frame 2 to the fixed frame 1 so that the movable frame 2 can freely move about one support point, a pair of driving means 5 for individually pushing and pulling the movable frame 2 so as to be separated from the fixed frame 1 or to come near to the fixed frame 1 and a moving direction regulating means for regulating the movement of the movable frame 2 only to a pivotal movement along the pushing and pulling directions by the driving means 5 and to a rotation on an axis passing the center of the pivotal movement.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is applied to, for example, an operation training simulator, a motion seat linked to an image in a movie theater, a horizontal level adjustment mechanism, or a bodily sensation game machine in a game hall. The present invention relates to a horizontal / tilt adjusting device capable of giving a horizontal state or a desired tilt state.

[0002]

2. Description of the Related Art Conventionally, as a horizontal / inclination adjusting device used for this kind of application and capable of giving an object a horizontal state or a desired inclination state, as shown in FIG. Alternatively, an electric actuator 100 is known in which a movable frame 102 is supported on a fixed frame 101 by raising it. This horizontal / tilt adjusting device is constructed by a movable frame 102 by six electric actuators 100.
A three-dimensional truss is formed between the electric actuator 100 and the fixed frame 101, and the oscillating motion such as forward, backward, left, right, up and down, and rolling, pitching, and yawing according to the stroke amount of each electric actuator 100 is movable. It is provided to the frame 102.

[0003]

However, this conventional horizontal / tilt adjusting device has a high degree of freedom in the movement of the movable frame, but requires many high-precision actuators, and also requires various means for obtaining a desired movement. There has been a problem that the control of the actuator is complicated, and the manufacturing cost of the entire apparatus including the controller is extremely high. For this reason, cost emphasis can be placed on reproducing complex movements, such as a simulator for pilot training, but it can be used for extrapolation, but it is possible to reduce the production cost compared to reproduction of complicated movements, such as a bodily game machine. It couldn't be adopted for the emphasis application.

The present invention has been made in view of such a problem, and an object of the present invention is to provide an object to be mounted in a horizontal state or a desired inclined state. An object of the present invention is to provide a horizontal / inclination adjusting device which can be manufactured at low cost and can be used for a wide range of applications.

[0005]

In order to achieve the above object, a horizontal / inclination adjusting device according to the present invention comprises a fixed frame,
A movable frame for mounting and moving an object on the fixed frame; connecting means for connecting the movable frame and the fixed frame so that the movable frame can freely move around a fulcrum; and A pair of driving means for individually pushing and pulling the fixed frame in a direction away from or in proximity to the fixed frame, and the movement of the movable frame in the pushing and pulling directions by the driving means and about the axis passing through the center of the swing. And a movement direction restricting means for restricting the rotation to only the rotation of the motor.

According to such technical means, the movable frame is connected to the fixed frame by the connecting means so as to freely move around one fulcrum, so that the movable frame is driven by a pair of driving means. When the movable frame is individually pushed or pulled in a direction away from or close to the fixed frame, such a movable frame generates a swinging motion about the fulcrum or a rotating motion about an axis passing through the fulcrum, and a desired inclined state is obtained. This can be given to the movable frame. At this time, since the movement direction restricting means restricts the movement of the movable frame to only the swing along the push-pull direction by the driving means and the rotation around the axis passing through the center of the swing, the object is moved. The mounted movable frame is not displaced in a direction parallel to the fixed frame installation surface, and the movable frame can be supported in a state of being raised on the fixed frame without forming a truss structure by the driving means. .

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a horizontal / tilt adjusting device according to the present invention will be described in detail with reference to the accompanying drawings. 1 to 3
1 shows an embodiment of the horizontal / tilt adjusting device of the present invention. In the figure, reference numeral 1 denotes a fixed frame installed and fixed on a floor or the like, reference numeral 2 denotes a movable frame on which an object is mounted and controlled to various postures described later, and reference numeral 3 denotes a movable frame around the fulcrum. A connecting means for connecting the movable frame 2 and the fixed frame 1 so as to be able to freely move, a reference numeral 4 is a movement direction restricting means for restricting a moving direction of the movable frame 2 with respect to the fixed frame 1, and a reference numeral 5 and 5 are the above. A pair of electric actuators (driving means) for moving the movable frame 2 close to or away from the fixed frame 1.

The fixed frame 1 is formed by joining steel materials into a substantially triangular shape. The ball joint 3 is provided at one of the apexes, and the electric actuators 5 are provided at the other two apexes. Has been established. The movable frame 2 is also formed to have the same size as the fixed frame 1 by connecting steel members, and a support portion for receiving the driving force of the electric actuator is provided at a position corresponding to the electric actuator 5,5. 21 and 21 are erected respectively.

[0009] As shown in FIG.
A ball joint composed of a shank 31 with a ball and a holder 32 which are swingably or rotatably engaged with each other is used.
The holder 32 is attached to the fixed frame 1 by bolts 34, respectively. Therefore, the movable frame 2 has the spherical portion 31a of the shank 31 with a ball as a fulcrum, and the movable frame 2 and the fixed frame 1 can freely swing about the fulcrum or rotate freely around an axis passing through the fulcrum. Are linked. Reference numeral 35 in FIG. 4 is a bracket for attaching the holder 32 to the fixed frame 1.

In this embodiment, a ball joint is used as the connecting means 3, but a universal joint may be used instead. However, compared to using a universal joint when using a ball joint,
Manufacturing costs can be reduced.

FIG. 5 shows the movement direction regulating means 4. The movement direction restricting means 4 includes a stud 41 attached to the fixed frame 1 via a bracket 40, and a slit 43a into which the tip of the stud 41 is inserted.
Resin-concrete regulating member 4 fixed via 4
3 by inserting the tip of the stud 41 into the slit 43a of the regulating member 43.
The stud 41 slides in only one direction with respect to the regulating member 43, and the swinging direction of the movable frame 2 with respect to the fixed frame 1 is limited to only the extending direction of the slit 43a. A slit 44a having a larger opening width than the slit 43a is formed in the fixture 44, and the stud 41 is inserted into the slit 44a with a gap.

Here, the extending direction of the slit 43a coincides with the direction in which the movable frame 2 approaches or separates from the fixed frame 1, and the swing of the movable frame 2 with the ball joint 3 as a fulcrum only in that direction. Occurrence and swing along the installation surface of the fixed frame 1 are prevented by interference between the stud 41 and the slit 43a.
Further, in this embodiment, by forming the regulating member 43 from resin concrete, noise can be prevented from being generated when the stud 41 and the regulating member 43 slide, and the stud 41 and the stud 41 can be substantially formed. Since the movement direction regulating means is constituted only by the regulating member 43, the manufacturing cost can be reduced.

Further, the electric actuator 5 has a structure shown in FIG.
And a hollow cylindrical housing 50 as shown in FIG.
A screw shaft 51 rotatably supported by the housing 50 and having a spiral ball rolling groove (not shown) formed on the outer peripheral surface thereof; A nut member 52 screwed to the shaft 51, a rod 53 fixed to the nut member 52 and stroked with respect to the housing 50, and a pair of pulleys 54 and 5;
5 and a stepping motor 57 as a prime mover for driving the screw shaft 51 via the timing belt 56. When the stepping motor 57 is driven, the rod 53 is driven in accordance with the amount of rotation of the screw shaft 51.
Strokes with respect to the housing 50, so that the entire length of the actuator 5 changes. Reference numeral 58 in the drawing denotes a pulley cover fixed to the housing.

Both ends of the electric actuator 5 are fixed via a spherical bearing 59 to the fixed frame 1 or the movable frame 2.
Of the electric actuator 5
Even if the posture of the movable frame 2 changes due to the expansion and contraction of the actuator, only the axial force acts on the actuator 5. Specifically, the holder 60 containing the spherical bearing 59
Is fixed to the pulley cover 58 or the rod 53, a connect bracket 61 is fixed to the movable frame 2 or the fixed frame 1, and the holder 60 is connected to the holder 60 by a connect bolt 62 penetrating the spherical bearing 59 and the connect bracket 61. The connection bracket 61 is connected. As a result, the connection bracket 61
7 can swing about the connecting bolt 62 as shown by the arrow in FIG.
It is possible to swing as shown by the arrow.

The electric actuator 5 has three built-in photo sensors (not shown) for detecting the extension and contraction positions of the rod 53. The rod 53 can be moved to any one of the home position, the maximum extension position and the minimum extension position. Is detected, and the controller (not shown) that transmits the drive signal of the stepping motor 57 is notified of the detection. Thereby, the controller determines whether the movable frame 2 is in the horizontal state or not.
Alternatively, it is possible to grasp whether the vehicle is in an inclined state or not, and to control the movable frame 2 to have a desired posture.

The horizontal / tilt device of this embodiment having the above-described configuration is provided with a stepping motor 57, 5 of a pair of electric actuators 5, 5 by a controller (not shown).
By sending a drive signal to the movable frame 7, the actuators 5 and 5 are given an arbitrary amount of expansion and contraction, and the movable frame 2 is used with various posture changes.

FIG. 8 exemplifies a posture that can be given to the movable frame 2 by driving the electric actuators 5 and 5. In the following description, for convenience, one side of the movable frame 2 provided with the pair of electric actuators 5 and 5 will be referred to as a front side, and the vertex of the movable frame 2 provided with the ball joint 3 will be referred to as a rear side. .

FIG. 3A shows the attitude of the movable frame 2 when the telescopic position of each electric actuator 5 is set to the home position.
Is horizontal. Next, when each electric actuator 5 is extended by the same amount from this state, since the rear side of the movable frame 2 is supported by the ball joint 3, the movable frame 2 is moved as shown in FIG. The front side shifts to the inclined state in which it is lifted higher than the rear side. On the other hand, when the respective electric actuators 5 are contracted by the same amount from the horizontal state shown in the drawing (a), the movable frame 2 shifts to an inclined state in which the front side is lower than the rear side as shown in the drawing (c). .

When only one of the electric actuators 5 is extended from the horizontal state shown in FIG.
The movable frame 2 rotates around an imaginary axis (an imaginary axis indicated by a dashed line in the figure) connecting the shank 31 with the ball of the ball joint 3 and the stud 41 of the movement direction restricting means 4 to separate the movable frame 2 from the movable frame 2. As shown in (d) or (f), one of the left and right sides on the front side shifts to an inclined state in which it is lifted higher than the other. Further, when one of the electric actuators 5 is extended and the other electric actuator 5 is contracted, the movable frame 2 is moved as shown in FIG.
Is provided with a greater tilt condition.

Therefore, according to the horizontal / inclination adjusting device of this embodiment, the movable frame 2 is continuously changed to each state shown in FIG. 8 only by adjusting the amount of expansion and contraction of the pair of electric actuators 5 and 5 by the controller. It is possible to easily give a horizontal state or an arbitrary tilt state to an object mounted on the movable frame 2 irrespective of a simpler structure and a simpler control than a conventional horizontal / tilt adjusting device. Can be done. Further, since the amount of expansion and contraction of the electric actuator can be arbitrarily changed by the amount of rotation of the stepping motor 57, the tilt state of the object mounted on the movable frame 2 can be finely adjusted over a wide range.

Further, since the direction of movement of the movable frame 2 connected to the fixed frame 1 by the ball joint 3 is restricted by the movement direction restricting means 4, the three-dimensional structure is formed by a large number of actuators as in a conventional horizontal / tilt adjusting device. The movable frame 2 can be supported and driven by only the pair of actuators 5 and 5 without forming a truss, and the movable frame 2 can be given an arbitrary inclined state with an extremely simple configuration. It is.

In this embodiment, an electric actuator is used as a driving means for moving the movable frame 2, but a hydraulic actuator or the like can be used as in the conventional example. However, the use of an electric actuator including a feed screw device makes it possible to give a fine movement to the movable frame and eliminates the need for additional equipment for pressurizing the hydraulic oil, thus reducing manufacturing costs. It becomes possible to plan.

In the present embodiment, the pair of electric actuators 5 and 5 are configured to individually push and pull two points which are free ends of the movable frame 2 and oppose each other with the virtual axis of the movable frame 2 interposed therebetween. According to such a configuration, the horizontal state and the inclination angle of the movable frame 2 can be easily controlled. Further, since the two electric actuators 5 and 5 are distributed with the virtual axis interposed therebetween, the weight balance of the entire apparatus is good, and the aesthetic appearance of the symmetrical structure can be obtained. However, even if the pair of electric actuators 5 and 5 are arranged intensively on only one side of the virtual axis of the movable frame 2, the movable frame can be given a horizontal state or an arbitrary inclined state.

In this embodiment, the position of the ball joint 3 is set to one of the vertexes of the movable frame 3 formed in a substantially triangular shape. You may. However, the position of this symbol P is practically the virtual axis 51 of the movable frame 2 in this embodiment.
(Refer to FIG. 2). It is desirable to be on the rear side of the virtual straight line 52 connecting the pivot points of the electric actuators 5 with the movable frame 2.

On the other hand, the horizontal / inclination adjusting device according to the present invention is used not only as a simulator for operation training, a motion seat, a horizontal level adjusting mechanism, a bodily sensation game machine, but also as a part of a transport device as shown in FIG. Is also applicable.
That is, it can be used as a direction change mechanism and a transfer device as a part of a transport device in factory automation (FA). In the case of FIG. 1, after the transport object 105 which is used in combination with one carry-in conveyor 101 and three carry-out conveyors 102 to 104 and is carried in via the carry-in conveyor 101 is received on the movable frame 2,
By giving the movable frame 2 a tilt, the transport object 105 is sent out to any one of the unloading conveyors 102 to 104. In this example, the conveyed object 105 is provided with a barcode 105a indicating a destination to be carried out. The barcode 105a is read by a reading device 107 provided on one side of the carry-in conveyor 101, and the read information is read. It is transmitted to the controller of each electric actuator 5. Accordingly, the controller controls the tilting state of the movable frame 2 based on the transmitted information, whereby the destination of the transport object can be freely selected.

[0026]

As described above, according to the horizontal / inclination adjusting device of the present invention, the movable frame connected to the fixed frame by the connecting means is pushed and pulled by the pair of driving means to thereby make the movable frame. Generates an oscillating movement about one fulcrum or a rotational movement about an axis passing through the fulcrum, so that the object mounted on the movable frame can be moved horizontally or in a desired inclined state with a very simple structure. It can be provided arbitrarily, and a horizontal / tilting device can be provided at low cost for a wide range of applications.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of a horizontal / tilt adjusting device according to the present invention.

FIG. 2 is a plan view of the horizontal / tilt device according to the embodiment.

FIG. 3 is a front view of the horizontal tilt device according to the embodiment.

FIG. 4 is a sectional view taken along line IV-IV of FIG. 2;

FIG. 5 is a sectional view taken along line VV of FIG. 2;

FIG. 6 is a sectional view showing a driving unit according to the embodiment.

FIG. 7 is a sectional view taken along line VII-VII of FIG. 6;

FIG. 8 is an explanatory diagram showing a motion that can be realized by the horizontal / tilt adjustment device according to the embodiment.

FIG. 9 is a schematic perspective view showing a state in which the horizontal / tilt adjusting device of the present invention is used as a part of a transfer device.

FIG. 10 is a perspective view showing a conventional horizontal / tilt adjusting device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Fixed frame, 2 ... Movable frame, 3 ... Ball joint (connection means), 4 ... Movement direction regulating means, 5 ... Electric actuator (drive means)

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[Procedure amendment]

[Submission date] March 6, 1998

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] Fig. 9

[Correction method] Change

[Correction contents]

FIG. 9

[Procedure amendment 2]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG. 10

Claims (5)

[Claims] 1. A fixed frame, a movable frame on which an object is mounted and moves on the fixed frame, and the movable frame and the fixed frame are connected so that the movable frame can freely move around a fulcrum. Connecting means, a pair of driving means for individually pushing and pulling the movable frame along the direction away from or approaching the fixed frame, and swinging the movement of the movable frame in the pushing and pulling direction by the driving means and A horizontal / inclination adjusting device, comprising: a movement direction restricting means for restricting only rotation around a virtual axis passing through the swing center. 2. The horizontal drive unit according to claim 1, wherein said driving means separately pushes and pulls two points on the free end of said movable frame which are opposed to each other across said virtual axis.
Tilt adjustment device. 3. A feed screw device comprising a screw shaft and a nut member screwed to the screw shaft, one of which is connected to the fixed frame and the other is pivotally connected to the movable frame. 3. The horizontal / inclination adjusting device according to claim 1, further comprising a motor that applies a driving force to the feed screw device. 4. The horizontal / tilt adjusting device according to claim 1, wherein said connecting means comprises a spherical bearing. 5. The movement direction restricting means is provided on a stud protruding from one of the fixed frame and the movable frame, and a restricting member provided on the other of the one and slidably fitted with the stud. The horizontal / inclination adjusting device according to any one of claims 1 to 4, comprising: