KR102581321B1 - Motion chari system for vehicle - Google Patents

Abstract

One embodiment of the present invention is a motion chair system for a vehicle, which is located below the motion chair and moves the driving position of the motion chair by using 6 axes to maintain the balance of the motion chair. A motion platform to control, and at least one of roll, pitch, yaw, surge, sway, and heave of the motion platform according to an input signal from the outside. Provided is a motion chair system for a vehicle including a control unit that generates a motion control signal to perform a translational motion.

Description

Motion chair system for vehicles {MOTION CHARI SYSTEM FOR VEHICLE}

The present invention relates to a motion chair system for a vehicle, and more specifically, to a motion chair system for a vehicle with 6 degrees of freedom based on a motion platform.

In general, the seats of cargo transport vehicles are equipped with devices to relieve the impact applied to the seats when driving on rough roads such as unpaved roads.

Conventional shock absorbers only act to somewhat alleviate the impact on the seats of cargo vehicles. Especially when passing over a protruding part of an unpaved road or a puddle, the impact due to the height difference from the horizontal plane is directly felt by the driver. It has the disadvantage of being difficult to properly exert a buffering effect.

Moreover, drivers of buses and freight vehicles frequently drive long distances, ranging from several hundred kilometers per day to more than 10,000 kilometers per month, so if the shock transmitted to the vehicle seats is not alleviated, the comfort of the ride will of course be greatly reduced. There is a problem in that it increases physical fatigue and causes safety accidents such as drowsy driving.

To solve this problem, commercial vehicle brands have put a lot of effort into improving the ride comfort of cargo vehicles, installing air suspension on the rear wheels and installing optional shock absorbers on the cab, but it is difficult to find an appropriate ride quality due to the structural characteristics of cargo vehicles. Uneasy.

Since commercial vehicles have a high center of gravity, there are many factors that can disrupt the driver's overall driving posture, such as the influence of centrifugal force during turning, road surface conditions, and vehicle vibration.

The present invention seeks to improve riding comfort and stability by reducing external forces by providing a suspension device for the seat in order to solve the limitations of the prior art as described above.

The technical problem to be achieved by the present invention is to prevent the driver's driving position from being disturbed by up-down or centrifugal forces such as road surface conditions and vehicle turning during vehicle driving, by installing a motion platform on the seat of the vehicle to adjust the driver's driving position. The aim is to provide a motion chair system for vehicles that can improve stability and ride comfort by adjusting it.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

In order to achieve the above technical problem, one embodiment of the present invention is a motion chair system for a vehicle, which includes a motion chair, located below the motion chair, and exercising using 6 axes to maintain the balance of the motion chair. A motion platform that adjusts the driving position of the motion chair, and a roll, pitch, yaw, surge, and sway motion of the motion platform according to an input signal from the outside. , provides a motion chair system for a vehicle including a control unit that generates a motion control signal to perform a translational motion of at least one of the heaves.

In an embodiment of the present invention, the motion platform includes a plurality of actuator modules for adjusting the driving position of the motion chair, and the actuator modules include a drive motor that provides driving force, and a drive motor for driving the drive motor. A shaft rotating member that rotates along an axis, a rod that is connected to the shaft rotating member and changes the posture of the motion platform according to the shaft rotating motion of the shaft rotating member, and is coupled to the drive motor and the shaft rotating member, It may include a rotation drive unit that rotates the shaft rotation member by receiving driving force from the drive motor and rotating the rod to control the load.

In an embodiment of the present invention, it may further include a sub plate connected to the rod and supporting the lower portion of the motion chair, and a motion platform housing forming a frame by covering the motion platform excluding the rod. .

In an embodiment of the present invention, both ends of the rod are formed in the form of rod bearings, one end of the rod is connected to the shaft rotation member in the form of a ball and bearing, and the other end of the rod is connected to the sub. It can be connected in the form of a plate and a ball and bearing.

In an embodiment of the present invention, the motion platform further includes an encoder for detecting the rotation angle of the shaft rotation member, and the control unit performs the motion based on the rotation angle of the shaft rotation member detected from the encoder. The posture of the platform or the motion chair can be determined.

In an embodiment of the present invention, it further includes an input unit that receives input information for controlling the operation of the motion chair or the motion platform according to the user's input, wherein the input information includes the rotation angle of the central axis of the rotation drive unit. It may be information about or information about event signals for each preset driving pattern of the motion platform.

In an embodiment of the present invention, alarm information is provided to the user regarding the state of the shaft rotation member according to the driving angle of the rotation driver, or an error state depending on whether the operation of the motion platform is matched according to the event signal. It may further include an alarm unit.

In an embodiment of the present invention, the driving of the motion platform is simulated according to the input information input to the input unit, the rotation angle of the rotation driving unit in the simulation process, and the rotation driving unit for each actuator module predetermined according to the input information. It may further include a verification unit that verifies the performance of the motion platform by comparing the driving angle.

According to an embodiment of the present invention, in order to prevent the driver's driving position from being disturbed by up-down or centrifugal forces such as road surface conditions and vehicle turning when driving the vehicle, a motion platform is mounted on the seat of the vehicle to adjust the driver's driving position. By adjusting it, stability and riding comfort can be improved.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the description or claims of the present invention.

Figure 1 is a diagram schematically showing a motion chair system for a vehicle according to an embodiment of the present invention.
Figure 2 is a diagram showing a 6-degree-of-freedom motion platform using 6 axes according to an embodiment of the present invention.
Figure 3 is a diagram showing the coupling structure of rods and subplates according to an embodiment of the present invention.
Figure 4 is a diagram further illustrating the upper and lower base plates of the motion platform housing according to an embodiment of the present invention.
Figure 5 is a block diagram schematically showing the configuration of a control unit according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and, therefore, is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this means not only "directly connected" but also "indirectly connected" with another member in between. "Includes cases where it is. Additionally, when a part is said to “include” a certain component, this does not mean that other components are excluded, but that other components can be added, unless specifically stated to the contrary.

The terms used herein are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a diagram schematically showing a motion chair system for a vehicle according to an embodiment of the present invention.

As shown in Figure 1, the motion chair system 10 for a vehicle according to an embodiment of the present invention includes a motion chair 100, a subplate 200, a motion platform 300, a motion platform housing 400, and a lower part. It may be configured to include a frame 500 and a control unit 600.

As shown in FIG. 1, the motion chair 100 is a functional chair with convenient functions such as armrests and neckrest, on which the user sits. According to an embodiment of the present invention, the motion chair 100 may be equipped with an automatic air shock absorber, thereby blocking external shock to some extent when the motion chair is maintained horizontally.

The subplate 200 according to an embodiment of the present invention is located at the lower part of the motion chair 100 and supports the motion chair 100, and is connected to the motion platform 300 to operate the motion chair 100 in three dimensions. Implement it.

The motion platform 300 of the present invention is located below the subplate 200, and moves using 6 axes to maintain the balance of the motion chair 100, thereby adjusting the driving position of the motion chair 100. Adjust.

The motion platform housing 400 forms a frame of the motion platform 300 by covering the remaining components except for the six axes of the motion platform 300, the rods 371, 372, 373, 374, 375, and 376.

The lower frame 500 is located at the bottom of the motion chair system 10 and supports the motion platform housing 400, motion platform 300, subplate 200, and motion chair 100.

And, the control unit 600 according to an embodiment of the present invention controls the motion platform 300 to roll, pitch, yaw, surge, and sway ( A motion control signal may be generated to perform at least one translation motion among sway and heave.

Figure 2 is a diagram showing a 6-degree-of-freedom motion platform using 6 axes according to an embodiment of the present invention.

Referring to Figure 2, the motion platform 300 according to an embodiment of the present invention may be composed of a plurality of actuator modules. The actuator module according to this embodiment may be configured to include a drive motor 310, a rotation driver 330, a shaft rotation member 350, and a rod 370.

The drive motor 310 is a component that generates driving force. In Figure 2, which is an embodiment of the present invention, three drive motors are provided, that is, a first drive motor 311, a second drive motor 313, and a third drive motor 315, and the first and second rotation drives ( 331 and 332 are connected to the first drive motor 311, the third and fourth rotation drivers 333 and 334 are connected to the second drive motor 313, and the fifth and sixth rotation drivers 335, 336) is shown as being connected to the third drive motor 315, but each drive motor may be connected to a different rotation drive unit and include two drive motor units for individually transmitting driving force.

The rotation drive unit 330 is coupled to the drive motor 310 and the shaft rotation member 350, receives the driving force from the drive motor 310, and rotates the rod 370 to control the shaft rotation member 350. ) can be rotated.

As shown in FIG. 2, the rotation drive unit 330 according to an embodiment of the present invention is connected to the drive motor 310 and is formed in a bent shape (e.g., “L” shape), forming a shaft rotation member ( 350) and the rod 370 may be positioned on the outside so that there are no restrictions on movement.

The rotation drive unit 330 receives driving force from the drive motor 310, so that the central axis connected to the axis rotation member 350 rotates, and accordingly, the axis rotation member connected to the central axis of the rotation drive unit 330 ( 350) rotates on its central axis.

The axis rotation member 350 according to an embodiment of the present invention may be implemented as a plate-shaped member coupled in a direction perpendicular to the central axis direction of the rotation drive unit 330.

That is, a first fastening hole is formed on one side of the axis rotation member 350, which is provided as a plate-shaped member, for connecting to the central axis of the rotation driving unit 330, and is connected to the central axis of the rotation driving unit 330 through the fastener. It can be connected, and a second fastening hole for connecting to the rod 370 is formed on the other side of the shaft rotation member 350, so that it can be connected to the rod 370 through the fastener.

The rod 370 is connected to the other side of the shaft rotation member 350 and can change the posture of the motion platform 300 according to the rotational motion of the shaft rotation member. The rod 370 of the present invention is a straight cylinder type actuator and can be implemented using a pneumatic cylinder, an actuator operated using a ball screw in an electric motor, or an actuator driven by a hydraulic cylinder.

As shown in A and B of FIG. 2, the rod 370 of the present invention may have both ends formed in the form of rod bearings. One end of the rod 370 is coupled (A) to the other side of the shaft rotation member 350 in the form of a ball and bearing (A), and the other end of the rod 370 is coupled to the sub plate 200 in the form of a ball and bearing. Can be combined (B).

Figure 3 is a diagram showing the coupling structure of rods and subplates according to an embodiment of the present invention.

As shown in FIG. 3, a protruding inner wall 210 provided for coupling with the rods 370 of the motion platform may be formed on the lower surface of the sub plate 200 according to an embodiment of the present invention. The other end of the rod 370 may be coupled (C) to the coupling member 230 provided between the protruding inner walls 210 in the form of a ball and bearing.

In this way, since both ends of the rod 370 are coupled to the sub plate 200 and the shaft rotation member 350 in a ball-and-bearing form, continuous connection is possible even if the sub plate 200 rotates.

Although not shown in the drawings, the motion platform 300 according to an embodiment of the present invention may further include an encoder (not shown) for detecting the rotation angle of the shaft rotation member 350. For example, the encoder according to this embodiment may be formed on the shaft rotation member 350 or the rotation drive unit 330.

The control unit 600 may determine the posture of the motion platform 300 or the motion chair 100 based on the rotation angle of the axis rotation member detected from an encoder (not shown).

Figure 4 is a diagram further illustrating the upper and lower base plates of the motion platform housing according to an embodiment of the present invention.

As shown in FIG. 4, the motion platform housing 400 of the present invention includes an upper base plate 410 disposed above the drive motor, a lower base plate 430 disposed below the drive motor, and FIG. Although not shown, it may be composed of a plurality of side base plates as shown in FIG. 1. For example, the upper and lower base plates 410 and 430 may be implemented in a polygonal shape as shown in FIG. 4.

Figure 5 is a block diagram schematically showing the configuration of a control unit according to an embodiment of the present invention.

Referring to Figure 5, the control unit 600 according to an embodiment of the present invention includes an input unit 610, a processor 630, a detection unit 650, a verification unit 670, and an alarm unit 690. It can be.

The input unit 610 according to an embodiment of the present invention can receive input information for controlling the operation of the motion chair 100 or the motion platform 300 according to the user's input.

Here, the input information is information about the rotation angle of the central axis of the rotation driver 330 of the plurality of actuator modules constituting the motion platform 300, or information about event signals for each preset drive pattern of the motion platform 300. You can.

For example, the event signal is a signal for sudden acceleration or sudden braking of the vehicle, and the input unit 610 according to this embodiment is connected to the vehicle's driving system (not shown), so that when the vehicle suddenly starts or suddenly brakes, the vehicle's driving system By receiving the corresponding signal from, the motion platform 300 may be implemented to operate in a predetermined driving pattern according to this driving.

For example, when a first event signal is input to the input unit 610 from the vehicle's driving system due to sudden acceleration of the vehicle, the processor 630 receives the first event signal from the input unit 610, and accordingly, the motion platform A control signal that causes the 300 to drive in a driving pattern corresponding to the first event signal may be generated and applied to the motion platform 300. Likewise, when a second event signal is input to the input unit 610 due to sudden braking of the vehicle, the processor 630 generates a control signal so that the motion platform 300 can be driven in a driving pattern corresponding to the second event signal. It can be authorized by the motion platform 300.

In another embodiment, the event signal of the present invention is a signal for taking a specific predetermined posture according to the user's input, and is one of various postures that the motion platform 300 can assume using a 6-axis linear actuator. It may be a signal for.

The processor 630 receives the input signal input to the input unit 610 and generates a control signal to control each of the plurality of actuator modules of the motion platform 300 so that the motion platform 300 operates in a specific driving pattern. You can. According to one embodiment, the control signal generated by the processor 630 may be a signal connected to the central axis of each rotation driver 330 to control the rotation speed and rotation angle.

The detection unit 650 is an inertial measurement sensor and may be attached to one surface of the sub plate 200. The detection unit 650 determines the inclination value of the sub plate 200 according to the operation of the motion platform 300. can be measured in real time, and slope information about the measured slope value can be transmitted to the processor 630.

The processor 630 may analyze the inclination information of the subplate 200 received from the detection unit 650 to check whether the running motion platform 300 is operating normally according to the control signal.

The processor 630 may display the confirmation result (normal or abnormal) on a display unit (not shown) connected to the motion chair 100 and provided at a location adjacent to the motion chair 100. For example, if the operation of the motion platform 300 is confirmed to be abnormal, the processor 630 applies an abnormal operation signal to the alarm unit (not shown), and the alarm unit (not shown) communicates with an external user terminal. An alarm can be issued regarding abnormal operation of the motion platform 300 through communication.

In one embodiment, the alarm unit (not shown) reports an error state (abnormal state) depending on the state of the axis rotation member 350 of each actuator module or whether the operation of the motion platform 300 according to the event signal is matched. Alarm information may be provided to a user (eg, user terminal).

The verification unit 670 according to this embodiment simulates the operation of the motion platform 300 according to the input information input to the input unit 610, and calculates the driving angle of the rotation drive unit of each actuator module received from the encoder during the simulation process and , the performance of the motion platform can be verified by comparing information about the driving angle of the rotation drive unit for each actuator module that is predetermined according to the input information input to the input unit 610.

The verification unit 670 can transmit the results of verifying the performance of the motion platform determined as described above to the processor 630, and the processor 630 considers the results received from the verification unit and determines the performance of the motion platform 300. Drive can be controlled. For example, if the result value is greater than or equal to the threshold, it is determined that there is a problem with the performance of the motion platform, and the processor 630 may generate a control signal to limit and drive the motion platform 300.

The description of the present invention described above is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims described below, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

Claims (8)

In the vehicle motion chair system,
motion chair,
A motion platform located at the bottom of the motion chair and controlling the driving position of the motion chair as it moves along 6 axes to maintain the balance of the motion chair,
The motion platform is configured to perform at least one translation movement among roll, pitch, yaw, surge, sway, and heave according to an input signal from the outside. It includes a control unit that generates an operation control signal,
The motion platform includes a plurality of actuator modules for controlling the driving position of the motion chair,
The actuator module includes a drive motor that provides driving force, a shaft rotation member that rotates along the axis according to the drive of the drive motor, and is connected to the shaft rotation member to move the motion platform according to the shaft rotation motion of the shaft rotation member. It includes a rod for changing the posture, a rotation drive unit coupled to the drive motor and the shaft rotation member, and rotating the shaft rotation member as it receives driving force from the drive motor and rotates to control the rod,
The rotation drive unit is formed in a bent shape of an “L” shape so that there are no restrictions on the movement of the shaft rotation member and the rod,
an input unit that receives input information for controlling the operation of the motion chair or the motion platform according to the user's input;
Simulate the operation of the motion platform according to the input information input to the input unit, and compare the rotation angle of the rotation drive unit during the simulation process with the drive angle of the rotation drive unit for each actuator module predetermined according to the input information, A verification unit that verifies the performance of the motion platform,
If it is determined that there is a problem with the performance of the motion platform by comparing the verification result from the verification unit with the threshold, the motion chair system for a vehicle further includes a processor that generates a control signal to limit and drive the motion platform. .
delete According to paragraph 1,
A sub plate connected to the rod and supporting the lower part of the motion chair,
A motion chair system for a vehicle, further comprising a motion platform housing that forms a frame by covering the motion platform excluding the rod.
According to paragraph 3,
Both ends of the rod are formed in the form of rod bearings, one end of the rod is connected to the shaft rotation member in the form of a ball and bearing, and the other end of the rod is connected to the sub plate in the form of a ball and bearing. A motion chair system for a vehicle, characterized in that:
According to paragraph 1,
The motion platform is,
It further includes an encoder for detecting the rotation angle of the shaft rotation member,
The motion chair system for a vehicle, wherein the control unit determines the posture of the motion platform or the motion chair based on the rotation angle of the axis rotation member detected from the encoder.
According to paragraph 1,
The input information is information about the rotation angle of the central axis of the rotation drive unit, or information about event signals for each preset drive pattern of the motion platform.
According to clause 6,
Characterized by further comprising an alarm unit that provides alarm information to the user regarding the state of the shaft rotation member according to the driving angle of the rotation driver, or an error state depending on whether the operation of the motion platform is matched according to the event signal. A motion chair system for vehicles.
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