KR20170128702A - Yawing motion device for motion simulator - Google Patents

Abstract

The present invention is to provide a yawing motion device of a motion simulator capable of efficiently implementing yawing motion with a simple structure. A yawing motion apparatus of a motion simulator according to the present invention is for rotating a motion base rotatably disposed above a support base. A yawing motion device of a motion simulator according to the present invention includes a drive shaft having a first screw shaft portion having a male thread and rotatably installed between a support base and a motion base, A first drive link which is rotatably connected to the motion base on one side and is rotatably connected to the first drive nut on the other side to connect the motion base and the first drive nut, And a motor that rotates the drive shaft so that the first drive link can apply a rotational force to the motion base by operating the first drive link by moving the drive nut along the drive shaft by screw movement with the drive shaft.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motion simulator,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a yawing motion apparatus of a motion simulator, and more particularly, to a yawing motion apparatus of a motion simulator mounted on a motion simulator for performing various motion simulations to realize a yaw motion.

The Motion Platform is a device that imitates the movement of a specific object, such as an airplane or a tank, allowing the user to experience the object virtually through the motion of the platform on this motion platform. These motion platform technologies are mainly used in military training simulators, industrial education simulators, and entertainment fields, and in recent years, a sensible game and a small personal motion platform have been developed.

Motion platform technology is a technology that presents motion that is the biggest part of 4D effect. It is combined with virtual reality technology in various applications such as movie, entertainment, military flight training, To maximize the experience. A variety of motion simulators have been developed that can provide small and new types of motion in order to overcome the limitations of the space cost problems of existing super large military simulators and the effects of low cost 4D chairs that only transmit momentary moments. .

Various types of motion platforms are developed according to the following procedure. First, in the goal specification analysis phase, the requirements according to the target specification are analyzed. In the kinematics analysis phase, the sizes and positions of the respective mechanisms are determined, and the inverse / forward kinematic simulation is performed through 3D modeling. In the dynamic characteristics analysis stage, the capacity of the actuator and the maximum load and structure analysis for each joint are analyzed. In the design phase, a single product design and production drawing is created, and a short actuator test is passed to the production stage when the requirements are met.

If the requirements are not met, go back to the kinematic analysis step and repeat the steps. In the production phase, the parts are machined and assembled to create a motion platform, and in the test and evaluation phase, the target specification is verified through the test evaluation for the created motion platform. To analyze and control the dynamics of the motion platform, the motion control SW sends a motion command to the actuator driver to move the motion platform. In this case, after detecting the movement of the platform, converting the signal, and feeding back the signal to the motion control SW, the motion platform operates again in such a manner that the motion is controlled again.

Actuators that drive the motion platform should be capable of starting, stopping, rotating, or reciprocating motion that occurs frequently when driving the motion platform. Also, it should be easy to control according to command signal or detection signal, be responsive and be easy to repair and install. Actuators are classified according to the power source into special materials such as pneumatic, hydraulic, electric and other shape memory alloys.

The pneumatic type operates by pushing compressed air into an airtight cylinder by using an air compressor, but it has a characteristic that the volume of the air is not constant even though the size of the space passing through the air is constant. The hydraulic actuator operates by pushing the cylinder by feeding high pressure oil into the cylinder. Hydraulic systems require separate piping and containers to collect and store the oil to be discharged, while pneumatic systems do not need to store air again. As for the driving force, the hydraulic type can exert 5 times more force than the pneumatic type, and the response speed is faster than the pneumatic type, and the responsiveness is good, and the jumping phenomenon due to the reaction does not occur in the object. Pneumatic is better suited for small-scale motion platforms than hydraulic. Electric motors are driven by electromagnetic motors. Nowadays, servo motors, which are easy to control the angle of rotation, are widely used. Among the methods of special materials, there is a shape memory alloy. Since the restoring force is generated when restoring the shape according to the temperature change, the material itself acts as an actuator for generating driving force. This method is advantageous for simplification and downsizing of the apparatus, but it is difficult to apply it to a field of great power.

As described above, among various actuators, those suitable for the purpose of use are selected and arranged appropriately so as to realize the target motion, thereby constituting the hardware of the motion platform. Hardware platforms of motion platform are 3-axis motion simulator and 6-axis motion simulator.

Generally, motion of a motion simulator is composed of rolling, pitching, heaving, sway and yawing. Rolling means moving (rotating) on the X axis of the plane coordinate axis to the left and right, and pitching means moving (rotating) to the left and right on the Y axis of the plane coordinate axis. Heaving is a vertical movement, sway means swaying to the left and right, and yawing means rotational motion.

In the conventional motion simulator, the yawing motion apparatus often uses a ring gear and a pinion gear. Although such a yawing motion apparatus can realize the yawing motion in an infinite rotation form, there is a disadvantage that the system is complicated, thereby increasing the total weight of the motion simulator and raising the manufacturing cost.

In recent years, video devices have been replaced by HMDs (Head Mounted Displays) due to the development of virtual reality devices, and there is a need to simplify the mechanical parts while eliminating the need for existing large screens and miniaturizing the entire system. Also, since the synchronization technique between the HMD and the motion simulator is developed, the virtual reality experience can be provided to the user without increasing the rotation angle of the yaw movement. Therefore, there is a growing demand for a drive mechanism that is simple in structure and can be installed at low cost.

U.S. Patent No. 5,533,933 (issued on July 07, 1996)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a yawing motion device for a motion simulator that can efficiently implement yawing motion with a simple structure.

In order to accomplish the above object, the present invention provides a yawing motion apparatus for a motion simulator for rotating a motion base rotatably disposed above a support base, the yawing motion apparatus comprising: A drive shaft having a first screw shaft portion and rotatably installed between the support base and the motion base; A first moving nut that is threadably movably coupled to a first screw shaft portion of the drive shaft; A first driving link rotatably connected to the motion base on one side and rotatably connected to the first moving nut on the other side to connect the motion base and the first moving nut; And a motor that rotates the drive shaft so that the first drive link can apply a rotational force to the motion base by moving the first drive link along the drive shaft by a screw movement of the first drive nut with the drive shaft, .

The driving shaft may further include a second screw shaft portion having a scanning naphtha. The yawing motion device of the motion simulator according to the present invention may further include: a second moving nut screwed to the second screw shaft portion of the driving shaft; And a second driving link rotatably connected to the motion base on one side and rotatably connected to the second moving nut on the other side to connect the motion base and the second moving nut, The second driving link may move the first driving link together with the first driving link to apply a rotational force to the motion base by moving the second moving nut by screw movement with the driving shaft when the driving shaft rotates.

Wherein the first screw nut and the second screw nut of the first screw shaft portion of the drive shaft and the second screw shaft portion of the second screw shaft portion are mutually opposite threaded structures so that when the drive shaft rotates, Direction.

The portion where the motion base and the first drive link are connected and the portion where the motion base and the second drive link are connected may be symmetrically arranged with respect to the rotation center of the motion base.

The yawing motion apparatus of the motion simulator according to the present invention can reduce the total weight and manufacturing cost of the motion simulator because the structure is simple and can be installed at a low cost as compared with the conventional yawing motion apparatus using the ring gear and the pinion gear .

Further, the yawing motion apparatus of the motion simulator according to the present invention is easy to install, and maintenance such as repairing and replacement of parts is easy.

1 is a bottom perspective view showing a state in which a yawing motion apparatus of a motion simulator according to an embodiment of the present invention is applied to a motion simulator.
2 is a bottom view of a portion of a motion simulator to which a yawing motion device of a motion simulator according to an embodiment of the present invention is applied.
3 and 4 are for explaining the operation of the yawing motion apparatus of the motion simulator according to the embodiment of the present invention.

Hereinafter, a yawing motion apparatus of a motion simulator according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a bottom perspective view showing a state in which a yawing motion apparatus of a motion simulator according to an embodiment of the present invention is applied to a motion simulator, and FIG. 2 is a perspective view showing a motion simulator using a motion simulator of a motion simulator according to an embodiment of the present invention. Fig.

1 and 2, a yawing motion apparatus 100 of a motion simulator according to an embodiment of the present invention includes a motion base 20 (see FIG. 1), which is rotatably installed on a support base 10, A first moving nut 120 that is screw-coupled to the driving shaft 110, and a second moving nut 120 that is coupled to the driving shaft 110 in a screw- A first driving link 140 connecting the first moving nut 120 and the motion base 20 and a second driving link 140 connecting the second moving nut 130 and the motion base 20 A second drive link 150, and a motor 160 that rotates the drive shaft 110. The yawing motion device 100 of the motion simulator according to the present embodiment is installed in the motion simulator with a simple structure, and can efficiently implement the yawing motion of the motion base 20. [

The yawing motion of the motion base 20 is the rotational motion of the motion base 20 with the vertical axis (z-axis) as the rotation center. Although not shown in detail in the drawing, the motion base 20 can be rotatably supported on a rotary support member (not shown) arranged on the support base 10 in the vertical direction. The rotation support member for supporting the motion base 20 may be installed on the support base 10 or may be provided with other motions (rolling, pitching, heaving, etc.) between the support base 10 and the motion base 20. [ ), A sway, and the like).

The drive shaft 110 has a first screw shaft portion 111 and a second screw shaft portion 112. The drive shaft 110 is rotatably supported on a first shaft support base 170 having one end fixed to the support base 10 and rotatably supported on a second shaft support base 175 having the other end fixed to the support base 10. [ And is disposed horizontally with respect to the support base 10. The first screw shaft portion 111 is provided between one end of the drive shaft 110 and the center portion of the drive shaft 110 and the second screw shaft portion 112 is provided between the other end of the drive shaft 110 and the middle portion of the drive shaft 110 Respectively. The first screw shaft portion 111 and the second screw shaft portion 112 each have a male screw thread of a mutually opposite screw structure. For example, the first screw shaft 111 may have a right-hand screw thread, and the second screw shaft 112 may have a left-hand threaded screw thread. Conversely, the first screw shaft portion 111 may have a male thread of a left-handed structure, and the second screw shaft portion 112 may have a male thread of a right-handed screw structure. The first screw shaft portion 111 and the second screw shaft portion 112 may be provided on the drive shaft 110 in an appropriate length depending on the rotation angle required for the motion base 20.

The drive shaft 110 can be rotated in the forward direction or the reverse direction by the motor 160. The motor 160 is installed on the support base 10 and the operation of the motor 160 is controlled by a control unit (not shown) of the motion simulator. The control unit of the motion simulator can control the yawing motion of the motion base 20 by controlling the rotation direction and the number of revolutions of the motor 160. That is, the rotational direction of the motion base 20 is determined according to the rotational direction of the motor 160, and the rotational angle of the motion base 20 is determined according to the rotational number of the motor 160.

The first moving nut 120 is screwably coupled to the first screw shaft portion 111 of the drive shaft 110. The first moving nut 120 has a nut structure in which a hole through which the driving shaft 110 is coupled is provided in the middle and an inner thread corresponding to the male threads of the first screw shaft 111 is provided on the inner peripheral surface. The rotational movement of the first moving nut 120 on the driving shaft 110 is restricted by the first driving link 140. That is, since the first driving link 140 connects the motion base 20 and the first moving nut 120, the first moving nut 120 can not rotate with respect to the driving link 140. The first moving nut 120 is linearly moved along the driving shaft 110 by the screw movement of the driving shaft 110 with the first screw shaft portion 111 when the driving shaft 110 rotates.

The second moving nut 130 is screwably coupled to the second screw shaft portion 112 of the drive shaft 110. The second moving nut 130 has a nut structure in which a hole into which the driving shaft 110 is coupled is provided in the middle and an inner thread corresponding to a male screw thread of the second screw shaft portion 112 is provided on an inner circumferential surface thereof. The rotational movement of the second moving nut 130 is restrained on the driving shaft 110 by the second driving link 150 connecting the motion base 20 and the second moving nut 130. The second moving nut 130 does not rotate with respect to the driving shaft 110 but moves linearly along the driving shaft 110 by the screw movement with the second screw shaft portion 112 when the driving shaft 110 rotates. The movement direction of the second movement nut 130 when the drive shaft 110 rotates is opposite to the movement direction of the first movement nut 120. That is, the first moving nut 120 and the second moving nut 130 move in a direction to move away from each other or to move toward each other according to the rotation direction of the driving shaft 110.

The first driving link 140 connects the motion base 20 and the first moving nut 120. One side of the first driving link 140 is connected to one side of the fixed link 180 coupled to the bottom surface of the motion base 20. The first driving link 140 and the fixed link 180 are connected to each other by a rotating joint 191 so that the first driving link 140 can rotate with respect to the fixed link 180. The other part of the first driving link 140 is connected to the first moving nut 120. The first driving link 140 and the first moving nut 120 are connected to each other through the rotary joint 192 so that the first driving link 140 can rotate relative to the first moving nut 120. The portion where the motion base 20 and the first driving link 140 are connected is spaced apart from the rotation center C of the motion base 20 by a predetermined distance. That is, the force application point of the first drive link 140 with respect to the motion base 20 is a position deviated from the rotation center C of the motion base 20. Therefore, when the first driving link 140 pushes or pulls the motion base 20 by the movement of the first moving nut 120, the motion base 20 receives rotational force. 2, when the first driving link 140 pulls the motion base 20, the motion base 20 rotates clockwise, and when the first driving link 140 pushes the motion base 20 The motion base 20 is rotated counterclockwise.

The second driving link 150 connects the motion base 20 and the second moving nut 130. One side of the second driving link 150 is connected to the other side of the fixed link 180 coupled to the bottom of the motion base 20. The second driving link 150 and the fixed link 180 may be connected to each other by a rotary joint 193 so that the second driving link 150 may rotate with respect to the fixed link 180. And the other part of the second driving link 150 is connected to the second moving nut 130. The second driving link 150 and the second moving nut 130 are connected to each other via the rotating joint 194 so that the second driving link 150 can rotate with respect to the second moving nut 130. The second drive link 150 is connected to the motion base 20 at a position spaced from the rotation center C of the motion base 20 by a predetermined distance. That is, the force application point of the second drive link 150 with respect to the motion base 20 is a position deviated from the rotation center C of the motion base 20. Therefore, the motion base 20 is subjected to rotational force by the second drive link 150 pushing or pulling the motion base 20 by the movement of the second movement nut 130. The portion to which the first driving link 140 is connected and the portion to which the second driving link 150 are connected on the motion base 20 are symmetrically arranged with respect to the rotation center C of the motion base 20. [ 2, when the second driving link 150 pulls the motion base 20, the motion base 20 rotates in the clockwise direction. On the contrary, when the second driving link 150 moves the motion base 20 The pushing motion base 20 is rotated counterclockwise.

Hereinafter, the operation of the yawing motion apparatus 100 of the motion simulator according to the embodiment of the present invention will be described.

2, when the state in which the motion base 20 is placed in parallel with the drive shaft 110 is referred to as an initial position in the yawing motion of the motion base 20, when the motor 160 is operated at this initial position The motion base 20 rotates clockwise or counterclockwise around the center of rotation C thereof.

3, when the motor 160 is operated to rotate the driving shaft 110 in one direction, the first moving nut 120 is screwed with the first screw shaft portion 111 of the driving shaft 110, The second moving nut 130 is moved linearly along the drive shaft 110 in the direction away from the second moving nut 130 and the second moving nut 130 is moved by the screw movement of the driving shaft 110 with the second screw shaft portion 112, (110) along a direction away from the first moving nut (120). At this time, the first driving link 140 linking the motion base 20 and the first moving nut 120 performs a link motion to pull a portion of the motion base 20 which is deviated from the rotation center C of the motion base 20, And the second driving link 150 connecting the second moving nut 130 and the second moving nut 130 are linked with each other to pull the other part of the motion base 20 deviating from the rotation center C of the motion base 20. At this time, the motion base 20 receives the same rotational force by the first driving link 140 and the second driving link 150 and rotates clockwise with respect to the rotational center C. The rotation angle of the motion base 20 by the first driving link 140 and the second driving link 150 increases in proportion to the moving distance of the first driving link 140 and the second driving link 150 , The clockwise rotation angle of the motion base 20 can be variously controlled by controlling the number of revolutions of the motor 160.

4, when the motor 160 is operated to rotate the driving shaft 110 in the opposite direction, the first moving nut 120 is screwed to the first screw shaft portion 111 of the driving shaft 110, The second moving nut 130 moves linearly in the direction of approaching the first moving nut 120 along the driving shaft 110 by the movement of the driving shaft 110 and the second moving nut 130 moves by the screw movement of the driving shaft 110 with the second screw shaft portion 112 And moves along the driving shaft 110 in a straight line approaching the first moving nut 120. At this time, the first driving link 140 performs a link motion to push one side portion of the motion base 20 which is deviated from the rotation center C, and the second driving link 150 performs a link motion, (C). ≪ / RTI > Accordingly, the motion base 20 receives the same rotational force by the first driving link 140 and the second driving link 150 and rotates counterclockwise about the rotational center C. The rotation angle of the motion base 20 by the first driving link 140 and the second driving link 150 increases in proportion to the moving distance of the first driving link 140 and the second driving link 150 , The rotation angle of the motor base 160 can be controlled by controlling the number of revolutions of the motor 160.

As described above, since the yawing motion apparatus 100 of the motion simulator according to the present embodiment is simple in structure and can be installed at a low cost as compared with the conventional yawing motion apparatus using the ring gear and the pinion gear, Weight and manufacturing cost can be reduced.

Further, the yawing motion apparatus 100 of the motion simulator according to the present embodiment is easy to install, and maintenance such as repairing and replacement of parts is easy.

Although the preferred embodiments of the present invention have been described above, the scope of the present invention is not limited to those described and illustrated above.

For example, the drawing shows a moving nut 120 (130) which is screw-coupled to the driving shaft 110, a driving link 140 (130) connecting the motion base 20 and the moving nuts 120 150 are provided, but the moving nut and the driving link may be provided in one or more various numbers.

The first drive nut 140 and the second drive nut 150 are moved in opposite directions by the rotation of the drive shaft 110 so that the first drive link 140 and the second drive link 150 are moved The first moving nut and the second moving nut may be installed so as to move in the same direction by the rotation of the driving shaft 110. In this case, At this time, the driving links connecting the motion base 20 and the first moving nut and the second moving nut, respectively, may be appropriately connected to the motion base so as to apply rotational force to the motion base 20 in the same direction.

The drive shaft 110 is disposed horizontally with respect to the support base 10 so that the drive shaft 110 is supported by the support base 10 and the motion base (20).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Those skilled in the art will appreciate that numerous modifications and variations can be made in the present invention without departing from the spirit and scope of the appended claims.

10: support base 20: motion base
100: yawing motion device 110: drive shaft
111, 112: first and second screw shafts 120, 130: first and second moving nuts
140, 150: first and second drive links 160: motor
170, 175: first and second shaft supports 180: fixed link
191 to 194: Rotating joint C: Center of rotation

Claims (4)

A yawing motion apparatus for a motion simulator for rotating a motion base rotatably arranged on an upper side of a support base,
A drive shaft having a first screw shaft portion having a male thread and rotatably installed between the support base and the motion base;
A first moving nut that is threadably movably coupled to a first screw shaft portion of the drive shaft;
A first driving link rotatably connected to the motion base on one side and rotatably connected to the first moving nut on the other side to connect the motion base and the first moving nut; And
And a motor that rotates the drive shaft so that the first drive link can apply a rotational force to the motion base by operating the first drive link by moving the first movement nut along the drive shaft by a screw movement with the drive shaft, And a yawing motion unit of the motion simulator. The method according to claim 1,
Wherein the drive shaft further comprises a second screw shaft portion having a scan ridge,
A second moving nut that is threadably movably coupled to a second screw shaft portion of the drive shaft; And
Further comprising a second drive link rotatably connected to the motion base on one side and rotatably connected to the second move nut on the other side to connect the motion base and the second move nut,
When the drive shaft rotates, the second drive link moves the first drive link together with the first drive link to the motion base by moving the second drive nut by the screw movement with the drive shaft to operate the second drive link A yawing motion device of a motion simulator. 3. The method of claim 2,
Wherein the first screw nut and the second screw nut of the first screw shaft portion of the drive shaft and the second screw shaft portion of the second screw shaft portion are mutually opposite threaded structures so that when the drive shaft rotates, Wherein the yawing motion device moves in the yawing direction of the motion simulator. The method of claim 3,
Wherein a portion where the motion base and the first drive link are connected and a portion where the motion base and the second drive link are connected are symmetrically arranged with respect to the rotation center of the motion base. Device.

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