JP5477737B2 - Free motion simulator device - Google Patents

Description

  The present invention relates to a simulator device having a motion mechanism using a parallel mechanism.

  Conventionally known free motion drive mechanisms using parallel mechanisms (parallel mechanisms) have been applied to aircraft and automobile simulators due to their compact structure, small position / posture errors, and high rigidity. In the aviation industry, pilot training is an urgent task, and flight training using flight simulators can be used for flight time by the aviation method, making it suitable for flight training in areas where the weather is not stable. ing. Among them, the parallel mechanism is often used for the motion base that reproduces the movement during flight.

  As an example using a parallel mechanism, Patent Document 1 has a multi-degree-of-freedom drive mechanism that uses a parallel mechanism that can be changed to an operation region that is required according to a region to be operated for the purpose of assisting surgery.

  On the other hand, as for non-patent documents 1, a 6-axis motion base of a Stewart platform type which is a typical form of a parallel mechanism used for a cockpit, a cabin, or the like is provided. In this case, the maximum inclination is 30 degrees.

JP 2001-254798 A

Moog Incorporated, product introduction site, http: // www. moog. com / media / 1 / fcs-MotionSystemsBrochure. pdf

  However, among aircraft simulators, small aircraft flight simulators require a larger angle than large aircraft. In addition, the motion base that can take a large angle has great merit, such as being able to reproduce high-risk scenes. In Patent Document 1, the operating region can be changed to a limited operating region. However, if the operating region can be applied in a wide range, a large mechanism is required. Further, in Non-Patent Document 1, the maximum inclination angle when used in a cockpit or cabin is 30 degrees, and the inclination angle should be 30 degrees or more in reproduction of the extreme operation of a small machine, particularly in the state of stall, drilling, etc. Needed and missing angle. In addition, the operating range is narrow.

  In view of the above, an object of the present invention is to provide a small-sized flight simulator for a small aircraft having a motion base that is small, low-priced, has a wide operation range, and can take a large angle. Is to provide a simulation apparatus using a different novel parallel mechanism.

  In order to solve the above-described problem, a free motion simulator device according to the present invention firstly includes a plurality of actuators arranged on a plane and having one ends arranged on the same axis, and a motion plate supported via legs. The position and angle of the motion plate can be controlled by driving the actuator.

In the free motion simulator device, the actuator is a linear drive actuator having one end fixed on the same axis on a plane, and a drive device capable of being driven in a direction perpendicular to the other end of the actuator is provided. The motion plate is composed of three sets of actuators that can move in the axial direction simultaneously with the movement, and the motion plate has three sets of receiving portions arranged at 120 ° intervals at opposite positions on the circumference. The actuator and the receiving portion of the motion plate are connected by three sets of leg portions having a rotary bearing structure in the upper part and a spherical bearing structure in the lower part so as to correspond to each other. As a result, a free motion simulator device is realized which is small and has a large angle, high speed, and high acceleration.

The second, the motion plate sides is inclined 45 degrees to the lower works, characterized in that a rotary bearing structure in the side surface. Thereby, compared with the case where a rotary bearing part is installed in the lower part of the motion plate, the leg part hits the bearing part to prevent the movable angle from being restricted, and the movable angle can be increased.

The third driving device capable of driving perpendicularly provided at the other end of the actuator, is disposed in the guide member having a guide groove for allowing circumferential movement, the three sets of actuators the guide Along the groove, it is configured to be capable of axial movement simultaneously with circumferential movement. Thereby, both ends of the actuator are held, and the rigidity of the simulator is increased.

The fourth, the drive of the actuator is provided with a straight linear motor linear drive, characterized in that a rotary linear motor in the circumferential direction driving device. Compared with a mechanical actuator, an electric actuator using a linear motor greatly improves controllability and operability.

Fifth , the rotary motion mechanism composed of a rotary actuator and a rotary motion plate, which moves independently of a leg that moves by driving the actuator, is arranged above the motion plate. Thus, by using the free motion simulator device, a wide range of angles can be changed easily and smoothly, and the extreme state can be reproduced.

  The simulator device of the present invention can realize positioning with multiple degrees of freedom, which is a feature of the conventional parallel mechanism, with a compact structure. The present invention not only has features such as small position, posture, and angle errors, high rigidity, and high-speed driving, but also has a wide operating range compared to the size of the entire mechanism, which has been a problem in the past. The new parallel mechanism makes it possible to change a wide range and high angle. In particular, it is possible to reproduce a simulated flight in an extreme state such as stalling and drilling that cannot be realized by a conventional aircraft simulator motion safely and at a low price.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic plan view showing a paramechanism of a free motion simulator apparatus according to the present invention, showing a first embodiment. It is a perspective view which shows the outline | summary of the paramechanism of the free motion simulator apparatus of this invention. (A) It is a perspective view which shows the bearing structure which inclined the motion plate side surface 45 degree | times downward and provided the rotation bearing in this side surface. (B) It is a perspective view which shows this bearing structure from the motion plate lower part. The site | part of the inclination angle (phi) of the motion plate in an Example is shown. The site | part of the angle (psi) which the X-axis in the XY plane of the motion plate in an Example makes is shown. The measurement result of 1st Embodiment is shown. It is a perspective view which shows the structure by which the guide member which has a guide groove which enables three sets of actuators to move to the circumferential direction was installed. The perspective view of the free motion simulator apparatus which provided the linear linear motor in the linear drive device of the actuator, and provided the rotation linear motor in the circumferential direction drive device is shown. 2nd Embodiment of the paramechanism of the free motion simulator apparatus of this invention which has arrange | positioned the rotational motion mechanism is shown. The measurement result of 2nd Embodiment is shown.

A preferred embodiment of the present invention will be described below. Of course, the present invention is not limited to these forms.
[First Embodiment]
FIG. 1 is a schematic plan view showing the paramechanism of the free motion simulator apparatus of the present invention. FIG. 2 is a perspective view showing an outline of the paramechanism of the free motion simulator apparatus of the present invention. FIG. 3 shows a bearing structure in which the side surface of the motion plate is inclined downward by 45 degrees and a rotary bearing is provided on the side surface. For example, as illustrated in FIGS. 1 and 2, in the free motion simulator apparatus of the present invention, the motion plate 1 and the actuator 2 (2A; 2B; 2C) are connected by the leg 3 (3A; 3B; 3C). Can also be In this example, the actuator has a plurality of actuators 2 arranged on a plane and one end arranged on the same axis, and a motion plate 1 supported via legs, and the position and angle of the motion plate are driven by the actuator. As the actuator 2, three sets (2A; 2B; 2C) of linear drive actuators having one end fixed to the same rotating shaft 6 are arranged on the plane, and the other end of the actuator 2 is arranged on the other end. The driving device 7 (7A; 7B; 7C) that is driven in a right angle direction and three leg portions 3 (3A; 3B; 3C) are connected to each of the driving devices 7 (7A; 7B; 7C). And the upper connection part of the motion plate 1 and the leg part 3 is comprised with the rotating bearing structure 4 (4A; 4B; 4C) installed in the side of the motion plate 1 inclined 45 degree | times downward, and it is pivotally supported. The leg 3 thus made can only rotate in a certain direction in the vertical direction on the non-axis support side, thereby preventing the motion plate 1 from shaking in the lateral direction. Further, the lower connecting portion between the actuator 2 and the leg portion 3 is constituted by a spherical bearing structure 5 (5A; 5B: 5C) so that the leg portion 3 can freely move.

  Further, in this example, the motion plate 1 has an equilateral triangular shape, and the leg portion 3 is connected to the rotary bearing structure 4 on three side surfaces having an inclination of 45 degrees downward. In the present invention, the motion plate 1 having an equilateral triangle shape is used, but it is not particularly limited to a circular shape or a rectangular shape.

  FIG. 4 shows the tilt angle φ (θ) of the motion plate 1 in this embodiment. FIG. 5 shows an angle ψ formed by the X axis on the XY plane of the motion plate 1 in this embodiment.

  As for the three actuators 2, one end is fixed to the same axis, and a drive device that can be driven in a right angle direction is provided at the other end, and the axial movement can be arbitrarily moved simultaneously with the circumferential movement.

  For the actuator 2 as described above, in the present invention, for example, its movement can be controlled as an electric mechanism.

  Moreover, about the motion plate 1, the shape and structure for supporting the person on it may be suitably designed according to the use and purpose as a simulator. The same applies to the design of the actuator 2 and the leg 3.

  Here, as an actual example, the length of the three leg portions 3 in FIGS. 1 to 5 is 250 mm, and the three actuators 2 are linear motion electric actuators 2 having a stroke of 150 mm. Is arranged at an arbitrary position on the circumference having a radius of 180 mm with the rotation axis 6 as the center. The receiving part 4 is arranged at the center of the side surfaces of the three sides of the motion plate, each side having a regular triangle of 121 mm and the side surface forming an angle of 45 degrees downward. First, the operating range limit was measured for the inclination angle φ of the motion plate 1. The measurement was performed with the direction of inclination ψ at a pitch of every 30 degrees. Further, the maximum and minimum values of the Z-axis value (vertical movement amount) with the motion plate 1 kept horizontal (φ = 0) were measured.

  FIG. 6 shows the measurement results. The tilt angle φ was tilted up to 90 degrees.

  In all measurements, φ was 30 degrees or more. This exceeds conventional Stewart platform type products with a maximum tilt of 23 to 39 degrees.

  The above example shows the case where there are three sets of actuators and legs. In these three sets, the motion plate 1 has six degrees of freedom of motion. This can be said to be preferable.

  Further, the inclination angle φ of the motion plate 1 can be determined mainly by the ratio of the actuator drive (R) and the leg length (W) around the rotation axis.

If R / W is decreased, the angle φ can be increased.
As variations of the above embodiment, for example, the embodiment illustrated in FIGS. 7 and 8 can be considered.
In the form of FIG. 7, a guide member 8 having a guide groove that allows the three sets of actuators 2 to move in the circumferential direction is arranged.
Further, in the form of FIG. 8, a linear linear motor 9 (9A; 9B; 9C) is provided in the linear drive device of the actuator 2, and a rotary linear motor 10 (10A; 10B; 10C) is provided in the circumferential drive device. .
For example, the present invention can be configured in such a form.
[Second Embodiment]
FIG. 9 shows another embodiment of the paramechanism embodiment of the free motion simulator apparatus of the present invention. On the motion plate 1, another rotary motion plate 12, which is a rotary actuator 11 that rotates in the XY plane of the motion plate 1 independently of the legs that move by driving the actuator 2, is disposed. .

  In the case of such a rotation type, the person on the motion plate is not aware (not aware) of the rotation as a simulator device. For this reason, it is desirable that the rotational speed be moved at a constant speed with as little rotational acceleration as possible.

  As for the rotation angle of the rotary type, for example, it is considered that the rotation type can be rotated ± 60 degrees or more. It is only necessary to rotate the tilt angle φ to an angle that reaches the maximum value (90 degrees, 210 degrees, 330 degrees). The measurement location was on the rotary motion mechanism, and the operating range limit was measured for the tilt angle φ of the rotary motion mechanism under the same measurement conditions as in the first embodiment.

  FIG. 10 shows the measurement results. The inclination angle φ was inclined up to 90 degrees at all angles of the inclination direction ψ.

In all measurements, φ is a maximum of 90 degrees, which makes it possible to take a considerably larger inclination angle than the conventional Stewart platform type product, and it can be seen that it is particularly suitable for a small aircraft simulator.

  The simulation apparatus according to the present invention is small, lightweight, has a wide operation range, and can be driven at a high speed. Therefore, the simulation apparatus is not limited to an aircraft or automobile simulator, but is also a walking robot, a machine tool, an amusement device, and a medical support. It can be applied to a robot hand for rehabilitation.

1 Motion plate 2, 2A, 2B, 2C Actuator 3, 3A, 3B, 3C Leg 4, 4A, 4B, 4C Rotary bearing structure 5, 5A, 5B, 5C Spherical bearing structure 6 Actuator rotary shaft 7, 7A, 7B, 7C Drive device 8 Guide member 9, 9A, 9B, 9C Linear linear motor 10, 10A, 10B, 10C Rotary linear motor 11 Rotary actuator 12 Rotary motion plate

Claims (5)

It has a plurality of actuators arranged on a plane and one end arranged on the same axis, and a motion plate supported via legs, and the position and angle of the motion plate can be controlled by driving the actuator. And
Actuator circumferentially around one end, and is arbitrarily movable axially, motion plate is a free motion simulator device are connected by legs to the actuator,
The actuator uses a linear drive actuator with one end fixed on the same axis on a plane and a drive device that can be driven in a right angle direction at the other end to enable axial movement simultaneously with circumferential movement 3 The motion plate is composed of a set of actuators, and the motion plate has three sets of receiving portions arranged at intervals of 120 degrees at opposite positions on the circumference, and the motion plate receiving portion and the motion plate receiving portion. Are connected by three sets of legs having a rotary bearing structure in the upper part and a spherical bearing structure in the lower part so as to correspond to each other . The free motion simulator device according to claim 1, wherein the motion plate has a structure in which a side surface is inclined downward by 45 degrees, and a rotary bearing structure is provided on the side surface . A drive device provided at the other end of the actuator and capable of being driven in a right angle direction is installed on a guide member having a guide groove capable of moving in the circumferential direction, and the three sets of actuators extend along the guide groove. The free motion simulator device according to claim 1 , wherein the free motion simulator device is configured to be capable of axial movement simultaneously with circumferential movement. 4. The free motion simulator device according to claim 1 , wherein in the actuator driving device, a linear linear motor is provided in the linear driving device, and a rotary linear motor is provided in the circumferential driving device. 5. 2. The free motion simulator according to claim 1 , wherein a rotary motion mechanism comprising a rotary actuator and a rotary motion plate that is moved independently of a leg that moves by driving of the actuator is disposed on the motion plate. apparatus.