JP2000254355A - Tilt swing device - Google Patents

Abstract

(57) [Problem] To provide a tilt oscillating device capable of tilting and oscillating a chair in two intersecting directions and in any direction including the two with a relatively simple structure and a relatively simple structure. obtain. SOLUTION: A joint 81 rotatable in two axial directions is connected to a chair mounting portion 16 and two link members 82, 83 are connected to the chair mounting portion 16 by spherical sliding joints 82a, 83a. The position of the joint 81 is fixed, and the link members 82 and 83 are driven by motors 86 and 93 and are movable up and down. Therefore, by moving the link members 82 and 83 up and down, the chair mounting portion 16 can be tilted and swung in any direction about the rotation center of the joint 81 as a fulcrum.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tilt oscillating device, and more particularly to a tilt oscillating device suitable for use in a pseudo bodily sensation device operating in synchronization with an image.

[0002]

2. Description of the Related Art By moving a chair or the like on which a passenger is seated in synchronization with a moving image projected on a screen or the like, an upward or downward force or centrifugal force or the like in accordance with a change in the image is given to the passenger. There is known a device that allows a passenger to experience a virtual world by using the virtual world. As one of such simulated bodily sensation devices, there is one described in JP-A-10-207339.

The apparatus described in the above publication includes a forward and backward moving mechanism and a left and right moving mechanism each configured to move a moving base on a rail, and a vertical moving mechanism that realizes a vertical movement by a bent arm structure. Have below.
By driving these mechanisms in accordance with the image, it is possible to give a simulated sensation to the passenger sitting on the seat.

[0004]

However, according to the technique described in the above publication, the seat can only be moved up and down, and the seat cannot be tilted, giving the passenger a more realistic simulated sensation. Can not give. In addition, the technology described in the above publication requires three bent arm structures, and the device becomes large and complicated, which causes a problem of increasing costs and lowering reliability.

On the other hand, as a device for tilting and swinging a game machine seat, there is a device described in Japanese Patent Application Laid-Open No. Hei 5-31253.
It is necessary to use two mechanisms each having a relatively complicated structure in order to tilt and swing the seat in the direction and in any direction including this, and furthermore, it is necessary to stack these two mechanisms up and down, There is a problem that the height of the device itself is increased.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a tilting device in which the height of the device itself is low, the structure is relatively simple, and the seat can tilt and swing in two intersecting directions and any directions including the two directions. It is to provide a rocking device.

[0007]

According to a first aspect of the present invention, there is provided a tilt oscillating device, comprising: a tilt oscillating portion defining a plane; A first support member connected to the tilt swing portion so as to be able to take an angle, and a first support member connected to the tilt swing portion so as to be able to take an arbitrary angle within a predetermined range with respect to the plane; A second support member capable of linear reciprocating motion, and connected to the inclined swinging portion so as to be able to take an arbitrary angle within a predetermined range with respect to the plane. A third support member capable of linearly reciprocating independently of the second support member; and a power source connected to the second and third support members.

According to the first aspect, since the first to third support members can take an arbitrary angle within a predetermined range with respect to the plane defined by the inclined rocking portion, the first to third support members are connected to the power source. With the linear reciprocation of the second and third support members, the tilt swing portion tilts and rocks around the angular displacement portion of the first support member as a fulcrum. Therefore, it is not necessary to use a complicated mechanism for tilting the tilting oscillating portion, and the tilting oscillating portion can be tilted in two directions and any direction including the tilting portion by a relatively simple configuration using three support members. Can be rocked. Further, since it is not necessary to stack two mechanisms up and down in order to tilt and swing the tilt swing portion in two directions intersecting with each other and in any direction including the two directions, the height of the device itself can be reduced.

In the tilt swing device according to the second aspect, a rotation preventing link is connected to the tilt swing portion.

According to the second aspect of the present invention, since the rotation preventing link is connected to the tilt swing portion, it is possible to prevent the tilt swing portion from rotating mainly in the horizontal direction.

The above-described tilting and oscillating device according to claim 1 or 2 is particularly suitable for use in a simulated bodily sensation device because of the advantages described above.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described.

FIG. 1 is a diagram showing a schematic configuration of a simulated bodily sensation device using a tilt swing device according to an embodiment of the present invention. The simulated sensation device 1 illustrated in FIG. 1 includes a screen 2, a projector 3 that projects a moving image on the screen 2, a tilt swing device 4 including a chair 11 for a passenger to sit on, a projector 3 and a tilt swing. And a control device 5 for supplying a control signal to each of the devices 4. The simulated bodily sensation device 1 also has an acoustic mechanism (not shown) for giving a sound matched to the image to the occupant. According to the simulated bodily sensation device 1, the tilt oscillating device 4 is driven in synchronization with the moving image projected on the screen 2, so that the chair 11
It is possible to give the occupant sitting at a realistic sensation as if they were actually experiencing the world of images.

As will be described in detail later, in the tilt swinging device 4, a linear movement in the horizontal direction indicated by an arrow A, a linear movement in a front-rear direction indicated by an arrow B, Combination of four independent movements: a tilting movement in the left and right direction indicated by C (rotation about the direction of arrow B) and a tilting movement in the front and rear direction indicated by arrow D (rotation about the direction of arrow A) Thus, a desired force is applied to the occupant.

In the tilt swing device 4 of the present embodiment,
There are two chairs 11 in the front row and three in the back row,
The number and arrangement of the chairs 11 can be appropriately changed.
In addition, for example, the tilting and swinging device 4 including the five chairs 11 as in the present embodiment may be formed as one unit, and these may be combined in an arbitrary number. Thus, the pseudo bodily sensation device 1 can be configured by combining the unitized tilt rocking devices 4, so that the pseudo bodily sensation device 1 of any capacity can be designed freely and easily, and the cost can be reduced. Significant advantages arise: reduction and shortened delivery times.

The tilt rocking apparatus 4 of the present embodiment has a rocking mechanism in a horizontal plane and a mechanism for tilting and rocking the chair 11. First, the swing mechanism in the horizontal plane will be described with reference to FIGS. 2 to 6A and 6B.
FIG. 2 is a schematic perspective view of the tilt swing device 4 of the present embodiment, and FIG. 3 is an exploded perspective view of the tilt swing device 4 excluding a chair. FIG.
Is a plan view of the tilt swing device 4, FIG. 5 is a side view, and FIG.
FIG. 6B is a front view, and FIG. For simplicity of the drawings, FIGS. 2 and 3 show the servo motors 18a and 18b (see FIG. 4), and FIGS. 2 to 4 show the mechanism for tilting and swinging the chair 11, respectively. Omitted.

As shown in these figures, the tilt swing device 4
Is a base 12 arranged on the floor, a swinging part 14 suspended from the base 12, a chair attaching part 16 provided on the swinging part 14, and a chair 11 attached to the chair attaching part 16.
And two servo motors 18 connected to the swing unit 14
a and 18b.

The base 12 is composed of a fixed base 21 having a rectangular outer frame 21a extending horizontally along the floor and two tension members 21b stretched between a pair of opposite sides thereof, and a tension member 21b. It has four upright portions 22 extending vertically upward and protruding in the vicinity of the tip in the horizontal direction, and four hanging portions 23 suspended from the horizontally protruding portions near the tip of the upright portion 22, respectively. By providing the upright portion 22 and the suspending portion 23 in this manner, the swinging portion 14 can be suspended.

The oscillating portion 14 has a rectangular outer frame 3 extending horizontally.
A swing table 31 having a tension member 1a and two tension members 31b stretched between a pair of opposite sides thereof;
Vertical support portions 32 extending vertically upward and downward from the center and each having an opening at the center, and a horizontal support plate 33 erected between the two vertical support portions 32 along the longitudinal direction.
And The vertical support portion 32 is connected to the suspension portion 23 near the lower end thereof. In this manner, the swing unit 14 is suspended from the base 12. The connection between the vertical support part 32 and the suspension part 23 and the connection between the upright part 22 and the suspension part 23 are performed by the suspension part 23 in a direction along the tension member 21b (arrow B direction: front-back direction) or perpendicular to the direction. Angular displacement such as a universal joint, a ball joint, a spherical slide joint, or a joint including a rod end is possible so that it can swing in any direction in the horizontal plane as well as in various directions (arrow A direction: left-right direction). It is constituted by a known means such as a joint or a bolt or the like having a certain amount of play.

Chair mounting portion 16 to which the chair 11 is mounted
Is pivotally connected to the swing unit 14 by a mechanism described in detail later. As a result, the chair 11 moves together with the chair mounting portion 16 in a tilting manner in any direction including front and rear and left and right directions.

The rotational motion of the output shafts of the servo motors 18a and 18b installed on the fixed base 21 is converted into a reciprocating linear motion in a direction orthogonal to the output shaft by eccentric connection. In other words, the rod-shaped members 41a and 41b eccentrically connected to the output shafts of the servo motors 18a and 18b which are driven to rotate are formed as shown in FIG.
Perform a linear motion in the directions indicated by arrows A and B, respectively. The rod-shaped member 41a is connected to the swing base 31 at the connection part 42a, so that the swing part 14
In the direction indicated by arrow A (left-right direction). The rod-shaped member 41b is connected to the swing base 31 at the connection part 42b, thereby swinging the swing part 14 in the direction indicated by the arrow B (front-back direction). At this time, the swing angle of the swing unit 14 is relatively small, and the swing unit 14 is linearly movable substantially in a horizontal plane.

Here, the connection between the rod-shaped member 41a and the rocking base 31 and the connection between the rod-shaped member 41a and the servo motor 18a side are, for example, a universal joint, a ball joint, a spherical slide joint or a joint including a rod end. The bar-shaped member 41a can also swing in the direction indicated by the arrow B by a known means such as a joint capable of angular displacement or a bolt with a certain amount of play. Also, the connection between the rod-shaped member 41b and the rocking base 31 and the connection between the rod-shaped member 41b and the servomotor 18b side are configured in the same manner so that the rod-shaped member 41b can swing in the direction indicated by the arrow A. Has become. Therefore, when the two servo motors 18a and 18b are driven at the same time, the oscillating portion 14 is substantially in the horizontal plane.
Oscillate along an arbitrary direction between B and B.

That is, since the swing portion 14 is independently movable in two directions in the horizontal plane, it can swing in any direction in the horizontal plane. As described above, in the present embodiment, the structure is relatively simple because only the two motors 18a and 18b are used as power sources for moving the swing unit 14 in an arbitrary direction in a substantially horizontal plane. .

In the tilt oscillating device 4 of the present embodiment, the oscillating portion 14 suspended from the base 12 and having a natural frequency is oscillated by the servo motors 18a and 18b. Therefore, once the swinging portion 14 starts to move, the restoring force of the swinging portion 14 itself can be used to swing the swinging portion 14, and in particular, the swinging direction and amplitude of the swinging portion 14 During steady operation with no change, it is possible to cause the swing unit 14 to perform a desired operation even if the force applied from the servo motors 18a and 18b driven according to the natural frequency is relatively small. That is, according to the tilt swinging device 4 of the present embodiment, the chair 11 in which the occupant is seated can be moved in any direction in the horizontal plane including front and rear and left and right with relatively small power.

Further, since the swing unit 14 suspended from the base 12 is swung by the servo motors 18a and 18b, the forward and backward moving mechanism and the left and right moving mechanism are vertically moved as in the above-mentioned publication. The swing unit 14 can be swung in an arbitrary direction within a horizontal plane without being provided separately and superposed on the horizontal plane. That is, since only one mechanism is required to move the swinging part 14 back and forth and left and right, the structure is relatively simple and the height of the apparatus itself can be kept low.

Further, since the swinging portion 14 is suspended from the base 12 at four points, the swinging portion 14 moves relatively stably in a substantially horizontal plane in any direction. Further, since the fixed base portion 21 is disposed below the swinging portion 14, there is an advantage that the center of gravity of the entire tilting and swinging device 4 is lowered, and the tilting and swinging device 4 can be stably installed. is there.

Next, a mechanism for tilting and swinging the chair 11 in the tilting and swinging device 4 of the present embodiment will be described. FIGS. 7A, 7B and 7C are schematic views for explaining the principle. In FIG. 7A, the flat plate 71
Are supported by a support member (not shown) at three points P, Q, and R. These three support members are connected to the flat plate 71 so as to be able to take an arbitrary angle within a predetermined range with respect to the main surface defined by the flat plate 71. The point Q is arranged at a position facing the point P along the width direction of the flat plate 71. R point is a direction orthogonal to a straight line connecting P point and Q point,
That is, they are arranged in a direction along the longitudinal direction of the flat plate 71 from the point P. Further, the points Q and R move up and down with the vertical movement of each support member, but the point P is substantially fixed.

For example, when the support member at the Q point is moved up and down while the R point is fixed, as shown in FIG.
Tilts and swings in the D direction around a straight line connecting the points P and R (hereinafter, referred to as “front and rear tilting swing”). On the other hand, when the support member at the point R is moved up and down with the point Q fixed, FIG.
As shown in (c), the flat plate 71 tilts and swings in the C direction around a straight line connecting the points P and Q (hereinafter, “left and right tilt swing”).
To say). When both points Q and R are moved up and down without fixing both points, the flat plate 71 tilts and tilts around a straight line passing through different points P according to the speed of vertical movement of the points Q and R. Will move. As described above, the principle of the tilt swing of the chair 11 in the tilt swing device 4 of the present embodiment is as follows.
It is to tilt the flat plate 71 by vertically moving two (Q, R) of the three support shafts (P, Q, R) that can take an arbitrary angle with respect to the flat plate 71.

Here, a mechanism for tilting and swinging the chair 11 will be described with reference to FIGS. 8 (a), 8 (b) and 9 further. FIG. 8A is a view for explaining the operation of the front-rear tilt swing mechanism at the position VIIIA in FIG. 6A. FIG.
FIG. 7B is a view for explaining the operation of the left / right tilting swing mechanism at the position VIIIB in FIG. FIG. 9 shows the chair 11
FIG. 9 is a view showing a state in which a chair mounting portion 16 is tilted left and right to explain the left-right tilt swing.

In the tilt swing device 4 of the present embodiment,
The chair mounting portion 16 is connected to a joint 81 that can be independently rotated in two directions (arrows C and D shown in FIGS. 7B and 7C), and two link members 82. 83 are connected via attachment members 87 and 94, respectively. The rotation center (angular displacement portion) of the joint 81 corresponds to the point P in FIG. 7A, and the connection point between the two link members 82 and 83 and the mounting members 87 and 94 is shown in FIG.
They correspond to the points Q and R in FIG. And
The joint 81 and the link members 82 and 83 support the load from the chair mounting portion 16 and the upper portion thereof.

The joint 81 is fixedly connected to the horizontal support plate 33 and the support plate 98 at a lower portion thereof, and is fixedly connected to the chair mounting portion 16 at an upper portion thereof. The joint 81 is moved not only in the direction indicated by the arrow B in FIG.
It is configured to be rotatable within a predetermined angle range even with the direction indicated by arrow A in FIG. 4 as an axis. Thereby, joint 8
1 is a plane defined by the chair mounting portion 16 (FIG. 8A,
(B) and the horizontal plane in FIG. 9) can be formed at an arbitrary angle within a predetermined range.

The link member 82 is connected at one end thereof to the chair mounting portion 16 by a spherical sliding joint 82a via a mounting member 87. Thereby, the link member 8
Reference numeral 2 denotes an arbitrary angle within a predetermined range with respect to the plane defined by the chair mounting portion 16. Note that a universal joint or a ball joint may be used instead of the spherical slide joint 82a. Also,
The other end of the link member 82 is connected to the L-shaped member 84 by a spherical sliding joint 82b. The L-shaped member 84 is rotatably attached to the support plate 98 of the swing unit 14 at a corner thereof, and is rotatably connected to the link member 85 at the other end. Further, the other end of the link member 85 is connected to the motor 8 installed below the swing base 31.
6 is rotatably connected to an output shaft 86a which is driven to reciprocate linearly by a joint 85a. By these connections, the reciprocating linear motion of the motor 86 causes the link member 8 to move.
5, transmitted through the L-shaped member 84, the link member 82 reciprocates up and down.

The link member 83 is connected at one end thereof to the chair mounting portion 16 by a spherical sliding joint 83a via a mounting member 94. Thereby, the link member 8
Reference numeral 3 designates an arbitrary angle within a predetermined range with respect to a plane defined by the chair mounting portion 16. The other end of the link member 83 is connected to the L-shaped member 91 by a spherical sliding joint 83b. The L-shaped member 91 is
At its corner, it is rotatably attached to an L-shaped member support portion 95 provided on the swinging portion 14, and is rotatably connected to the link member 92 at the other end. Further, the other end of the link member 92 is
An output shaft 93a that is linearly reciprocally driven by a motor 93 installed below and is rotatably connected by a joint 92a. By these connections, the reciprocating linear motion of the motor 93 is transmitted via the link member 92 and the L-shaped member 91, and the link member 83 reciprocates up and down.

In the present embodiment, the distance between the fulcrum of the tilting swing, which is the center of rotation of the joint 81, and the chair mounting portion 16 is determined by the connection point between the mounting member 87 and the link member 82 and the chair mounting portion 16. , And the distance between the connection point between the mounting member 94 and the link member 83 and the chair mounting portion 16. That is, there is a connection point between the attachment member 87 and the link member 82 on an extension of one rotation axis of the joint 81, and a connection point between the attachment member 94 and the link member 83 on an extension of the other rotation axis of the joint 81. There is a connection point. Since the three distances are equal, the chair mounting portion 16 can be tilted and swung smoothly and with relatively simple control.

In this embodiment, the mounting member 9
4 includes a link member 97 for preventing rotation of the chair mounting portion 16.
Are connected. Specifically, as shown in FIG. 8B, a link member 97 is provided diagonally between the mounting member 94 to which the link member 83 is connected and the horizontal support plate 33. The link member 97 is connected to the mounting member 94 and the horizontal support plate 33 by spherical slide joints 97a and 97b, respectively. By providing the link member 97 in this manner, it is possible to prevent the chair mounting portion 16 from rotating in the horizontal direction.

When the motor 86 is operated to move the link member 82 up and down in the tilting and oscillating device 4 configured as described above, the chair mounting portion 16 is moved back and forth in the same manner as shown in FIG. (In other words, FIG. 7B)
In the direction of arrow D). On the other hand, when the motor 93 is operated to move the link member 83 up and down, as shown in FIG. 9, the chair mounting portion 16 tilts and swings right and left (in other words, pivots in the direction of arrow C in FIG. 7C). Do). And 2
When the two motors 86 and 93 are simultaneously operated to move the two link members 82 and 83 up and down, the chair mounting portion 16
With the rotation center of the joint 81 as a fulcrum, the link member 8
A complicated tilting motion corresponding to the speed of the up-and-down movement of 2, 83 is performed.

As described above, in the tilt swing device 4 of the present embodiment, the joint 81 and the two link members 82,
83 can take an arbitrary angle within a predetermined range with respect to the plane defined by the chair mounting portion 16, so that the joint 81
The chair mounting portion 16 is tilted and oscillated about the center of rotation. As described above, it is not necessary to use a mechanism having a complicated structure as in the related art in order to tilt and swing the chair mounting portion 16, and the chair mounting portion 16 has a relatively simple structure using the link members 82 and 83. The chair 11 attached thereto can be tilted and swung in any direction. Further, since it is not necessary to stack the two mechanisms up and down in order to tilt and swing the chair mounting portion 16 in two intersecting directions and an arbitrary direction including the two directions, the height of the device itself can be reduced.

In the tilt swing device 4 of the present embodiment, a mechanism for tilting and swinging the chair 11 is provided on a swing mechanism in a horizontal plane in which the swing unit 14 is suspended from the base 12. Have been. As described above, since the tilt rocking mechanism is provided on the rocking mechanism in the horizontal plane, the load applied to the tilt rocking mechanism requiring large power is relatively small, and the consumption of the motors 86 and 93 is reduced. There is an advantage that power can be reduced.

According to the tilt oscillating device 4 of the present embodiment, the occupant is simultaneously provided with two kinds of forces, that is, the horizontal movement of the oscillating portion 14 and the tilt oscillating of the chair 11 in an arbitrary direction. . As a result, the passenger can obtain a more realistic simulated experience.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to this.
Various design changes are possible within the scope described in the claims. For example, although a motor is used as the power source in the above-described embodiment, any known power source such as a hydraulic drive device can be used as the power source.

[0041]

As described above, according to the first aspect, with a relatively simple configuration using three support members,
The tilt rocking section can tilt rock in two intersecting directions and in any direction including the two directions. Also, for that, 2
Since there is no need to stack the two mechanisms vertically, the height of the device itself can be kept low.

Further, according to the second aspect, it is possible to prevent the inclined swinging portion from rotating in the horizontal direction.

Further, as described in claim 3, the tilt swing device according to claim 1 or 2 is particularly suitable for use in a pseudo bodily sensation device.

[Brief description of the drawings]

FIG. 1 is a diagram showing a schematic configuration of a pseudo bodily sensation device using a tilt swing device according to an embodiment of the present invention.

FIG. 2 is a schematic perspective view of the tilt swing device shown in FIG.

FIG. 3 is an exploded perspective view of the tilt and swing apparatus shown in FIG. 2, excluding a chair.

FIG. 4 is a plan view of the tilt swing device shown in FIG. 2;

FIG. 5 is a side view of the tilt swing device shown in FIG. 2;

6 (a) is a front view of the tilt swing device shown in FIG. 2, and FIG. 6 (b) is a view showing a main part thereof.

FIG. 7 is a schematic diagram for explaining the principle of tilting and swinging a chair in the tilting and swinging device shown in FIG. 2;

8A is a diagram for explaining the operation of the front-rear tilt swing mechanism at the position VIIIA in FIG. 6A, and FIG.
FIG. 7A is a diagram for explaining the operation of the left-right tilt rocking mechanism at the position VIIIB in FIG.

FIG. 9 is a view showing a state in which the chair attachment portion tilts and swings right and left in the tilt swing device shown in FIG. 2;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Simulated bodily sensation device 2 Screen 3 Projector 4 Tilt rocking device 5 Control device 11 Chair 12 Base 14 Rocking portion 16 Chair mounting portion 18a, 18b Servo motor 81 Joint 82, 83 Link member 82a, 83a Spherical sliding joint 86, 93 Motor 86a, 93a Output shaft 87, 94 Mounting member

Claims (3)

[Claims] An inclined swing portion defining a plane; and a first support member connected to the inclined swing portion so as to be able to take an arbitrary angle within a predetermined range with respect to the plane. A second support member that is connected to the inclined swinging portion so as to be able to take an arbitrary angle within a predetermined range with respect to the plane, and is capable of linearly reciprocating; The third supporting member is connected to the tilting swinging portion so as to take an arbitrary angle within a predetermined range, and is capable of linearly reciprocating independently of the second support member.
And a power source connected to the second and third support members. 2. The tilt swing device according to claim 1, wherein a rotation preventing link is connected to the tilt swing portion. 3. The tilt oscillating device according to claim 1, wherein the tilt oscillating device is used for a simulated sensation device.