JPH10110799A - Motion base - Google Patents

Abstract

(57) [Summary] [Problem] To provide a simplified three-dimensional 6-degree-of-freedom motion base as compared with a conventional type, with four links. A moving base is connected to an upper end of a link via a universal joint, and a lower end of the link is connected to a linear motor via a universal joint. The linear motor 4 moves on the linear guide 6 according to a control command from the control device 7, and the link 3
The moving base 1 makes horizontal, vertical, tilting and swiveling movements with respect to the base 2 by opening and closing.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a motion base.

[0002]

2. Description of the Related Art As shown in FIG. 10, the prior art comprises six actuators 7, the upper end of which is attached to a moving base 1 'and the other end of which is attached to a base 2' via a joint 4 '. I was Then, by controlling and extending and contracting the six actuators, the moving base is operated with respect to the base in three dimensions and six degrees of freedom, and used as a flight simulator or the like.

[0003]

In the conventional motion base, six links are operated to move the moving base as shown in FIG.

[0004] In the present invention, by using four links,
It is intended to construct a simpler motion base.

[0005]

According to the present invention, the number of links is four. At the top of the link, through the joint,
It was connected to the moving base on the moving side of the platform. The lower end of the link was connected to four actuators via joints. The actuator was fixed to the base, which is the fixed side of the platform.

[0006]

FIG. 1 is a perspective view of a motion base. In FIG. 1, reference numeral 1 denotes a moving base on the moving side of the platform. 2 is the base of the fixed example of the platform. Reference numeral 3 denotes a link, and the upper end of the link is connected to the moving base 1 via a universal joint 5. The lower end of the link 3 is connected to the linear motor 4 via a universal joint 5. The linear motor 4 is provided on two orthogonal linear guides as shown in FIG. The linear motors 4 can be controlled independently and simultaneously. When a control signal is input to the linear motor 4 from the control device 7 of FIG.
Slides along the linear guide 6, the links 3 are independently controlled, and the moving base 1 makes horizontal, vertical, tilting and swiveling movements with respect to the base 2.

As shown in FIG. 2, the moving base 1 and the upper end of the link 3 are connected to each other at three points to form a triangle having the center of the moving base 1 as the center of gravity.
This is shown by the dashed line in FIG.

In FIG. 2, the universal joints 5 between the moving base 1 and the links 3 are denoted by A to C, and the universal joints 5 between the base 2 and the links 3 are denoted by D to D.
G. The link between the universal joint A~D in FIG 2 and link R, a linear motor for driving the link R and X _R. The link between the universal joint B~G and link D, and a linear motor for driving the link D and Y _D. A link between the universal joints C to E is defined as a link L, and a linear motor driving the link L is defined as X.
_L. A link between the universal joints C to F is defined as a link U, and a linear motor for driving the link U is defined as Y _U.
And As shown in FIGS. 2 and 3, the two linear guides 6 are arranged so as to be orthogonal to each other. The linear motors X _R , _XL , Y _U , and Y _D slide on the linear slide 6.

The motion form of the motion base is shown in FIGS.

FIG. 4 shows horizontal movement. The broken line in FIG. 4 shows the initial state. In Figure 2, the linear motors X _R and X _L to the right, to the linear motor Y _U is upper, when the linear motor Y _D is movement respectively upwards, as shown by the solid line in FIG. 4, the universal joint A~G is The moving bases 1 move to A 'to G', respectively, and the moving base 1 moves rightward in the horizontal direction.

FIG. 5 shows vertical movement. The broken line in FIG. 5 shows the initial state. In Figure 2, when the linear motor X _R, X _L, Y _U and Y _D is movement about directions respectively, as shown in FIG. 5 the solid line, universal joint A~G moves to A'～G ', moving The base 1 moves vertically upward. Conversely, when each linear motor moves outward from the center, the moving base 1 moves vertically downward.

FIG. 6 shows a tilting motion. In Figure 2, the linear motors X _R and X _L is right, when the linear motor Y _U is motion respectively downwards, linear motor Y _D is stationary, FIG. 6
As shown by the solid line, the universal joints A to G are A 'to
The moving base 1 moves to G 'and the moving base 1 inclines to the left.

FIG. 7 shows a turning motion. In Figure 2, the linear motor X _R is to the left, the linear motor Y _U and Y _D is upward,
When the linear motor X _L is motion respectively to the right, Fig. 7
As shown by the solid line in FIG.
To G ', and the moving base 1 turns right around its center.

By combining the movements of FIGS. 4 to 7,
The motion base of the present invention can move in three dimensions and six degrees of freedom.

As shown in FIG. 8, a linear actuator, for example, a hydraulic servo cylinder may be used in place of the link 3. At this time, the linear guide 6 can be omitted.
Instead, a hydraulic source 8 is required.

Also, as shown in FIG.
The position of the joint 5 that connects the and the link 3 may be arranged in a square.

[0017]

According to the present invention, the number of motion-based links is set to four, and compared with the conventional six links,
The structure has been simplified.

[Brief description of the drawings]

FIG. 1 is a perspective view of a motion base of the present invention.

FIG. 2 is a top view of the motion base of the present invention.

FIG. 3 is a front view of the motion base of the present invention.

FIG. 4 is an explanatory diagram showing horizontal movement.

FIG. 5 is an explanatory view showing vertical movement.

FIG. 6 is an explanatory view showing a tilting motion.

FIG. 7 is an explanatory view showing a turning motion.

FIG. 8 is an explanatory view of an embodiment using a servo cylinder instead of a link, a linear motor, and a linear guide 6.

FIG. 9 is an explanatory view of the embodiment when the position of the universal joint that connects the moving base and the link is changed.

FIG. 10 is a perspective view of a conventional motion base having six links.

FIG. 11 is a perspective view of a conventional motion base having six links.

[Explanation of symbols]

1. Mobin base, 2. Base, 3. Link, 4. Linear motor, 5. Universal joint, 7. Servo cylinder.

Claims (1)

[Claims] 1. A motion base comprising: a plurality of platforms; four links connecting the platforms; and an actuator.