Abstract:
The objective of the present invention is to provide a motion simulator providing, to a link part, a buffering uniting part for absorbing impact during operation so as to prevent shaking of the motion simulator, thereby improving stability. To this end, the motion simulator of the present invention comprises: support members for supporting a chair on which a user sits, a monitor for providing images of a virtual environment according to the operation of the user, and a handle operated by the user for providing the virtual environment; and a plurality of link parts coupled to the lower portions of the support members so as to support the support members while simultaneously moving the same in the vertical direction, wherein at least one link part among the plurality of link parts are provided with buffering uniting parts for the absorption of impact.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This is a continuation of International Application No. PCT/KR2013/003089 filed on Apr. 12, 2013, which claims priority to Korean Application No. KR 10-2013-0018180 filed Feb. 20, 2013. The applications are incorporated herein by reference. 
     
    
     TECHNICAL FIELD 
       [0002]    The present invention relates to a motion simulator, and more particularly, to a motion simulator which allows various simulation operations to be more stably performed using a simple structure. 
       BACKGROUND ART 
       [0003]    Generally, motion simulators provide dynamic changes to fit in a virtual environment controlled by a computer, thereby allowing a user to feel movement in virtual reality as if it were real movement, and may not only be used for flight simulation or driving simulation but have also recently been used as simulators for a three-dimensional experience in games or movie theaters. 
         [0004]    Motion simulators perform a three-dimensional motion through a combination of a rectilinear motion and a rotary motion. A motion of an object is formed by a combination of rectilinear motions in a forward-backward direction (on a z axis), a left-right direction (on an x axis), and an up-down direction (on a y axis) and rotary motions of rolling rotation about the z axis, pitching rotation about the x axis, and yawing rotation about the y axis. 
         [0005]    As a general simulator, Korean Patent Registration No. 10-0932231 discloses a motion base for a virtual reality motion simulator. The simulator, as shown in  FIG. 1 , includes a supporting frame  10 , an operating frame  12 , a central pivot joint  13 , a horizontal actuator  14 , a first vertical actuator  15 , and a second vertical actuator  16  to perform a rotary motion with three degrees of freedom around the central joint  13 . 
         [0006]    In the simulator, a rotary motion is applied to the operating frame  12  due to a vertical motion of rods  15 - 3  and  16 - 3  by driving one of the first vertical actuator  15  and the second vertical actuator  16  and a rotary motion is applied to the operation frame  12  due to a horizontal motion of a rod  14 - 3  by driving the horizontal actuator  14 , thereby providing the rotary motion with three degrees of freedom. Reference numerals  14 - 1 ,  14 - 2 ,  15 - 1 ,  15 - 2 ,  16 - 1 , and  16 - 2  (not described) designate end joints, and reference numerals  14 - 4 ,  15 - 4 , and  16 - 4  (not described) designate cylinders. 
         [0007]    Due to severe oscillation which occurs during rapid movement, the general simulator decreases in stability of an apparatus and a user may feel uncomfortable, thereby undermining the reliability of a product. 
       SUMMARY 
       [0008]    An aspect of the present invention is directed to provide a motion simulator in which a buffering unit for absorbing shock during an operation is provided to a link unit to prevent oscillation of the motion simulator, thereby improving stability. 
         [0009]    One aspect of the present invention provides a motion simulator including supporting members ( 300 ,  310 ,  320 ) configured to support a chair ( 301 ) in which a user sits, a monitor ( 302 ) configured to provide images of a virtual environment according to an operation of the user, and a handle ( 303 ) operated by the user to provide the virtual environment and a plurality of link units ( 400 ,  500 ,  600 ) coupled with bottoms of the supporting members ( 300 ,  310 ,  320 ) to support and vertically move the supporting members ( 300 ,  310 ,  320 ) at the same time, in which one or more of the plurality of link units ( 400 ,  500 ,  600 ) include buffering units ( 710 ,  720 ) for absorbing shock. 
         [0010]    The link units ( 400 ,  500 ,  600 ) may be formed of a first link unit ( 400 ), a top end of which is connected to a rear end of the supporting member ( 310 ) to be able to perform rolling and pitching rotations and a bottom end of which is able to perform a pitching rotation and moves the rear end of the supporting member ( 320 ) vertically with a first driver, and a second link unit ( 500 ) and a third link unit ( 600 , top ends of which are connected to both ends of the supporting member ( 320 ) to be able to perform rolling and pitching rotation and bottom ends of which are able to perform a rolling rotation and move left and right sides of the supporting member ( 320 ) vertically with a second driver and a third driver, and the buffering units ( 710 ,  720 ) may be provided in the second link unit ( 500 ) and the third link unit ( 600 ), respectively. 
         [0011]    The buffering units ( 710 ,  720 ) may be formed of one of gas springs, gas shock absorbers, and dampers. 
         [0012]    The buffering units ( 710 ,  720 ) may be formed of a first buffering unit ( 710 ) connected to the second link unit ( 500 ) and a second buffering unit ( 720 ) connected to the third link unit ( 600 ), and when viewed from above, the first buffering unit ( 710 ), the second link unit ( 500 ), the second buffering unit ( 720 ), and the third link unit ( 600 ) may be located in a straight line. 
         [0013]    According to a motion simulator in accordance with one embodiment of the present invention, a buffering unit such as a gas spring, a gas shock absorber, and a damper is provided in a link unit to prevent oscillation during an operation, thereby improving the reliability of a product. 
     
    
     
       DESCRIPTION OF DRAWINGS 
         [0014]      FIG. 1  is a view of a general motion simulator; 
           [0015]      FIG. 2  is a perspective view of a motion simulator according to an embodiment of the present invention; 
           [0016]      FIG. 3  is an exploded perspective view of a rotary plate and a fixed plate forming the motion simulator according to an embodiment of the present invention; 
           [0017]      FIG. 4  is a view illustrating a state in which link units of the motion simulator are not lifted according to an embodiment of the present invention; 
           [0018]      FIG. 5  is a view illustrating a state in which a second link unit of the motion simulator is lifted according to an embodiment of the present invention; and 
           [0019]      FIG. 6  is a view illustrating a state in which a third link unit of the motion simulator is lifted according to an embodiment of the present invention. 
           [0000]    
         
           
                 
               
                 
                 
               
                 
                 
               
                 
                 
               
                 
               
                 
                 
               
                 
                 
               
                 
               
                 
                 
               
                 
               
                 
                 
               
             
                 
                     
                 
                 
                   ** Brief Description of Reference Numerals ** 
                 
                 
                     
                 
               
               
                 
                     
                 
               
            
             
                 
                   100: Rotary plate 
                   110: Motor 
                 
                 
                   120: Caster 
                   200: Fixed plate 
                 
                 
                   210: Second sprocket 
                   220: Chain 
                 
               
            
             
                 
                   230: Rotation supporting member 
                   231: Central axis 
                 
               
            
             
                 
                   300: Operating frame 
                   301: Chair 
                 
                 
                   302: Monitor 
                   303: Handle 
                 
                 
                   304: Pedal 
                   310: First supporting member 
                 
                 
                   320: Second supporting member 
                   400: First link unit 
                 
                 
                   410: First link member 
                   420: First load 
                 
               
            
             
                 
                   430: First top connection member 
                 
                 
                   440: First bottom connection member 
                 
               
            
             
                 
                   500: Second link unit 
                   510: Second link member 
                 
               
            
             
                 
                   520: Second load 
                   530: Second top connection member 
                 
               
            
             
                 
                   540: Second bottom connection member 
                 
               
            
             
                 
                   600: Third link unit 
                   610: Third link member 
                 
                 
                   620: Third load 
                   630: Third top connection member 
                 
               
            
             
                 
                   640: Third bottom connection member 
                 
               
            
             
                 
                   710: First buffering unit 
                   720: Second buffering unit 
                 
                 
                     
                 
               
            
           
         
       
       
    
    
     DETAILED DESCRIPTION 
       [0020]    Hereinafter, a configuration and operation of an exemplary embodiment of the present invention will be described in detail with reference to the attached drawings. 
         [0021]      FIG. 2  is a perspective view of a motion simulator according to an embodiment of the present invention, and  FIG. 3  is an exploded perspective view of a rotary plate  100  and a fixed plate  200  forming the motion simulator according to an embodiment of the present invention. Hereinafter, while describing a direction of a motion, as shown in  FIG. 2 , rolling is a rotary motion of rotating about a z axis which extends forward and backward, pitching is a rotary motion of rotating about an x axis which extends to the left and right, and yawing is a rotary motion of rotating about a y axis which extends up and down. 
         [0022]    The motion simulator includes the rotary plate  100  with a motor  110  mounted on one side thereof and a plurality of casters  120  mounted on a bottom thereof, the fixed plate  200  which rotatably supports the bottom of the rotary plate  100  and includes a driven portion engaged with a shaft of the motor  110 , an operating frame  300  disposed separately from a top of the rotary plate  100 , and a plurality of link units  400 ,  500 , and  600  which are coupled between the rotary plate  100  and the operating frame  300  and support and vertically move the operating frame  300  at the same time. 
         [0023]    The operating frame  300  includes a chair  301  in which a user sits, a monitor  302  which provides a virtual environment according to an operation of the user as images, a handle  303  operated by the user to provide the virtual environment, and a pedal  304  for controlling a speed of a vehicle. Components described above are replaceable with other components depending on the use of the motion simulator. Also, the operating frame  300  is coupled with a first supporting member  310  which supports the chair  301  and the monitor  302  and a second supporting member  320  connected to the first supporting member  310  to support the handle  303 , in which the operating frame  300 , the first supporting member  310 , and the second supporting member  320  are commonly called supporting members  300 ,  310 , and  320 . 
         [0024]    The link units  400 ,  500 , and  600  include a first link unit  400 , a second link unit  500 , and a third link unit  600  connected to a rear end, left end, and right end of the supporting members  300 ,  310 , and  320 , respectively. 
         [0025]    The first link unit  400  includes a first link member  410  having a certain length, a first rod (not shown) which slides inside the first link member  410  due to a first driver (not shown), a first top connection member  430  connected to a top of the first rod and connected to the rear end of the first supporting member  310  to be able to roll and pitch, and a first bottom connection member  440  coupled with the top of the rotary plate  100  and connected with the first link unit  410  to be able to pitch. 
         [0026]    Due to this configuration, when the first driver is driven, the rear end of the supporting member  310  moves vertically. The first driver may be one of a motor and a cylinder. 
         [0027]    The second link unit  500  includes a second link member  510  having a certain length, a second rod  520  which slides inside the second link member  510  due to a second driver (not shown), a second top connection member  530  connected to a top of the second rod  520  and connected to one end of the second supporting member  320  to be able to roll and pitch, and a second bottom connection member  540  coupled with the top of the rotary plate  100  and connected with the second link unit  510  to be able to pitch. 
         [0028]    Also, the third link unit  600  includes a third link member  610  having a certain length, a third rod  620  which slides inside the third link member  610  due to a third driver (not shown), a third top connection member  630  connected to a top of the third rod  620  and connected to the other end of the second supporting member  320  to be able to roll and pitch, and a third top connection member  640  coupled with the top of the rotary plate  100  and connected with the third link unit  610  to be able to pitch. 
         [0029]    When the motion simulator performs a rapid operation, the user may laterally rock while seated in the chair  301 , thereby decreasing stability. To prevent this, the second link unit  500  and the third link unit  600  include a first buffering unit  710  and a second buffering unit  720  for absorbing shock while the motion simulator is rapidly operating. 
         [0030]    The first buffering unit  710  and the second buffering unit  720  may be formed of one of gas springs, gas shock absorbers, and dampers to absorb shock, thereby preventing oscillation which occurs while the motion simulator is operating. 
         [0031]    One end of the first buffering unit  710  is connected to the second link unit  500  and the other end is connected to the rotary plate  100 . One end of the second buffering unit  720  is connected to the third link unit  600  and the other end is connected to the rotary plate  100 . Here, when viewed from above (that is, in a top view), the first buffering unit  710 , the second link unit  500 , the second buffering unit  720 , and the third link unit  600  are located in a straight line. 
         [0032]    According to the configuration described above, lateral rocking of the user is prevented while the motion simulator performs rapid operation. 
         [0033]    It has been described above that the first buffering unit  710 , the second link unit  500 , the second buffering unit  720 , and the third link unit  600  are located in a straight line according to an embodiment of the present invention. However, the first buffering unit  710 , the second link unit  500 , the second buffering unit  720 , and the third link unit  600  need not be located in a straight line. 
         [0034]    The rotary plate  100  is rotatably supported by the fixed plate  200  when the motion simulator is being used and supports the entire structure of the motion simulator when the motion simulator is moving. As shown in  FIG. 3 , the rotary plate  100  includes a first frame  100   a  which forms an edge and a plurality of second frames  100   b , both ends of which are fixed to the inside of the first frame  100   a  at regular angular intervals. 
         [0035]    The motor  110  which provides a driving force to allow the rotary plate  100  to rotate is mounted on the one side of the rotary plate  100 . Here, the motor  110  is located to allow the shaft thereof to face downward and a first sprocket (not shown) is coupled with the shaft of the motor  110 . 
         [0036]    The plurality of casters  120  are mounted on a bottom of the first frame  100   a  at regular angular intervals. Bottoms of the first link unit  400 , the second link unit  500 , and the third link unit  600  are coupled with a top of the first frame  100   a . The plurality of second frames  100   b  are coupled to intersect one another in a central portion of the rotary plate  100 . An insertion hole (not shown) in which a central axis  231  is inserted is formed in the central portion. 
         [0037]    The fixed plate  200  supports the entire structure of the motion simulator when the motion simulator is being used and is separated upward from a bottom surface to prevent an interference with the bottom surface when the motion simulator is moving. As shown in  FIG. 3 , the fixed plate  200  includes a third frame  200   a  forming an edge and a plurality of fourth frames  200   b , both ends of which are fixed to the inside of the third frame  200   a  at regular angular intervals. 
         [0038]    A rubber plate (not shown) may be disposed between a bottom end of the fixed plate  200  and the bottom surface. When the motion simulator moves, the rubber plate is removed to separate the fixed plate  200  from the bottom surface and to apply a weight of the motion simulator to the casters  120  mounted on the rotary plate  100  such that the motion simulator can move easily. 
         [0039]    A plurality of second sprockets  210  are fixedly mounted on a top surface of the third frame  200   a  at equal intervals based on a central axis line. The plurality of fourth frames  200   b  are coupled to intersect one another in a central portion of the fixed plate  200 . A rotation supporting member  230  rotatably coupled with the central axis  231  to support the rotary plate  100  is installed on a top of the central portion. The rotation supporting member  230  includes a top portion  230   a  and a bottom portion  230   b  which are connected using a bearing to be relatively rotatable in place. The rotary plate  100  and the fixed plate  200  are coupled with each other by the rotation supporting member  230  and separate from each other vertically. 
         [0040]    The driven portion for transferring the power of the motor  110  includes the plurality of second sprockets  210  fixedly mounted on the fixed plate  200  not to rotate and a chain  220  connected to the first sprocket coupled with the shaft of the motor  110  and the plurality of second sprockets  210 . 
         [0041]    The first sprocket is flush with the second sprockets  210 . The first sprocket is located eccentrically outward from a virtual connection line connecting the second sprockets  210 . An inner surface of the chain  220  is connected to an outer surface of the first sprocket and outer surfaces of the plurality of second sprockets  210  to be engaged therewith. 
         [0042]    When the motion simulator is used, the fixed plate  200  is supported by a bottom surface of a place in which the motion simulator is installed and the rotary plate  100  is separate upward from the bottom surface to allow the rotary plate  100  and the entire structure thereabove to be free to rotate. In this state, when the motor  110  operates, the first sprocket  111  coupled with the shaft of the motor  110  rotates, power is transferred to the chain  220  engaged with the first sprocket, and the plurality of second sprockets  210  are fixedly mounted on the fixed plate  200  not to rotate. Accordingly, when the power is transferred, the first sprocket  111  coupled with the shaft of the motor  110  is rotated along the inner surface of the chain  220  and the rotary plate  100  and the entire structure thereabove rotate at the same time due to repulsive force of the second sprockets  210  against the chain  220 . 
         [0043]      FIG. 4  is a view illustrating a state in which the link units  500  and  600  of the motion simulator are not lifted according to an embodiment of the present invention.  FIG. 5  is a view illustrating a state in which the second link unit  500  of the motion simulator is lifted according to an embodiment of the present invention.  FIG. 6  is a view illustrating a state in which the third link unit  600  of the motion simulator is lifted according to an embodiment of the present invention. Hereinafter, operations of the motion simulator according to an embodiment of the present invention will be described with reference to  FIGS. 4 to 6 .  FIGS. 4 to 6  are front views. 
         [0044]    Referring to  FIG. 4 , the second rod  520  and the third rod  620  are not lifted and are located on lowermost ends of the second link unit  500  and the third link unit  600 . 
         [0045]    In the state shown in  FIG. 4 , when the second driver operates to lift the second rod  520 , the operating frame  300  and the entire structure thereabove tilt as shown in  FIG. 5  and perform a rotary motion of pitching. 
         [0046]    Also, in the state shown in  FIG. 4 , when the third driver operates to lift the third rod  620 , the operating frame  300  and the entire structure thereabove tilt in a direction opposite to that of  FIG. 5  as shown in  FIG. 6  and perform a rotary motion of pitching. 
         [0047]    During this operation process, when a rapid operation such as speeding up is performed, lateral oscillation occurs. In the present embodiment, the first buffering unit  710  and the second buffering unit  720  may prevent the lateral oscillation by absorbing shock. 
         [0048]    It has been described above that the rotary plate  100  is provided and a yawing motion is performed according to an embodiment of the present invention. However, a buffering unit according to an embodiment of the present invention may be applied to a motion simulator which lacks the rotary plate  100  and does not perform the yawing motion. 
         [0049]    While one or more embodiments of the present invention have been described with reference to the figures, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.