Motion platform and simulator using the same

Abstract

To provide a motion platform and a simulator capable of stabilizing the motion platform regardless of the reaction force of an actuator of the motion platform.SOLUTION: A motion platform is provided, comprising a vibrating mechanism, a base, and a moving mechanism for moving the base in a given direction, the moving mechanism having a guide member for the movement. The guide member of the moving mechanism is subjected to reaction force caused by the operation of the vibrating mechanism.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a motion platform, for example, a motion platform for swinging a cockpit of a simulator. [Background technology]

[0002] As an example of a conventional simulator, for example, the driving simulator described in Patent Document 1 uses a motion platform (oscillating device) to change the attitude of a simulated vehicle body relative to the road surface. By combining this change in the attitude of the simulated vehicle body (cockpit) relative to the road surface with an image displayed on a display, it is possible to simulate the situation in which a driver inside the simulated vehicle body is driving a car.

[0003] The vibration device of such a simulator includes, for example, a vibration mechanism having a plurality of actuators that exert a force in the axial direction by extending and retracting, a rotation mechanism that rotates the vibration mechanism, and a translation mechanism having two translation tables that moves the vibration mechanism in a linear direction and a linear direction perpendicular to the linear direction.The rotation mechanism and / or translation mechanism is disposed below the vibration mechanism to rotate and translate the vibration mechanism. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Chinese Patent Publication No. 116612675 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in Patent Document 1, the base end of the actuator of the vibration mechanism is attached to a base, and when the axial force of the actuator acts on the simulated vehicle body, a reaction force acts on the base of the vibration mechanism. At this time, there are no components of the translation mechanism below the vibration mechanism in the direction of the acting reaction force. In this case, the moment caused by the reaction force makes the simulator unstable, and in the worst case, the simulator may tip over.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a motion platform and simulator that can stabilize the motion platform regardless of the action of the reaction force of the actuators on the motion platform. [Means for solving the problem]

[0007] In order to solve the above problem, a motion platform is provided, comprising a vibration mechanism, a base, and a moving mechanism for moving the base in a predetermined direction, the moving mechanism having a guide member for said movement, wherein the guide member of the moving mechanism receives a reaction force due to the operation of the vibration mechanism.

[0008] The motion platform may also include a rotation mechanism.

[0009] The motion platform may also include a guide rail on which the rotation mechanism is installed in the rotation direction of the base, and a guide block installed on the guide rail.

[0010] In addition, the motion platform may be such that the guide rail and the guide block are provided between the base and the bottom plate.

[0011] Furthermore, the motion platform may be configured such that the guide rail and the guide block are attached to the rear side of the surface of the base on which the vibration mechanism is attached.

[0012] Furthermore, the motion platform may be configured such that radial movement of the base is prevented by the guide rail and the guide block.

[0013] In addition, the above-mentioned motion platform may be such that the moving mechanism further includes a translation mechanism, the translation mechanism includes a guide rail and a guide block installed in the translation direction of the base, and the guide member is the guide rail of the translation mechanism.

[0014] In addition, in the motion platform, the guide member may be the guide block.

[0015] The motion platform may also include an X-axis movement mechanism and a Y-axis movement mechanism, where one direction of movement of the translation mechanism is defined as the X-axis and the direction perpendicular to that is defined as the Y-axis.

[0016] In addition, the motion platform may have a motor directly connected to the base.

[0017] The motion platform may further include an auxiliary support device.

[0018] In addition, the motion platform may be configured such that the actuator of the vibration mechanism is rotatably connected to a lower block on the base via a universal joint.

[0019] In order to solve the above problem, a driving simulator is provided which includes a motion platform, the motion platform including a vibration mechanism, a base, and a moving mechanism for moving the base in a predetermined direction, the moving mechanism having a guide member for said movement, and the guide member of the moving mechanism is characterized in that it receives a reaction force due to the operation of the vibration mechanism. [Effects of the Invention]

[0020] According to the present invention, the motion platform can be stabilized despite the action of reaction forces of actuators on the motion platform. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a schematic perspective view of a motion platform according to an embodiment of the present invention. [Figure 2] FIG. 2 is a partial longitudinal cross-sectional view of an air-spring tandem mechanism of a motion platform according to an embodiment of the present invention. [Figure 3] FIG. 3 is a schematic perspective view of a translation mechanism of a motion platform according to an embodiment of the present invention. [Figure 4] Figure 4(a) is a schematic oblique view showing the rotation mechanism and base of a motion platform according to an embodiment of the present invention, and Figure 4(b) is a schematic oblique view showing only the rotation mechanism of a motion platform according to an embodiment of the present invention, omitting the base. [Figure 5] FIG. 5 is a schematic plan view showing a rotation direction guide portion of a motion platform according to an embodiment of the present invention. [Figure 6] FIG. 6 is a schematic side cross-sectional view taken along line VI-VI in FIG. 4(a) showing the rotation direction guide portion of the motion platform according to the embodiment of the present invention. [Figure 7] FIG. 7(a) is a schematic enlarged view showing a rotational direction guide unit of a motion platform according to an embodiment of the present invention, and FIG. 7(b) is an enlarged perspective view showing a guide block of the rotational direction guide unit. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0023] FIG. 1 is a perspective view showing the configuration of a motion platform 100 according to an embodiment of the present invention.

[0024] In FIG. 1, the motion platform 100 includes a hexapod mechanism 110 as a vibration mechanism, a rotation mechanism disposed below the hexapod mechanism 110 and equipped with a rotation direction guide unit 120 (described below), and a translation mechanism 150 disposed below the rotation mechanism and capable of translation in both the X direction (FIG. 3) and the Y direction (FIG. 3). The vibration mechanism includes an actuator that applies axial force by extending and contracting. The rotation mechanism includes a direct drive motor, a rotation direction guide rail, and a guide block mounted on the rotation direction guide rail. The hexapod mechanism 110 includes a mounting unit for mounting the cockpit, specifically a mounting base 160, six actuators (ACTs) 170a to 170f (170e and 170f are not shown) that apply axial force to the mounting base 160, and a base 170 that supports these actuators. The actuators 170a-170f and the mounting table 160 are rotatably connected to each other via three ACT upper blocks 172, so that the contraction of each actuator acts on the mounting table 160 as a force only in the axial direction of the actuator. Similarly, the actuators 170a-170f and the base 170 are rotatably connected to each other via three ACT lower blocks 173, so that the contraction of each actuator acts on the base 170 as a force only in the axial direction of the actuator. In other words, the vibration mechanism is capable of six degrees of freedom of vibration application. Furthermore, the base 170 of the hexapod mechanism 110 forms a rotary table that can be rotated by a rotation mechanism, so that the entire hexapod mechanism 110 can move in a rotational direction. That is, this rotation mechanism allows for a larger rotational range than the range of movement (rotational range) in the rotation direction of the mounting table 160 that is possible with the actuators 170a to 170f, the ACT upper block 172, and the ACT lower block 173. Furthermore, the entire rotation mechanism that rotates the rotary table (base 170) is supported by the translation mechanism 150 via a guide member, allowing it to move in two perpendicular directions. The hexapod mechanism 110 also includes an air spring tandem mechanism 130 to assist in supporting the mounting table 160.As described above, the motion platform 100 causes the cockpit to oscillate by operating the hexapod mechanism 110, the rotation mechanism, and the translation mechanism 150 under control according to the desired cockpit attitude.

[0025] Although this embodiment relates to a motion platform used in a driving simulator for an automobile, the present invention is not limited to this. For example, it will be clear from the following description that the motion platform can be used in a moving object simulator for a railway vehicle, an airplane, or the like.

[0026] <Hexapod mechanism> 1, the hexapod mechanism 110 includes three ACT upper blocks 172 spaced apart at equal intervals along a circumference surrounding the periphery of the mounting table 160. Two actuators, 170a and 170b, 170c and 170d, and 170e and 170f, are connected to each of the ACT upper blocks 172 via universal joints, allowing for free rotation (in all rotational planes). Similarly, three ACT lower blocks 173, spaced apart at equal intervals along a circumference surrounding the periphery of the base 170, are connected to two actuators, 170f and 170a, 170b and 170c, and 170d and 170e, via universal joints, allowing for free rotation (in all rotational planes). The ACT upper block 172 and the ACT lower block 173 are arranged circumferentially offset by 60 degrees, so that actuators that are paired (connected to the same upper block) by connecting the upper blocks are connected to different lower blocks. These six actuators are linear actuators, hydraulic cylinders, or equipped with a rotary motor and a ball screw, and the rods connected to the pistons contract in the axial direction relative to the cylinder. The rods are rotatably connected to the ACT upper block 172, which is fixed to the mounting base 160, so that an axial force due to contraction can be applied to the mounting base 160. The six actuators are also rotatably connected to the ACT lower block 173. As a result, the base 170 receives a reaction force in the axial direction when each actuator applies a force to the mounting base 160. Note that by inclining the connecting surfaces between the actuators 170a-170f and the ACT lower block 173, the length of the joints between the actuators 170a-170f can be shortened. This increases the rigidity of the joints and reduces costs.

[0027] <Air spring tandem mechanism> 1, motion platform 100 includes air spring tandem mechanism (auxiliary support device) 130 between mounting platform 160 and base 170. Air spring tandem mechanism 130 is located approximately at the center of mounting platform 160 and base 170 and is configured to assist in supporting mounting platform 160 at a desired height relative to base 170. Here, in the present embodiment, an example is described in which motion platform 100 includes one air spring tandem mechanism 130, but this is not limiting and multiple mechanisms may be installed, in which case it is preferable to arrange them evenly. Note that air spring tandem mechanism (auxiliary support device) 130 is not essential if the size of actuators 170a to 170f used in motion platform 100 can be tolerated, but it is still preferable to include an air spring tandem mechanism.

[0028] As shown in FIG. 2, in this air spring tandem mechanism 130, the opening edges on both ends of a roughly cylindrical air spring (a repulsive member that functions as an auxiliary member) 134 are sealed with rubber or the like between the lower surface of a connecting intermediate portion 133 at the bottom of an upper connecting base 131 (cylindrical member 132) and the upper surface of a base 170, so that an airtight internal space 134s is formed inside the air spring 134.

[0029] Air spring 134 is formed into a roughly cylindrical shape that defines internal space 134s by stacking elastic outer circular parts 135-137 made of an elastic material in multiple stages that orbit in parallel between base 170 and mounting table 160, with rigid ring-shaped rigid parts 139 being interposed between elastic outer circular parts 135-137. Here, air spring 134 is not limited to a multi-stage shape, and may be a single-stage cylindrical shape if it has sufficient flexibility, and may also be formed into a rectangular cross section, such as a roughly square tube shape with a square cross section, or may, of course, be another irregular shape.

[0030] Furthermore, the air spring tandem mechanism 130 has a fluid passage 139a formed in the base 170 that communicates with the internal space 134s of the air spring 134, and an air charging amount control device (not shown) is externally connected to the fluid passage 139a. The air charging amount control device is connected to a general-purpose compressor (not shown) that discharges compressed air, and a general-purpose pressure control circuit detects the charging amount and charging pressure of the compressed air, thereby enabling a desired internal pressure to be generated in the internal space 134s of the air spring 134. At this time, as shown in FIG. 2, the lower surface of the intermediate connection part 133 on the air spring 134 side and the lower surface of the upper flange 131b of the upper connecting base 131 become pressure-receiving surfaces for the compressed air, generating a repulsive force that pushes back the mounting base 160 to which the load weight is applied as a necessary auxiliary force. This auxiliary force is applied to the mounting base 160 via a second universal joint 138 consisting of a cross joint 138a and a rotation mechanism 138b.

[0031] As a result, the air spring tandem mechanism 130 can generate a desired internal pressure in the internal space 134s of the air spring 134 using the air filling amount control device, thereby generating and applying a repulsive force that acts in the direction separating the base 170 and the mounting table 160. For example, by maintaining the internal pressure in the air spring 134 at a desired constant pressure, the mounting table 160 can be supported in a direction separating the base 170 from the mounting table 160 at a constant pressure. The air spring tandem mechanism 130 can also support the mounting table 160 with a desired repulsive force by adjusting the internal pressure in the air spring 134 using the air filling amount control device, for example, in accordance with the weight of the test object on the mounting table 160. Here, the air spring 134 generates a repulsive force by filling the internal space 134s with compressed air. However, springs, elastic rubber, or the like may be arranged at multiple locations between the intermediate connection part 133 and the base 170 as auxiliary members for the repulsive member to generate and apply a desired constant elastic force. Furthermore, if the load (load mass) received by the mounting table 160 at rest remains constant, the air filling amount control device can be omitted and a constant pressure can be sealed in the internal space 134s of the air spring 134 (filled and sealed).

[0032] Therefore, the motion platform 100 can perform tilting and vibration operations of the mounting platform 160 with six degrees of freedom relative to the base 170 by extending and contracting the six sets of actuators 170a, 170b, 170c, 170d, 170e, and 170f.At this time, the air spring tandem mechanism 130 is twisted without interfering with changes in the posture of the mounting platform 160 relative to the base 170, and can apply the desired auxiliary force (repulsion force) to assist in supporting the multiple actuators 170a to 170f without causing excessive eccentricity or deflection.

[0033] In this way, in the motion platform 100 of this embodiment, the output driving force of multiple actuators can be reduced to perform similar test operations. For example, even when the mounting table 160 is brought to a stationary state, the driving force of the actuators 170a to 170f can be reduced to allow the air spring tandem mechanism 130 to assist in supporting the mounting table 160.

[0034] Therefore, in the motion platform 100, the auxiliary support device 130 can apply the desired repulsive force not only when the actuators 170a to 170f are driven but also when the actuators are in standby mode (stationary state), thereby reducing the rated output driving force of the servo motors of the actuators 170a to 170f.

[0035] As a result, the driving force required for the servo motors of the plurality of actuators 170a to 170f can be reduced, resulting in a smaller size and lower costs.

[0036] <Translation mechanism> Figure 3 is a schematic perspective view of the translation mechanism 150 shown in Figure 1. In this figure, only the translation mechanism 150 of the motion platform 100 is shown.

[0037] As shown in FIGS. 3 and 4(a) and (b), the translation mechanism 150 includes an X-axis movement mechanism 151 for moving the cockpit in the X-axis direction and a Y-axis movement mechanism 152 for moving the cockpit in the Y-axis direction, which is perpendicular to the X-axis direction. Here, one direction of movement of the translation mechanism 150 is the X-axis direction, and the direction perpendicular to the X-axis direction is the Y-axis direction. The X-axis movement mechanism 151 includes a linear motor composed of a slider (movable element) 151a and a stator (linear motor guide) 151b. Two linear motors are provided, spaced a predetermined distance apart. The slider 151a is connected at a predetermined location to the bottom plate 143 that holds the rotary table 170. This allows the rotary table 170 (and further the vibration mechanism, such as the hexapod mechanism 110) to be moved in the X-axis direction by driving the slider 151a of the linear motor. The X-axis movement mechanism of the translation mechanism 150 also includes guide rails 151c on the outer sides of the pair of linear motors. This guide rail 151c engages the bottom plate 143 of the turntable 170 with the base 153 so that the balls can roll or slide. As a result, when the bottom plate 143 of the turntable 170 moves in the X-axis direction by driving the linear motor, the guide rail 151c supports the bottom plate 143 of the turntable 170 so that the balls can roll or slide. These X-axis movement mechanisms 151 are fixedly connected to the base 153. Similarly, the Y-axis movement mechanism 152 has two linear motors, and these linear motors are configured with a slider (mover) 152a (not shown) and a stator (linear motor guide) 152b (not shown). The slider 152a is connected to the base 153 of the X-axis movement mechanism 151 at a predetermined location. As a result, by driving slider 152a of the linear motor, base 153 of X-axis movement mechanism 151 (and further vibration mechanisms such as the rotation mechanism and hexapod mechanism 110) can be moved in the Y-axis direction. The Y-axis movement mechanism of translation mechanism 150 also includes guide rails 152c on the outside of the pair of linear motors. This guide rail 152c engages with base 153 of X-axis movement mechanism 151 in a rolling or slidable manner using balls.As a result, when base 153 is moved by the driving of the linear motor, guide rail 152c supports base 153 so that it can roll or slide using balls. The Y-axis movement mechanism 152 described above is fixedly connected to base 154. Note that translation mechanism 150 includes guide rail 151c installed in the translation direction of base 153, guide block 151d for fixing guide rail 151c, and guide rail 152c and a guide block (not shown) for fixing guide rail 152c. The guide member may be guide rail 152c of translation mechanism 150 or guide block 151d.

[0038] In addition, the guide rail 152c and guide block 151d of the translation mechanism 150 can receive the reaction force caused by the operation of the hexapod mechanism 110 transmitted via the rotary table 170, thereby preventing the generation of a moment that could cause the motion platform 100 to tip over.

[0039] <Rotation mechanism> 4(a) and (b) are perspective views showing the rotation mechanism of the motion platform 100 shown in FIG. 1, with FIG. 4(a) showing it with the rotation table (base) 170 that supports the hexapod mechanism 110, and FIG. 4(b) showing it without the base 170.

[0040] As shown in FIG. 4(a), the base 170 serving as a rotary table is fixed to a direct drive (DD) motor 141 around the rotation axis of the DD motor 141 (see FIG. 6). A DD motor is designed without using intermediate mechanisms such as gears or belts. The absence of such mechanisms allows for no reduction in motor rotation speed and space savings. The back surface of the base 170 is fixedly connected to a rotation direction guide block (guide block) 121. As shown in FIG. 4(b), the rotation direction guide block 121 engages with a circumferential rotation direction guide rail (guide rail) 122 in a rolling or slidable manner. That is, the rotation direction guide rail 122 and guide block are provided between the base 170 and the bottom plate 143 of the rotary table. Two pairs of rotation direction guide blocks 121 are connected to the base 170 at three equally spaced locations on the base 170. Although two rotational direction guide blocks 121 are provided as a set, the number of sets does not have to be two. Also, there may be only one rotational direction guide block 121. Meanwhile, the rotational direction guide rail 122 is fixed to the bottom plate 143 of the rotary table. This allows the base 170 to be rotated by driving the DD motor 141, which in turn rotates the vibration mechanism including the hexapod mechanism 110 above it.

[0041] According to the above configuration, the rotational direction guide block 121 of the rotational direction guide unit 120 can receive, on its line of action, the reaction forces that are generated when the actuators 170a to 170f operate the mounting table 160 and that are transmitted via the base 170. This prevents the reaction forces from generating a moment that could cause the motion platform to tip over, and makes it possible to stabilize the motion platform when the oscillating device is operating.

[0042] FIG. 5 is a schematic plan view showing the configuration of the motion platform 100 according to this embodiment, particularly the rotational direction guide unit 120, in plan view.

[0043] As shown in Fig. 5, the rotational direction guide unit 120 has two rotational direction guide unit blocks 121 arranged in close proximity to each other in a set, with a total of three sets (six blocks) provided on the rotational direction guide unit rail 122 corresponding to the fixed positions of the actuators 170a to 170f. These three sets of rotational direction guide unit blocks 121 are spaced apart from each other at positions that divide the circumference of the rotational direction guide unit rail 122 into three equal parts. As can be seen from Figs. 1, 4(a), and 4(b), these positions are behind the positions on the base 140 where the actuators 170a to 170f are fixed. This allows each rotational direction guide unit block 121 to bear the reaction force caused by the operation of the hexapod mechanism 110 evenly, preventing the motion platform 100 from tipping over.

[0044] In this embodiment, the rotation direction guide unit block 121 is provided on the base 140 at a position fixed to the ACT lower block 173, but if six actuators 170a to 170f are provided on the base 140 without using the ACT lower block, at least six rotation direction guide unit blocks 121 may be provided at positions on the back side of the base 140 corresponding to each of the actuators 170a to 170f.

[0045] In the above-described embodiment, the rotation mechanism is disposed below the hexapod mechanism of the vibration mechanism, and the rotation direction guide block 121 of the rotary table receives the reaction force from the actuator. However, the application of the present invention is not limited to this configuration. For example, the present invention can also be applied to a configuration in which a translation mechanism is disposed below the vibration mechanism without a rotation mechanism, or a configuration in which a translation mechanism is disposed below the vibration mechanism and a rotation mechanism is disposed below the translation mechanism. In this configuration, the base of the vibration mechanism is connected to the linear guide rail of the translation mechanism in a rolling or slidable manner using balls, corresponding to the locations on the base of the vibration mechanism where the actuators of the hexapod mechanism are connected during rotation. This allows the linear guide rail to receive the reaction force from each actuator along its line of action. Furthermore, each rotation direction guide block 121 is connected to the base 170 at equally spaced locations on the base 170. More specifically, each rotation direction guide block 121 is connected to the base 170 at three locations spaced approximately 120 degrees apart. If there are at least three connection points between the rotation direction guide block 121 and the base 170, the base 170 can be stably supported on the bottom plate 143 of the rotary table.

[0046] FIG. 6 is a side cross-sectional view taken along line VI-VI in FIG. 4(a) showing details of the rotational direction guide unit 120 of the motion platform 100 according to the embodiment of the present invention.

[0047] 6, the rotational direction guide unit blocks 121 of the rotational direction guide unit 120 are positioned near the linear motor guide 151b of the X-axis movement mechanism 151. The rotational direction guide unit blocks 121 rotate on the circular rotational direction guide unit rails 122 as the turntable 170 rotates. However, even during rotation, two sets of four of the six rotational direction guide unit blocks 121 are always positioned near the linear motor guides 151b of the X-axis movement mechanism 151. This allows the linear motor guides 151b of the X-axis movement mechanism 151 to bear the reaction force caused by the operation of the hexapod mechanism 110 supported by the rotational direction guide blocks 121, further preventing the motion platform 100 from tipping over.

[0048] FIG. 6 also shows how the DD motor 141 and the rotary table 170 are connected.

[0049] As shown in FIG. 6, the DD motor 141 and the rotary table 170 are connected to each other by a thin plate 142a. The DD motor 141 is composed of a rotary table connector 141a for connecting to the rotary table 170 and a motor 141b. The thin plate 142a is fixed to a fixed plate 142b with bolts in the rotational direction relative to the DD motor 141, but is fixed so as to be movable in the vertical direction. As a result, the elastic thin plate 142a transmits the rotational force of the DD motor 141 to the rotary table 170 but does not transmit vertical vibrations caused by the rotary table 170 to the DD motor 141. Since vertical vibrations are not transmitted to the DD motor 141, it is possible to prevent the DD motor 141 from being subjected to impacts that could cause damage. Furthermore, because the DD motor 141 and the rotary table 170 are directly connected by the thin plate 142a without a gear, energy loss is less than when a gear is used. Furthermore, the absence of a gear allows the rotary table 170 to be more compact.

[0050] Figure 7(a) is a schematic enlarged view showing the rotational direction guide unit 120 of the motion platform 100 according to an embodiment of the present invention, and Figure 7(b) is a schematic enlarged cross-sectional oblique view showing the engagement between the rotational direction guide unit block 121 and the rotational direction guide unit rail 122 of the rotational direction guide unit 120 shown in Figure 7(a) and the direction of the reaction force due to the operation of the hexapod mechanism 110.

[0051] As shown in FIG. 7(a), the rotational direction guide rail 122 is a rail with a horizontal H-shaped cross section. The rotational direction guide block 121 has a shape that matches the cross section of the rotational direction guide rail 122 and is provided with a recess 121a therein for receiving the upper protrusion 122a of the rotational direction guide rail 122. The rotational direction guide block 121 also has opposing protrusions 121b and 121c that fit into the intermediate recess 122b of the rotational direction guide rail 122. In this way, the rotational direction guide block 121 is fitted into and guided by the recess 121a and the protrusions 121b and 121c in the rotational direction guide rail 122. Therefore, when the base 170 rotates, the rotational direction guide block 121 rotates along the guide of the rotational direction guide rail 122. As a result, even if a reaction force due to the operation of the hexapod mechanism 110 is applied to the rotational direction guide block 121, the rotational direction guide block 121 can rotate without coming off the rotational direction guide rail 122. In this embodiment, multiple balls (not shown) are enclosed within the rotational direction guide block 121 and between the rotational direction guide block 121 and the rotational direction guide rail 122. These multiple balls are present so as to separate the contact surfaces between the recessed portion 121a of the rotational direction guide block 121 and the upper protrusion 122a of the rotational direction guide rail 122. These multiple balls can pass between the recessed portion 121a of the rotational direction guide block 121 and the upper protrusion 122a of the rotational direction guide rail 122 and move into the rotational direction guide block 121. Therefore, the upper surface of the upper protrusion 122a of the rotational direction guide rail 122 and the corresponding lower surface of the rotational direction guide block 121 form a rolling surface for the balls of the rotational direction guide block 121 and the rotational direction guide rail 122. The presence of these balls reduces friction between the rotational direction guide block 121 and the rotational direction guide rail 122. For example, an R Guide HCR type manufactured by THK Co., Ltd. can be used as this type of rotational direction guide (rotational direction guide block 121, rotational direction guide rail 122), but is not limited to this as long as it can form a rolling surface for the balls.Furthermore, as will be described in the next section, the rotational direction guide rail 122 can bear the reaction force caused by the operation of the hexapod mechanism 110 with the rolling surface of the upper balls. In other embodiments that do not include balls, the upper surface of the upper protrusion 122a of the rotational direction guide rail 122 and the corresponding lower surface of the rotational direction guide block 121 form a sliding surface between the rotational direction guide block 121 and the rotational direction guide rail 122. Furthermore, the rotational direction guide rail 122 can bear the reaction force caused by the operation of the hexapod mechanism 110 with the upper sliding surface.

[0052] 7(b), a reaction force due to the operation of the hexapod mechanism 110 is applied to the rotational direction guide rail 122 via the rotational direction guide block 121. The reaction force due to the operation of the hexapod mechanism 110 is applied to the upper surface of the rotational direction guide rail 122, in the tangential direction of the rotational direction guide rail 122.

[0053] Two actuators 170a-f, each capable of moving in a different direction, are attached to the back side of a pair of rotational direction guide blocks 121 via a base 170. Because the direction of the reaction force changes each time the direction of movement of the actuators 170a-f changes, reaction forces are applied from multiple directions to the rotational direction guide rail 122 to which the rotational direction guide block 121 is attached. In Figure 7(b), the reaction forces applied to each part of the rotational direction guide rail 122 due to the operation of the hexapod mechanism 110 are represented as a resultant force of the reaction forces applied from each direction at the center of gravity of the rotational direction guide block 121. The resultant force of the reaction forces applied from each direction is indicated by arrows A and B and the direction of rotation around each direction.

[0054] In this way, the reaction force due to the operation of the hexapod mechanism 110 is received by the rotational direction guide rail 122 via the rotational direction guide block 121 on the ball rolling surface or sliding surface, and because the rotational direction guide block 121 and the rotational direction guide rail 122 are fitted together, the base 170 can rotate without coming off the rotational direction guide rail 122. In other words, the rotational direction guide rail 122 and the rotational direction guide block 121 prevent the base 170 from moving radially on the rotational direction guide rail 122. Furthermore, the hexapod mechanism 110 and the mounting table 160 mounted on the base 170 can rotate using the base 170, and the reaction force due to the operation of the hexapod mechanism 110 is received by the rotational direction guide rail 122 on its sliding surface, preventing the motion platform 100 from tipping over.

[0055] According to the above-described configuration, the motion platform can be stabilized regardless of the reaction force of the actuator on the motion platform. [Explanation of symbols]

[0056] 100 Motion Platform 110 Hexapod mechanism 120 Rotational direction guide 121 Rotational direction guide block 122 Rotational guide rail 130 Air spring tandem mechanism 141 DD motor 142a thin plate 142b Fixed plate 143 Rotating table bottom plate 150 Translation mechanism 151 X-axis movement mechanism 151a Linear motor slider 151b Linear motor guide 151c Linear motor guide rail 152 Y-axis movement mechanism 152a Linear motor slider 152b Linear motor guide 152c Linear motor guide rail 160 Mounting table 170 base 170a, 170b, 170c, 170d Actuators 172 ACT Upper Block 173 ACT Lower Block

Claims

1. A motion platform, A vibration mechanism; With the base, a movement mechanism for moving the base in a predetermined direction, the movement mechanism having a guide member for the movement; Equipped with A motion platform characterized in that the guide member of the moving mechanism receives a reaction force due to the operation of the vibration mechanism.

2. The motion platform of claim 1 , wherein the movement mechanism comprises a rotation mechanism that rotates the base.

3. The motion platform according to claim 2 , wherein the rotation mechanism comprises a guide rail installed in a rotation direction of the base, and a guide block installed on the guide rail.

4. The motion platform of claim 3 , wherein the guide rails and the guide blocks are disposed between the base and a bottom plate.

5. The motion platform according to claim 4 , wherein the guide rail and the guide block are attached to the rear side of the surface of the base on which the vibration mechanism is attached.

6. The motion platform of claim 3 , wherein radial movement of the base is prevented by the guide rails and the guide blocks.

7. 2. The motion platform of claim 1, wherein the moving mechanism further comprises a translation mechanism, the translation mechanism comprising a guide rail and a guide block installed in a translation direction of the base, and the guide member is the guide rail of the translation mechanism.

8. The motion platform of claim 7 , wherein the guide member is the guide block of the translation mechanism.

9. 8. The motion platform of claim 7, wherein the translation mechanism comprises an X-axis movement mechanism and a Y-axis movement mechanism, where one direction of movement of the translation mechanism is an X-axis and a direction perpendicular thereto is a Y-axis.

10. The motion platform of claim 1 , wherein the base and motor are directly connected by a thin plate.

11. The motion platform of claim 1 , further comprising an auxiliary support device.

12. The motion platform according to claim 1 , wherein an actuator of the vibration mechanism is rotatably connected to a lower block on the base via a universal joint.

13. A driving simulator comprising a motion platform, The motion platform A vibration mechanism; With the base, a movement mechanism for moving the base in a predetermined direction, the movement mechanism having a guide member for the movement; Equipped with A driving simulator characterized in that a guide member of the movement mechanism receives a reaction force due to operation of the vibration mechanism.

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