Apparatus and corresponding method for simulating the operation of a land vehicle

Abstract

The device (10) for simulating the operation of a land vehicle comprises a base platform (11), a platform (12) on which a cab (13) can be placed, an upper platform (12), and a motion unit (14) attached to the base platform (11) and connected to the upper platform (12) to cause movement of the cab (13) in six degrees of freedom.

Description

[Technical Field]

[0001] The present invention relates to a device and a corresponding method for simulating the driving of land vehicles, such as cars, buses, vans, motorcycles or other similar or equivalent vehicles, according to six or more degrees of freedom. In particular, the device according to the invention is able to reproduce in a highly faithful manner any real driving state of one of the aforementioned vehicles along a predetermined route and in a driving mode determined by the driver. The present invention can also be used for driving training of specific personnel for specific activities and / or for simulating an unmanned driving experience for one or more occupants. [Background technology]

[0002] Various types of devices are known for simulating the operation of land vehicles. Generally, such devices comprise a base platform, which may consist of a floor or any floor plate, an upper platform located above the base platform, and a cab associated with the upper platform and in which the driver may be seated.

[0003] The base platform, if present, can be moved across the simulation surface in two linear directions X, Y and about a vertical axis Z by three linear actuators, as in the device described in US Pat. No. 5,649,291, or by appropriately alternatingly tensioned cables, as in the device described in US Pat. No. 5,649,291.

[0004] The cab typically comprises a seating element for the driver, control means such as a steering wheel, brake pedal, clutch, accelerator, and a projection screen onto which the driving environment in which the driver is immersed during the simulation is projected, and is connected to the base platform by a motion unit comprising a number of telescopic linear actuators.

[0005] Generally, the motion unit is defined by the kinematics of a hexapod formed by six separate telescoping linear actuators attached to a base platform, or by the kinematics formed by a smaller number of actuators.

[0006] Known simulation devices have several drawbacks, mainly related to issues such as kinematic dependencies between the degrees of freedom of the system, noise during operation of the device, and the overall large installation space compared to the space available for the simulation. Furthermore, known devices often have problems related to the dynamic response time of the system due to its limited stiffness.

[0007] Therefore, there is a need for an improved apparatus and corresponding method for simulating the operation of a land vehicle that can overcome at least one of the shortcomings of the prior art.

[0008] To achieve this, it is necessary to solve the technical challenge of improving the upper platform's motion unit. In particular, one of the objects of the present invention is to provide an apparatus for simulating the operation of a land vehicle that is able to guarantee a high degree of kinematic independence between the degrees of freedom of the system.

[0009] Another object of the present invention is to provide a device for simulating the operation of a land vehicle that ensures a wide range of movement of the upper platform without causing interference between the elements that make up the movement unit.

[0010] Another object of the invention is to provide a device for simulating the operation of a particularly rigid land vehicle, thus making it possible to guarantee high performance in terms of the dynamic response time of the system.

[0011] Another object of the present invention is to provide an apparatus for simulating the operation of a land vehicle which is quieter than known apparatus. Another object of the present invention is to provide an apparatus for simulating the operation of a land vehicle, which allows for optimal use of installation space for the simulation as well.

[0012] Another object of the invention is to improve a method for simulating the operation of a land vehicle, which is simple, reliable and realistic, especially with regard to the stresses acting on the driver's cab.

[0013] The applicant has conceived, tested and embodied the present invention to overcome the shortcomings of the prior art and to obtain these and other objects and advantages. [Prior art documents] [Patent documents]

[0014] [Patent Document 1] International Publication No. 2013 / 114179 [Patent Document 2] International Publication No. 2017 / 021323 Summary of the Invention

[0015] The invention is set forth and characterized in the independent claims, The dependent claims describe other features of the invention or variants on the main inventive idea. In accordance with the above objectives and in order to solve the above disclosed technical problem in a novel and original way and to achieve significant advantages compared to the state of the art, the device according to the invention for simulating the driving of a land vehicle comprises a base platform or floor plate, an upper platform on which a driver's cab can be placed, and a kinematic unit attached to the base platform and connected to the upper platform so as to cause movements of the driver's cab, advantageously in six degrees of freedom.

[0016] According to one aspect of the present invention, the exercise unit comprises: six connecting rod crank mechanisms capable of moving in a horizontal motion plane and connected to respective motors mounted on the base platform; six rigid rods connected to corresponding ones of the connecting rod crank mechanisms via first base or lower ends of the rigid rods and to the upper platform via opposite second upper ends using respective first and second joints; and a curved or linear guide means attached to the base platform and located on a guide plane parallel to the plane of movement, the first joint of the rod being slidably supported on the curved or linear guide means.

[0017] As mentioned above, a base platform should be understood as any kind of floor plate or simply a floor. By doing so, at least the following advantages are achieved:

[0018] a. Virtually all the available volume of the base platform is utilized, while the curved guide means make it possible to occupy a limited space, and the equal length of the tracks makes the device particularly compact.

[0019] b. Achieving kinematic independence between the degrees of freedom of movement of the system: Indeed, torques applied to the motors allow the upper platform to move in six degrees of freedom about its center point in an independent manner, within the naturally allowed physical limits that characterize the motion unit.

[0020] c. Linear actuators or similar means that generate noise and require maintenance and / or replacement over time are no longer used, limiting the friction and therefore noise and wear involved.

[0021] According to another aspect of the invention, the planes of movement include a first plane of movement and a separate second plane of movement. According to another aspect of the invention, the first and second movement planes are parallel to each other and are located at different heights relative to a reference plane of the base platform.

[0022] According to another aspect of the present invention, two adjacent connecting rod crank mechanisms can be moved on a first plane of movement and a separate second plane of movement, which are parallel to each other and located at different heights relative to the reference plane of the base platform.

[0023] According to a variant of the invention, the movement planes are coincident, in particular they are parallel to one another and are arranged at the same height relative to the reference plane of the base platform. According to another aspect of the invention, the guide planes include a first guide plane and a separate second guide plane.

[0024] According to another aspect of the invention, the first and second guide planes are parallel to each other and are disposed at different heights relative to a reference plane of the base platform. According to another aspect of the invention, the first joints of the rods connected to adjacent connecting rod crank mechanisms are slidingly supported on respective circular guide means located on a first guide plane and a separate second guide plane which are parallel to each other and located at different heights relative to the reference plane of the base platform.

[0025] According to a variant of the invention, the guide surfaces are coincident, in particular the guide planes are parallel to one another and are arranged at the same height relative to the reference plane of the base platform. According to another aspect of the invention, the first joints are connected to corresponding slides mounted on curvilinear or linear guide means and connected to respective connecting rod crank mechanisms.

[0026] According to another aspect of the invention, the guide means may be curved. According to another aspect of the invention, the guide means comprises a pair of rails each defining a respective planar circular track.

[0027] According to a variant of the invention, the guide means may be straight. According to another aspect of the invention, the guide means may comprise six separate additional rails each defining a respective flat linear track.

[0028] According to another aspect of the invention, six separate additional rails may be advantageously arranged according to a hexagonal pattern. According to another aspect of the invention, the motor may be angularly spaced relative to a center point of the base platform.

[0029] According to variations of the invention, the motors may be angularly spaced from the center point of the base platform in different ways. According to another aspect of the invention, the motors are configured to generate rotational motion about respective axes of rotation that are parallel and substantially perpendicular to one another.

[0030] According to another aspect of the invention, the rotation axes of two adjacent motors are located at different distances from the center point. Some variations include an arrangement in which one or more motors are stacked on top of each other and therefore have coaxial rotation axes, or an arrangement in which the motors are all located the same distance from the center point and therefore have rotation axes arranged on the same circumference with the center point as their center.

[0031] According to another aspect of the invention, the motors are rotary electric motors that can be driven independently of each other and operated by the control unit of the device based on command actions given by a user or a preset simulation program.

[0032] According to another aspect of the invention, the motor is a rotary electric motor having a stator and a rotor. According to another aspect of the invention, a brake unit may advantageously be associated with each of the motors.

[0033] According to another aspect of the invention, each brake unit may be mechanical. According to another aspect of the invention, each mechanical brake unit may include at least one interference member configured to generate pressure on a rotating portion of the respective motor.

[0034] In accordance with another aspect of the invention, the interference member may be or may include a brake caliper or other similar element. According to a variant of the invention, each brake unit may be of the magnetic type.

[0035] Some embodiments of the present invention also relate to a method for simulating the operation of a land vehicle, in which a base platform is placed on a mounting surface, and a driver's cab installed on an upper platform is moved by a motion unit attached to the base platform.

[0036] According to one aspect of the invention, the motion unit determines both linear translational and rotational movements of the cab relative to the axes (x, y, z) of a set of three orthogonal Cartesian axes integral with the base platform by coordinated selective actuation of six motors which move respective connecting rod crank mechanisms in a horizontal motion plane, each rigid rod being connected to the horizontal motion plane via a first lower end of the rigid rod and to the upper platform via an opposite second upper end of the rigid rod by means of a first joint and a second joint, respectively, the first joint sliding on a curvilinear or linear guide means attached to the base platform and lying in a guide plane parallel to the motion plane.

[0037] These and other aspects, features and advantages of the present invention will become apparent from the following description of embodiments, given by way of non-limiting example with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0038] [Figure 1]1 is a three-dimensional view of an apparatus for simulating the driving of a land vehicle according to the invention; [Figure 2] FIG. 2 is a three-dimensional view of the device of FIG. 1 without the operator's cab. [Figure 3] FIG. 3 is a top view of FIG. 2. [Figure 4] 3 is a side view of FIG. 2 with the base platform and upper platform shown schematically in dashed lines. [Figure 5] 3 is a three-dimensional view of another embodiment of the device for simulating the operation of a land vehicle according to the invention; [Figure 6] 3 is a three-dimensional view of another embodiment of the device for simulating the operation of a land vehicle according to the invention; [Figure 7] FIG. 7 is a side view of FIG. [Figure 8] FIG. 1 shows a three-dimensional view of a motor with a corresponding brake unit. DETAILED DESCRIPTION OF THE INVENTION

[0039] The inventor must make it clear that the expressions and terms used in this specification, as well as the figures of the accompanying drawings and the manner in which they are described, only have the function of better illustrating and explaining the invention, the purpose of which is to provide a non-limiting example of the invention itself, the scope of protection of which is defined by the claims.

[0040] For ease of understanding, the same reference numerals have been used, where possible, to identify identical common elements in the figures. It will be understood that elements and features of one embodiment may be conveniently combined or incorporated in other embodiments without further clarification.

[0041] Referring to FIG. 1, an apparatus 10 according to the present invention for simulating the operation of a land vehicle comprises a substantially flat base platform 11, a similarly substantially flat upper platform 12, and a driver's cab 13 mounted on the upper platform 12.

[0042] As mentioned above, the base platform 11 may be understood as the same floor on which the device 10 is located, or any resting floor plate. The device 10 may also be equipped with a projection screen (not shown) located in front of the driver's cab 13 and onto which the driving environment is projected to immerse the user during the simulation.

[0043] The projection screen can be of any size, with no limitations on height and / or angular extent. Additionally, the projection screen may be fixed or movable.

[0044] The cab 13 may comprise a frame that at least partially replicates the passenger compartment of a land vehicle, with seats and user control means such as a steering wheel, pedals, and an instrument panel mounted thereon, not shown.

[0045] The apparatus 10 also comprises a kinematic unit 14 mounted on the base platform 11 and connected to the upper platform 12 for determining both linear translational and rotational movements of the cab 13 relative to axes or directions x, y, z of a set of three orthogonal Cartesian axes (x, y, z) integral with the base platform 11. In particular, in the specific field of vehicle simulators, rotation of the cab 13 in a first direction x is called roll, rotation in a second direction y is called pitch and rotation in a third direction z is called yaw.

[0046] Thus, the device 10 allows for the simulation of driving a land vehicle in at least six degrees of freedom. According to an embodiment of the present invention, and referring to Figures 2 to 8, the movement unit 14 comprises six connecting rod crank mechanisms 15, which can be moved on horizontal movement planes M1, M2 (Figure 4) and are connected to respective motors 16 mounted on the base platform 11.

[0047] The motors 16 are different and independent from each other. The six inextensible rigid rods 19 are advantageously, but not necessarily, all of the same length and are connected via their first lower or base ends 19a to corresponding ones of the connecting rod crank mechanisms 15 and via their opposite second upper ends 19b to the upper platform 12 using first joints 21 and second joints 22, allowing movement of the upper platform 12 by movement generated by the motors 16 and transmitted to the connecting rod crank mechanisms 15.

[0048] As mentioned above, the rods 19 can have the same length or different lengths. The rod 19 has a linear development and is slidably supported on a guide means 23 corresponding to its first joint 21 .

[0049] The guide means may be curved (FIGS. 1 to 5) or straight (FIGS. 6 and 7). The guide means 23 is attached to the base platform 11 and lies on guide planes G1, G2 (FIGS. 4 and 7) parallel to the movement planes M1, M2 on which the connecting rod crank mechanism 15 is movable.

[0050] The curvilinear guide means 23, as will be explained in more detail below, is shown here as two concentric circles, one having a larger radius and the other a smaller radius, on which the ends of the first set of three connecting rod crank mechanisms 15 and the ends of the second set of three connecting rod crank mechanisms 15 can move, respectively.

[0051] It should be understood that instead of a circumference, the guide means 23 may also be represented by an arc or a circular segment, or by a curved line segment, depending on the required movement of the connecting rod crank mechanism 15 .

[0052] According to an alternative embodiment, which will be better explained below, the guide means 23 may be linear and thus essentially defined by linear segments or sections, over each of which one end of the connecting rod crank mechanism 15 can be moved, respectively (FIG. 6).

[0053] For example, based on user command actions or a preset simulation program, the movement of the connecting rod crank mechanisms 15, driven in a coordinated manner by motors 16 operated by the control unit of the device 10, can determine the sliding of the lower ends 19a of the rods 19 along the curved or linear guide means 23, causing the lower ends of the rods to tilt in space relative to the upper platform 12, and therefore undergo corresponding displacements and rotations about the axes x, y, z of a set of three orthogonal Cartesian axes (x, y, z).

[0054] To allow for interference-free movement over the maximum range of motion, two adjacent connecting rod crank mechanisms 15 can each move in a first plane of movement M1 and a separate second plane of movement M2.

[0055] The first movement plane M1 and the second movement plane M2 are parallel to each other and substantially horizontal. For example, with reference to FIG. 4, the first movement plane M1 and the second movement plane M2 may be located at different heights relative to the reference plane 17 of the base platform 11, for example.

[0056] It should be understood that adjacent connecting rod crank mechanisms 15 can be moved, for example, on the same movement plane M1, M2. According to other embodiments, for example, referring to Figure 7, the first movement plane M1 and the second movement plane M2 can actually be located at the same height relative to the reference plane 17 of the base platform 11. In this case, the first moving table M1 and the second moving table M2 are coincident.

[0057] Similarly, a first joint 21 provided at the lower end 19a of the rod 19 connected to the adjacent connecting rod crank mechanism 15 is slidably supported on respective curved or linear guide means 23 located on a first guide plane G1 and on a separate second guide plane G2.

[0058] The first guide plane G1 and the second guide plane G2 are parallel to each other and substantially horizontal. For example, referring to FIG. 4, the first guide plane G1 and the second guide plane G2 may be located at different heights relative to the reference plane 17 of the base platform 11, for example.

[0059] It should be understood that the first joint 21 may be movable on respective guide means 23 which may lie on the same guide plane G1, G2. According to other embodiments, for example with reference to Figure 7, the first guide plane G1 and the second guide plane G2 may in fact be arranged at the same height, for example with respect to the reference plane 17 of the base platform 11. In this case, the first guide surface G1 and the second guide surface G2 are coincident.

[0060] According to some embodiments, the motor 16 is mounted on a flat, substantially horizontal reference surface or base 17 . The reference surface 17 is the bottom surface of the base platform 11 .

[0061] The reference surface 17 may be defined by a flat wall. In the example described here, the base platform 11 is substantially disc-shaped.

[0062] The motor 16 is angularly spaced relative to a center point C of a reference plane 17 (FIG. 3). In the example where the reference surface 17 has a circular shape, the center point C may correspond to the center of the circumference. The motors 16 may, but need not, be equally angularly spaced, in this particular case the angular spacing being equal to 60°.

[0063] Two or more motors 16 may be arranged on top of each other or according to other mutual geometries. The motors 16 are configured to generate rotational motion about respective substantially vertical axes of rotation V.

[0064] Motor 16 is preferably a rotary electric motor having a stator and a rotor. The rotation axis V of the motor 16 is substantially perpendicular to the reference plane 17 and is parallel to each other.

[0065] In particular, each motor 16 may have its own drive shaft 18 rotatable about a corresponding axis of rotation V and connected to a respective connecting rod crank mechanism 15 .

[0066] Each connecting rod crank mechanism 15 comprises, in a manner known per se, a first element, or crank 15a, connected to the drive shaft 18 of the respective motor 16, and a second element, or connecting rod 15b, connected to the end of the first crank element 15a by a cylindrical joint having an axis of rotation perpendicular to the planes of movement M1, M2.

[0067] The rotation axes V of two adjacent motors 16 are located at different distances L1 and L2 from the center point C. For example, a pair of adjacent motors 16 may have their respective axes V at a first distance L1 and a second distance L2, as shown in FIG. 3, where the distances are different and the first distance L1 is greater than the second distance L2.

[0068] According to a possible embodiment, the rotation axes V of the motors 16 are all located at the same distance from the center point C. In this case, each motor 16 is located with its own rotation axis V arranged on the same circumference around the center point C.

[0069] According to another possible embodiment, two or more adjacent motors 16 may be coaxial, so that their respective axes of rotation V coincide. According to some embodiments, each of the motors 16 may be associated with a brake unit 34, shown in FIG.

[0070] The brake units 34 may be mechanical. Each mechanical brake unit 34 includes at least one interference member 34a configured to generate pressure on the rotating part 16a of the respective motor 16. The interference member 34a is, for example, a brake caliper.

[0071] According to a possible variant, each brake unit 34 may be of the magnetic type or a combination of mechanical and magnetic brakes. According to some embodiments, the curvilinear guide means 23 comprises a first rail 24 and a separate second rail 25 arranged on a first guide plane G1 and on a second guide plane G2, respectively (FIG. 4).

[0072] The first guide plane G1 is located at a first height H1 from the reference plane 17, which is greater than a second height H2 at which the second guide plane G2 is located (FIG. 4). Referring to Figures 2 and 3, in addition to the reference surface 17, the base platform 11 is provided with a first support surface 26 on which the first rail 24 is mounted and a second support surface 27 on which the second rail 25 is mounted, and these support surfaces are defined on corresponding wall portions of the base platform 11.

[0073] The first rail 24 and the second rail 25 are circular curved rails that define a circular track having a first radius R1 and a different second radius R2 measured relative to a center point C of the reference plane 17 (FIG. 3).

[0074] 3, the first radius R1 is greater than the second radius R2, however, structural configurations in which the relationship between the radii R1 and R2 is reversed are not excluded. According to some embodiments, the first joints 21 of the rods 19 connected to adjacent connecting rod crank mechanisms 15 are slidingly supported on respective separate rails 24, 25.

[0075] According to an alternative embodiment, the linear guide means 23 comprises six separate additional rails 32 each defining a respective flat linear track (FIG. 6). The additional rails 32 are advantageously arranged according to a hexagonal pattern, which may have open sides, i.e. the sides do not have to be connected to each other, but may be suitably spaced apart from each other, in any case maintaining the hexagonal shape, which does not have to be regular.

[0076] The additional rail 32 is advantageously arranged on the same guide surface G1, G2, where the first guide plane G1 and the second guide plane G2 coincide and can be positioned at the same height relative to the reference plane 17 (FIG. 7).

[0077] The guide planes G1, G2 in which the additional rails 32 lie can advantageously be defined by a single support surface 33. This support surface 33 is essentially parallel to the reference surface 17 and is arranged above the reference surface 17. The support surface 33 can be defined by a flat wall.

[0078] All of the additional rails 32 have essentially the same length or extension, which serves to allow sufficient movement of the lower ends 19a of the rods 19 to provide all the necessary movement relative to the upper platform 12.

[0079] The first joints 21 of the rods 19 are slidingly supported on respective separate additional rails 32, i.e. each additional rail 32 slidingly supports only one of the first joints 21.

[0080] According to some embodiments, a first joint 21 provided at the lower end 19a of the rod 19 is associated with a respective slide 28, 29 (FIGS. 2 to 4). In the case of the curved guide means 23, the slides 28, 29 can be mounted to slide on the first rail 24 or on the second rail 25 according to the criteria described above. Thus, three rods 19 are associated with slides 28 that slide on respective independent, non-interfering segments of the first rail 24, and the remaining three rods 19 are associated with slides 29 that slide on respective independent, non-interfering segments of the second rail 25.

[0081] In the case of the linear guide means 23, the slide, uniquely identified by the reference number 28, can be mounted to slide on an additional rail 32 (FIGS. 6, 7). According to some embodiments, and by way of non-limiting example, the first joint 21 and the second joint 22 are spherical joints. Alternatively, the first joint 21 and the second joint 22 may be universal joints. Furthermore, the two ends 19a, 19b of the rod 19 may be associated with different types of joints.

[0082] Furthermore, the sliding portions 28 and 29 are connected to the corresponding connecting rod crank mechanisms 15 . The connecting rod crank mechanism 15 may be provided with a terminal arm 30 (FIGS. 2 to 4) connected to slides 28, 29 so as to reach a height H1 of the guide plane G1 on which the first rail 24 is located and a height H2 of the guide plane G2 on which the second rail 25 is located. The arm 30 is attached to the terminal end of the connecting rod 15b.

[0083] 2 and 3, each of the arms 30 connected to the slides 28 arranged on the first rail 24 is inserted into a corresponding curved slot 31 made through the wall on which the first support surface 26 is defined. In this case, the curved slot 31 preferably has a development that substantially corresponds to the maximum travel of the slides 28 on the first rail 24 so as to determine a possible emergency travel stop that prevents collisions between the rods 19 as well as between the connecting rod-crank mechanisms 15.

[0084] According to some embodiments, the base platform 11 may be stably mounted to a floor plate having an enclosed flat resting surface, which may be the floor of a building, another platform, or a suitably constructed plate.

[0085] In another solution, as mentioned above, the base platform 11 may be the floor itself. According to other embodiments, the device 10 may comprise a separate movement unit, for example a linear actuator or a cable with appropriate and selective tension, which is associated with the base platform 11 and configured to determine the movement of the base platform 11.

[0086] In this way, the modular solution allows the base platform 11 to move both in linear translation about axes X and Y and in rotation about axis Z, thereby providing an additional degree of freedom of movement for the device. In this case, the movement of the cab 13 can occur in nine degrees of freedom, but three of these degrees of freedom are redundant, as they can overlap with the same movements generated by the motion unit 14 relative to the cab 13.

[0087] Those skilled in the art will readily appreciate that additional motion units, such as hexapod kinematics, may also be combined with the apparatus 10 described above, without limiting generality, to determine additional redundant movements for the cab 13 and improve the driving experience of the simulated land vehicle.

[0088] The operation of the device 10 described so far, corresponding to the method according to the invention, makes it possible to determine both linear translational and rotational movements of the cab 13 relative to the axes x, y, z of a set of three orthogonal Cartesian axes integral with the base platform 11 through the coordinated selective actuation of the six rotary motors 16.

[0089] The rotation of the drive shaft 18 to which the connecting rod crank mechanism 15 is connected in turn determines the inclination of the corresponding rod 19, which is mounted by a first joint 21 to slide on rails 24, 25 or on an additional rail 32 and is connected by a second joint 22 to the upper platform 12, thereby determining the desired combined rotational and translational movement of the cab 13.

[0090] It will be apparent that modifications and / or additions of components or steps may be made to the apparatus 10 and method for simulating the operation of a land vehicle as hereinbefore described without departing from the field and scope of the present invention, as defined by the claims.

[0091] Furthermore, although the present invention has been described with reference to some specific examples, it will be clear to those skilled in the art that other equivalent forms of an apparatus and corresponding method for simulating the operation of a land vehicle can be achieved having the features as set out in the claims and therefore all falling within the scope of protection defined by the claims.

[0092] In the claims, the sole purpose of the reference signs in parentheses is to facilitate reading and they shall not be considered as a limiting factor with respect to the scope of protection defined by the claims.

Claims

1. 1. An apparatus (10) for simulating the operation of a land vehicle, comprising: a base platform (11); an upper platform (12) on which a driver's cab (13) can be placed; and a movement unit (14) attached to the base platform (11) and connected to the upper platform (12) to cause movement of the driver's cab (13), The movement unit (14) six connecting rod crank mechanisms (15) movable on a horizontal movement plane (M1, M2) and connected to respective motors (16) mounted on said base platform (11); six rigid rods (19) connected via their first lower ends (19a) to corresponding ones of the connecting rod crank mechanisms (15) and via their opposite second upper ends (19b) to the upper platform (12) using respective first joints (21) and second joints (22); a guide means (23) attached to the base platform (11) and located on a guide plane (G1, G2) parallel to the movement plane (M1, M2), the first joint (21) of the rod (19) being slidably supported on the guide means (23); An apparatus comprising:

2. 2. The apparatus (10) according to claim 1, characterized in that the movement planes include a first movement plane (M1) and a separate second movement plane (M2) that are parallel to each other and located at different heights relative to a reference plane (17) of the base platform (11).

3. 3. The device (10) according to claim 2, characterized in that two adjacent connecting rod crank mechanisms (15) can be moved on the first plane of movement (M1) and on the separate second plane of movement (M2), respectively.

4. 2. The device (10) according to claim 1, characterized in that the plane of movement (M1) and the plane of movement (M2) are coincident.

5. 2. The device (10) according to claim 1, characterized in that the guide planes comprise a first guide plane (G1) and a separate second guide plane (G2) which are parallel to each other and arranged at different heights relative to a reference plane (17) of the base platform (11).

6. 6. The device (10) according to claim 5, characterized in that the first joints (21) of the rods (19) connected to adjacent connecting rod crank mechanisms (15) are slidingly supported on respective guide means (23) located on the first guide plane (G1) and on the separate second guide plane (G2).

7. 2. The device (10) according to claim 1, characterized in that said guide plane (G1) and said guide plane (G2) are coincident.

8. The device (10) according to any one of claims 1 to 7, characterized in that the first joint (21) is connected to a corresponding slide (28, 29) attached to the guide means (23) and connected to the respective connecting rod crank mechanism (15).

9. Device (10) according to any one of claims 1 to 8, characterized in that said guide means (23) are curved.

10. 10. Apparatus (10) according to claim 9, characterized in that said guide means (23) comprise a pair of rails (24, 25) each defining a respective flat circular track.

11. Device (10) according to any one of claims 1 to 8, characterized in that said guiding means (23) are straight.

12. 12. Apparatus (10) according to claim 11, characterized in that said guide means (23) comprise six separate additional rails (33) each defining a respective flat linear track.

13. 13. The device (10) according to claim 12, characterized in that said six separate additional rails (33) are arranged according to a hexagonal pattern.

14. The device (10) according to any one of the preceding claims, characterized in that the motor (16) is angularly spaced relative to a centre point (C) of the base platform (11).

15. 15. The apparatus (10) according to any one of claims 1 to 14, characterized in that the motors (16) are configured to generate rotational movement about respective rotation axes (V) that are parallel and substantially perpendicular to one another.

16. 16. Device (10) according to claims 14 and 15, characterized in that the rotation axes (V) of two adjacent motors (16) are located at different distances (L1, L2) relative to the centre point (C).

17. The device (10) according to any one of claims 1 to 16, characterized in that the motors (16) are rotary electric motors that can be driven independently of each other and operated by a control unit of the device (10) based on command actions given by a user or a preset simulation program.

18. The device (10) according to any one of the preceding claims, characterized in that the motor (16) is a rotary electric motor comprising a stator and a rotor.

19. Device (10) according to any one of the preceding claims, characterized in that a brake unit (34) is associated with each of said motors (16).

20. 20. The device (10) according to claim 19, characterized in that each brake unit (34) is of the mechanical type and comprises at least one interference member (34a) configured to generate pressure on a rotating part of the respective motor (16).

21. 21. The device (10) of claim 20, wherein the interference member (34a) is a brake caliper.

22. 20. Device (10) according to claim 19, characterized in that each brake unit (34) is of the magnetic type.

23. A method for simulating the operation of a land vehicle, comprising: placing a base platform (11) on a resting surface; and moving a cab (13) mounted on an upper platform (12) by a motion unit (14) attached to the base platform (11), wherein the motion unit (14) moves the cab (13) relative to axes (x, y, z) of a set of three orthogonal Cartesian axes integral with the base platform (11) by coordinated and selective driving of six motors (16) which move respective connecting rod crank mechanisms (15) on horizontal motion planes (M1, M2). 13), characterized in that each rigid rod (19) is connected to the horizontal movement plane (M1, M2) via its first lower end (19a) and to the upper platform (12) via its opposite second upper end (19b) by means of a first joint (21) and a second joint (22), respectively, and the first joint (21) slides on a guide means (23) attached to the base platform (11) and lies on a guide plane (G1, G2) parallel to the movement plane (M1, M2).

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