Simulator equipped with dynamic vibration absorber

Abstract

This invention provides a simulator that has vibration damping capabilities for displays. [Solution] The simulator 10 comprises a display 200, a display stand 201 that supports the display 200, and a dynamic vibration absorber 300 with one end fixed to the display stand 201.

Description

Technical Field

[0001] The present invention relates to a simulator, and more specifically to a simulator provided with a dynamic vibration absorber for vibrations of a display that displays a situation visually recognized by a driver in a cockpit during driving.

Background Art

[0002] As a simulator of this type, Patent Document 1 describes a simulator provided such that the positional relationship between the display and the cockpit is fixed so that the display can move in conjunction with the movement of the cockpit. This allows a driver seated in the cockpit to simulate driving while obtaining visual information through a simulated vehicle window by visually recognizing the display.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] By the way, in a simulator like that disclosed in Patent Document 1, when the cockpit is actuated, unintended vibrations may be applied to the display.

[0005] Accordingly, an object of the present invention is to provide a simulator having vibration damping performance for a display.

Means for Solving the Problem

[0006] To achieve the above object, the present invention is characterized by comprising: a display; a display frame that supports the display; and a dynamic vibration absorber having one end fixed to the display frame.

Effect of the Invention

[0007] With the above configuration, unintended vibrations can be suppressed. [Brief explanation of the drawing]

[0008] [Figure 1] Figures 1(a) and 1(b) are a side view and a perspective view, respectively, of a simulator according to an embodiment of the present invention. [Figure 2] Figures 2(a) and 2(b) are exploded side view and exploded perspective view of a simulator according to an embodiment of the present invention. [Figure 3] Figures 3(a) and 3(b) are perspective and side views of a hexapod mechanism according to an embodiment of the present invention. [Figure 4] Figure 4 is a perspective view of a translation mechanism according to an embodiment of the present invention. [Figure 5] Figures 5(a) and (b) are perspective views of a rotating mechanism according to an embodiment of the present invention. [Figure 6] Figures 6(a) and 6(b) are a perspective view and a front view of a display stand according to an embodiment of the present invention. [Figure 7] Figures 7(a) and 7(b) show the rotational operation of the simulator according to an embodiment of the present invention. [Figure 8] Figure 8 is a perspective view showing the dynamic vibration absorber of the simulator according to the first embodiment. [Figure 9] Figure 9 is a cross-sectional view showing the dynamic vibration absorber of the simulator according to the first embodiment. [Figure 10] Figure 10 is an explanatory diagram showing the vibration model of the simulator according to the first embodiment. [Figure 11] Figure 11 is an explanatory diagram of a modified example of the dynamic vibration absorber of the simulator according to the first embodiment. [Figure 12] Figure 12 is a side view showing the vibration of the display stand during rotation according to the first embodiment. [Figure 13] Figure 13 is a graph showing the vibration of the display stand in a comparative example of the simulator. [Figure 14] FIG. 14 is a graph showing shaking of a display mount of the dynamic vibration absorber of the simulator according to the first embodiment. [Figure 15] FIG. 15 is a perspective view showing the simulator according to the first embodiment. [Figure 16] FIG. 16 is a top view showing the simulator according to the first embodiment. [Figure 17] FIG. 17 is a perspective view of the simulator according to the second embodiment. [Figure 18] FIG. 18 is a rear view of the simulator according to the second embodiment. [Figure 19] FIG. 19 is a perspective view of the dynamic vibration absorber of the simulator according to the second embodiment. MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited by this embodiment.

[0010] (First Embodiment) Figures 1(a) and 1(b) are respectively a side view and a perspective view of a driving simulator 10 according to a first embodiment of the present invention. Figures 2(a) and 2(b) are respectively an exploded side view and an exploded perspective view of the driving simulator shown in Figure 1. As shown in these figures, the driving simulator (hereinafter also simply referred to as simulator) 10 includes a cockpit 105 and a drive mechanism 100 for driving the cockpit 105. Furthermore, the simulator 10 includes a plurality of displays 200 interlocked with the cockpit 105, a display gantry 201 that holds the displays, and a plurality of dynamic vibration absorbers 300 that absorb vibration of the displays 200. Provision of the plurality of displays 200 expands the range in which images can be projected during simulation, and enhances the driver's sense of immersion. Furthermore, attaching a plurality of dynamic vibration absorbers 300 enables suppression of vibration in a plurality of directions (the mounting directions of the dynamic vibration absorbers 300). In the present embodiment, three displays 200 and three dynamic vibration absorbers 300 are provided. Furthermore, the dynamic vibration absorbers 300 of the present embodiment are arranged on the rear surface of the display on the display gantry 201.

[0011] The drive mechanism 100 includes a movable part and a base part. The movable part includes a hexapod mechanism 110 (vibration excitation mechanism) that swings the cockpit 105, and the base part includes a rotation mechanism 130 arranged below the hexapod mechanism 110, and translation mechanisms 150 arranged below the rotation mechanism 130 and each capable of translation in two mutually orthogonal directions. The drive mechanism 100 is arranged between a mounting table 160 connected to the upper side of the hexapod mechanism 110 and a lower portion 154 on the lower side of the translation mechanism 150.

[0012] The rotation mechanism 130 has a rotatable rotary table 170, which allows the entire hexapod mechanism 110 to move in the rotational direction. Furthermore, the hexapod mechanism 110 is supported by the translation mechanism 150 via the rotation mechanism 130 equipped with the rotary table 170, thereby allowing it to move in two orthogonal directions. As described above, the simulator 10 operates the cockpit 105 by having the hexapod mechanism 110, the rotation mechanism 130 with the rotary table 170, and the translation mechanism 150 operate under control according to the desired movement of the cockpit 105.

[0013] This embodiment relates to a simulator used for automobile simulators, but is not limited to this. For example, it can be used for mobile simulators such as railway vehicles and aircraft, as will be clear from the following description.

[0014] <Hexapod mechanism> Figures 3(a) and 3(b) are perspective and side views, respectively, of the hexapod mechanism 110 (vibration mechanism) shown in Figure 1. As shown in Figures 3(a) and 3(b), the hexapod mechanism 110 has actuators 170a, 170b, 170c, 170d, 170e (not shown), and 170f (not shown) arranged along the circumferential direction surrounding the mounting base 160, and are rotatably connected to the mounting base 160. Similarly, actuators 170a, 170b, 170c, 170d, 170e (not shown), and 170f (not shown) are rotatably connected to the rotary table 170 along the circumferential direction surrounding the rotary table 170. These six actuators are in the form of an electric motor and ball screw, a linear actuator, or a hydraulic cylinder, and the rod connected to the piston retracts axially relative to the cylinder, allowing the axial force due to the retraction to be applied to the mounting base 160.

[0015] <Translation mechanism> Figure 4 is a schematic perspective view showing the translation mechanism 150 shown in Figure 1. As shown in Figure 4, if one direction of movement of the translation mechanism 150 is defined as the X-axis and the direction perpendicular to it as the Y-axis, the translation mechanism 150 is configured to have a first movement mechanism (X-axis table) 151 for movement in the X-axis direction of the cockpit and a second movement mechanism (Y-axis table) 152 for movement in the Y-axis direction. The first movement mechanism 151 can move the rotary table 170 (and further, the vibration mechanism such as the hexapod mechanism 110) in the X-axis direction. The second movement mechanism 152 can move the first movement mechanism 151 (and further, the rotary mechanism 130 such as the rotary table 170 and the hexapod mechanism 110 (vibration mechanism)) in the Y-axis direction.

[0016] <Rotation mechanism> Figures 5(a) and (b) are perspective views showing the rotation mechanism 130. Figure 5(a) shows the hexapod mechanism 110 together with the rotary table 170, while Figure 5(b) shows the hexapod mechanism 110 without the rotary table 170. The rotary table 170 rotates by being connected to a rotary drive unit 132, which is located on its underside and rotated by a motor (not shown). In the rotation mechanism 130, the base 131 is the non-rotating part other than the rotary drive unit 132 and constitutes the upper base of the translation mechanism 150. As shown in Figure 5(a), the rotary table 170 can be rotated by the motor, and as a result, the hexapod mechanism 110 (vibration mechanism) above it can be rotated.

[0017] <Display stand structure> Figures 6(a) and (b) are perspective and front views, respectively, showing the structure of the display stand 201. The display stand 201 comprises a stand 220 with a structure in which beam members in the vertical, horizontal, and intersecting vertical and horizontal directions are interconnected, and a rail section 230 that slidably supports the holding section 240 of the stand 220.

[0018] The frame 220 includes a holding portion 240 for holding the display 200, a foot portion 250 of the frame 220 that is fixed to the rotary table 170 of the rotation mechanism 130, and a connecting portion 260 for connecting to the rail portion 230. The display 200 is positioned so that the screen of the display 200 faces the direction of the rotation axis of the rotation by the rotation mechanism 130. There may be multiple displays 200 held by the frame 220, and the multiple displays 200 are arranged in a line along the arc-shaped holding portion 240.

[0019] The legs 250 of the frame 220 are connected to the rotary table 170 of the rotation mechanism 130, thereby enabling the frame 220 to rotate and move together with the cockpit 105 and the hexapod mechanism 110 as the rotation of the rotation mechanism 130.

[0020] As can be seen from Figure 6(b), the rail connection portion 260 of the frame 220 is positioned at the center of the frame 220. In the initial position, the connection portion 260 is positioned at the center of the rail portion 230 and is slidably connected to the rail portion 230.

[0021] Figures 7(a) and 7(b) show the rotational operation of a simulator according to an embodiment of the present invention. As shown in Figure 1(b), in the initial position of the simulator 10, the rail connection portion 260 of the frame 220 is positioned at the center of the rail 270. In Figure 7(a), the simulator 10 rotates 15° clockwise from the initial position, and in Figure 7(b), it rotates 15° counterclockwise from the initial position. As shown in Figures 7(a) and 7(b), when the rotary table 170 rotates by the rotation mechanism 130, the holding portion 240 of the frame 220 above the rail portion 230 slides along the rail 270 and rotates in the same way as the vibration mechanism 110 and the cockpit 105. The rail connection portion 260 is slidable to the end of the rail 270.

[0022] <Dynamic vibration absorber> Figure 8 is a perspective view showing a dynamic vibration absorber of a simulator according to the first embodiment. Figure 9 is a cross-sectional view showing a dynamic vibration absorber of a simulator according to the first embodiment. In the present invention, the dynamic vibration absorber 300 includes a weight 301, four guide sections 302 that guide the weight 301, two shafts 303 that support the weight 301, a pair of springs 304 which are elastic members with one end connected to the weight 301, a pair of spring guides 305 that guide the springs 304, and blocks 306 disposed at both ends of the shafts 303. The blocks 306 are arranged to face each other, and the weight 301 is provided between these opposing blocks 306.

[0023] The weight 301 is supported by the shaft 303 via a guide portion 302. The weight 301 also has recesses 301a formed on each of its surfaces facing the block 306, and one end of the spring 304 is fixed within these recesses 301a.

[0024] The guide section 302 has a bush housing 302a and a bush 302b, with the bush 302b positioned inside the bush housing 302a, and the bush housing 302a being fixed to the side of the weight 301 by a screw (not shown). This reduces friction with the shaft 303.

[0025] The shaft 303 is positioned between opposing blocks 306, and both ends of the shaft 303 are fixed to the blocks 306 by bolts 306a. In this embodiment, bolts 306a are used to fix the shaft 303, but the invention is not limited to this; the tip of the shaft 303 may be threaded and fixed to the block 306 with a nut.

[0026] The spring 304 is positioned between the weight 301 and the block 306, with one end connected to the weight 301 and the other end connected to the block 306. In this embodiment, one end is fixed in the recess 301a of the weight 301, and the other end is fixed to the block 306 via the spring guide 305. At this time, the spring guide 305 is inserted inside the spring 304, and one end of the spring guide 305 is fixed to the block 306 by a bolt 306b. In this embodiment, a spring 304 is used, but it is not limited to this, and a damper may also be used.

[0027] The dynamic vibration absorber 300 is positioned vertically or horizontally perpendicular to the vertical. In this embodiment, the dynamic vibration absorber 300 is mounted horizontally to the back of the display 200. In the example of vibration shown in Figure 12, which will be described later, the horizontal vibration is greatest in the display 200 to which the dynamic vibration absorber 300 is attached. This makes it possible to suppress the vibration of the display 200.

[0028] In this way, by placing springs 304 of equal length on both sides of the weight 301, the weight 301 does not shift to one side, and the springs 304 can cause the weight 301 to vibrate around the approximate center of the dynamic vibration absorber 300. This makes it possible to suppress unintended vibrations that occur during simulation operation.

[0029] Figure 10 is an explanatory diagram showing the vibration model of the simulator according to the first embodiment. In Figure 10, M represents the mass of the display body, K is the rigidity of the display stand, m is the mass of the movable part of the dynamic vibration absorber, k is the spring element of the dynamic vibration absorber, and f is the friction element of the dynamic vibration absorber. The dynamic vibration absorber is used attached to the display body and is configured to have a spring element k and a friction element f, respectively, arranged in parallel with the movable part of the dynamic vibration absorber at its center. The dynamic vibration absorber of this embodiment can appropriately dampen the vibration state of the display body caused by the simulation by appropriately determining the damping ratio based on the spring element k and the friction element f.

[0030] Figure 11 is an explanatory diagram of a modified example of the dynamic vibration absorber of the simulator according to the first embodiment. In Figure 11, M represents the mass of the display body, K is the rigidity of the display stand, m is the mass of the movable part of the dynamic vibration absorber, k is the spring element of the dynamic vibration absorber, and c is the damper element of the dynamic vibration absorber. The dynamic vibration absorber is used attached to the display body and is configured to have a spring element k and a damper element c, respectively, arranged in parallel with the movable part of the dynamic vibration absorber at its center. The dynamic vibration absorber of this embodiment can appropriately dampen the vibration state of the display body caused by the simulation by appropriately determining the damping ratio based on the spring element k and the damper element c.

[0031] (Comparison of display stand vibration before and after installation of dynamic vibration absorber) Figures 12-14 illustrate the case before and after the dynamic vibration absorber 300 is attached to the display stand 201. Figure 12 is a side view showing the vibration of the display stand 201 according to the first embodiment. When the rotation mechanism 130 or translation mechanism 150 is in operation, the display 200 body moves in the direction of the arrow, with the connection point between the display stand 201 and the rotation mechanism 130 acting as a pivot point 202. In this way, the rotation mechanism 130 or translation mechanism 150 transmits vibrations to the display stand 201 via the pivot point 202, potentially causing vibrations in the display 200. Note that the vibration shown in Figure 12 is just one example, and the direction and magnitude of the vibration will vary depending on the shape of the display stand, the weight of the display, and the operation during the simulation. Also, the shape of the display stand in Figure 12 is different from that shown in Figures 1 and 2.

[0032] Figure 13 shows the vibration of the display stand 201 of the comparative example, and Figure 14 is a graph showing the vibration of the display stand 201 of the first embodiment. The graphs show the vibration of the display stand before and after the installation of the dynamic vibration absorber on the simulator. The vertical axis of the graph represents the acceleration [m / s²] of the vibration. 2The horizontal axis represents time [ms]. The acceleration indicating the shaking is the acceleration of the display located in front of the cockpit at the initial position of the simulator 10 in the X-axis direction, when acceleration is applied to the mounting platform 160 installed below the cockpit 105 in the vertical direction and in the X-axis and Y-axis directions shown in Figure 4. The graph shows the measurement results of an acceleration sensor attached to the back of the target display. Before the installation of the dynamic vibration absorber, the acceleration value is larger compared to after installation, indicating that the display mount is shaking considerably, and this gradually decreases over time. Therefore, there is a risk that the driver's sense of immersion in the simulation will decrease.

[0033] On the other hand, after installing the dynamic vibration absorber, the acceleration values ​​are lower than before installation, the vibration of the display mount is suppressed, and the vibrations decay more quickly. As a result, the vibration of the display is suppressed, which can improve the driver's immersion in the simulation.

[0034] (Modification of the first embodiment) Figure 15 is a perspective view showing a simulator according to the first embodiment. Figure 16 is a top view showing a modified example of the simulator according to the first embodiment. Figures 15 and 16 have some components (hexapod mechanism 110, rotation mechanism 130, translation mechanism 150) simplified for ease of understanding.

[0035] As a modification of the first embodiment, the display 200 may be reduced to one, as shown in Figure 15. In this case, as an example, as shown in Figure 16, by attaching three dynamic vibration absorbers 300 to one display 200, the vibration of the display 200 can be further suppressed, improving the driver's immersion in the simulation. In this modification, three dynamic vibration absorbers 300 are attached to one display 200, but this is not limited to this, and one or two dynamic vibration absorbers 300 may be attached to one display.

[0036] (Second embodiment) A second embodiment of the present invention will now be described. The basic configuration and functions and configurations similar to those of the first embodiment of the present invention will be omitted from the explanation, and the differences will be explained.

[0037] Figure 17 is a perspective view of the simulator according to the second embodiment of the present invention. Figure 18 is a rear view of the simulator according to the second embodiment of the present invention. Figure 19 is a perspective view of the dynamic vibration absorber of the simulator according to the second embodiment of the present invention.

[0038] In the second embodiment, the dynamic vibration absorber 300 is positioned vertically directly below the display 200, rather than on the back of the display 200. Specifically, as shown in Figures 17 and 18, two dynamic vibration absorbers 300 are positioned vertically at a predetermined distance from the rail connection portion 260 of the frame 220 that supports the centrally located display 200. One end of each dynamic vibration absorber 300 is fixed to the rail portion 230. This makes it possible to suppress unintended vibrations that occur during simulation operation.

[0039] (others) In the first embodiment, the end of the dynamic vibration absorber is attached to the position shown in Figure 1 on the back of the display, and in the second embodiment, the end of the dynamic vibration absorber is attached to the position shown in Figure 7 on the stand supporting the display. However, the end of the dynamic vibration absorber is not limited to these, and should be attached to a position that can suppress the shaking of the display. [Explanation of symbols]

[0040] 10 Simulators 200 displays 201 Display Stand 300 Dynamic vibration absorber

Claims

1. The display and A display stand that supports the aforementioned display, Equipped with A simulator characterized by having a dynamic vibration absorber with one end fixed to the display stand.

2. The simulator according to claim 1, characterized in that one end of the dynamic vibration absorber is fixed to the display stand and the other end is fixed to the display.

3. The aforementioned dynamic vibration absorber includes a weight and A guide section for guiding the aforementioned weight, A shaft supporting the aforementioned weight, An elastic member having one end connected to the weight and the other end connected to the display stand, The simulator according to claim 1, characterized in that it has the following features.

4. The simulator according to claim 3, characterized in that the elastic member is a spring.

5. The simulator according to claim 3, characterized in that the elastic member is a damper.

6. The simulator according to claim 1 or 2, characterized in that it comprises multiple displays, each of which is fixed to one end of the dynamic vibration absorber.

7. The simulator according to claim 1, characterized in that a plurality of the aforementioned dynamic vibration absorbers are attached.

8. The simulator according to claim 1, characterized in that the dynamic vibration absorber is mounted in the vertical direction or in a horizontal direction perpendicular to the vertical direction.

9. The aforementioned display stand is A frame structure in which beam members in the vertical direction, the horizontal direction, and directions intersecting the vertical and horizontal directions are interconnected, The frame is equipped with a rail section that slidably supports the holding section of the frame, The aforementioned stand includes a holding portion for holding the display, The simulator according to claim 1, characterized in that it comprises a base that is fixed to the rotating table of the rotating mechanism and a connecting portion for connecting to the rail portion.

10. The simulator according to claim 1, wherein the simulator is a driving simulator.

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