A device for simulating the operation of land vehicles

Abstract

To provide a driving simulation device for a land vehicle which is easy to manufacture and manage, expresses a real situation as faithfully as possible, and can simulate a wide variety of driving situations. [Solution] An apparatus for simulating the operation of a land vehicle, comprising: a base (11) having a flat support surface (12) on which a movable bed (13) is placed; first means (16) for moving the movable bed (13); a driving position (26) connected to the movable bed (13); and second means (27) for moving the driving position (26) relative to the movable bed (13).

Description

[Technical Field]

[0001] The present invention relates primarily to an apparatus for simulating the driving of land vehicles such as cars, buses, vans and other similar or equivalent vehicles. In particular, the device according to the invention is capable of reproducing with great fidelity the actual driving conditions of any of the above-mentioned vehicles along a predetermined route and in a driving mode determined by the driver.

[0002] The present invention may also be used to simulate driving training for a particular person, a particular activity, and / or the driving experience of one or more passengers without a driver. [Background technology]

[0003] Various types of devices for simulating the driving of a land vehicle are known, one of which is described in WO-A-2013 / 114179. The known device described therein consists of a fixed platform, a mobile platform positioned above the fixed platform, and a driving position connected to the mobile platform where a driver can be located.

[0004] Three linear actuators are coupled to the base platform and the carriage for moving the carriage relative to the base platform in three directions in a Cartesian coordinate system. By combining three linear movements determined by the actuators, the platform can be moved in two linear directions X and Y and rotated around axis Z, simulating the typical movements of a land vehicle.

[0005] The driving position typically consists of a seating element for the driver, control means such as a steering wheel, brake pedal, clutch, accelerator, etc., and a projection screen onto which the driving environment is projected, on which the driver is focused during the simulation.

[0006] The operating position has a plurality of telescopic actuators, arranged substantially vertically or at a slight incline relative to the vertical, and connected to the carriage by a kinematic mechanism defining a hexapod kinematic structure. The actuator not only translates along three coordinate axes but also rotates around the coordinate axes to spatially move the operating position. In other words, the operating position can be moved in six degrees of freedom by the motion mechanism described above, and can also be moved in another three degrees of freedom by being integrated with the movable base.

[0007] Another type of device for simulating the operation of a land vehicle is described in WO-A-2017 / 021323. The known device described in this document differs from the one shown in WO-A-2013 / 114179 in that it provides that the movement of the mobile platform relative to the fixed base is actuated by cables that are appropriately and alternately tensioned or released.

[0008] The simulation device described in WO-A-2017 / 021323 is particularly suitable for driving simulations where high performance is required in terms of system response time, together with a large movement space for the movable platform.

[0009] WO2014 / 087172 and WO2018 / 055387 disclose similar solutions for simulators for vehicles, in which a mobile carrier is movably supported by first and second drive mechanisms. In both cases, the first (base) drive mechanism consists of a linear guide that allows linear movement of the mobile carrier along the horizontal direction. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] WO2014 / 087172 [Patent Document 2] WO2018 / 055387 Summary of the Invention [Problem to be solved by the invention]

[0011] However, there is a need for improved systems for simulating the operation of such land vehicles. In particular, one object of the present invention is to provide a land vehicle driving simulation device that is easy to manufacture and manage, represents real-world conditions as faithfully as possible, and is capable of simulating a wide variety of driving situations.

[0012] Another object of the present invention is to provide a driving simulation device for a land vehicle that is economical. Another object is to provide a land vehicle driving simulation device that is compact, lightweight, and miniaturized. Applicant has conceived, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other objects and advantages. [Means for solving the problem]

[0013] The present invention is defined and characterized in the independent claims. The dependent claims describe other features of the invention or variants to the (technical) idea of the main invention. In accordance with the above object, the present invention relates to an apparatus for simulating driving a land vehicle, comprising a fixed base (fixed bed), for example (but not limited to) a platform having a flat support surface, a movable bed (movable bed) arranged on the fixed base, and a driving position associated with the movable bed.

[0014] The device includes a slide means associated with (connected to) the movable base, allowing the movable base to slide on the flat base. The apparatus also includes a first moving (driving) means connected to the fixed base and the movable table, capable of translating the movable table on the support surface in a first direction and a second direction that forms a coordinate system with the first direction, and rotating the movable table around a third direction that is perpendicular to the support surface and forms a coordinate system with the first direction and the second direction. The movable stage is therefore preferably configured to translate along two mutually perpendicular directions (X, Y) and to rotate along an axis (Z) perpendicular to a plane containing said X and Y directions.

[0015] The apparatus also includes a second moving (driving) means coupled to the movable platform and configured to translate and rotate the operating position in and relative to a fourth, fifth, and sixth direction. The fourth, fifth, and sixth directions define a second Cartesian coordinate system that is parallel to the first system defined by the first, second, and third directions when the carriage is stationary and centered on the fixed base. As the platform moves, the second Cartesian coordinate system moves with it.

[0016] The second movement means therefore defines a second movement (drive) unit mounted on and integral with the carriage and capable of generating other movements which overlap the movements generated by the carriage, causing an overall movement of the driving position according to nine degrees of freedom. The second moving means includes a plurality of linear (straight-line) connecting elements, each having a first end connected to the movable base and a second end opposite the first end connected, directly or indirectly, to an operating position.

[0017] According to one characteristic aspect of the present invention, each of the first ends is pivotally connected at a base joint to a sliding block slidably associated with a linear guide, and each of the second ends is pivotally connected to an operating position at a butt joint or a cardanic joint. The sliding block and the guide define another base joint.

[0018] According to one embodiment, the base joint is of the universal type or comprises two rotoida joints with intersecting axes of rotation, and the butt joint is of the spherical type. By combining the first moving means (linear movement on the X and Y axes and rotation around the Z axis) and the second moving means (linear movement on the X, Y, and Z axes and rotation around the same three axes), nine degrees of freedom of movement of the operating position are guaranteed, of which three degrees of freedom are redundant since they can be overlapped with the same movement by the movable base. This allows for a compact simulation device that is very easy to manage and command.

[0019] These and other characteristics of the invention will become apparent from the following description of some embodiments thereof, given as non-limiting examples with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a perspective view of an apparatus for simulating the operation of a land vehicle according to some embodiments described herein. [Figure 1a] FIG. 1a is an enlarged view of FIG. [Figure 2] FIG. 2 is a schematic plan view showing a possible configuration of the second movement means, in particular a possible arrangement of the guides. [Figure 3] FIG. 3 is a schematic plan view showing a possible configuration of the second movement means, in particular a possible arrangement of the guides. [Figure 4] FIG. 4 is a schematic plan view showing a possible configuration of the second movement means, in particular a possible arrangement of the guides. [Figure 5] FIG. 5 is a schematic plan view showing a possible configuration of the second movement means, in particular a possible arrangement of the guides. [Figure 6] FIG. 6 is a schematic plan view showing a possible configuration of the second movement means, in particular a possible arrangement of the guides. [Figure 7] FIG. 7 illustrates a possible embodiment of a movable platform and a secondary movement means associated therewith, according to some embodiments described herein. [Figure 8] FIG. 8 is an enlarged view of FIG. [Figure 9] FIG. 9 is a top view of FIG. [Figure 10] FIG. 10 is a bottom view of FIG.

[0021] To facilitate understanding, the same reference numbers have been used, wherever possible, in the figures to identify the same common elements, it being understood that elements and features of one embodiment may be advantageously incorporated in other embodiments without further specification. DETAILED DESCRIPTION OF THE INVENTION

[0022] Reference will now be made in detail to possible embodiments of the invention, one or more examples of which are illustrated by way of non-limiting example in the accompanying drawings. The phraseology and terminology used herein is also for purposes of non-limiting example.

[0023] FIG. 1 illustrates an apparatus for simulating the operation of a land vehicle according to the present invention, and is generally designated herein and in the following description by the reference numeral 10. The apparatus 10 comprises a fixed base 11 having a flat support surface 12 on which a movable platform (or disc) 13 is placed. The base 11 may be defined by a building floor, a platform, or a suitably constructed stand. The base 11 may have a substantially rectangular shape, but may also have different shapes and sizes, for example polygonal, circular, or a shape that combines curved and polygonal shapes.

[0024] The support surface 12 is suitably finished by suitable sliding means, for example by grinding and polishing, so that it is extremely smooth and the movable base 13 can slide thereon with extremely low friction. The support surface 12 defines a movement space 14 that defines a work field in which the movable base 13 can move (FIG. 1). The support surface 12 (and the movement space 144 defined thereby) has a planar extent greater than the planar size of the movable base 13. According to a possible solution of the invention, the device 10 comprises a sliding means 15 associated with the movable base 13, enabling it to slide on the support surface 12.

[0025] According to a possible embodiment, the sliding means 15 may comprise an aerostatic sliding block configured to create an air gap between itself and the base 11 and to slightly raise the movable platform 13 in order to enable it to slide on the support surface 12 in combination with a magnetic effect.

[0026] In some embodiments, the slide means 15 may consist of a mechanical element such as a ball bearing. According to some variants, the sliding means 15 may consist of elements of magnetic type, such as bearings with magnetic support. According to some embodiments, the apparatus comprises a first moving means 16 associated with the base 11 and the movable platform 13 and configured to move the movable platform 13 over the support surface 12 .

[0027] The first moving means 16 can translate the movable platform 13 on the support surface 12 in a first direction X and a second direction Y which forms a coordinate system together with the first direction X, and can rotate the movable platform 13 around a third direction Z which is perpendicular to the support surface 12 and forms a coordinate system together with the first direction X and the second direction Y. The rotation around the third direction Z makes it possible to simulate yaw of the vehicle.

[0028] Therefore, the first direction X, the second direction Y and the third direction Z define a first Cartesian coordinate system with the fixed base 11 as its reference. It is clear that by appropriately combining the movements in the first direction X and the second direction Y, it is possible to move the movable table 13 in any direction on the plane of the support surface 12. Therefore, the first moving means 16 allows control of three degrees of freedom.

[0029] According to a possible solution of the present invention, the first moving means 16 has a plurality of cables 17, the first parts of which are connected to the movable base 13 and the second parts of which are connected to respective drive members 18, which are configured to move the cables 17 and change the distance between the connection zone of the cables 17 to the movable base 13 and the connection zone of the cables 17 to the drive members 18, thereby determining the movement of the movable base 13 relative to the base platform 11.

[0030] According to a possible solution, the first movement means 16 are made up of four drive members 18 arranged at a distance from one another, for example according to the pattern of the vertices of a rectangle.

[0031] According to a possible embodiment, the drive members 18 may be arranged in a fixed position relative to the base 11, for example they may be arranged on the base 11, for example on its edge. By way of example only, the drive member 18 can be mounted on the base 11 outside the movement space 14 . However, this does not exclude the drive member 18 being mounted on a fixed structure outside the base 11 as shown in FIG.

[0032] According to a possible embodiment, the drive member 18 keeps the respective cable 17 associated therewith in tension by its drive, ensuring the positioning and maintenance of the position of the carriage 13 relative to the base 11 .

[0033] According to some embodiments, the carriage 13 comprises a connector 19 to which the cable 17 is connected.

[0034] According to a possible embodiment of the invention, the connection body 19 has a disk-like shape, around whose outer periphery the cable 17 is wound / unwound in use.

[0035] According to a possible solution, each cable 17 is connected with its first end to a first one of the drive members 18 and is wound around the connecting body 19, for example having a second end attached inside it and capable of entering it.

[0036] 1, each drive member 18 has a pulley 23 connected to it by a motor 24 configured to rotate it about its axis of rotation Q. The cable 17 is connected to the pulley 23, so that the driving of the motor 24 can determine the winding or unwinding of the cable 17 on the pulley 23 and thus the movement of the carriage 13 on the base platform 11.

[0037] The motor 24 may be selected from the group consisting of an electric motor or a hydraulic motor. The axis of rotation Q of the pulley 23 is preferably perpendicular to the support surface 12 , thereby enabling the cable 17 to be kept substantially parallel to the support surface 12 . Furthermore, a speed reducing member configured to reduce the rotation speed applied from the motor 24 to the pulley 23 can be interposed between the motor 24 and the pulley 23 .

[0038] According to a possible embodiment, a moving member can be connected to each drive member 18, configured to move the drive member 18 in a direction parallel to the rotation axis Q of the pulley 23, in order to keep the cable 17 substantially parallel to the base platform 11, i.e. the support surface 12 of the base platform 11.

[0039] According to possible solutions, the moving member can comprise a screw jack, a linear actuator, a motor, etc. By way of example, the moving member can comprise a recirculating ball jack, which precisely controls the movement of the pulley 23 depending on the movement imparted to the carriage 13.

[0040] According to a possible embodiment, the movable base 13 is capable of moving in a first direction X and a second direction Y and rotating around a third direction Z in accordance with the winding or unwinding of the cable 17 on the pulley 23 and the simultaneous winding or unwinding of the cable 17 on the connecting body 19.

[0041] According to a possible alternative embodiment not shown in the drawings, the first moving means 16 may comprise a plurality of linear actuators, such as screw jacks or recirculating ball jacks, whose first ends are in a fixed position outside the moving space 144 and whose second ends (opposite the first ones) are connected to the movable base 13.

[0042] According to a possible solution, the second ends of these linear actuators may be connected on a circumference included in the carriage 13 .

[0043] According to another embodiment, the linear actuators are three in number and, in at least one of their operating positions, they are arranged at an angle to one another of approximately 120°. Also, all such linear actuators may lie in a common plane that is substantially parallel to the support surface 12 .

[0044] 1, the device 10 comprises a driving position 26 mounted on the movable platform 13. A second moving means 27 is interposed between the movable platform 13 and the driving position 26.

[0045] According to a possible embodiment, the driving position 26 may cooperate with a projection screen onto which is projected the driving environment in which the driver and / or one or more passengers are occupied during the simulation. The driving position 26 may have a frame 28, or shell, that at least partially replicates the cabin of the vehicle of FIG.

[0046] Within the cabin defined by the frame 28 may be provided, for example, a seat and driver control means such as a steering wheel, pedals, and an instrument panel (instrument panel) not shown in the drawing.

[0047] Alternatively or additionally, seats for one or more passengers may be provided. The operating position 26 may have a support plate 29 to which the second moving means 27 is connected. The support plate 29 may be integrally linked (connected) to a frame 28. According to some embodiments of the invention, the second movement means 27 allows movement of the operating position 26 in both linear translation and rotation with respect to a fourth direction x, a fifth direction y and a sixth direction z.

[0048] The fourth x, fifth y and sixth z directions define a second system having orthogonal axes that are parallel to the orthogonal axes X, Y and Z of the first system in the original static state of the moving platform 13, but the second orthogonal axis system x, y and z are movable integrally with the moving platform 13. The second moving means 27 therefore allows rotation of the operating position 26 around a fourth direction x (called the roll of that sector), a fifth direction y (called the pitch of that sector) and a sixth direction z (called the yaw of that sector), in addition to some translational movements that constitute redundancy with respect to the similar movements of the movable bed 13.

[0049] In the following description, lowercase x, y, z refer to a second Cartesian coordinate system integral with the operating position 26, and uppercase X, Y, Z refer to a first Cartesian coordinate system integral with the movable table 13. The division of the degrees of freedom, i.e. the division of the movements of the driving position 26 defined by the first moving means 16 and the second moving means 27, is in this case optimized for the simulation of driving a land vehicle.

[0050] Indeed, accelerations in the plane defined by the first direction X and the second direction Y, and yaw (yaw rotation around the Z axis) occur at lower frequencies, i.e. with transients that can last very long in time, and are therefore associated with the first moving means 16 and driven by means of the cable 17; in addition to pitch, roll and movements in the direction perpendicular to the support surface 12, small movements about the fourth direction x, the fifth direction y and the sixth direction z are present with short transients and are driven by the second moving means 27.

[0051] This division and redundancy of control of degrees of freedom therefore makes it possible to optimize not only the control and management of the first and second mobility means 16 and 27, but also their conformation in relation to the simulations that must be performed, as is typical for land vehicles.

[0052] According to some embodiments shown in Figures 1a and 2-6, the second moving means 27 has a plurality of preferably cylindrical connecting elements 30, each of which has a first end 31 connected to the movable base 13 and a second end 32 opposite the first end 31 connected directly or indirectly to the operating position 26. In particular, referring to FIG. 1a, each first end 31 is pivotally connected to a slide block 34 slidably associated with a linear guide 35 by a base joint 33, and each second end 32 is pivotally connected to a guide platform by a butt joint 36. In particular, the sliding block 34 and the guide 35 define another base joint 37 in the form of a prismatic column.

[0053] According to some embodiments, the base joint 33 may be of the universal type. According to an alternative solution, the base joint 33 may comprise two annular joints with intersecting axes of rotation.

[0054] According to some embodiments, the butt joint 36 can be of the spherical type. The second end 32 can be articulated directly to the operating position 26 or to the support plate 29, either directly or by a support element 38 (FIGS. 7-9). According to some illustrated embodiments, as shown in FIGS. 2, 3 and 5-6, the second moving means 27 has a plurality of guides 35, the number of which corresponds to the number of connecting elements 30 as described above. According to further embodiments, the connecting element 30 may be provided with a torsion function, for example made by two components inserted one inside the other, with the ability to rotate one relative to the other.

[0055] In an alternative solution, the second moving means 27 can have a number of guides 35 that is less than the number of cylindrical connecting elements 30 present. For example, the first ends 31 of several different cylindrical connecting elements 30 can slide on respective different segments of the same guide 35 (FIG. 4).

[0056] According to some illustrated embodiments (as shown in Figures 1-2 and 7-9), each guide 35 may be associated with a drive member 39 for driving movement of the first end 31 on the guide 35 and, in turn, of the slide block 34 to which it is pivotally mounted. Such movement may be actuated, for example, by a grub screw mechanism, suitably by a belt connected to the drive member 39. The drive members 39 can advantageously be mounted on a support surface or plane of the carriage 13 corresponding to the feet of the respective guides 35 . The location of the drive member 39 can limit the amount of mass being moved, thus improving the dynamic response of the system.

[0057] According to one possible variant, the drive members can be aligned with the respective guides 35 and can be mounted, for example, at a position different from the feet of the guides 35 so as not to interfere with the movement of the slide blocks 34. For example, by moving the first ends 31 of the connecting elements 30 in a coordinated manner along their respective guides 35, it is possible to define a total translational movement of the operating position 26 in any one or combination of the fourth x-direction, the fifth direction and the sixth direction, or a total rotational movement of the operating position 26 around the same direction.

[0058] According to some embodiments, the second movement means 27 has a number of connecting elements 30 that allows achieving a desired movement.

[0059] According to some embodiments, the second movement means 27 comprises six connection elements 30 associated with a respective number of guides 35 .

[0060] According to a possible embodiment, the second movement means 27 comprise a number of connecting elements 30 different from six, for example between three and eight. According to a possible embodiment shown in Figures 3-4, the second movement means 27 has a symmetrical configuration with respect to a vertical median plane (central plane). For example, such a vertical median plane is perpendicular to the carriage 13. In this case, the guides 46 are all parallel to one another and can define the main direction of movement of the operating position 26.

[0061] 2 and 5-6, the second moving means 27 has a radially symmetrical configuration with respect to the vertical central axis of the movable base 13. For example, the vertical central axis is perpendicular to the movable base 13. In this case, the guides 46 can converge toward the center of the movable base 13.

[0062] According to some embodiments, the guides 35 can be organized into groups, for example, in a configuration symmetrical about the vertical median plane, the guides 35 can be equal in number on one side of the plane as on the other, as shown in FIG. 3 or its equivalent, FIG. 4. In the case of a radially symmetrical configuration, the guides 35 may be arranged in pairs, and preferably the guides 35 of each pair may be parallel to each other. According to one possible embodiment shown in the figures, in a radially symmetric configuration, as shown in Figures 1-2 and 7-10, one pair of guides 35 can be angularly spaced apart from another pair of guides 35 by an angle of approximately 120°.

[0063] According to a possible embodiment, the guides 35 may be free-standing, i.e. not grouped together, always in the case of a radially symmetrical arrangement (radial symmetry), in which case the guides 35 are not parallel to each other and the extension of their axes of extension intersect with the centre point of the carriage 13 (Fig. 5).

[0064] According to a possible embodiment, the guide 35 can be attached to a support surface of the carriage 13 that is substantially parallel to the support surface 12. Such a support surface can be configured as a flat frame or plate to which the guide 35 is attached.

[0065] According to some embodiments, the guide 35 can be attached to a support surface of the carriage 13 that is inclined relative to the support surface 12. Such an arrangement with an inclined guide is called a Hexalift. In addition to making the second movement means 27 particularly compact, this solution allows a larger excursion of the operating position in the sixth direction z.

[0066] 7-9, the guides 35 are inclined relative to the support surface 12 and are arranged inside the connecting body 19. Each guide 35 is firmly connected (fixed) on one side to the top of the circumferential surface of the connecting body 19 and on the other side to the bottom wall 40 of the connecting body 19, and is therefore inclined. In this case, the support surface (support plate) is defined by the top and bottom walls 40. This solution allows the second moving unit 27 to be reduced in volume, making the device 10 compact.

[0067] According to a possible embodiment, the support surface can be vertical (plumb), ie perpendicular to the movable platform 13 (FIG. 6). According to some embodiments, the connecting element 30 has a fixed length, but this does not exclude the possibility of varying the length of the connecting element 30, for example by introducing other prismatic junctions (straight junctions) at intermediate positions.

[0068] According to some embodiments, the connection element 30 has a central body having a preferably hollow tubular shape and a pair of pivot rods, defining a first end 31 and a second end 32. The connection element 30 is connected to the center body and has a pair of bearing units, which can transmit rotation about the extension axis of the center body.

[0069] According to one possible embodiment, as shown in Figure 10, a compensation unit 43 can be connected to the movable base 13, configured to limit or cancel the vibrations induced in the cable 17 by the high frequency of the second movement means 27. According to a possible embodiment, the compensation unit 43 can also be configured to displace the inertial mass of the movable base 13 by adjusting and harmonizing the action exerted by the cable 17, thus determining a very realistic driving experience.

[0070] According to some embodiments, the compensation unit 43 has a balancing mass 44 movable on a slide guide 45 by a corresponding drive 46 configured to move the balancing mass 44 relative to the movable base 13 in order to reduce or eliminate vibrations of the movable base 13 or, in some cases, to match its movement in a particular direction.

[0071] The sliding guides 45 can be stably attached to the outside of the bottom wall 40 of the connecting body 19. The sliding guides 45 are oriented to allow movement of the respective balancing masses 44 connected thereto according to the degrees of freedom of the movable base 13. The sliding guides 45 are arranged perpendicular to the guide 35 and parallel to and facing the support surface 12.

[0072] According to some embodiments, the slide guides 45 are mutually arranged at an angle of approximately 60° between them. According to a possible solution, each drive member 46 is configured to allow translation of the respective balancing mass 44 in one direction substantially parallel to the support surface 12. In this way, a compensation unit 43 is obtained that can act according to three degrees of freedom. According to some embodiments, the compensation unit 43 may be located at the center of gravity (varicentric position) of the carriage 13 to optimize the compensation action.

[0073] According to some embodiments, the movable platform 13 includes a plurality of emitter-receiver devices 47 arranged to emit forward signals toward an edge 48 defining the support surface 12 and to receive corresponding return signals reflected by the edge 48. This allows the position of the movable platform 13 on the support surface 12 to be determined. According to some embodiments, the signal emitted by the emitter-receiver device 47 may be of the laser type.

[0074] According to a possible embodiment, the signal emitted by the emitter-receiver device 47 may be of the ultrasonic type. In other embodiments, the carriage 13 may be equipped with a position detection device, such as a wire encoder.

[0075] It will be apparent that modifications and / or additions may be made to the apparatus for simulating the operation of a land vehicle described above without departing from the field and scope of the invention as defined by the claims. In the following claims, references in parentheses are for the purpose of readability only and shall not be considered as limiting elements with regard to the field of protection claimed in a particular claim.

Claims

1. An apparatus (10) for simulating the operation of a land vehicle, comprising: a base (11) having a flat support surface (12) on which a movable platform (13) is disposed; a first means (16) for moving the movable table (13) along two linear directions (X, Y) perpendicular to each other and for rotating the movable table (13) along a third direction (Z) perpendicular to a plane including the X and Y directions; a driving position (26) connected to the movable platform (13) and having a frame (28) at least partially reproducing a cabin of the land vehicle; a second means (27) having a plurality of linear connecting elements (30) for moving the operating position portion (26) relative to the movable platform (13); a first end (31) of each of the connecting elements (30) is connected to the movable carriage (13), and a second end (32) opposite to the first end (31) is connected directly or indirectly to the operating position (26); Each of the first ends (31) is pivotally connected to a sliding block (34) slidably connected to a linear guide (35) by means of a base joint (33); Each of the second ends (32) is pivotally connected to the operating position portion (26) using a butt joint or a cardan joint (36); The second means (27) is a device that allows the movement of the operating position part (26) in three further directions (x, y and z) and rotation around the three directions (x, y and z).

2. 2. The device (10) according to claim 1, characterized in that said base joint (33) is of the universal type and said butt or cardan joint (36) is of the spherical type.

3. 2. The device (10) according to claim 1, characterized in that the base joint (33) comprises two annular joints whose axes of rotation intersect, and the butt joint (36) is of the spherical type.

4. 4. The device (10) according to claim 1, wherein the second means (27) comprises a plurality of the guides (35) in a number corresponding to the number of the connecting elements (30).

5. 4. The device (10) according to any one of claims 1 to 3, characterized in that the second means (27) comprises a plurality of the guides (35) whose number is less than the number of the connecting elements (30).

6. 6. Device (10) according to any one of the preceding claims, characterized in that said second means (27) comprise six of said connecting elements (30).

7. 7. The device (10) according to any one of claims 1 to 6, characterized in that the second means (27) have a symmetrical configuration at least with respect to the vertical central plane of the movable table (13) and have the guides (35) parallel to each other.

8. 7. The device (10) according to any one of claims 1 to 6, characterized in that the second means (27) has at least one radial symmetry with respect to the vertical central axis of the movable bed (13), and the guide (35) converges towards the center point of the movable bed (13).

9. 9. The device (10) according to claim 8, characterized in that the guides (35) are arranged in pairs, and at least the guides (35) of each pair are parallel to each other.

10. 10. The device (10) according to any one of claims 1 to 9, characterized in that the guide (35) is attached to a support surface of the carriage (13) that is parallel to the flat support surface (12).

11. 11. The device (10) according to any one of claims 1 to 10, characterized in that the guide (35) is attached to a support surface of the movable platform (13) that is inclined relative to the flat support surface (12).

12. The device (10) according to any one of the preceding claims, characterized in that the connecting element (30) has a fixed length.

13. 13. The device (10) according to any one of claims 1 to 12, characterized in that the first means (16) comprises a plurality of cables (17) connected at a first portion to the movable table (13) and at a second portion to an actuating member (18) that determines the movement of the movable table (13) relative to the base (11).

14. The movable base (13) has a hollow connecting body (19) having at least an open top to which the cable (17) is connected, The guide (35) is disposed inside the connecting body (19) and inclined with respect to the flat support surface (12); 14. The device (10) according to claim 13, characterized in that each of the guides (35) is fixed at one end to the top of the connecting body (19) and at the other end to the bottom wall (40) of the connecting body (19).

15. 15. The apparatus (10) of any one of claims 1 to 14, characterized in that the movable platform (13) comprises a plurality of emitter-receiver devices (47) arranged to radiate forward signals toward an edge (48) defining the flat support surface (12) and to receive corresponding return signals.

16. 16. The device (10) according to any one of claims 1 to 15, characterized in that it comprises a compensation unit (43) movable on a sliding guide (45) by a drive member (46) and having a balancing mass (44) attached to the movable bed (13).

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