CN105126299B - A kind of active omnidirectional's treadmill of roller array - Google Patents
A kind of active omnidirectional's treadmill of roller array Download PDFInfo
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- CN105126299B CN105126299B CN201510522217.3A CN201510522217A CN105126299B CN 105126299 B CN105126299 B CN 105126299B CN 201510522217 A CN201510522217 A CN 201510522217A CN 105126299 B CN105126299 B CN 105126299B
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- Prior art keywords
- treadmill
- tooth
- bevel gear
- drive component
- ontology
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B2022/0271—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills omnidirectional
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Abstract
The invention discloses a kind of active omnidirectional's treadmills of roller array, including array drive component (1), dynamical system (2), steering (3), travelling platform (4) and frame (5), it is characterised in that：The drive component (1) includes power wheel (1.1), deflecting roller (1.2), the power wheel (1.1) is equipped with shaft (1.3), the shaft (1.3) is equipped with bevel gear one (1.4), the frame body (1.5) is equipped with master rotor (1.6) and auxiliary cylinder (1.7), the master rotor (1.6) is equipped with the bevel gear two (1.8) being meshed with bevel gear one (1.4), and the cone of the bevel gear one (1.4) is to downward.The setting of the omnidirectional treadmill drive component bevel gear of the present invention can make the rotating speed of master rotor not deviate by predetermined value, the divertical motion of drive component and horizontal movement are controllable independently of each other, reliability is high, the quality of component is small, it is convenient to replace, and the inertia of system is small, flexibility is high.
Description
Technical field
The present invention relates to one kind for virtual reality movement interactive device, in particular to a kind of active omnidirectional of roller array
Treadmill.
Background technology
Virtual reality technology is an emerging display technique, it can simulate a ratio more actually steric environment,
It is shown by the virtual helmet, although putting on virtual screen after virtual implementing helmet can show in actual environment
In movement just compare and have constraint, the feeling of immersion of user experience enjoyment can be weakened significantly in this way, if can invent one kind can from
By the interactive device moved, movement and amusement are combined, then the enjoyment of experiencing virtual reality will greatly promote, therefore omnidirectional runs
Step machine generates, and omnidirectional's treadmill refers to a kind of movement for providing level and any direction to the user, and movement velocity and direction can
Change the treadmill changed in real time with user's step, it can provide unlimited space of freely walking to the user.
In the prior art, omnidirectional's treadmill can be divided into two major classes：Passive type omnidirectional treadmill and active omnidirectional
Treadmill.
The scheme that passive type omnidirectional treadmill is realized has concave surface original place to slide type, type is slided in plane original place, roller ball expert
Type is walked, since the technique direction used with this patent is completely irrelevant, is not added with and repeats.
The scheme that active omnidirectional's treadmill is realized has：One is using the vertical small conveyer belt in big conveyer belt nesting direction
Mode, advantage are that control is easy, it is only necessary to control the movement velocity of both direction conveyer belt to form any level direction
Sum velocity；The disadvantage is that system inertia is larger, since small conveyer belt system integral installation is on big conveyer belt, big conveyer belt is caused to turn
Dynamic inertia is too big, thus lacks flexibility；The second is driving screw, this scheme linear motion to synchronize using several motors
Property is preferable, but the disadvantage is that cannot match user movement direction and movement velocity in time.
Invention content
The technical problem to be solved by the present invention is to overcome above technical scheme, provide it is a kind of it is simple in structure, system inertia is small,
The active omnidirectional's treadmill of a kind of roller array that flexibility is high, drum speed will not lack of proper care.
In order to solve the above technical problems, technical solution provided by the invention is：A kind of active omnidirectional's running of roller array
Machine, including array drive component, dynamical system, steering, travelling platform and the frame for limiting human body, it is described
Drive component includes power wheel, deflecting roller, and the power wheel is equipped with shaft, and the shaft is equipped with bevel gear one, institute
The deflecting roller stated is equipped with frame body, and the frame body is equipped with master rotor and auxiliary cylinder, and the master rotor is equipped with and cone tooth
One bevel gear two that is meshed of wheel, the cone of the bevel gear one to be equipped with downward, in the auxiliary cylinder velocity sensor and
Pressure sensor.
The advantages of the present invention over the prior art are that：Omnidirectional's treadmill drive component of the present invention is simple in structure, double
The setting of roller can increase the contact area of roller and user's sole, play better supporting role, and velocity sensor and
Pressure sensor is arranged on auxiliary cylinder, can accurately measure the motion conditions of user, the setting of drive component bevel gear can
The rotating speed of master rotor is set not deviate by predetermined value, the divertical motion of drive component and horizontal movement are controllable independently of each other, reliability
Height, the quality of component are small, of simple structure and low cost, replacement is convenient, and the inertia of system is small, flexibility is high.
As an improvement, the dynamical system is equipped with an output shaft one, between the output shaft one and power wheel
It is driven by screw rod one, the steering is equipped with an output shaft two, leads between the output shaft two and deflecting roller
The transmission of screw rod two is crossed, rows of drive component shares a screw rod one and a screw rod two.Such kind of drive can make each drive
The speed rotated between dynamic component is consistent, can effectively improve the synchronism of omnidirectional's treadmill.
As an improvement, the frame includes limiting bracket and telescopic telescopic rod is arranged on limiting bracket, it is described
Telescopic rod be connected with the harness that user is worn, the height of the limiting bracket is adjustable.The effect of frame is mainly pair
Human body plays the role of limit, and user is made to be moved in effective range, and user is avoided to fall down or walk out effective range, limit branch
Frame and telescopic rod can effectively limit the body of user and activity freely.
As an improvement, user puts on the shoes with special sole when walking on travelling platform, the sole by
Several double tooth components and axis composition, double tooth components include ontology, and the both ends of the ontology, which are respectively equipped with, is in
The tooth of sector structure, the ontology be equipped with the matched groove of tooth, the junction of the tooth and ontology is equipped with and axis
Matched through-hole.It can only be bent upwards using the sole of the structure, can not locally be raised up, because on omnidirectional's treadmill
When walking, will not because roller protrusion to the sole of user caused by local constriction.
As an improvement, the angle of the sector structure of the tooth is 90 degree, the tooth is in the both ends of ontology, one end two
A one end is three, and the tooth at the ontology both ends is in stagger setting.Such structure facilitates production and assembling.
As an improvement, the array of the drive component can be arranged at rounded projections arranged is also square, it is such to have rule
The arrangement of rule facilitates transmission power, and stability is good.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the drive component of the active omnidirectional's treadmill of roller array of the present invention.
Fig. 2 is the structure of a kind of drive component of the active omnidirectional's treadmill of roller array of the present invention and dynamical system transmission
Schematic diagram.
Fig. 3 is the structure of a kind of drive component of the active omnidirectional's treadmill of roller array of the present invention and steering transmission
Schematic diagram.
Fig. 4 is a kind of drive component of the active omnidirectional's treadmill of roller array of the present invention and dynamical system and steering
The structural schematic diagram of transmission.
Fig. 5 is a kind of knot of the rounded projections arranged mode of the drive component of the active omnidirectional's treadmill of roller array of the present invention
Structure schematic diagram.
Fig. 6 is a kind of knot of the square arrangement mode of the drive component of the active omnidirectional's treadmill of roller array of the present invention
Structure schematic diagram.
Fig. 7 is a kind of knot of the vertical view of double tooth components of the sole of the active omnidirectional's treadmill of roller array of the present invention
Structure schematic diagram.
Fig. 8 is a kind of structure of the bidentate shape component side view of the sole of the active omnidirectional's treadmill of roller array of the present invention
Schematic diagram.
Fig. 9 is a kind of double tooth components structure when assembled of the sole of the active omnidirectional's treadmill of roller array of the present invention
Schematic diagram.
Figure 10 is a kind of structure of the stress of sole of the active omnidirectional's treadmill of roller array of the present invention on a treadmill
Schematic diagram.
Figure 11 is the structure of state one between the present invention a kind of frame and user of the active omnidirectional's treadmill of roller array
Schematic diagram.
Figure 12 is the structure of state two between the present invention a kind of frame and user of the active omnidirectional's treadmill of roller array
Schematic diagram.
Figure 13 is the structure of state three between the present invention a kind of frame and user of the active omnidirectional's treadmill of roller array
Schematic diagram.
As shown in the figure：1, drive component, 1.1, power wheel, 1.2, deflecting roller, 1.3, shaft, 1.4, bevel gear one, 1.5,
Frame body, 1.6, master rotor, 1.7, auxiliary cylinder, 1.8, bevel gear two, 2, dynamical system, 3, steering, 4, travelling platform, 5, frame
Frame, 5.1, limiting bracket, 5.2, telescopic rod, 6, output shaft one, 7, screw rod one, 8, output shaft two, 9, screw rod two, 10, shoulder strap dress
It sets, 11, double tooth components, 11.1, ontology, 11.2, tooth, 11.3, through-hole, 12, axis.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings.
In conjunction with attached drawing, a kind of active omnidirectional's treadmill of roller array, including array drive component 1, dynamical system 2,
Steering 3, travelling platform 4 and the frame 5 for limiting human body, the drive component 1 include power wheel 1.1, turn to
Wheel 1.2, the power wheel 1.1 are equipped with shaft 1.3, and the shaft 1.3 is equipped with bevel gear 1, the steering
Wheel 1.2 is equipped with frame body 1.5, and the frame body 1.5 is equipped with master rotor 1.6 and auxiliary cylinder 1.7, on the master rotor 1.6
Equipped with the bevel gear 2 1.8 being meshed with bevel gear 1, the cone of the bevel gear 1 is to downward, the auxiliary cylinder
Velocity sensor and pressure sensor are equipped in 1.7.
The dynamical system 2 is equipped with an output shaft 1, passes through between the output shaft 1 and power wheel 1.1
Screw rod 1 is driven, and the steering 3 is equipped with an output shaft 28, between the output shaft 28 and deflecting roller 1.2
It is driven by screw rod 29, rows of drive component 1 shares a screw rod 1 and a screw rod 29.
The frame 5 includes limiting bracket 5.1 and telescopic telescopic rod 5.2 is arranged on limiting bracket 5.1, described
Telescopic rod 5.2 be connected with the harness 10 that user is worn, the height of the limiting bracket 5.1 is adjustable.
User puts on the shoes with special sole when walking on travelling platform 4, and the sole is double by several
Tooth components 11 and axis 12 form, and double tooth components 11 include ontology 11.1, and the both ends of the ontology 11.1 are distinguished
Equipped with the tooth 11.2 in sector structure, the ontology 11.1 is equipped with and 11.2 matched groove of tooth, the tooth 11.2
It is equipped with and 12 matched through-hole 11.3 of axis with the junction of ontology 11.1.
The angle of the sector structure of the tooth 11.2 is 90 degree, and the tooth 11.2 is in the both ends of ontology 11.1, one end
It it is three for two one end, the tooth 11.2 at 11.1 both ends of ontology is in stagger setting.
The array of the drive component 1 can be arranged at rounded projections arranged is also square.
In the specific implementation, the contour structures of omnidirectional's treadmill of the invention can be round, square, five sides to the present invention
The shapes such as shape can also be used chain between steering and drive component between dynamical system and drive component or belt connect
It connects.
The present invention and its embodiments have been described above, this description is no restricted, shown in attached drawing
Only one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill of this field
Personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution phase
As frame mode and embodiment, be within the scope of protection of the invention.
Claims (5)
1. a kind of active omnidirectional's treadmill of roller array, including array drive component (1), dynamical system (2), steering
(3), travelling platform (4) and the frame (5) for limiting human body, it is characterised in that：The drive component (1) includes power
(1.1), deflecting roller (1.2) are taken turns, the power wheel (1.1) is equipped with shaft (1.3), and the shaft (1.3) is equipped with cone
Gear one (1.4), the deflecting roller (1.2) are equipped with frame body (1.5), and the frame body (1.5) is equipped with master rotor (1.6)
With auxiliary cylinder (1.7), the master rotor (1.6) is equipped with the bevel gear two (1.8) being meshed with bevel gear one (1.4), institute
The cone for the bevel gear one (1.4) stated is equipped with velocity sensor and pressure sensor, institute to downward in the auxiliary cylinder (1.7)
The dynamical system (2) stated is equipped with an output shaft one (6), passes through spiral shell between the output shaft one (6) and power wheel (1.1)
Bar one (7) is driven, and the steering (3) is equipped with an output shaft two (8), the output shaft two (8) and deflecting roller
(1.2) it is driven by screw rod two (9) between, rows of drive component (1) shares a screw rod one (7) and a screw rod two (9).
2. the active omnidirectional's treadmill of a kind of roller array according to claim 1, it is characterised in that：The frame
(5) include limiting bracket (5.1) and setting telescopic telescopic rod (5.2), the telescopic rod on limiting bracket (5.1)
(5.2) harness (10) worn with user is connected, and the height of the limiting bracket (5.1) is adjustable.
3. the active omnidirectional's treadmill of a kind of roller array according to claim 1, it is characterised in that：User is flat in walking
The shoes with special sole are put on when walking on platform (4), the sole is by several double tooth components (11) and axis
(12) it forms, double tooth components (11) include ontology (11.1), and the both ends of the ontology (11.1), which are respectively equipped with, is in
The tooth (11.2) of sector structure, the ontology (11.1) are equipped with and tooth (11.2) matched groove, the tooth
(11.2) it is equipped with and axis (12) matched through-hole (11.3) with the junction of ontology (11.1).
4. the active omnidirectional's treadmill of a kind of roller array according to claim 3, it is characterised in that：The tooth
(11.2) angle of sector structure is 90 degree, and for the tooth (11.2) at the both ends of ontology (11.1), one end is two one end
It it is three, the tooth (11.2) at the ontology (11.1) both ends is in stagger setting.
5. the active omnidirectional's treadmill of a kind of roller array according to claim 1, it is characterised in that：The driving group
The array of part (1) can be arranged at rounded projections arranged is also square.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510522217.3A CN105126299B (en) | 2015-08-21 | 2015-08-21 | A kind of active omnidirectional's treadmill of roller array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510522217.3A CN105126299B (en) | 2015-08-21 | 2015-08-21 | A kind of active omnidirectional's treadmill of roller array |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105126299A CN105126299A (en) | 2015-12-09 |
| CN105126299B true CN105126299B (en) | 2018-08-24 |
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ID=54712086
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510522217.3A Active CN105126299B (en) | 2015-08-21 | 2015-08-21 | A kind of active omnidirectional's treadmill of roller array |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105641863A (en) * | 2016-01-25 | 2016-06-08 | 汪怀宇 | Unit-coupled and integrated omnidirectional running machine |
| CN105617605B (en) * | 2016-04-18 | 2017-09-29 | 成润泽 | A kind of intelligent omnidirectional's treadmill |
| CN205699105U (en) * | 2016-04-28 | 2016-11-23 | 北京蚁视科技有限公司 | A kind of step trailing type omnidirectional treadmill |
| CN106178399A (en) * | 2016-08-30 | 2016-12-07 | 喻明 | A kind of universal treadmill |
| CN110013644A (en) * | 2019-04-26 | 2019-07-16 | 赵思俨 | A kind of splice floor board formula omnidirectional's treadmill chassis |
| CN114522395B (en) * | 2022-02-18 | 2023-02-28 | 东南大学 | Modular omnidirectional motion platform |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103961840A (en) * | 2013-02-05 | 2014-08-06 | 覃政 | Column-element array type omnidirectional treadmill |
| CN104474665A (en) * | 2014-11-27 | 2015-04-01 | 曦煌科技(北京)有限公司 | Walk simulator based on virtual reality environment and simulation method thereof |
| CN205252401U (en) * | 2015-08-21 | 2016-05-25 | 苏科文 | Active qxcomm technology of cylinder array treadmill |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201305534D0 (en) * | 2013-03-26 | 2013-05-08 | King Charles E | Friction surface |
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2015
- 2015-08-21 CN CN201510522217.3A patent/CN105126299B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103961840A (en) * | 2013-02-05 | 2014-08-06 | 覃政 | Column-element array type omnidirectional treadmill |
| CN104474665A (en) * | 2014-11-27 | 2015-04-01 | 曦煌科技(北京)有限公司 | Walk simulator based on virtual reality environment and simulation method thereof |
| CN205252401U (en) * | 2015-08-21 | 2016-05-25 | 苏科文 | Active qxcomm technology of cylinder array treadmill |
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| CN105126299A (en) | 2015-12-09 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180720 Address after: 523330 No. four workshop of Shui Bei Deng Wu Village, Shek Pai Town, Dongguan, Guangdong. Applicant after: Dongguan United States Sports Equipment Co., Ltd. Address before: 832200 the Xinjiang Uygur Autonomous Region Changji Manasi Huayang district (Phoenix New Town) 7 Building 2 unit 402 room Applicant before: Su Kewen |
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