CN105617605B - A kind of intelligent omnidirectional's treadmill - Google Patents
A kind of intelligent omnidirectional's treadmill Download PDFInfo
- Publication number
- CN105617605B CN105617605B CN201610238339.4A CN201610238339A CN105617605B CN 105617605 B CN105617605 B CN 105617605B CN 201610238339 A CN201610238339 A CN 201610238339A CN 105617605 B CN105617605 B CN 105617605B
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- Prior art keywords
- support
- support bar
- gear
- support frame
- driven unit
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Classifications
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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
Abstract
The invention discloses a kind of intelligent omnidirectional's treadmill, belong to treadmill field, including the active cell with Universal drive function, and for supporting the support platform of user, control panel is provided with wherein above the support platform, the detection unit for being used for detecting the movement of runner foot is provided with the support platform edge, arrangement is provided with some power output holes in the support platform, driven unit is provided with the support platform, the driven unit includes support frame, and it is arranged on the support bar on support frame as described above, the top of the support bar is located in the power output hole, the power of active cell is effectively delivered in support platform by the present invention by driven unit, user is allowed to be free to change the direction run, and the speed that increase and decrease is run.
Description
Technical field
The present invention relates to a kind of treadmill, especially a kind of intelligent omnidirectional's treadmill.
Background technology
At present, common treadmill all can be only done unidirectional transmission, and such treadmill is very difficult to apply in ludic activity
In, therefore the scope of application of treadmill is reduced, but in the treadmill of some existing omnidirectionals, complete the mode of Omni-mobile
Two kinds can be divided into, one kind is that, using two mutually perpendicular power transmission shafts, vertical power transmission shaft is used for the direction for controlling speed, and
The power transmission shaft of level is used for the size for controlling speed, and for such structure, the mechanism for the horizontal drive shaft that links is just very multiple
It is miscellaneous, easily occur various failures in use, repair it is also pretty troublesome, while in use can not time changing
The direction of running, and it is another, it is the structure using divergent shape, is in divergent shape from the center of disk to surrounding, this structure is needed
Want user oneself change standpoint position, the movement of different directions could be realized, thus use it is also very inconvenient.
The content of the invention
The technical assignment of the present invention is to be directed to above the deficiencies in the prior art, and provides a kind of intelligent omnidirectional's treadmill.
The technical solution adopted for the present invention to solve the technical problems is：A kind of intelligent omnidirectional's treadmill, including with ten thousand
To the active cell of transmission agency, and for supporting the support platform of user, wherein being provided with above the support platform
Control panel, the detection unit for being used for detecting the movement of runner foot is provided with the support platform edge, in the support
Arrangement is provided with some power output holes on platform, and driven unit is provided with the support platform, and the driven unit includes branch
Support, and the support bar being arranged on support frame as described above, the top of the support bar are located in the power output hole, in institute
State and three active cells are at least installed on support frame, speed electric motor, direction are respectively equipped with the support platform bottom
Motor and control module, the speed electric motor are connected with the output end of direction motor with the active cell, the control mould
The input of block is connected with the control panel and detection unit respectively, output end respectively with the speed electric motor and direction motor
Connection, active cell imparts power to driven unit when using, and such driven unit will be synchronized with the movement with active cell, now
Support frame in whole motion process can the cycle movement in the way of shaking up and down, support bar on support frame will be along
The inwall in power output hole carries out circular motion（Support bar is not contacted with the inwall in power output hole）, when support frame is moved to most
During high point, the top of support bar can be higher than support platform, and now the sole of user will leave the top surface of support platform, therefore branch
It is in opposite direction that the direction of strut linear velocity in this point is just run with runner, and size and the runner of linear velocity run
Speed it is identical.
As an improvement, the active cell includes universal driving shaft, gear, direction gear and axle sleeve, the gear
Positioned at the universal driving shaft bottom, the speed electric motor is connected with the gear, and the axle sleeve is located at the universal driving shaft upper end,
Input block is provided with below the axle sleeve, output shaft is provided with the top of the axle sleeve, the output shaft is connected with support frame as described above,
The direction gear be located at the axle sleeve below, above the direction gear be provided with support block, the direction gear with it is described
Direction motor connection, in work, because gear links with axle sleeve with universal driving shaft, the axle sleeve when gear is rotated
Also it can rotate together, the motion of direction gear and gear is individually independent, input block and steering gear below axle sleeve
When support block on wheel is docked, the support that axle sleeve is supported block will be moved up along universal driving shaft, in input block and support block
After staggering, axle sleeve will drop back into original position, therefore the track that the track that entirely driven unit is moved up and down is moved up and down with axle sleeve again
It is consistent.
As an improvement, the detection unit includes the position sensor for being used to detect user foot moving direction, and use
In the infrared ray sensor of detection user foot translational speed size, the infrared ray sensor by control module with it is described
Speed electric motor is connected, the position sensor by control module and the direction motor connection, for the ease of velocity magnitude with
The control in direction, therefore direction motor can select servomotor, speed electric motor can select stepper motor, infrared ray sensing when using
Device will detect the size of user foot translational speed, and the data of collection are sent into control module, and control module is to data
The revolution of speed electric motor will be controlled after being handled, the size of the speed of control support bar when rotated is finally played, similarly position
Sensor is put after the direction of foot's movement is detected, by direction motor come control direction pinion rotation, so as to change support
The position of block so that support bar is raised in different places, so as to change the direction of support bar output speed.
As an improvement, the gear is connected by speed transmission chain, the speed electric motor and the speed transmission
Chain is connected, and the direction gear is connected by direction driving chain, and the direction motor is connected with the direction driving chain,
Driving chain plays powerdriven effect, so that it is guaranteed that the power of motor output can be evenly distributed to each gear
Or on direction gear, therefore change driving chain into gear drive and similarly can also.
As an improvement, because the support bar in same gear unit is all synchronized with the movement, so in use
To user one kind can be caused to jolt sense, in order to alleviate this sense of jolting, therefore be provided with the support platform described in two
Driven unit, one of driven unit is the first driven unit, and first driven unit includes the first support frame and first
Support bar, another driven unit is the second driven unit, and second driven unit includes the second support frame and the second support
Bar, first support bar moves to the time of peak and second support bar moves to the time phase difference half period of peak.
As an improvement, support frame as described above is made up of some crisscross support bars, the support bar is located at the branch
At the node of stay, the first support bar is alternately located in the power output hole with the second support bar, this structure
The first support frame and the second support frame between have certain difference in height, its purpose is to allow driven unit in motion process
In be independent of each other, while the support bar also ensured on same support frame can be distributed in the sole of user.
As an improvement, support frame as described above is made up of some support bars being parallel to each other, the support bar, which is divided equally, to be distributed in
On the support bar, the first support bar is alternately located in the power output hole with the second support bar.
As an improvement, in order to improve support effect of the active cell to support frame, increase the stationary performance of support frame, and
Ensure the safety in use of user, therefore four active cells are installed on support frame as described above, in the branch
Support platform and be provided with safety belt.
Advantages of the present invention：The basic structure of active cell is simple, ingenious in design, reduces the probability of failure, together
Shi Yinwei be used for control direction direction mechanism be direction gear, institute for linkage all directions gear direction link gear
It is just very simple, repaired also easily, and because the tangential direction of difference on circumference is all when breaking down
It is different, therefore need to only change the position of support block, you can the requirement for changing velocity attitude is realized, finally by active cell
To drive the motion of driven unit, allow power to be sent to the sole of user by support bar, be finally completed the transmission work of power
Make.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of driven unit of the present invention.
Fig. 3 is the structural scheme of mechanism of active cell of the present invention.
Fig. 4 is Fig. 3 of the present invention exploded view.
Fig. 5 is the location diagram between two driven units of the invention.
Fig. 6 is the partial enlarged drawing at A in Fig. 5 of the present invention.
Fig. 7 is the structural representation of the crisscross design of support bar of the present invention.
Fig. 8 is the structural representation of support bar Parallel Design of the present invention.
Fig. 9 is the structural representation that each active cell is connected by speed transmission chain.
1 active cell, 10 universal driving shafts, 2 axle sleeves, 21 output shafts, 22 input blocks, 3 direction gears, 31 support blocks, 4 speed teeth
Wheel, 5 support platforms, 50 power output holes, 51 control panels, 52 detection units（For detection speed size and Orientation）, it is 6 driven
Unit, 61 support frames, 62 support bars, 611 first support frames, 612 first support bars, 621 second support frames, 622 second supports
Bar, 7, speed transmission chain.
Embodiment
The present invention is described below with reference to Figure of description.
As shown in figure 1, a kind of intelligent omnidirectional's treadmill, including the active cell 1 with Universal drive function, and be used for
The support platform 5 of user is supported, wherein control panel 51 is provided with the top of support platform 5, on the side of support platform 5
The detection unit 52 for being used for detecting the movement of runner foot is provided with edge, arrangement is provided with some power in the support platform 5
Delivery outlet 50, is provided with driven unit 6, the driven unit 6 includes support frame 61, and is arranged in the support platform 5
Support bar 62 on support frame as described above 61, the top of the support bar 62 is located in the power output hole 50, in the support
Three active cells 1 are at least installed on frame 61, speed electric motor, direction electricity are respectively equipped with the bottom of support platform 5
Machine and control module, the speed electric motor are connected with the output end of direction motor with the active cell 1, the control module
Input be connected respectively with the control panel 51 and detection unit 52, output end respectively with the speed electric motor and direction electricity
Machine is connected, and active cell 1 imparts power to driven unit 6 when using, and such driven unit 6 is transported with active cell 1 by synchronous
It is dynamic, cycle movement in the way of now support frame 61 can shake in whole motion process above and below, on support frame 61
Support bar 62 will carry out circular motion along the inwall in power output hole 50（Support bar is not contacted with the inwall in power output hole）,
When support frame 61 is moved to peak, the top of support bar 62 can be higher than the pin of the upper top surface, now user of support platform 5
The supporting role that bottom is supported bar 62 will leave the top surface of support platform 5, therefore the linear velocity in this point of support bar 62
It is in opposite direction that direction is just run with runner, and the size of linear velocity is identical with the speed that runner runs.
As shown in Figures 2 and 3, the active cell 1 includes universal driving shaft 10, gear 4, direction gear 3 and axle sleeve 2, institute
Gear 4 is stated positioned at the bottom of universal driving shaft 10, the speed electric motor is connected with the gear 4, and the axle sleeve 2 is located at
The upper end of universal driving shaft 10, is provided with input block 22 below the axle sleeve 2, and output shaft 21 is provided with the top of axle sleeve 2, described
Output shaft 21 is connected with support frame as described above 61, and now gear 4 is linkage by universal driving shaft 10 and axle sleeve 2, when speed tooth
When rotation 4 is dynamic, gear 4 will drive axle sleeve 2 to rotate together by universal driving shaft 10, and the direction gear 3 is located at the axle sleeve 2
Lower section, support block 31, the direction gear 3 and the direction motor connection are provided with the top of direction gear 3, in work,
Because gear 4 links with axle sleeve 2 with universal driving shaft, when gear 3 is rotated, axle sleeve 2 can also be rotated together, and
The motion of direction gear 3 and gear 4 is individually independent, when input block 22 and the branch on direction gear 3 of the lower section of axle sleeve 2
When bracer 31 is docked, the supporting role that axle sleeve 2 is supported block 31 will be moved up along universal driving shaft 10, in input block 22 and branch
After bracer 31 staggers, axle sleeve 2 will drop back into the track and axle sleeve 2 that driven unit 6 is moved up and down in original position, therefore whole process again
The track moved up and down is consistent.
The detection unit includes the position sensor for being used to detect user foot moving direction, and is used for detecting
The infrared ray sensor of person foot translational speed size, the infrared ray sensor is connected by control module and the speed electric motor
Connect, the position sensor is by control module and the direction motor connection, for the ease of the control in velocity magnitude and direction,
Therefore direction motor can select servomotor, and speed electric motor can select stepper motor, and infrared ray sensor makes detection when using
The size of user foot translational speed, and the data of collection are sent to control module, after control module is handled data
The revolution of speed electric motor will be controlled, finally play the size of the speed of control support bar when rotated, similarly position sensor exists
Behind the direction for detecting foot's movement, by direction motor come control direction pinion rotation, so as to change the position of support block, make
Support bar is obtained raised in different places, so as to change the direction of support bar output speed.
As shown in figure 9, the gear 4 is connected by speed transmission chain 7, the speed electric motor is passed with the speed
Dynamic chain 7 is connected, and the direction gear is connected by direction driving chain, and the direction motor connects with the direction driving chain
Connect, driving chain plays powerdriven effect, so that it is guaranteed that the power of motor output can be evenly distributed to each speed
On gear or direction gear, thus by driving chain change into gear drive similarly can also, all directions tooth in actual design
Wheel direction driving-chain by way of the motor connection of direction it is identical with speed electric motor.
Because the support bar 62 in same gear unit 6 is all synchronized with the movement, so in use can be to use
Family causes one kind to jolt sense, in order to alleviate this sense of jolting, therefore is provided with the support platform 5 two driven lists
Member 6（As viewed in figures 5-8）, one of driven unit is the first driven unit, and first driven unit includes the first support
Frame 611 and first support bar 612, another driven unit are the second driven unit, and second driven unit includes second
Support 621 and second support bar 622, because active cell 1 is linked together by speed transmission chain 7, therefore first
The period of motion of support bar 612 and second support bar 622 be it is consistent, and first support bar 612 move to peak when
Between the time phase difference half period of peak is moved to second support bar 622.
As shown in fig. 7, support frame as described above 61 is made up of some crisscross support bars, the support bar 62 is located at institute
State at the node of support bar, the first support bar 612 is alternately located in the power output hole 50 with the second support bar 622
It is interior, there is certain difference in height, its purpose is to allow between the first support frame 611 and the second support frame 621 of this structure
Driven unit 6 is independent of each other in motion process, is distributed while the support bar 62 also ensured on same support frame 61 can be divided equally
In the sole of user.
As shown in figure 8, support frame as described above 61 is made up of some support bars being parallel to each other, the support bar 62, which is divided equally, to be divided
Cloth is on the support bar, and the first support bar 612 is alternately located in the power output hole 50 with the second support bar 622
It is interior.
In order to improve support effect of the active cell 1 to support frame 61, increase the stationary performance of support frame 61, and ensure
The safety in use of user, therefore four active cells 1 are installed on support frame as described above 61, in the support
Platform 5 is provided with safety belt（Safety belt is not drawn in figure）.
Its operation principle is：The present invention is designed according to the characteristics of circular motion centerline velocities, because at the uniform velocity justifying
In Zhou Yundong, the size of linear velocity is equal to the arc length that movement particles pass through（S）With the time used in this section of arc length that passes through（△t）'s
Value.That is v=S/ △ t, are also the π r/T of v=2, in uniform circular motion, though the size of linear velocity does not change, its direction moment
Changing.The relation of it and angular speed is v=ω * r, just because of the direction of linear velocity is at any time all in change, so by this feature
Apply in omnidirectional's treadmill and be just greatly improved the using effect of treadmill.
In actual use, treadmill is started by control panel 51 first, when the foot of user is in support platform
When upper mobile, infrared ray sensor starts to detect the size of user foot translational speed, and the data of detection are passed into control
Molding block, control module is by rotating control speed electric motor after the analyzing and processing to data, and such power is by actively single
It is delivered to after member 1 and the transmission for passing to unit 6 on support bar 62, now the size of the linear velocity of support bar 62 is run fast with user
The size of degree is identical, at the same time, and position sensor can also detect the situation of change of user foot moving direction simultaneously, then
By the data transfer of detection to control module, control module control direction motor after handling data rotates certain angle
Degree, so as to drive direction gear 3 to rotate, changes the position of support block 31 with this, and it is defeated that final change support bar 62 is higher by power
Portal 50 position, the direction coincidence that speed side and the runner that now support bar 62 is exported run is on the contrary, in this whole process
In, support bar 62 is higher by state during power output hole 50, is exactly by the state of power final output.
Because the present invention can be according to the size and Orientations of the motion conditions, then adjust automatically speed of utilization, therefore use
No matter family is moved with which type of direction and speed in use, can remain at the center of treadmill without
Treadmill is left, and control module can also be connected with outer computer, and infrared ray sensor and position sensor are detected
Data transfer into outer computer, it is synchronous with the personage in virtual scene, therefore the present invention can also be with virtual reality head
Helmet is used cooperatively, and passes through VR（Virtual reality）Technology so that the present invention is in fields such as video-game, sport and body-building, scene displays
It is used widely, is greatly improved the sense of reality in virtual world, and then improve the use scope of the present invention.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations, within the spirit and principles of the invention, and that is made is any
Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (8)
1. a kind of intelligent omnidirectional's treadmill, including the active cell with Universal drive function, and for supporting user's
Support platform, it is characterised in that：Control panel is provided with above the support platform, in the support platform edge provided with use
In the detection unit of detection runner foot movement, arrangement is provided with some power output holes in the support platform, described
Driven unit is provided with support platform, the driven unit includes support frame, and the support bar being arranged on support frame as described above,
The top of the support bar is located in the power output hole, and three active lists are at least provided with support frame as described above
Member, speed electric motor, direction motor and control module, the speed electric motor and direction electricity are respectively equipped with the support platform bottom
The output end of machine is connected with the active cell, and the input of the control module is single with the control panel and detection respectively
Member connection, output end respectively with the speed electric motor and direction motor connection.
2. a kind of intelligent omnidirectional's treadmill according to claim 1, it is characterised in that：The active cell includes linkage
Axle, gear, direction gear and axle sleeve, the gear be located at the universal driving shaft bottom, the speed electric motor with it is described
Gear is connected, and the axle sleeve is located at the universal driving shaft upper end, input block is provided with below the axle sleeve, on the axle sleeve top
Portion is provided with output shaft, and the output shaft is connected with support frame as described above, and the direction gear is located at below the axle sleeve, in the side
Support block, the direction gear and the direction motor connection are provided with above to gear.
3. a kind of intelligent omnidirectional's treadmill according to claim 1, it is characterised in that：The detection unit includes being used to examine
The position sensor of user foot moving direction is surveyed, and for detecting the infrared ray sensing of user foot translational speed size
Device, the infrared ray sensor is connected by control module with the speed electric motor, and the position sensor passes through control module
With the direction motor connection.
4. a kind of intelligent omnidirectional's treadmill according to claim 1, it is characterised in that：The gear is passed by speed
Dynamic chain connection, the speed electric motor is connected with the speed transmission chain, and the direction gear is connected by direction driving chain
Connect, the direction motor is connected with the direction driving chain.
5. a kind of intelligent omnidirectional's treadmill according to claim 1-4 wherein any one, it is characterised in that：In the branch
Two driven units are installed, one of driven unit is the first driven unit, the first driven list in support platform
Member includes the first support frame and first support bar, and another driven unit is the second driven unit, the second driven unit bag
Include the second support frame and second support bar.
6. a kind of intelligent omnidirectional's treadmill according to claim 5, it is characterised in that：Support frame as described above be by it is some in length and breadth
Support bar staggeredly is constituted, and the support bar is located at the node of the support bar, the first support bar with described second
Strut is alternately located in the power output hole.
7. a kind of intelligent omnidirectional's treadmill according to claim 5, it is characterised in that：Support frame as described above is by some mutual
Parallel support bar is constituted, and the support bar, which is divided equally, to be distributed on the support bar, the first support bar with described second
Strut is alternately located in the power output hole.
8. a kind of intelligent omnidirectional's treadmill according to the wherein any one of claim 1-4,6,7, it is characterised in that：Institute
State and four active cells are installed on support frame, safety belt is provided with the support platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610238339.4A CN105617605B (en) | 2016-04-18 | 2016-04-18 | A kind of intelligent omnidirectional's treadmill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610238339.4A CN105617605B (en) | 2016-04-18 | 2016-04-18 | A kind of intelligent omnidirectional's treadmill |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105617605A CN105617605A (en) | 2016-06-01 |
| CN105617605B true CN105617605B (en) | 2017-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610238339.4A Expired - Fee Related CN105617605B (en) | 2016-04-18 | 2016-04-18 | A kind of intelligent omnidirectional's treadmill |
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| CN (1) | CN105617605B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107469283B (en) * | 2016-06-07 | 2019-08-23 | 浙江骜途智能科技有限公司 | Treadmill with novel support structure |
| CN106110573B (en) | 2016-07-28 | 2019-05-14 | 京东方科技集团股份有限公司 | Omni-mobile platform and its control method, treadmill |
| CN106178399A (en) * | 2016-08-30 | 2016-12-07 | 喻明 | A kind of universal treadmill |
| CN106251759A (en) * | 2016-09-13 | 2016-12-21 | 张真皓 | A kind of unlimited mobile device of virtual reality |
| DE112017006958B4 (en) * | 2017-03-01 | 2021-03-04 | Mitsubishi Electric Corporation | INFORMATION PROCESSING SYSTEM |
| CN107837528B (en) * | 2017-11-16 | 2024-01-05 | 杭州虚现科技股份有限公司 | Universal mobile platform and control method thereof |
| CN109078295A (en) * | 2018-09-25 | 2018-12-25 | 陶宏建 | A kind of motion structure 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 |
| CN113082607A (en) * | 2021-05-08 | 2021-07-09 | 湖州市妇幼保健院 | Pregnant woman's practises device that helps parturient |
| CN114522395B (en) * | 2022-02-18 | 2023-02-28 | 东南大学 | Modular omnidirectional motion platform |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103961840B (en) * | 2013-02-05 | 2016-05-18 | 覃政 | Post element array formula omnidirectional treadmill |
| SE538296C2 (en) * | 2013-12-02 | 2016-05-03 | Mse Omnifinity Ab | Circular treadmill |
| CN105126299B (en) * | 2015-08-21 | 2018-08-24 | 东莞众美运动器材有限公司 | A kind of active omnidirectional's treadmill of roller array |
| CN205042034U (en) * | 2015-10-19 | 2016-02-24 | 于东兴 | Pearl disk qxcomm technology treadmill |
| CN105374251A (en) * | 2015-11-12 | 2016-03-02 | 中国矿业大学(北京) | Mine virtual reality training system based on immersion type input and output equipment |
| CN205569599U (en) * | 2016-04-18 | 2016-09-14 | 成润泽 | Novel intelligence qxcomm technology treadmill |
-
2016
- 2016-04-18 CN CN201610238339.4A patent/CN105617605B/en not_active Expired - Fee Related
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Effective date of registration: 20180307 Address after: 518109 Longhua Liang Ji building 333 room on the East Ring Road, Longhua street, Longhua District, Shenzhen, Guangdong Patentee after: SHENZHEN GAIFAN EDUCATION TECHNOLOGY CO.,LTD. Address before: Futian District Sha Tau Street Xinsha road Shenzhen city Guangdong province 518000 No. 26 North 407 Patentee before: Cheng Runze |
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Granted publication date: 20170929 |