CN105641863A - Unit-coupled and integrated omnidirectional running machine - Google Patents
Unit-coupled and integrated omnidirectional running machine Download PDFInfo
- Publication number
- CN105641863A CN105641863A CN201610052535.2A CN201610052535A CN105641863A CN 105641863 A CN105641863 A CN 105641863A CN 201610052535 A CN201610052535 A CN 201610052535A CN 105641863 A CN105641863 A CN 105641863A
- Authority
- CN
- China
- Prior art keywords
- unit
- transmission
- movement
- user
- orientation sensing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an omnidirectional running machine formed by integrating multiple units. The units comprise surface moving parts which can directionally move or roll back and forth and do free revolving movement around a single-edge revolving shaft. The running machine comprises a control system, a support system, a transmission driving system, a unit movement revolving system, an orientation sensing and collecting system and a human movement assisting system, wherein the transmission driving system, the unit movement revolving system, the orientation sensing and collecting system and the human movement assisting system are arranged on the support system and connected with the control system; the control systems controls the transmission driving system and the unit movement revolving system according to information such as the direction, the speed and the accelerated speed of a user on the running surface formed by integrating the units and then enables the running machine to adapt to the running direction, speed and accelerated speed of the user through the transmission driving system and the unit movement revolving system, wherein the information is collected by the orientation sensing and collecting system; the human movement assisting system is used for assisting in movement of the user and preventing the phenomenon that the user loses the balance to fall down in the movement process.
Description
Technical field
The present invention relates to treadmill, relate to a kind of omnirange treadmill concretely.
Background technology
The running plane of the treadmill on existing market is arranged to rectangular-shaped so that the direction that people runs, and can only carry out along a direction, can not meet the service requirements of reality-virtualizing game operator.
For the defect that above-mentioned traditional treadmill exists, market occurs universal treadmill. Omnirange treadmill refers to the treadmill that a class tangential movement direction can change with the step of people, and it can provide unlimited space of freely walking for indoor user.
At present, it relates to omnirange treadmill scheme mainly contains following several:
Being the mode adopting the vertical little travelling belt in the nested direction of big travelling belt, its advantage is that control is easy, it is only necessary to the movement velocity of control two direction travelling belts thus form the sum velocity of any horizontal direction; Shortcoming is that system inertia is relatively big, owing to little conveyer belt system complete installation is on big travelling belt, causes big travelling belt rotator inertia too big, thus lacks handiness. In order to effectively the motion of people be followed the tracks of, it is necessary to increase the size of whole plane of travel, which further increases system inertia.
A kind of scheme is also had to be by the slip of operator's sole at a coplanar, simulating actual walking, the shortcoming of the program is that operator needs to change footwear, and waist has annular constraint, can not squatting down, strong have impact on the feeling of immersion of operator in reality-virtualizing game.
In addition, existing racetrack treadmill is all unidirectional racetrack treadmill, and the running action of walking about of its whole body all can not be mapped in game, and function is comparatively single, can not meet the service requirements of reality-virtualizing game.
Summary of the invention
For the deficiency of prior art, the present invention provides a kind of omnirange treadmill become by specific unit set.
The present invention discloses a kind of omnirange treadmill become by multiple unit set, described unit has the surperficial movement parts that can move back and forth along orientation or roll, and turnover motion can be done around the strut member axle center of described unit, described treadmill comprises Controlling System, support system, the transmission drive system, the block operation that are arranged in described support system have enough to meet the need system, orientation sensing acquisition system, and described transmission drive system, block operation turnover system, orientation sensing acquisition system, human motion subsystem are all connected with described Controlling System; Described Controlling System according to described orientation sensing acquisition system collect on the running surface that user becomes in described unit set direction, speed, the information such as acceleration controls described transmission drive system and described block operation turnover system, and by described transmission drive system and described block operation turnover system, the running direction of described treadmill and user, speed and acceleration adapted.
According to one preferred embodiment, the upper surface of described support system is provided with multiple cellular installation mouth, and the housing of described support system has the installation position of multiple orientation sensing device.
According to a preferred embodiment, described support system is also provided with human motion subsystem, described human motion subsystem is made up of motion auxiliary frame, support bar, support frame, expansion link, the auxiliary collar of human body, the auxiliary collar of described human body can move along with the motion of user under the effect of support bar, and the auxiliary collar of human body is also provided with orientation sensing device, obtain human motion attitude with accurate further; The arcuate member that the auxiliary collar of described human body is connected to expansion link by more piece is spliced into ring, and the two ends of arcuate member are respectively web member and the tight mouth of card, and described web member can realize auto lock and unblock under control of the control system with the tight mouth of card.
According to one preferred embodiment, described block operation turnover system is coated on its surperficial and that drive by roller travelling belt and described unit bottom rotary driving part by one or more and forms, described travelling belt provides propulsion source by motor, and by mechanical transmission mechanism, its orientation is moved back and forth, the described turning unit that driven drives unit to do freely to have enough to meet the need move along week rotating shaft, described is driven the preferred driving stepper motor of turning unit.
According to one preferred embodiment, described transmission drive system, there is provided power by motor, by machinery, electrically, the type of drive transmission campaign such as hydraulic pressure, air pressure so that the orientation that described unit realizes surface moving object moves back and forth and rolls and overall turnover is moved.
According to one preferred embodiment, also comprise described orientation sensing acquisition system, the described orientation preferred infrared sensing of sensing acquisition system.
According to a preferred embodiment, the preferred driving stepper motor of described unit bottom rotary driving part rotates, and is also equipped with braking and locking device, and described braking and locking device can to realize when user tramples, the position of unit is fixed, thus realizes better user and trample effect.
The control to the described motor providing power to described omnirange treadmill can be realized by several means. A kind of means will be incorporated to infrared sensing device (such as XboxKinect) to understand user direction on a treadmill, speed and acceleration and information as described in using keeps to user as described in making balancing and probably placed in the middle.
Motion characteristics when described invention coordinates user's walking or runs, keep straight line moving as user or run, the direction of motion of the surperficial moving object of unit is very good contrary with the direction of motion of user, when user starts to change direction of motion, assume user turn right to, now, left foot is still on unit, and the surperficial moving object direction of motion of left foot institute pedal unit remains unchanged, the speed of described cell surface moving object adjusts with motion conditions, then, user lifts right pin, described orientation sensing acquisition system gathers the body posture of people and the motion orientation of right pin, speed, the information gathered is delivered to Controlling System, Controlling System controls transmission drive system according to the information received, by the adjustment of the quantitative rotation of described transmission drive system control unit and surface moving object speed thereof, thus adjust speed and the direction of the multiple unit in right side, right pin motion during to adapt to step on, equally, when user turns left, Principle of Process with above-mentioned is identical.
Compared with prior art, the present invention has following useful effect:
The present invention collects the information such as the direction on the running surface that user becomes, speed, acceleration in described unit set by orientation sensing acquisition system, and by the information real-time Transmission that collects to Controlling System, Controlling System in described direction, speed, the information Control transmission drive system such as acceleration and the block operation turnover system run on surface, makes the running direction of treadmill and user, speed, acceleration adapt by transmission drive system and block operation turnover system according to the user collected; Described omnirange treadmill can realize the mode moved when people walk or run in the life of complete simulating reality, use the integrated omnirange running plane of element coupling, there is less inertia, can realize that treadmill is overall faster or the speed of local unit and the change in direction, to adapt to the real time kinematics of user.
In addition, the treadmill of the present invention can also match with games system, and during virtual wear-type is played, the action of virtual role is consistent with operator in speed and direction, it is achieved amusement combines with motion.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of the present invention.
Fig. 2 is the structural representation of described unit.
Fig. 3 is cellular installation platform structural representation.
Fig. 4, Fig. 5, Fig. 6 are cell surface movement parts type map.
Fig. 7 is human body auxiliary sleeve ring structure schematic diagram.
In above-mentioned accompanying drawing, the parts title that Reference numeral is corresponding is as follows:
1-cellular installation platform, 2-cellular installation mouth, 3-unit, 4-user's road-work plane, 5-motion auxiliary frame, 6-support bar, 7-support frame, 8-expansion link, 9-human body assists the collar, 10-chute, 11-motor one, 12-motor two, 13-transmission belt, 14-cylinder, 15-transmission belt, 16-has enough to meet the need erecting frame, 17-upper holder, stationary platform under 18-, 19-week rotating shaft, the synchronous belt wheel one of 20-, 21-braking and locking device, 22-braking and locking coordinates device, 23-is synchronously with, the synchronous belt wheel two of 24-, 25-orientation sensing device, 26-web member, the tight mouth of 27-card, 28-block operation surface, 29-conveyer chain, 30-roller.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described, and embodiments of the present invention include but not limited to the following example.
As shown in Figure 1, it illustrates a kind of omnirange treadmill. A kind of universal treadmill, comprises Controlling System, support system, the transmission drive system that is arranged in described support system, block operation turnover system, orientation sensing acquisition system, human motion subsystem, and the integrated user of described element coupling runs platform.
Transmission drive system, block operation turnover system, orientation sensing acquisition system are all connected with described Controlling System with human motion subsystem, Controlling System according to orientation sensing acquisition system collect on the running surface that user becomes in unit set direction, speed, the information such as acceleration controls transmission drive system and block operation turnover system, and by described transmission drive system and described block operation turnover system, the running direction of described treadmill and user, speed and acceleration adapted.
Support system is provided with cellular installation platform 1, the cellular installation mouth 2 being distributed on cellular installation platform, and described unit 3 is fixed on cellular installation mouth 2, by the road-work plane 4 of the integrated user of multiple element coupling.
Human motion subsystem is arranged in support system, as shown in Figure 1, motion auxiliary frame 5 is arranged on the planar outboard of support system, motion auxiliary frame 5 is made up of the auxiliary collar 9 of many support bars 6, support frame 7, many expansion links 8 and human body,, the auxiliary collar 9 of shown human body is for can automatically split locking type. When user prepares to go on platform, the auxiliary collar 9 of human body can split under the effect of expansion link 8, after user stands, the auxiliary collar 9 of human body again under the effect of expansion link 8 automatically in conjunction with locking, described expansion link 8 can slide up and down along chute 10, to adapt to squatting down and the motion such as jump of user; Described expansion link 8 does flexible motion under control of the control system, and expansion link 8 can also do the left and right swing of certain angle along chute 10 simultaneously, to adapt to the omni-directional movement of user.
As shown in Figure 2, it illustrates the unit 3 for coupling integration plane of movement, shown unit 3 provides propulsion source by an even motor, and for driving, unit 3 does turnover campaign along week rotating shaft 19 to motor 1, and for driving, conveyer belt moves back and forth motor 2 12.
Further description unit 3, as shown in Figure 2, cylinder 14 is fixedly mounted on the upper holder of turnover erecting frame 16, motor 2 12 is fixed in lower stationary platform 18, travelling belt 13 is attached on cylinder 14, cylinder 14 is connecting with transmission belt 15, transmission belt 15 and motor 2 12 are in succession, as above drive connection, the adjustment that motor 2 12 carries out rotating speed under control of the control system and turns to, by the motion of transmission belt 15 head roll 14, cylinder 14 motion is ordered about travelling belt 13 and is moved, thus the motion that realization adjusts with user's real time kinematics attitude.
As shown in Figure 2, turnover erecting frame 16 is made up of upper holder 17, lower stationary platform 18, week rotating shaft 19, synchronous belt wheel 1, upper holder is also provided with braking and locking device 21 simultaneously, certain mouth of cellular installation as shown in Figure 72 has the braking mating parts 22 coordinating braking and locking device, thus realizes braking and locking and unblock timely.
As shown in Figure 2, travelling belt 13 is attached on cylinder 14, cylinder 14 is fixedly mounted on the upper holder 17 of turnover erecting frame 16, motor 2 12 is fixed in lower stationary platform 18, lower stationary platform 18 connects week rotating shaft 19, synchronous belt wheel 1 is tightly placed in week rotating shaft 19 simultaneously, synchronous belt wheel 1 coordinates with synchronous band 23, synchronous belt wheel 2 24 coordinates with the other end of synchronous band 23, synchronous belt wheel 2 24 connects and motor 1, the drive connection of the relational implementation that is connected as above is as follows: the adjustment that motor 1 carries out rotating speed under control of the control system and turns to, first transfer motion power drives synchronous belt wheel 2 24, synchronous band 23 is given in the transmission of synchronous belt wheel 2 24, synchronous band 23 drive synchronous belt wheel 1 motion, week rotating shaft 19 is given in the transmission of synchronous belt wheel 1, week rotating shaft 19 drives lower stationary platform 18 to move together. according to above-mentioned drive connection thus realize unit 3 week rotating shaft 19 drive under do turnover motion.
As shown in Figure 3, also being provided with orientation sensing device 25 on cellular installation platform 1, for collecting the athletic posture information of user, cellular installation mouth 2 is installed with on cellular installation platform 1, shown cellular installation mouth 2 is also provided with braking and locking and coordinates device 22, to coordinate braking and locking device 21.
Such as Fig. 4, Fig. 5, Fig. 6, it show block operation surface design figure, single moving surface 28 shown in Fig. 4 adopt travelling belt 13 as surface movement parts, shown case one adopts many parallel single section of travelling belt 13 filler cells moving surfaces 28, and shown case two adopts the travelling belt 13 filler cells moving surface 28 of many parallel multistages; Single moving surface 28 shown in Fig. 5 adopt conveyer chain 29 as surface movement parts; Employing roller in the surface of block operation shown in Fig. 6 28 is as surface movement parts.
As shown in Figure 7, it show the disassembly diagram of the auxiliary collar 9 of human body, the end that is connected of the auxiliary collar 9 of described human body is made up of web member 26 and the tight mouth 27 of card, as web member in the contraction process of figure expansion link 8 26 and the tight mouth 27 of card can realize unlocking under control of the control system, and be separated under the effect of expansion link 8, when expansion link 8 extends, web member 26 can be inserted in the tight mouth 27 of card and auto lock under control of the control system.
According to above-described embodiment, the present invention just can be realized preferably. What deserves to be explained is; under prerequisite based on said structure design, for solving same technical problem, even if some making in invention are without substantive change or polishing; the essence of the technical scheme adopted is still the same with the present invention, therefore it also should in protection scope of the present invention.
Claims (10)
1. a universal treadmill, it is characterised in that, comprise Controlling System, support system, the transmission drive system, the block operation that are arranged in described support system have enough to meet the need system, orientation sensing acquisition system, human motion subsystem;
Described transmission drive system, described block operation turnover system, described orientation sensing acquisition system are all connected with described Controlling System with described human motion subsystem;
Described Controlling System according to described orientation sensing acquisition system collect on the running surface that user becomes in described specific unit set direction, speed, the information such as acceleration controls described transmission drive system and described block operation turnover system, and by described transmission drive system and described block operation turnover system, the running direction of described treadmill and user, speed and acceleration adapted.
2. omnirange treadmill according to claim 1, the support system described in it, it is characterised in that: the upper surface of described support system is provided with multiple cellular installation mouth, and the housing of described support system has the installation position of multiple orientation sensing device;
Described cellular installation mouth, it is characterised in that: good cooperation can be installed by described unit, and braking and locking is installed and coordinates device.
3. the upper surface of support system described in fully fills described unit, and between described unit and unit, remaining unfilled support system upper surface adopts the material with suitable frictional force to fill.
4. omnirange treadmill according to claim 1, transmission drive system described in it, it is characterized in that: described transmission drive system provides power by one or more motor, and carries out transmission by mechanical transmission, Electrified Transmission, hydrostatic transmission, pneumatic transmission mode;
Each motor of described transmission drive system can be independent drive the surperficial movement parts on described unit or bottom rotary driving part, it is possible to each motor drives the surperficial movement parts on multiple described unit or bottom rotary driving part.
5. omnirange treadmill according to claim 1, block operation turnover system described in it, it is characterised in that: described block operation turnover system is coupled into mutually the plane of movement for user by multiple unit;
Described block operation turnover system is provided with braking and locking device.
6. omnirange treadmill according to claim 1, sensing acquisition system in orientation described in it, it is characterised in that: it is made up of one or more sensing gathering device;
Described orientation sensing gathering device, it is characterised in that: described orientation sensing gathering device adopts optical sensing device, sonar sensor or optical camera head.
7. omnirange treadmill according to claim 1, human motion subsystem described in it, it is characterised in that: by assisting, the auxiliary collar of support, expansion link, human body forms for it;
Described expansion link, it is characterised in that: its one end connects chute, and one end connects the auxiliary collar of human body, and adopts the pneumatic or motor-driven mode of hydraulic pressure to stretch, simultaneously described expansion link can along chute gliding groove, and also can swing along about the both sides of chute;
Described human body assists the collar, it is characterised in that: its arcuate member being connected to expansion link by more piece is spliced into ring, is provided with orientation sensing device; The two ends of arcuate member are respectively web member and the tight mouth of card, and described web member can realize auto lock and unblock under control of the control system with the tight mouth of card;
Unit for being coupled into plane of movement according to claim 4, it is characterized in that: described cellular installation goes out at the cellular installation mouth of support system upper surface, described unit has the surperficial movement parts that can move back and forth along orientation or roll and is connected to unit bottom rotary driving part, and described unit bottom rotary driving part can drive unit to do turnover campaign along week rotating shaft.
8. surface movement parts described in claim 7, it is characterised in that: adopts a bar travelling belt or adopt a bar conveyer chain or adopt multiple roller or adopt multiple ball at the most at the most, and fully filler cells is surperficial.
9. unit bottom rotary driving part described in claim 7, it is characterised in that: described rotary driving part adopts motor as propulsion source, carries out transmission by mechanical transmission, Electrified Transmission, hydrostatic transmission, pneumatic transmission mode.
10. surface according to claim 7 movement parts, it is characterised in that: described surperficial movement parts provides power by transmission drive system, thus realizes active movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052535.2A CN105641863A (en) | 2016-01-25 | 2016-01-25 | Unit-coupled and integrated omnidirectional running machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052535.2A CN105641863A (en) | 2016-01-25 | 2016-01-25 | Unit-coupled and integrated omnidirectional running machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105641863A true CN105641863A (en) | 2016-06-08 |
Family
ID=56487202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610052535.2A Pending CN105641863A (en) | 2016-01-25 | 2016-01-25 | Unit-coupled and integrated omnidirectional running machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105641863A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107926746A (en) * | 2017-12-05 | 2018-04-20 | 丰县赵庄畜牧兽医站 | A kind of animal doctor is given up with animal movement rehabilitation |
| CN108578982A (en) * | 2018-04-28 | 2018-09-28 | 广东工业大学 | System for determining user movement displacement and movement velocity and the universal movement device using the system |
| CN109556628A (en) * | 2017-09-26 | 2019-04-02 | 闫展逸 | Motion detection device |
| CN110013654A (en) * | 2019-04-18 | 2019-07-16 | 陈果 | A kind of VR walking arrangement |
| CN110090396A (en) * | 2018-09-25 | 2019-08-06 | 陶宏建 | A kind of motion structure of universal treadmill |
| CN110270051A (en) * | 2019-05-29 | 2019-09-24 | 北京七鑫易维信息技术有限公司 | Balance control method, device, omnidirectional's treadmill and the medium of omnidirectional's treadmill |
| CN112402899A (en) * | 2020-12-06 | 2021-02-26 | 加素平 | Motion equipment suitable for human-computer interaction |
| CN113507968A (en) * | 2018-10-02 | 2021-10-15 | OmniPad股份有限公司 | Motor driven all-directional motion surface |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203447687U (en) * | 2013-07-17 | 2014-02-26 | 苏州奥奇信息技术有限公司 | Universal running treading device |
| WO2014153201A1 (en) * | 2013-03-14 | 2014-09-25 | Alterg, Inc. | Method of gait evaluation and training with differential pressure system |
| CN204723675U (en) * | 2015-06-11 | 2015-10-28 | 苏州百源软件设计有限公司 | Universal road-work apparatus |
| CN105126299A (en) * | 2015-08-21 | 2015-12-09 | 苏科文 | Active roller array omni-bearing treadmill |
-
2016
- 2016-01-25 CN CN201610052535.2A patent/CN105641863A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014153201A1 (en) * | 2013-03-14 | 2014-09-25 | Alterg, Inc. | Method of gait evaluation and training with differential pressure system |
| CN203447687U (en) * | 2013-07-17 | 2014-02-26 | 苏州奥奇信息技术有限公司 | Universal running treading device |
| CN204723675U (en) * | 2015-06-11 | 2015-10-28 | 苏州百源软件设计有限公司 | Universal road-work apparatus |
| CN105126299A (en) * | 2015-08-21 | 2015-12-09 | 苏科文 | Active roller array omni-bearing treadmill |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109556628A (en) * | 2017-09-26 | 2019-04-02 | 闫展逸 | Motion detection device |
| CN107926746A (en) * | 2017-12-05 | 2018-04-20 | 丰县赵庄畜牧兽医站 | A kind of animal doctor is given up with animal movement rehabilitation |
| CN107926746B (en) * | 2017-12-05 | 2024-06-11 | 丰县赵庄畜牧兽医站 | Animal doctor is with recovered house of animal motion |
| CN108578982B (en) * | 2018-04-28 | 2023-08-22 | 广东工业大学 | System for determining movement displacement and movement speed of user and universal movement device using same |
| CN108578982A (en) * | 2018-04-28 | 2018-09-28 | 广东工业大学 | System for determining user movement displacement and movement velocity and the universal movement device using the system |
| CN110090396A (en) * | 2018-09-25 | 2019-08-06 | 陶宏建 | A kind of motion structure of universal treadmill |
| CN110090396B (en) * | 2018-09-25 | 2024-03-19 | 陶宏建 | Exercise structure of universal running machine |
| CN113507968A (en) * | 2018-10-02 | 2021-10-15 | OmniPad股份有限公司 | Motor driven all-directional motion surface |
| CN110013654A (en) * | 2019-04-18 | 2019-07-16 | 陈果 | A kind of VR walking arrangement |
| CN110270051A (en) * | 2019-05-29 | 2019-09-24 | 北京七鑫易维信息技术有限公司 | Balance control method, device, omnidirectional's treadmill and the medium of omnidirectional's treadmill |
| CN112402899A (en) * | 2020-12-06 | 2021-02-26 | 加素平 | Motion equipment suitable for human-computer interaction |
| CN112402899B (en) * | 2020-12-06 | 2021-06-15 | 加素平 | Motion equipment suitable for human-computer interaction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105641863A (en) | Unit-coupled and integrated omnidirectional running machine | |
| CN104906750B (en) | A kind of comprehensive treadmill and the games system with the treadmill | |
| CN106184458B (en) | A kind of Hexapod Robot driven by parallel connecting rod | |
| CN104002880B (en) | The autonomous stair activity control method of a kind of caterpillar mobile robot with guide arm | |
| CN101495275B (en) | Legged robot | |
| CN103961840B (en) | Post element array formula omnidirectional treadmill | |
| CN105128961B (en) | Deformation carries out wheel compound suspension frame and has its mobile platform | |
| CN205469357U (en) | A multi -functional imitative ant robot for crossing over obstacle | |
| CN100567067C (en) | A kind of mechanical running mechanism | |
| CN110282045A (en) | Uneven section and/or avoidance robot and control method can be passed through | |
| JP2011140096A (en) | Bipedal walking robot including center of gravity movement device, and center of gravity movement method | |
| CN110090396A (en) | A kind of motion structure of universal treadmill | |
| KR20100022931A (en) | Compact pedal assembly | |
| CN204745481U (en) | All -round treadmill and have recreation system of this treadmill | |
| CN109395338A (en) | A kind of intelligent tennis ball is received robot | |
| CN205850094U (en) | A kind of step follows machinery | |
| CN105963909A (en) | Footstep following mechanical device and control method thereof | |
| CN112572634A (en) | Wheel-foot hybrid walking robot structure and control system | |
| CN106985952A (en) | One kind is ridden instead of walk body-building Multipurpose electric bicycle | |
| CN107487134A (en) | Fast climbing type combined car and climbing method | |
| CN209757305U (en) | Crawler-type stair climbing robot | |
| CN204587070U (en) | Emulation walking steel wire mechanical device | |
| RU2554905C2 (en) | Spheromobile | |
| CN116176837A (en) | Aircraft control method and aircraft system | |
| CN205292841U (en) | Can hinder robot more |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160608 |