CN106390372A - Novel all-directional treadmill based on universal wheel - Google Patents

Novel all-directional treadmill based on universal wheel Download PDF

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Publication number
CN106390372A
CN106390372A CN201610977857.8A CN201610977857A CN106390372A CN 106390372 A CN106390372 A CN 106390372A CN 201610977857 A CN201610977857 A CN 201610977857A CN 106390372 A CN106390372 A CN 106390372A
Authority
CN
China
Prior art keywords
omnidirectional
fixed plate
universal wheel
user
treadmill
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
Application number
CN201610977857.8A
Other languages
Chinese (zh)
Inventor
杨辰光
黎伟豪
贺波涛
苏春翌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Morning Intelligent Technology Co Ltd
South China University of Technology SCUT
Original Assignee
Suzhou Morning Intelligent Technology Co Ltd
South China University of Technology SCUT
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Morning Intelligent Technology Co Ltd, South China University of Technology SCUT filed Critical Suzhou Morning Intelligent Technology Co Ltd
Priority to CN201610977857.8A priority Critical patent/CN106390372A/en
Publication of CN106390372A publication Critical patent/CN106390372A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0207Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills having shock absorbing means
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A63B22/0242Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
    • A63B22/025Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control

Abstract

The invention discloses a novel all-directional treadmill based on a universal wheel. The novel all-directional treadmill is composed of a waist protector (1), a longitudinal Z-shaped fixed plate (2), an outer hexagonal bolt (3), a longitudinal I-shaped fixed plate (4), an all-directional treadmill base (5) and a transverse fixed plate (6), and is characterized in that the waist protector (1) is composed of a soft cushion ring (1.1), an inner ring (1.2), an outer ring (1.3), a cushioning spring (1.4) and a combined switch (1.5). The waist protector (1) has an effect of measuring the movement action of a user and an effect of protecting the user. The all-directional treadmill base (5) is composed of a movement elastic layer (5.1), a supporting filling layer (5.2), a smooth metal layer (5.3), a control module (5.4), a universal wheel (5.5), a motor module (5.6) and a base shell (5.7). The novel all-directional treadmill based on the universal wheel, disclosed by the invention, can realize on-site all-directional movement of the user; and the fixed plate can be folded, so that the size is reduced and the fixed plate is convenient to store.

Description

New omnidirectional's treadmill based on universal wheel
Technical field
The present invention provides a kind of new omnidirectional's treadmill based on universal wheel, is related to human-computer interaction technology, virtual reality skill The forward position application of art.The present invention can provide the user omnidirectional's treadmill of an achievable user original place omnidirectional moving, allow use Omni-directional movement is realized in situ at family, including going slowly and running, it is possible to which the movement velocity and motion for measuring user is advanced Distance.
Background technology
With the fast development of computer network and virtual reality technology, the mankind to the demand entertained and require to increase further Greatly, but at present amusement equipment can provide the user indoor sport apparatus species fewer, virtual reality can not be met Requirement of the environment to moving.In order to solve mobile problem of the user in virtual reality, general solution is using manipulation handss Handle is moved, but so mobile precision is very low, and does not reach the motion of corresponding virtual environment user, while actual environment User is not in motion, the feeling of immersion of the user for so substantially reducing.If omnidirectional's treadmill can be provided the user, User to any direction move when, the movement of corresponding virtual reality image, then opposite direction of the motion band of treadmill to user Mobile, realize that user original place is moved, thus experience can be really moved to user.
In recent years, many papers related to the patent and patent are generated, and difference is as follows:
Chinese publication number:CN104971469A, title:Virtual reality human body Omni-mobile is input into platform.The input platform User can be protected to be difficult to fall in motion, the omni-directional movement of user can be met, but the platform cannot be accurately measured out user The direction of motion, the speed of motion, the displacement of motion, while the platform use the mode for sliding back to original place realize original place transport Dynamic, its kinesthesia Consumer's Experience is bad.
Chinese publication number:CN105126299A, title:A kind of active omnidirectional's treadmill of cylinder array.The omnidirectional Treadmill, can meet the omnidirectional moving of user, and the motor process to user has certain protection, but due to the treadmill category In active omnidirectional's treadmill, the treadmill requires to drive using more motor, while specific footwear need to be dressed used, Therefore use condition is more harsh, and the experience of user is also bad.
Chinese publication number:CN105617605A, title:A kind of novel intelligent omnidirectional treadmill.The intelligent omnidirectional runs Step function realizes the omnidirectional moving of user, can also measure the movement velocity of user, but adopt infrared ray sensor to survey due to which Amount, therefore requires to the light intensity of environment, and practicality is not strong enough, meanwhile, the unprotected device of the treadmill, when user movement There is any accident, easily cause the actual bodily harm of user.
Based on above-mentioned problem, the present invention proposes a kind of new omnidirectional's treadmill based on universal wheel, should be based on universal wheel New omnidirectional's treadmill, by the use of universal wheel, realize omnidirectional moving.Meanwhile, should be run based on the new omnidirectional of universal wheel Step machine is furnished with waist protection device, the generation beyond can effectively preventing user movement from falling, meanwhile, in waist protection device There are spring, the inertia of energy interruptible customer motion to user to comfortable experience, also, by pressure transducer, accurately can survey The kinestate of amount user, by its feedback of the information to control module, it is possible to realize the new omnidirectional's treadmill based on universal wheel Accurate work.Additionally, should new omnidirectional's treadmill based on universal wheel, can manually adjusting nut so as to fold Come, convenient storage.
Content of the invention
The present invention, such as cannot accurate measurement user movement state, inconvenience storage, nothing in order to solve the deficiency in prior art The problems such as method solves user movement inertia effects, proposes a kind of new omnidirectional's treadmill design based on universal wheel.This Bright it is achieved through the following technical solutions:New omnidirectional's treadmill based on universal wheel by waist protector, longitudinal Z-type fixed plate, Outer-hexagonal bolt, longitudinal direction I type fixed plates, omnidirectional's treadmill base, horizontal fixed plate composition.
The present invention compared with prior art, has the following advantages that:The omnidirectional moving of the present invention realizes that mechanism is simple, leads to The use of universal wheel is crossed, omnidirectional moving is realized.Obtain in accurate measurement user movement state while, can be prevented with effective protection user Only user's tumble is injured, helps the change of user adaptation kinestate.Additionally, the invention can manually regulating bolt pine Tightly, being taken up space for the invention is adjusted, convenient storage.
Used as improvement, waist protector is made up of cushion ring, internal ring, outer shroud, bradyseism spring and cubicle switch, and cubicle switch is by group Combination switch part one and cubicle switch part two are constituted, and waist protector plays the role of the work for measuring user movement and protection user With.
Used as improvement, inner ring and outer rings are connected by some bradyseism springs, meanwhile, inner ring and outer rings built in pressure sensor And corresponding circuit module, for measuring the kinestate of user, obtain the movement velocity of user, direction, distance, Ran Houfa Give the control module of omnidirectional's treadmill base.
Used as improvement, waist protector protective effect, its are mainly produced by cushion ring and bradyseism spring.Cushion ring is used for mitigating The pain perception that active force between user and waist protector is caused to user.Bradyseism spring is used for interruptible customer kinestate Change the impact to user, including from " static " to " moving ", from " moving " to " static ".
As improvement, longitudinal Z-type fixed plate, outer-hexagonal bolt, longitudinal direction I types fixed plate and horizontal fixed plate, its feature It is:Longitudinal Z-type fixed plate by using outer-hexagonal bolt, by longitudinal I types fixed plate respectively with waist protector and longitudinal direction I types Fixed plate connects.By using outer-hexagonal bolt, horizontal fixed plate and longitudinal direction I types fixed plate and omnidirectional's treadmill base are connected Pick up and.Meanwhile, by unscrewing outer-hexagonal bolt, fixed plate can be folded up, reduce the new omnidirectional based on universal wheel The volume of treadmill, convenient storage.
As improvement, outer-hexagonal bolt, it is characterised in that:The head of outer-hexagonal bolt is by a big hex bolts set set Firmly, the torque of the turn of the screw can so be increased, and therefore user directly can make to tighten by hand and unscrew outer-hexagonal bolt, conveniently make With.
As improvement, omnidirectional's treadmill base by movement flexible layer, support packed layer, smooth metal layer, control module, ten thousand To wheel, motor module and base shell composition.
As improvement, movement flexible layer, it is characterised in that:The outer surface coefficient of friction of movement flexible layer is big, and inner surface Coefficient of friction is little, while with good elasticity, ductility, the stretching under to a certain degree will not tear.Its material can be The material of rubber etc.
As improvement, packed layer, smooth metal layer is supported, it is characterised in that:The structure class of smooth metal layer is thin film, main Play a part of to reduce the frictional force on the inside of movement flexible layer, and support packed layer to play support smooth metal layer and movement flexible The effect of layer.
As improvement, universal wheel, motor module and control module, it is characterised in that:By using 3 universal wheels, per Place the mode of, distribution triangular in shape, it is also possible to using 4 universal wheels, square distribution, realize universal in 120 ° of interval The omnidirectional moving of wheel.By the frictional force between movement flexible layer and universal wheel so that movement flexible layer realizes omnidirectional moving.Control After molding block receives the user movement information of waist protector, corresponding control signal is sent to motor module, realize universal wheel Work.
As improvement, omnidirectional's treadmill base shell, it is characterised in that:Above omnidirectional's treadmill base shell, there is one The groove of corresponding movement flexible layer, its inside grooves coefficient of friction are little, act primarily as the effect of constrained motion elastic layer position.
Description of the drawings:
Fig. 1 is the new omnidirectional's treadmill based on universal wheel
Fig. 2 is the new omnidirectional's treadmill waist protector exploded view based on universal wheel
Fig. 3 is the new omnidirectional's treadmill base partial sectional view based on universal wheel
Fig. 4 is the new omnidirectional's treadmill base universal wheel scattergram based on universal wheel
Wherein:1 is waist protector, 2 is longitudinal Z-type fixed plate, 3 is outer-hexagonal bolt, 4 is longitudinal direction I type fixed plates, 5 is omnidirectional Treadmill base, 6 are horizontal fixed plate, and 1.1 is cushion ring, 1.2 is internal ring, 1.3 is outer shroud, 1.4 is bradyseism spring, 1.5 are Cubicle switch, 1.5.1 are cubicle switch part one, and 1.5.2 is cubicle switch part two, and 5.1 is movement flexible layer, 5.2 are Support packed layer, 5.3 be smooth metal layer, 5.4 be control module, 5.5 be universal wheel, 5.6 be motor module, 5.7 be base Shell.
Specific embodiment
1 to accompanying drawing 4 and embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the new omnidirectional's treadmill based on universal wheel by 1 waist protector, 2 longitudinal Z-type fixed plates, 3 outer six Corner bolt, 4 longitudinal direction I type fixed plates, 5 omnidirectional's treadmill bases, 6 horizontal fixed plate compositions.
1 described waist protector, is run jointly by 1.1 cushion rings, 1.2 internal ring, 1.3 outer shrouds, 1.4 bradyseism springs and 1.5 groups Composition is closed, 1.5 cubicle switchs are made up of 1.5.1 cubicle switchs part one and 1.5.2 cubicle switchs part two.5 described omnidirectionals Treadmill base by 5.1 movement flexible layers, 5.2 support packed layers, 5.3 smooth metal layers, 5.4 control modules, 5.5 universal wheels, 5.6 motor modules and 5.7 base shells composition.
When user uses the new omnidirectional's treadmill based on universal wheel, 1.5 cubicle switchs of 1 waist protector are opened, After position station is good, then 1 waist protector is closed.When user is moved towards any direction, the waist of user can be transported to correspondence direction Dynamic, so as to produce a pressure to 1 waist protector, the pressure transducer of correspondence position detects the direction of motion of user, produces Life is conveyed to 5.4 control modules to induction signal.
5.4 control modules are received after the signal of 1 waist protector, send control to 5.6 motor modules of 5.5 universal wheels Signal processed, is allowed 3 5.5 universal wheels and is moved with certain speed respectively, most this 3 velocity composites at last, the direction of aggregate velocity Contrary with the velocity attitude of user.Due to 5.1 movement flexible layer inboard friction power very little, 5.1 movement flexible layers are in 5.5 universal wheels Drive under move, speed is aggregate velocity.Move on 5.1 movement flexible layers in subscriber station, its sum velocity is 0, realize former Determine omnidirectional moving.
When user does not use the new omnidirectional's treadmill based on universal wheel, user can unscrew 63 outer-hexagonal spiral shells with handss Bolt, fixed plate is folded up, and reduces its volume, convenient storage.
Above-described embodiment is embodiment of the present invention on meeting is participated in, but embodiments of the present invention are not by above-mentioned The restriction of embodiment, the change that is made under other any principles without departing from the present invention, modification, replacement, combination, simplification, Equivalent substitute mode is should be, is included within protection scope of the present invention.

Claims (10)

1. the new omnidirectional's treadmill based on universal wheel by(1)Waist protector,(2)Longitudinal Z-type fixed plate,(3)Outer-hexagonal bolt, (4)Longitudinal I types fixed plate,(5)Omnidirectional's treadmill base,(6)Laterally fixed plate is constituted.
2. the new omnidirectional's treadmill based on universal wheel for being described according to claim 1(1)Waist protector, it is characterised in that: Described(1)Waist protector by(1.1)Cushion ring,(1.2)Internal ring,(1.3)Outer shroud,(1.4)Bradyseism spring and(1.5)Combination Switch composition,(1.5)Cubicle switch by(1.5.1)One He of cubicle switch part(1.5.2)Cubicle switch part two is constituted,(1) Waist protector plays the role of the effect for measuring user movement and protection user.
3. according to claim 2 description(1)Waist protector(1.2)Internal ring,(1.3)Outer shroud, it is characterised in that:(1.2)Interior Ring and(1.3)Outer shroud is by some(1.4)Bradyseism spring connects, meanwhile,(1.2)Internal ring and(1.3)The built-in pressure sensing of outer shroud Device and corresponding circuit module, for measuring the kinestate of user, obtain the movement velocity of user, direction, distance, then It is sent to(5)The control module of omnidirectional's treadmill base.
4. according to claim 2 description(1)Waist protector protective effect, its mainly by(1.1)Cushion ring and(1.4)Bradyseism bullet Spring is produced,(1.1)Cushion ring be used for mitigate user and(1)The pain perception that active force between waist protector is caused to user, (1.4)Bradyseism spring is used for the impact of the change to user of interruptible customer kinestate, including from " static " to " moving ", from " moving " arrives " static ".
5. according to claim 1 description(2)Longitudinal Z-type fixed plate,(3)Outer-hexagonal bolt,(4)Longitudinal I types fixed plate and (6)Horizontal fixed plate, it is characterised in that:(2)Longitudinal Z-type fixed plate by using(3)Outer-hexagonal bolt, will(4)Longitudinal I types are solid Fixed board respectively and(1)Waist protector and(4)Longitudinal I types fixed plate connection, by using(3)Outer-hexagonal bolt, will(6)Laterally Fixed plate and(4)Longitudinal I types fixed plate and(5)Omnidirectional's treadmill base is coupled together, meanwhile, by unscrewing(3)Outer-hexagonal Fixed plate can be folded up by bolt, reduce the volume of the new omnidirectional's treadmill based on universal wheel, convenient storage, preferably 's(3)The head of outer-hexagonal bolt is entangled by a big hex bolts set, can so be increased the torque of the turn of the screw, therefore be used Family directly can make to tighten by hand and unscrew(3)Outer-hexagonal bolt, convenient use.
6. according to claim 1 description(5)Omnidirectional's treadmill base, it is characterised in that:(5)Omnidirectional's treadmill base by (5.1)Movement flexible layer,(5.2)Support packed layer,(5.3)Smooth metal layer,(5.4)Control module,(5.5)Universal wheel, (5.6)Motor module and(5.7)Base shell is constituted.
7. according to claim 7 description(5.1)Movement flexible layer, it is characterised in that:(5.1)The outer surface of movement flexible layer rubs Wipe coefficient big, and inner surface coefficient of friction is little, while with good elasticity, ductility, the stretching under to a certain degree will not Tear, its material can be the material of rubber etc.
8. according to claim 7 description(5.2)Support packed layer,(5.3)Smooth metal layer, it is characterised in that:(5.3)Smooth The structure class of metal level is thin film, acts primarily as minimizing(5.1)The effect of the frictional force on the inside of movement flexible layer, and(5.2)Support Packed layer plays support(5.3)Smooth metal layer and(5.1)The effect of movement flexible layer.
9. according to claim 7 description(5.5)Universal wheel,(5.6)Motor module and(5.4)Control module, its feature exist In:By using 3(5.5)Universal wheel, at interval of 120 ° of placements mode of, distribution triangular in shape, or uses 4 (5.5)Universal wheel, square distribution are realized(5.5)The omnidirectional moving of universal wheel, passes through(5.1)Movement flexible layer with(5.5) Frictional force between universal wheel so that(5.1)Movement flexible layer realizes omnidirectional moving,(5.4)Control module is received(1)Waist is protected After the user movement information of tool, send corresponding control signal to(5.6)Motor module, realizes(5.5)The work of universal wheel.
10. according to claim 7 description(5.7)Omnidirectional's treadmill base shell, it is characterised in that:(5.7)Omnidirectional's treadmill Above base shell, there is one to correspond to(5.1)The groove of movement flexible layer, its inside grooves coefficient of friction are little, act primarily as constraint (5.1)The effect of movement flexible layer position.
CN201610977857.8A 2016-11-08 2016-11-08 Novel all-directional treadmill based on universal wheel Pending CN106390372A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108970111A (en) * 2018-07-13 2018-12-11 汤凯 A kind of VR somatosensory device and its motion control method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103904953A (en) * 2013-04-23 2014-07-02 罗阳军 Omni-directional free mobile device
CN204261259U (en) * 2014-12-08 2015-04-15 吉朝光 The universal treadmill of a kind of wireless colony virtual entertainment
US20150190713A1 (en) * 2013-10-24 2015-07-09 Virtuix Holdings Inc. Method of generating an input in an omnidirectional locomotion system
CN204469114U (en) * 2015-03-26 2015-07-15 佰泽泰源(北京)投资管理有限公司 A kind of home entertainment treadmill

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103904953A (en) * 2013-04-23 2014-07-02 罗阳军 Omni-directional free mobile device
US20150190713A1 (en) * 2013-10-24 2015-07-09 Virtuix Holdings Inc. Method of generating an input in an omnidirectional locomotion system
CN204261259U (en) * 2014-12-08 2015-04-15 吉朝光 The universal treadmill of a kind of wireless colony virtual entertainment
CN204469114U (en) * 2015-03-26 2015-07-15 佰泽泰源(北京)投资管理有限公司 A kind of home entertainment treadmill

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108970111A (en) * 2018-07-13 2018-12-11 汤凯 A kind of VR somatosensory device and its motion control method

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Application publication date: 20170215