CN106563265A - Virtual reality robot - Google Patents
Virtual reality robot Download PDFInfo
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- CN106563265A CN106563265A CN201610935875.XA CN201610935875A CN106563265A CN 106563265 A CN106563265 A CN 106563265A CN 201610935875 A CN201610935875 A CN 201610935875A CN 106563265 A CN106563265 A CN 106563265A
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- Prior art keywords
- passenger cabin
- lifting
- virtual reality
- drive
- motor
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/50—Controlling the output signals based on the game progress
- A63F13/52—Controlling the output signals based on the game progress involving aspects of the displayed game scene
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/50—Controlling the output signals based on the game progress
- A63F13/53—Controlling the output signals based on the game progress involving additional visual information provided to the game scene, e.g. by overlay to simulate a head-up display [HUD] or displaying a laser sight in a shooting game
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an intelligent virtual reality robot comprising a pair of VR video glasses, a display screen or 3D view screen, an operating system for controlling a VR video, a total drive unit, and a crew cabin. The VR video glasses, the display screen or 3D view screen, and the operating system are arranged in the crew cabin. The total drive unit drives the crew cabin to carry out multi-dimensional movements like one-dimensional, two-dimensional, three-dimensional or more than three-dimensional movements. With cooperation of the multi-dimensional video, up-down, left-right, and front-back movements can be carried out and rotation, horizontal motion, longitudinal motion, and overturning and other motion angels that can be expressed at all videos can be realized, so that multi-dimensional dead-angle-free movements in all directions can be realized. Therefore, the user can have somatosensory feeing with role movement, smell various corresponding scents, and experience weathers of wind blowing and raining when watching a film or playing a game, so that the personal sensing, somatosensory, and smelling experience can be provided for the user. Therefore, the revolutionary and subversive innovation can be provided for the virtual reality world, and the virtual reality world development can be promoted.
Description
Technical field
The present invention relates to a kind of virtual reality machines people, be it is a kind of can be dynamic to planes such as the sound in virtual world, light, electricity
The audio-visual robot for carrying out virtual reality reduction of state.
Background technology
Virtual reality technology（Virtual Reality, abbreviation VR）Development is swift and violent, and the technological synthesiss utilize computer graphical
The interface equipment such as system and various reality and control, provides feeling of immersion in three-dimensional environment generating on computers, can interacting
The technology of feel.Virtual reality technology is a kind of can to create with the computer simulation system in the experiencing virtual world that it utilizes computer
Generate interactively Three-Dimensional Dynamic what comes into a driver's and the system emulation of entity behavior that a kind of simulated environment is a kind of Multi-source Information Fusion
User is made to be immersed in the environment.
The VR of existing market is only confined in the impression of vision, can't experience the true of three-dimensional motion and actual environment
Impression, such as in the virtual vision world, in viewing multidimensional video display（Such as 3D videos）Or multidimensional game（Such as 3D plays）,
Or interconnect experience other side dynamic scene when, multidimensional video can be coordinated to carry out top to bottom, left and right, front and rear movement, together
When can horizontally rotate, laterally, all movement angles that can express on all videos such as longitudinal direction rolling, accomplish various dimensions without dead angle
Any direction motion, user can be allowed to smell with role's movement body-sensing in viewing or game and various mutually to be done something for the occasion
The abnormal smells from the patient of thing, the stimulation of experience blowing and raining, make one sense organ on the spot in person, body-sensing and olfactory etc..But, yet there are no this
The VR technologies of sample, it is impossible to meet the demand of people's experience three-dimensional motion and actual environment.
The content of the invention
The present invention is intended to provide a kind of virtual reality machines people, to meet people's experience three-dimensional motion and actual environment
Demand.
The technical scheme is that：A kind of intelligent virtual reality robotic, including VR video eyeglasses, display screen or 3D regard
Screen, and to operating system that VR, 3D video is controlled, it is characterised in that it is also including total driving means and passenger cabin, described
VR video eyeglasses, display screen or 3D screens, and operating system is each provided in a passenger cabin；Passenger cabin is arranged on total driving
On device, passenger cabin is driven to carry out the multi-dimensional movement more than one-dimensional, two-dimentional, three-dimensional or three-dimensional by total driving means.
By rotational support horizontal ends axle, the passenger cabin between the two ends of U-shaped frame above described total driving means
The passenger cabin end axle at center of gravity line two ends is coaxially connected with the horizontal ends axle, the movement of the horizontal ends axle with an overturning drive device
It is connected, drives passenger cabin to rotate around horizontal ends axle by the overturning drive device.
One passenger cabin end axle support beam of connection is rotated in described horizontal ends axle, described passenger cabin end axle is rotatably connected on
In the passenger cabin end axle support beam, the support beam storehouse can be located at passenger cabin, can also be located at passenger cabin both sides, and make to take advantage of
Member's storehouse end axle is mutually perpendicular to horizontal ends axle；In the passenger cabin end axle support beam or passenger cabin outside equipped with for driving this
Longitudinal rotary drive motor group that passenger cabin end axle is rotated.
Vertically connect a transverse rotation support at the two ends of described passenger cabin end axle support beam, the transverse rotation support
Two ends are connected on described horizontal ends axle, are provided with multiple spaced longitudinal directions in the inner circumferential of the transverse rotation support and are revolved
Turn auxiliary wheel；The profile of described passenger cabin is circle, outer peripheral face and the longitudinal direction rotation auxiliary wheel joint of passenger cabin.
Described transverse rotation support is rectangle frame or U-shaped, is provided with the disk coaxial with the horizontal ends axle at its two ends；
Described U-shaped frame is provided with and the lateral rotation auxiliary wheel for coordinating is rolled with the outer peripheral face of the disk.
Described total driving means include horizontal rotation apparatus, X-direction mobile device, Y-direction mobile device and Z-direction liter
At least one device in falling unit, said apparatus are arranged on a base.
When four kinds of described devices are equipped with, the horizontal rotation apparatus are located at the top of other each devices, can drive
Described passenger cabin bottom or U-shaped frame bottom are rotated along vertical axes, and the horizontal rotation apparatus include horizontal rotatable platform
Support bearing and horizontal rotation motor group, horizontal rotatable platform spring bearing be located at the passenger cabin bottom or U-shaped frame bottom with
Between driving means top, the center of the output shaft and the passenger cabin bottom or U-shaped frame bottom that horizontally rotate motor group connects
Connect；
Described Z-direction lowering or hoisting gear includes following three kinds of constructions：
The first construction：Including lifting support and scissors-type lifting, lifting support is located at the top of scissors-type lifting, by liquid
Pressure or pressure liftable driving means or by motor-driven pinion and rack, by motor-driven worm-and-wheel gear, by electricity
Driving means of one of the chain wheel driving mechanism that machine drives as scissors-type lifting；
Second construction：Including lifting support and flexible pillar type elevating mechanism, lifting support is located at flexible pillar type elevating mechanism
Top, the lifting drive includes hydraulic cylinder, pneumatic cylinder, by motor-driven pinion and rack, by motor-driven snail
Worm and gear mechanism, by motor-driven bolt and nut mechanism, by motor-driven other conventional lowering or hoisting gears；If adopting two
Telescopic mast more than root, then can arrange installation synchronization lifting mechanism between two telescopic mast elevating mechanisms（Can not also install
The synchronization lifting mechanism）；
The third construction：Including column, lifting support and lifting drive, the bottom of an at least root post is vertically connected on bottom
On seat, lifting support is slidably connected on column, and described X-direction mobile device and Y-direction mobile device are arranged on the lifting
On support, lifting drive is housed on the lifting support, the lifting drive includes hydraulic cylinder, pneumatic cylinder, by motor
The pinion and rack of driving, by motor-driven worm-and-wheel gear, by motor-driven bolt and nut mechanism, by motor drive
Dynamic chain wheel driving mechanism or electrical hoist or other conventional lowering or hoisting gears；If using more than two column, could
So that synchronization lifting mechanism is installed between two lifting drives, also can be without installing the synchronization lifting mechanism.
Pulley and drag-line are installed on the column of the third described construction, one end of drag-line is fixed on hoistable platform
On, the other end of drag-line connects counterweight after pulley or assembly pulley, makes hoistable platform and thing above by increasing and decreasing counterweight
Body weight is close with counterweight；Described pulley, drag-line and counterweight are using being adapted with hoistable platform and object gravity above
Compression spring, tension spring or constant force spring replace, between the shelf of the fixation for being located at hoistable platform and column connection.
Above described base or described horizontal rotation apparatus, X-direction mobile device, Y-direction mobile device and Z
Vibrating device is housed between the lowering or hoisting gear any device of direction, the vibrating device includes vibrator, spring and guide pillar, the one of guide pillar
End is fixed on the top or bottom of neighboring devices, and on guide pillar, vibrator is arranged on the device on spring top or is located at spring housing
One end of the vibrating base on spring top；If vibrating base is located above base, one end and the base of vibrating base pass through axle
Pin is hinged, and installs the spring and guide pillar between the other end and base of vibrating base.
Described X-direction mobile device includes：X-direction water is provided with described lifting support, base or vibrating base
Plate rail road, be slidably installed in the X-direction horizontal rail X-direction mobile platform, and X-direction mobile platform is by X-direction driving means
Driving horizontal rail can be moved back and forth along the X direction.
Described Y-direction mobile device includes：Y-direction is provided with described X-direction mobile platform or on lifting support
Horizontal rail, is slidably fitted with horizontal rail in the Y direction and driving means can drive horizontal rail along the Y direction in the Y direction
Mobile Y-direction mobile platform；The upper-lower position of X-direction mobile device and Y-direction mobile device can be exchanged；X-direction is moved
Device and Y-direction mobile device may be located at lifting support above and below.
Between described X-direction horizontal rail and X-direction mobile platform, and Y-direction horizontal rail and Y-direction movement it is flat
Employing between platform includes that any can the offer of roller, linear bearing, straight line sliding sleeve, slideway, slide block or chute supports reciprocal flat
Move the part for sliding；
Described X-direction driving means include screw mandrel drive mechanism, hydraulically extensible drive system, air pressure telescopic drive system or
Person's wire rope drive system, gear-rack drive system, chain drive system, belt drive system or any can to order about platform past
Multiple mobile conventional system；The nut that the screw mandrel drive mechanism is connected by decelerating through motor component, screw mandrel and with X-direction mobile platform
Composition, decelerating through motor Component driver screw mandrel are rotated, and the nut on screw mandrel drives X-direction mobile platform synchronizing moving；
Described Y-direction driving means are using any one structure in above-mentioned X-direction driving means.
The shape of described passenger cabin is not limited, and the various weather environments of simulation, taste and sound are provided with the passenger cabin
Environment simulator, the environment simulator include trachea, water pipe, audio-video system, operating system, multifunction seat and/or people
Machine interactive interface.
It is an advantage of the invention that：Robot can do top to bottom, left and right, front and rear motion, while can carry out horizontally rotating, laterally revolve
Turn, longitudinal direction rotation etc. without dead angle any angular orientation operation, screen system, various airducts, abnormal smells from the patient are additionally provided with passenger cabin
Pipe, water pipe etc. can allow people perceive the various abnormal smells from the patients done something for the occasion and experience the field that hardships, rain and dew, sun etc. are close to actual environment
Scape, coordinate VR, AR, MR or 3D screen allow people it is real realize sensation on the spot in person.When such as we see 3D films,
Can follow the picture in film it is elegant in space, and then opportunity of combat soar up to the sky, and then hero's rolling transfer to other use, be full of at that
Stroll in the Garden of Eden for the fragrance of a flower etc., you will be brought in various virtual reality by the robot of the present invention, known from experience
Beyond example sense of reality and sense of participation；In single-play game and interconnection game, the shock sense of opportunity of combat can be driven with actual experience
With fierce dog fight, land drives battlebus and charges and shatters enemy positions, experiences and evil spirit is slaughtered personally in game, allow people to be immersed in really
In presence, change present VR, AR, MR etc. mostly can only be virtual in vision or experience primary of the VR glasses with simple device sets
It is standby and people's body and mind can not be allowed to be immersed in shortcoming therein, and the appearance of the present invention, unprecedented sense of reality will be brought,
In following world, the home-confined beautiful sight that can just experience all over the world of people can be allowed by interconnection technique, and
Jointly each road hero fierce fighting space etc. counts the example of victory number, and the appearance of the present invention will change the weight of interconnection and virtual world
New knowledge and positioning.
Description of the drawings
Fig. 1 is the general structure schematic diagram of first embodiment of the invention；
Fig. 2 is the general structure schematic diagram of second embodiment of the invention；
Fig. 3 is the general structure schematic diagram of third embodiment of the invention；
Fig. 4 is the left view of Fig. 3；
Fig. 5 is the general structure schematic diagram of fourth embodiment of the invention；
Fig. 6 is the general structure schematic diagram of fifth embodiment of the invention；
Fig. 7 is the right view of Fig. 6；
Fig. 8 is the general structure schematic diagram of sixth embodiment of the invention；
Fig. 9 is the general structure schematic diagram of seventh embodiment of the invention；
Figure 10 is the general structure schematic diagram of eighth embodiment of the invention；
Figure 11 is the general structure schematic diagram of ninth embodiment of the invention；
Figure 12 is the general structure schematic diagram of tenth embodiment of the invention；
Figure 13 is the general structure schematic diagram of eleventh embodiment of the invention.
Description of reference numerals：1st, base, 2, vibrating base, 3, column, 4, vibrator, 5, lifting motor deceleration thermomechanical components,
6th, lift drive screw, 7, hoistable platform, 8, lifting carriage wheel, 9, counterweight, 10, pulley, 11, X-direction driving means, 12, X side
To drive screw, 13, X-direction shifting roller, 14, X-direction mobile platform, 15, Y-direction motor component, 16, horizontal rotation
Motor group, 17, Y-direction mobile platform, 18, Y-direction mobile platform roller, 19, Y-direction drive screw, 20, horizontal rotation
Platform, 21, transverse rotation motor component, 22, transverse rotation support, 23, laterally rotate auxiliary wheel, 24, longitudinal direction rotates
Motor group, 25, longitudinal direction rotation auxiliary wheel, 26, passenger cabin, 27, trachea, 28, display system, 29, airduct, 30, water pipe,
31st, multifunction seat, 32, operating system, 33, synchronous drive elevating screw connecting rod（Synchronization lifting mechanism）, 34, spring, 35, lead
Post, 36, pivot pin, 37, lifting drive, 38, horizontal rotatable platform spring bearing, 39, various Man Machine Interfaces, 40,
Drag-line, 41, horizontal ends axle, 42, scissors-type lifting, 43, U-shaped frame, 44, passenger cabin end axle support beam, 45, passenger cabin end axle,
46th, disk, F, total driving means, 47, telescopic mast elevating mechanism.
Specific embodiment
Referring to Fig. 1, a kind of first embodiment of intelligent virtual reality robotic of the invention, including VR video eyeglasses, display
Screen or 3D screens, and to operating system that VR, 3D video is controlled, it is characterised in that also including total driving means F and take advantage of
Member storehouse, described VR video eyeglasses, display screen or 3D screens, and operating system are each provided in a passenger cabin 26；Passenger cabin
26 are arranged in total driving means F, drive passenger cabin 26 to carry out more than one-dimensional, two-dimentional, three-dimensional or three-dimensional by total driving means F
Multi-dimensional movement.
Referring to Fig. 2, the second embodiment of the present invention, by the two ends of U-shaped frame 43 above described total driving means F
Between rotational support horizontal ends axle 41, passenger cabin end axle 45 and the horizontal ends axle 41 at the 26 center of gravity line two ends of passenger cabin coaxially connect
Connect, the movement of the horizontal ends axle 41 be connected with an overturning drive device 21, occupant is driven by the overturning drive device 21
Storehouse 26 is rotated around horizontal ends axle 41.
Referring to Fig. 3 and Fig. 4, the third embodiment of the present invention includes that base 1, column 3, the movement of hoistable platform 7, X-direction are flat
Platform 14, Y-direction mobile platform 17, transverse rotation mechanism, longitudinal rotating mechanism, passenger cabin 26, optoelectronic device, Pneumatic assembly, regard
Component etc. is listened to constitute, structural principle and invention main points are expressed as follows：
1st, based on base 1, the one end of the one end above the base 1 by pivot pin 36 with vibrating base 2 is hinged, vibrating base 2
The other end below equipped with spring 34 on guide pillar 35 is enclosed within, vibrator 4 is housed in this one end of vibrating base 2 also.It is furnished with bullet
Spring 34, the suspended type vibration base 2 of guide pillar 35 structure can be when in fully reduction virtual reality is needed, various motions accelerate
The experience such as vibration seismaesthesia, the quantity of spring 34 and guide pillar 35 can according to the size of type by more than one to several not
Deng.Base 1 can be fixed on ground can also be installed upper roller and easily moved.
The column 3 for having more than one is found on vibrations base 2, the oscilaltion effect of hoistable platform 7 can be provided, stood
Post 3 can set many according to the needs of type size（Such as Fig. 5）.Pulley 10 and drag-line 40, drag-line are installed on column 3
40 one end is fixed on above hoistable platform 7, the other end of drag-line 40 by after pulley 10 connect counterweight 9, by increase and decrease match somebody with somebody
Weighing 9 makes the weight of hoistable platform 7 close with counterweight 9, due to the effect of counterweight 9 so when hoistable platform 7 moves up and down, mitigates
The heavy burden of 7 all above object of hoistable platform, saves energy consumption so as to reach the load for mitigating lift drive system, and because negative
Mechanical fatigue damage for causing again etc..If not adopting pulley, drag-line to add counterweight 9, it would however also be possible to employ with hoistable platform 7
Compression spring, tension spring or constant force spring that gravity is adapted（It is located at the frame of the fixation that hoistable platform 7 is connected with column 3
Between son）, or mitigate the downward gravitation produced because of deadweight of hoistable platform 7.
Slide in column 3（Multiple lifting carriage wheels 8 or linear bearing）Hoistable platform 7 is installed, the hoistable platform 7
By lifting motor component 5（Can be with reductor or other deceleration devices）Drive the rotation of lifting drive screw 6 driving, drive
Dynamic hoistable platform 7 makees being not restricted to by lifting drive screw 6 completing of elevating movement, it is also possible to use hydraulic lifting system
Any conventional method such as system, pressure liftable system or cable wire lift system, chain lifting system, belt lifting system is driving
Hoistable platform 7 is lifted.
Being provided with hoistable platform 7 can be with the X-direction mobile platform 14 of alternating translational, and the X-direction mobile platform 14 is slided
Dynamic to be arranged on above hoistable platform 7, the mechanism of slip can use roller（Such as X-direction shifting roller 13）Or others are slidably
Part, such as linear bearing, straight line sliding sleeve, slide rail, slideway, chute etc. can provide support alternating translational slide mechanism.
Being made up of X-direction drive system 11 and X-direction drive screw 12 for X-direction mobile platform 14 is driven, can be driven as needed
Dynamic X-direction mobile platform 14 is reciprocating.X-direction drive system 11 and X-direction drive screw 12 can also use hydraulically extensible
Any routine such as drive system, air pressure telescopic drive system or wire rope drive system, chain drive system, belt drive system
Method is moved back and forth ordering about platform.
Being provided with X-direction mobile platform 14 can be with the Y-direction mobile platform 17 of alternating translational, and the Y-direction movement is flat
Platform 17 is slidably mounted on above X-direction mobile platform 14, and the mechanism of slip can use Y-direction mobile platform roller 18, can also adopt
With other slidable parts, such as：It is reciprocal that linear bearing, straight line sliding sleeve, slide rail, slideway, chute etc. can provide support
The mechanism of translation gliding.Drive Y-direction mobile platform 17 by Y-direction motor component 15 and Y-direction drive screw 19
Composition, can drive Y-direction mobile platform reciprocating as needed.Y-direction motor component and Y-direction drive screw
19 can also be with hydraulically extensible drive system, air pressure telescopic drive system or wire rope drive system, chain drive system, belt
The methods such as drive system are moved back and forth ordering about platform.
The ordinal position up and down of X-direction mobile platform 14 and Y-direction mobile platform 17 is not limited, can be with X-direction mobile platform
14 mobile platform 17 is below, or Y-direction mobile platform 17 is below X-direction mobile platform 14 in the Y direction.
Mobile platform 17 slides over and is provided with horizontal rotatable platform 20 in the Y direction, in the Y direction mobile platform 17 and level
Horizontal rotatable platform bearing 38 is housed between rotation platform 20（Plane bearing, ball ball, thrust bearing, roller etc. can be also used, only
Will the device that horizontally rotates on mobile platform 17 in the Y direction of support level rotation platform 20）.Driven by horizontal rotation
Group of motors 16 makees horizontal revolving motion driving horizontal rotatable platform 20.
Transverse rotation support 22 is rotatablely equipped with the U-bracket 201 of horizontal rotatable platform 20（By horizontal ends axle 41
It is rotatably supported between two opposite side of transverse rotation support 22U shapes support 43）, the transverse rotation support 22 is full closed-in construction
（Can also the simple transverse rotation support 22 of single armed or double fork arm type equal structures as shown on Fig. 8）.By installed in horizontal rotation
Transverse rotation motor component 21 on 20 support of platform is driving transverse rotation support 22 to make lateral rotation movement.Laterally revolve
Turn and longitudinal direction rotation setting in no particular order, can first transverse rotation, then longitudinal rotating mechanism is installed on transverse rotation support
Passenger cabin 26 is driven to rotate；First can also longitudinally rotate, then set transverse rotation mechanism again to drive on longitudinal runing rest
The rotation of passenger cabin 26.The installation of transverse rotation system namely can be first carried out on the support of horizontal rotatable platform, is pacified afterwards
The longitudinal rotary system of dress, it is also possible to first install longitudinal rotary system, then transverse rotation system is installed on longitudinal rotary system.Its
Principle is identical.The passenger cabin 26 that longitudinally can be rotated is installed on transverse rotation support 22, the passenger cabin 26 can be round
Shape can also be variously-shaped.Longitudinal rotary drive motor group 24 is arranged on the passenger cabin end axle of transverse rotation support 22
On support beam 44, passenger cabin 26 is driven to rotate.The side that passenger cabin 26 can also be arranged on is driven such as by friction or gear
The installation method of the longitudinal rotary drive motor group 24 shown in Fig. 4, Fig. 8.The rotary shaft of passenger cabin 26 and transverse rotation support 22
Horizontal ends axle 41 be mutually perpendicular to, be exactly one can be when transverse rotation, it is also possible to along horizontal ends axle rotate.
In passenger cabin 26 built with display system 28, some airducts 29, some water pipes 30, many tracheas 27, many work(
Energy seat 31, operating system 31 and various Man Machine Interfaces 39 etc..
It is the combinative structure of various functions of the present invention in above-described embodiment, wherein the construction in addition to passenger cabin 26 is
Total driving means, for driving passenger cabin 26 to carry out the multi-dimensional movement more than one-dimensional, two-dimentional, three-dimensional or three-dimensional.Above-mentioned total drive
The structure of any motion of dynamic device can be separately provided, for driving passenger cabin 26 to carry out motion in one dimension（Linear reciprocation
Motion is rotated）, or the combination of the structure of motion more than any two.
Referring to Fig. 5, the fourth embodiment of the present invention, the column 3 of more than two is a difference in that with 3rd embodiment, it is each
Pulley 10, drag-line 40, counterweight 9, lifting motor component 5, lifting drive screw 6 on column 3（Lifting motor component 5 and lifting
Drive screw 6 constitutes lifting drive）Structure it is identical, needs install one between two relative lifting motor components 5
It is synchronous to drive elevating screw connecting rod 33, it is ensured that the synchronization of the lifting drive on each column 3.Other parts and a upper embodiment
It is identical.
Referring to Fig. 6 and Fig. 7, the fifth embodiment of the present invention, by scissors-type lifting 42 putting down lifting on base 1
Platform 7 moves up and down, and the driving source of scissors-type lifting 42 can also adopt double ten using hydraulic lifting drive component 37
Lifting motor reduction assemblies 5 in one embodiment realize the up and down motion function of hoistable platform 7 with lifting drive screw 6.Rise
Where on drop platform 7, other devices are different from above embodiment construction it is：By the spring above base in above example 1
34 and guide pillar 35 suspended structure be arranged on horizontal rotatable platform 20 above, in 35 U-shaped installed above of spring 34 and guide pillar
Frame 43, installs transverse rotation support 22 and passenger cabin 26 and other adnexaes in U-shaped frame 43（With it is relevant in first embodiment
Part is identical）.
Referring to Fig. 8, the sixth embodiment of the present invention, the column 3 in above example is eliminated, Y-direction lowering or hoisting gear is straight
Connect using scissors-type lifting 42, lifting motor reduction assemblies 5 and lifting drive screw 6 to realize the fortune up and down of hoistable platform 7
Dynamic function.The construction of X-direction mobile platform 14 and Y-direction mobile platform 17 above hoistable platform 7 is identical with 3rd embodiment；
Spring 34 and guide pillar 35 are installed above horizontal rotatable platform 20, in 35 U-shaped frame installed above 43 of spring 34 and guide pillar；In U
Transverse rotation motor component 21, transverse rotation support 22, longitudinal rotary drive motor group 24 and occupant are installed in shape frame 43
Storehouse 26, constructs identical with the structure of the relevant part of above example.
Referring to Fig. 9, the seventh embodiment of the present invention, the X-direction mobile platform 14 and Y-direction above the hoistable platform 7 are moved
Moving platform 17 is mounted directly above firm banking 1, then installs column 3 again in the Y direction on mobile platform 17（Or installation is cut
Formula elevating mechanism 42, as shown in Figure 8）.Only X-direction horizontal reciprocating mobile platform 14 can also be arranged on above firm banking 1,
Then Y-direction mobile platform 17 is installed again on hoistable platform.This structure is also applied in above-mentioned all embodiments.
Referring to Figure 10, the eighth embodiment of the present invention, the embodiment are real by the 7th with being a difference in that for the 7th embodiment
Apply the Y-direction lowering or hoisting gear in example scissors-type lifting 42 and hydraulic cylinder or pneumatic cylinder are changed to as lifting drive 37, its
His structure is identical with a upper embodiment.
Figure 11 is the ninth embodiment of the present invention, and 7 devices above of hoistable platform in Fig. 3 is changed to following, other structures
Make identical with the embodiment shown in Fig. 3 and Fig. 4 with operation principle.
Embodiment shown in Figure 12 is that X-direction mobile platform 14 and Y-direction mobile platform 17 are split the enforcement of application
Example, will X-direction mobile device be located on vibrating base 2, Y-direction mobile device is located on hoistable platform 7.This splits
Structure may apply in all of embodiment.
Shown in Figure 13 is the 11st embodiment, and the embodiment is that lifting support 7 is arranged on telescopic mast elevating mechanism 47
Above, the embodiment is a difference in that with the 5th embodiment, and the scissors-type lifting 42 of the 5th embodiment is changed to flexible pillar type
Elevating mechanism, other construct and operation principle is identical with the embodiment shown in Fig. 6.
The above embodiment of the present invention is not only because the explanation present invention, limits protection scope of the present invention, at this
Any routine techniquess of various functions of the present invention can be realized under bright mentality of designing, as realized total driving means F of the present invention
Any other device, can be as the ingredient of technical scheme, within protection scope of the present invention.
The said structure principle of the present invention is exactly in the virtual vision world, if coordinating the robot of the present invention in viewing
Multidimensional video display（Such as 3D videos）Or multidimensional game（Such as 3D plays）, or the dynamic scene of the experience other side that interconnects
When, multidimensional video can be coordinated to carry out top to bottom, left and right, front and rear movement, while can rotate, laterally, longitudinal direction rolling etc. all regard
The all movement angles that can be expressed on frequency, accomplish the various dimensions motion of any direction without dead angle, can allow you in viewing or trip
As role moves the stimulation that body-sensing can also smell the abnormal smells from the patient of various corresponding scenery, experience blowing and raining during play, face personal body
The sense organ in its border, body-sensing and olfactory etc., are the robots of current virtual reality unprecedented in the world, the reality of the present invention
It is existing, it will to bring revolutionary and subversive innovation to virtual reality world, virtual world will be opened for us high to another
The gate of degree development.
Claims (13)
1. a kind of intelligent virtual reality robotic, including VR video eyeglasses, display screen or 3D screens, and VR, 3D video is entered
The operating system of row control, it is characterised in that also including total driving means F and passenger cabin, described VR video eyeglasses, display screen
Or 3D screens, and operating system is each provided in a passenger cabin 26；Passenger cabin 26 is arranged in total driving means F, by always driving
Dynamic device F drives passenger cabin 26 to carry out the multi-dimensional movement more than one-dimensional, two-dimentional, three-dimensional or three-dimensional.
2. intelligent virtual reality robotic according to claim 1, it is characterised in that in described total driving means F
Above with rotational support horizontal ends axle 41 between the two ends of U-shaped frame 43, the passenger cabin end axle at the 26 center of gravity line two ends of passenger cabin
45 is coaxially connected with the horizontal ends axle 41, the movement of the horizontal ends axle 41 be connected with an overturning drive device 21, by this
Overturning drive device 21 drives passenger cabin 26 to rotate around horizontal ends axle 41.
3. intelligent virtual reality robotic according to claim 2, it is characterised in that rotate in described horizontal ends axle 41
Connect a passenger cabin end axle support beam 44, described passenger cabin end axle 45 is rotatably connected in passenger cabin end axle support beam 44,
44 storehouse of support beam can be located at passenger cabin one side, can also be located at passenger cabin both sides, and make passenger cabin end axle 45 and horizontal ends
Axle 41 is mutually perpendicular to；In passenger cabin end axle support beam 44 or passenger cabin 26 outside equipped with for driving the passenger cabin end axle
The 45 longitudinal rotary drive motor groups 24 for rotating.
4. intelligent virtual reality robotic according to claim 3, it is characterised in that support in described passenger cabin end axle
The two ends of beam 44 vertically connect a transverse rotation support 22, and the two ends of the transverse rotation support 22 are connected to described level
On the axle 41 of end, multiple spaced longitudinal direction rotation auxiliary wheels 25 are provided with the inner circumferential of the transverse rotation support 22；Described
The profile of passenger cabin 26 is circle, outer peripheral face and longitudinal direction 25 joint of rotation auxiliary wheel of passenger cabin 26.
5. intelligent virtual reality robotic according to claim 4, it is characterised in that described transverse rotation support 22 is
Rectangle frame or U-shaped, are provided with the disk 46 coaxial with the horizontal ends axle 41 at its two ends；It is provided with and this in described U-shaped frame 43
The outer peripheral face of disk 46 rolls the lateral rotation auxiliary wheel 23 for coordinating.
6. intelligent virtual reality robotic according to claim 1, it is characterised in that described total driving means F include
At least one device in horizontal rotation apparatus, X-direction mobile device, Y-direction mobile device and Z-direction lowering or hoisting gear, it is above-mentioned
Device is arranged on a base 1.
7. intelligent virtual reality robotic according to claim 6, it is characterised in that when being equipped with four kinds of described devices
When, the horizontal rotation apparatus are located at the top of other each devices, can drive described 43 bottom of 26 bottom of passenger cabin or U-shaped frame
End is rotated along vertical axes, and the horizontal rotation apparatus include horizontal rotatable platform spring bearing 38 and horizontal rotation motor
Group 16, horizontal rotatable platform spring bearing 38 be located at 26 bottom of passenger cabin or 43 bottom of U-shaped frame and driving means F top it
Between, the output shaft for horizontally rotating motor group 16 is connected with the center of 43 bottom of 26 bottom of passenger cabin or U-shaped frame.
8. intelligent virtual reality robotic according to claim 6, it is characterised in that described Z-direction lowering or hoisting gear bag
Include following three kinds of constructions：
The first construction：Including lifting support 7 and scissors-type lifting 42, lifting support 7 is located at the top of scissors-type lifting 42
End, by hydraulic pressure or pressure liftable driving means 37 or by motor-driven pinion and rack, by motor-driven worm and gear
Mechanism, by one of motor-driven chain wheel driving mechanism as scissors-type lifting 42 driving means；
Second construction：Including lifting support 7 and flexible pillar type elevating mechanism 47, lifting support 7 is located at flexible pillar type elevator
The top of structure 47, the lifting drive include hydraulic cylinder, pneumatic cylinder, drive by motor-driven pinion and rack, by motor
Dynamic worm-and-wheel gear, the bolt and nut mechanism 6 driven by motor 5, by motor-driven other conventional lowering or hoisting gears；Such as
Fruit is then arranged between two telescopic mast elevating mechanisms and is installed or do not install synchronous elevator using the telescopic mast 47 of more than two
Structure 33；
The third construction：Including column 3, lifting support 7 and lifting drive, the bottom of an at least root post 3 vertically connects
On base 1, lifting support 7 is slidably connected on column 3, and described X-direction mobile device and Y-direction mobile device are arranged on
On the lifting support 7, lifting drive is housed on the lifting support 7, the lifting drive includes hydraulic cylinder, air pressure
Cylinder, by motor-driven pinion and rack, by motor-driven worm-and-wheel gear, the bolt and nut machine driven by motor 5
Structure 6, by motor-driven chain wheel driving mechanism or electrical hoist or other conventional lowering or hoisting gears；If adopting more than two
Column 3, then synchronization lifting mechanism 33 can be installed between two lifting drives, also can be without installing the synchronization lifting
Mechanism 33.
9. intelligent virtual reality robotic according to claim 8, it is characterised in that in the vertical of the third described construction
Pulley 10 and drag-line 40 are installed on post 3, one end of drag-line 40 is fixed on hoistable platform 7, the other end of drag-line 40 passes through
Connect counterweight 9 after pulley or assembly pulley 10, hoistable platform 7 and weight of object above and 9 phase of counterweight are made by increasing and decreasing counterweight 9
Closely；Described pulley, drag-line and counterweight 9 are using the compression spring, pulling force being adapted with hoistable platform 7 and object gravity above
Spring or constant force spring replace, between the shelf of the fixation for being located at hoistable platform 7 and the connection of column 3.
10. intelligent virtual reality robotic according to claim 8, it is characterised in that above described base or
Described horizontal rotation apparatus, it is equipped between X-direction mobile device, Y-direction mobile device and Z-direction lowering or hoisting gear any device
Vibrating device, the vibrating device include vibrator 4, spring 34 and guide pillar 35, and one end of guide pillar 35 is fixed on the top of neighboring devices
End or bottom, spring 34 are enclosed within guide pillar 35, and vibrator 4 is arranged on the device on 34 top of spring or is located at shaking for 34 top of spring
One end of dynamic base 2；If vibrating base 2 is located above base 1, one end and the base 1 of vibrating base 2 are cut with scissors by pivot pin 36
Connect, the spring 34 and guide pillar 35 are installed between the other end and base 1 of vibrating base 2.
11. intelligent virtual reality robotics according to claim 10, it is characterised in that described X-direction mobile device
Including：X-direction horizontal rail is provided with described lifting support 7, base 1 or vibrating base 2, in the X-direction horizontal rail
On be slidably installed X-direction mobile platform 14, X-direction mobile platform 14 is driven by X-direction driving means being capable of level along the X direction
Track is moved back and forth；
Described Y-direction mobile device includes：Y-direction water is provided with described X-direction mobile platform 14 or on lifting support 7
Plate rail road, is slidably fitted with horizontal rail in the Y direction and driving means horizontal rail along the Y direction can be driven to move in the Y direction
Dynamic Y-direction mobile platform 17；The upper-lower position of X-direction mobile device and Y-direction mobile device can be exchanged；X-direction is moved
Device and Y-direction mobile device may be located at 7 above and below of lifting support.
12. intelligent virtual reality robotics according to claim 11, it is characterised in that described X-direction horizontal rail
Between X-direction mobile platform, and the employing between Y-direction horizontal rail and Y-direction mobile platform include roller, linear axis
Hold, straight line sliding sleeve, slideway, slide block or chute it is any can provide support alternating translational slide part；
Described X-direction driving means include screw mandrel drive mechanism, hydraulically extensible drive system, air pressure telescopic drive system or
Person's wire rope drive system, gear-rack drive system, chain drive system, belt drive system or any can to order about platform past
Multiple mobile conventional system；What the screw mandrel drive mechanism was connected by decelerating through motor component 11, screw mandrel 12 and with X-direction mobile platform
Nut is constituted, and 11 drive screw 12 of decelerating through motor component is rotated, and the nut on screw mandrel 12 drives X-direction mobile platform synchronously to move
It is dynamic；
Described Y-direction driving means are using any one structure in above-mentioned X-direction driving means.
13. intelligent virtual reality robotics according to claim 1, it is characterised in that the shape of described passenger cabin 26
Do not limit, the environment simulator of the various weather environments of simulation, taste and sound is provided with the passenger cabin 26, the environmental simulation is filled
Put including trachea, water pipe, audio-video system, operating system, multifunction seat and/or Man Machine Interface.
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| CN201610935875.XA CN106563265B (en) | 2016-11-01 | 2016-11-01 | Virtual reality robot |
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| CN201610935875.XA CN106563265B (en) | 2016-11-01 | 2016-11-01 | Virtual reality robot |
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| CN107019910A (en) * | 2017-05-25 | 2017-08-08 | 巢湖市金辉自控设备有限公司 | A kind of improvement sleep space capsule based on VR glasses |
| CN107019911A (en) * | 2017-05-25 | 2017-08-08 | 巢湖市金辉自控设备有限公司 | It is a kind of to have game mode and the space capsule of sleep pattern concurrently based on VR glasses |
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| CN108533913A (en) * | 2018-02-27 | 2018-09-14 | 吉林省行氏动漫科技有限公司 | A kind of virtual reality device induction frame regulating system and its working method |
| CN109663367A (en) * | 2019-01-11 | 2019-04-23 | 华强方特文化科技集团股份有限公司 | Amusement facility virtual experience experimental rig |
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| CN113101642A (en) * | 2021-04-06 | 2021-07-13 | 长沙理工大学 | Virtual reality self-service gaming device |
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| CN114743479A (en) * | 2022-04-12 | 2022-07-12 | 徐州工业职业技术学院 | Intelligent design stereo imaging experience shop |
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