CN106730830B - Driving mechanism, multi-degree-of-freedom cradle head and VR seat - Google Patents
Driving mechanism, multi-degree-of-freedom cradle head and VR seat Download PDFInfo
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- CN106730830B CN106730830B CN201710016030.5A CN201710016030A CN106730830B CN 106730830 B CN106730830 B CN 106730830B CN 201710016030 A CN201710016030 A CN 201710016030A CN 106730830 B CN106730830 B CN 106730830B
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- Prior art keywords
- drive
- axis
- driver
- driving piece
- seat
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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
-
- 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
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/30—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by output arrangements for receiving control signals generated by the game device
- A63F2300/302—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by output arrangements for receiving control signals generated by the game device specially adapted for receiving control signals not targeted to a display device or game input means, e.g. vibrating driver's seat, scent dispenser
Abstract
The invention provides a driving mechanism, a multi-degree-of-freedom holder and a VR seat, wherein the driving mechanism comprises a supporting seat; the first driving piece is arranged on the supporting seat; a second drive arranged to be driven by the first drive such that the second drive rotates about a first axis; a third drive arranged to be driven by the second drive such that the third drive rotates about a second axis; a load mounting plate configured to be driven by the third driver such that the load mounting plate rotates about a third axis.
Description
Technical Field
The invention relates to the field of multi-degree-of-freedom motion, in particular to a driving mechanism, a multi-degree-of-freedom cradle head and a VR seat.
Background
The driving mechanism refers to a driving assembly composed of a plurality of driving pieces and used for driving a load connected with the driving mechanism to move.
The existing driving mechanism adopts a structure of superposing a plurality of driving motors, so that the driving mechanism has a complex structure and a large volume.
Taking the pan-tilt as an example, the pan-tilt is used for installing and fixing the camera shooting supporting equipment. When the existing driving mechanism is applied to the holder, the volume of the holder is increased, and the requirement of miniaturization of the holder is difficult to comply.
For example, when the conventional drive mechanism is used to drive a seat of a VR seat, the VR seat becomes bulky.
Accordingly, there is a need for an improved drive mechanism that addresses at least one of the problems of the prior art.
Disclosure of Invention
It is an object of the present invention to provide a new solution for a drive mechanism.
According to a first aspect of the present invention, there is provided a drive mechanism comprising:
a supporting seat;
the first driving piece is arranged on the supporting seat;
a second drive arranged to be driven by the first drive such that the second drive rotates about a first axis;
a third drive arranged to be driven by the second drive such that the third drive rotates about a second axis;
a load mounting plate configured to be driven by the third driver such that the load mounting plate rotates about a third axis.
Optionally, the support seat comprises a bottom plate and a connecting plate;
the first driving piece is fixedly connected with the connecting plate.
Optionally, the second driving element is a hollow structure, and the third driving element is located in the hollow of the hollow structure.
Optionally, the second driving member is an annular structure, and the third driving member is located in an annulus of the annular structure.
Optionally, the first driving member is a direct drive motor;
the second driving piece is a direct drive motor;
the third driving piece is a direct drive motor.
Optionally, the second axis is perpendicular to the first axis;
the third axis is perpendicular to the second axis and/or the third axis is perpendicular to the second axis.
According to a second aspect of the present invention, there is provided a multiple degree of freedom head comprising the drive mechanism of the present invention.
According to a third aspect of the invention, there is provided a VR seat comprising a drive mechanism of the invention.
Optionally, a seat is included, the seat being mounted on the load mounting plate.
Optionally, the VR seat further comprises a base and a fourth drive, wherein the fourth drive is mounted on the base;
the fourth driving piece is arranged to drive the supporting seat to move along a fourth axis.
The inventor of the present invention found that the conventional technique has a problem that the driving mechanism is complex in structure and large in volume. Therefore, the technical task to be achieved or the technical problems to be solved by the present invention are never thought or anticipated by those skilled in the art, and therefore the present invention is a new technical solution.
Compared with the prior art, the driving mechanism has the advantages of simple structure and small volume.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic view of a driving mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another view of the driving mechanism according to the present invention;
FIG. 3 is a schematic view of a partial structure of a driving mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another view of a partial structure of a driving mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a VR seat embodiment of the present invention.
The figures are labeled as follows:
the device comprises a supporting seat-1, a bottom plate-11, a connecting plate-12, a first driving piece-2, a first driving piece stator-21, a first driving piece rotor-22, a second driving piece-3, a second driving piece stator-31, a second driving piece rotor-32, a third driving piece-4, a third driving piece stator-41, a third driving piece rotor-42, a load mounting plate-5, a fourth driving piece-6, a fourth driving piece stator-61, a fourth driving piece rotor-62 and a base-7.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The present invention provides a drive mechanism, as shown in fig. 1 to 4, comprising:
a support seat 1. The concrete structure of supporting seat 1 can set up according to actual demand. For example, the support base 1 may have a U-shaped plate structure, or the support base 1 may have a rectangular frame structure.
Optionally, the support base 1 comprises a base plate 11 and a connecting plate 12 connected together. The connection between the base plate 11 and the connecting plate 12 may be a fixed connection or a detachable connection. For example, the bottom plate 11 is connected to the connecting plate 12 by bolts, or the bottom plate 11 is welded to the connecting plate 12, or the bottom plate 11 is integrally formed with the connecting plate 12. The base plate 11 and the connecting plate 12 are optionally arranged vertically. The connecting plates 12 may alternatively comprise two pieces, and the two connecting plates 12 are fixedly connected with two ends of the bottom plate 11.
And the first driving piece 2 is arranged on the supporting seat 1. The specific structure of the first driving member 2 can be set according to actual requirements, for example, the first driving member 2 is a direct drive motor. The first driver 2 may comprise a first driver stator 21 and a first driver rotor 22.
The first driving member 2 can be installed on the supporting base 1 by means of detachable connection or fixed connection. For example, the first driving element 2 and the supporting seat 1 are connected together by bolts, or the supporting seat 1 and the first driving element 2 are connected together by welding. Alternatively, the first driving member stator 21 is fixedly connected to the connecting plate 12 of the support base 1.
A second driver 3 arranged to be driven by the first driver 2 such that the second driver 3 rotates about a first axis. The specific structure of the second driving member 3 can be set according to actual requirements, for example, the second driving member 3 is a direct drive motor. The second driver 3 may comprise a second driver stator 31 and a second driver rotor 32. Alternatively, as shown in the figures, the second driver stator 31 and the second driver rotor 32 have an annular structure. Further, the second driver rotor 32 is capable of 360 degrees of rotational movement relative to the second driver stator 31. Further, the second driver rotor 32 is rotatable about an axis perpendicular to the plane of the annular structure.
Optionally, the second driver stator 31 is connected with the first driver rotor 22. The first driver 2 drives the second driver 3 to rotate about the first axis, i.e., the first driver rotor 22 drives the second driver stator 31 to rotate about the first axis, and the second driver rotor 32 fixed to the second driver stator 31 rotates about the first axis with the second driver stator 31.
Optionally, a first rotation axis may also be provided between the second driver stator 31 and the first driver rotor 22. Both ends of the first rotation shaft are fixedly connected to the first driver rotor 22 and the second driver stator 31, respectively. Alternatively, the connection between the first rotational axis and the first driver rotor 22 and the second driver stator 31 is realized by means of a bolted connection. Alternatively, the first rotational shaft is integrally formed with the first driver rotor 22 or the second driver stator 31.
A third driver 4 arranged to be driven by the second driver 3 such that the third driver 4 rotates about a second axis. Optionally, the second axis is perpendicular to the first axis.
The specific structure of the third driving member 4 can be set according to actual requirements, for example, the third driving member 4 is a direct drive motor.
The third driver 4 may comprise a third driver stator 41 and a third driver rotor 42. Optionally, a third driver stator 41 is connected with the second driver rotor 32. The second driver 3 drives the third driver 4 to rotate about the second axis, i.e. the second driver rotor 32 drives the third driver stator 41 to rotate about the second axis, and the third driver rotor 42 fixed to the third driver stator 41 rotates about the second axis with the third driver stator 41.
Alternatively, the second driving member 3 is a hollow structure, and the third driving member 4 is located inside the second driving member 3. For example, the second driver 3 has an annular configuration, and the third driver 4 is located within the annulus of the second driver 3 in the annular configuration.
Optionally, a second rotational axis may also be provided between the third driver stator 41 and the second driver rotor 32. Both ends of the second rotation shaft are fixedly connected to the second driver rotor 32 and the third driver stator 41, respectively. Alternatively, the connection between the second rotational shaft and the second driver rotor 32 and the third driver stator 41 is realized by means of a bolt connection. Alternatively, the second rotation shaft is integrally formed with the second driver rotor 32 or the third driver stator 41.
A load mounting plate 5 arranged to be driven by the third driver 4 such that the load mounting plate 5 rotates about a third axis. Optionally, the third axis is perpendicular to the second axis and/or the third axis is perpendicular to the first axis. Optionally, the load mounting plate 5 is connected to a third driver rotor 42, the rotational movement of the third driver rotor 42 driving the load mounting plate 5 to rotate about a third axis.
The load mounting plate 5 may be mounted on the third drive member 4 by means of a releasable or fixed connection. For example, the load mounting plate 5 is bolted to the third driver rotor 42, or the load mounting plate 5 and the third driver rotor 42 are welded together.
Optionally, the first driving member 2, the second driving member 3 and the third driving member 4 are all direct drive motors. The direct drive motor is beneficial to improving the response time of the driving mechanism. The direct drive motor is beneficial to improving the transmission efficiency. The direct drive motor is beneficial to further reducing the volume of the driving mechanism.
In one embodiment of the driving mechanism of the present invention, the supporting base 1 includes a bottom plate 11 and two connecting plates 12, and the two connecting plates 12 are perpendicular to the bottom plate 11. The first driving element 2 is fixedly connected with the opposite surfaces of the two connecting plates 12. The second driver 3 is located between the two connecting plates 12 and the second driver 3 is driven by the first driver 2 to rotate about a first axis parallel to the base plate 11. The second drive member 3 has an annular configuration and the third drive member 4 is located within the annulus of the second drive member 3. The second drive member 3 drives the third drive member 4 in rotation about a second axis perpendicular to the first axis. A load mounting plate 5 is mounted on the third drive member 4 and the load mounting plate 5 is driven by the third drive member 4 to rotate about a third axis perpendicular to the second axis.
The invention also provides a multi-degree-of-freedom holder which comprises the driving mechanism. The camera is mounted or fixed on the load mounting plate 5. The camera may be mounted on the load mounting plate 5 by means of a snap or bolt or the like.
The multi-degree-of-freedom cradle head using the driving mechanism has smaller volume and can meet the requirement of miniaturization of the cradle head.
When the multi-degree-of-freedom holder is applied to the VR seat, the size of the VR seat is reduced. In addition, when the multi-degree-of-freedom holder is applied to a VR seat, the advantage of high response speed of the driving mechanism is also beneficial to improving or preventing the problem that the user is dizzy due to the low response speed of the driving mechanism.
The invention also provides a VR seat, as shown in fig. 5, comprising a drive mechanism of the invention.
In one embodiment of the VR seat of the present invention, the VR seat further comprises a seat (not shown) mounted to the load mounting plate 5. The seat means a member for a user to sit down.
The seat may be mounted to the load mounting plate 5 by a fixed or removable connection, for example, the seat and the load mounting plate 5 may be bolted together or the seat and the load mounting plate 5 may be welded together.
Optionally, the VR seat of the present invention further includes a base 7 and a fourth driver 6, the fourth driver 6 is mounted on the base 7, and the fourth driver 6 drives the supporting seat 1 to move along a fourth axis. Optionally, the fourth axis is perpendicular to the first axis.
The specific structure of the fourth driving member 6 can be set according to actual requirements, for example, the fourth driving member 6 is a linear motor. The fourth drive 6 may include a fourth drive stator 61 and a fourth drive mover 62. Optionally, the fourth drive stator 61 is connected with the base 7. The fourth drive mover 61 is coupled to the support base 1.
The fourth driving member 6 may be fixedly attached or detachably attached to the base 7. For example, the fourth driving member 6 and the base 7 are connected together by bolts, or the fourth driving member 6 and the base 7 are connected together by welding. Alternatively, the fourth drive stator 61 is fixedly connected to the base 7.
In one embodiment of the VR seat of the present invention, the supporting seat 1 includes a bottom plate 11 and two connecting plates 12, and the two connecting plates 12 are perpendicular to the bottom plate 11. The first driving element 2 is fixedly connected with the opposite surfaces of the two connecting plates 12. The second driver 3 is located between the two connecting plates 12 and the second driver 3 is driven by the first driver 2 to rotate about a first axis parallel to the base plate 11. The second drive member 3 has an annular configuration and the third drive member 4 is located within the annulus of the second drive member 3. The second drive member 3 drives the third drive member 4 in rotation about a second axis perpendicular to the first axis. The load mounting plate 5 is mounted on the third drive member 4 and the load mounting plate 5 is driven by the third drive member 4 to rotate about a third axis perpendicular to the second axis. The seat is mounted on the load mounting plate 5. The fourth driver 6 is mounted on the base 7, and the fourth driver 6 drives the supporting base 1 to move along a fourth axis perpendicular to the bottom plate 11.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (8)
1. A drive mechanism, comprising:
the supporting seat comprises a bottom plate and two connecting plates, and the two connecting plates are perpendicular to the bottom plate;
the first driving piece is arranged on the supporting seat and fixedly connected with the opposite surfaces of the two connecting plates;
a second drive arranged to be driven by the first drive such that the second drive rotates about a first axis; the second driving piece is positioned between the two connecting plates and comprises a second driving piece stator connected with the first driving piece rotor, and the second driving piece rotor fixed on the second driving piece stator rotates around the first shaft along with the second driving piece stator;
a third drive arranged to be driven by the second drive such that the third drive rotates about a second axis; the second driving piece is of a hollow structure, and the third driving piece is positioned in the hollow part of the hollow structure;
a load mounting plate configured to be driven by the third driver such that the load mounting plate rotates about a third axis.
2. The drive mechanism as recited in claim 1, wherein the second drive member is an annular structure and the third drive member is located within an annulus of the annular structure.
3. The drive mechanism as claimed in any one of claims 1 to 2, wherein the first drive member is a direct drive motor;
the second driving piece is a direct drive motor;
the third driving piece is a direct drive motor.
4. The drive mechanism as recited in any one of claims 1 to 2, wherein the second axis is perpendicular to the first axis;
the third axis is perpendicular to the second axis and/or the third axis is perpendicular to the second axis.
5. A multiple degree of freedom head comprising the drive mechanism of any one of claims 1 to 4.
6. A VR seat comprising the drive mechanism of any of claims 1 to 4.
7. The VR seat of claim 6 further comprising a seat mounted on the load mounting plate.
8. The VR seat of claim 6 or 7, further comprising a base and a fourth drive, wherein,
the fourth driving piece is arranged on the base;
the fourth driving piece is arranged to drive the supporting seat to move along a fourth axis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611025711 | 2016-11-17 | ||
| CN201611025711X | 2016-11-17 |
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| Publication Number | Publication Date |
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| CN106730830A CN106730830A (en) | 2017-05-31 |
| CN106730830B true CN106730830B (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710016030.5A Active CN106730830B (en) | 2016-11-17 | 2017-01-10 | Driving mechanism, multi-degree-of-freedom cradle head and VR seat |
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| CN (1) | CN106730830B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106820694A (en) * | 2016-11-23 | 2017-06-13 | 歌尔股份有限公司 | A kind of VR seats drive mechanism and VR seats |
| CN107317446B (en) * | 2017-06-13 | 2019-12-17 | 歌尔股份有限公司 | experience platform drive device and virtual reality experience chair |
| CN108525292A (en) * | 2018-01-25 | 2018-09-14 | 电子科技大学 | The domestic type play sport simulator of motor-driven Three Degree Of Freedom |
| CN108488572A (en) * | 2018-05-23 | 2018-09-04 | 高新兴科技集团股份有限公司 | A kind of active stabilization holder and its control method |
| CN109618079A (en) * | 2018-12-07 | 2019-04-12 | 高新兴科技集团股份有限公司 | A kind of ball machine based on direct driving motor driving |
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| CN102049786A (en) * | 2009-11-05 | 2011-05-11 | 鸿富锦精密工业（深圳）有限公司 | Rotating mechanism and robot with same |
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| CN202583676U (en) * | 2012-06-06 | 2012-12-05 | 杭州藏愚科技有限公司 | Three degree-of-free camera shield regulating device |
| CN203123559U (en) * | 2013-03-12 | 2013-08-14 | 孙波 | Four-DOF (degrees of freedom) moving seat |
| CN104633407A (en) * | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Three-degree-of-freedom rotating platform |
| CN105835640B (en) * | 2016-03-28 | 2018-08-31 | 上海交通大学 | Three Degree Of Freedom attitude-control device, system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786234A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | 'swing-swing-rotation' type three-freedom-degree wrist mechanism |
| CN205412145U (en) * | 2016-02-02 | 2016-08-03 | 无锡信捷电气股份有限公司 | Dynamic simulation ware with four degrees of freedom |
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