CN109126024B

CN109126024B - Adduction type human body omnidirectional motion platform

Info

Publication number: CN109126024B
Application number: CN201810923166.9A
Authority: CN
Inventors: 王子峣
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-08-14
Filing date: 2018-08-14
Publication date: 2020-04-03
Anticipated expiration: 2038-08-14
Also published as: CN109126024A

Abstract

The invention discloses an adduction type human body omnidirectional motion platform which comprises a base, a thrust bearing, a transmission ring, a transmission wheel, a motor, a spiral top ring and a roller embedded into the spiral top ring, wherein the base directly bears the thrust bearing and the transmission wheel, the transmission ring is borne on the thrust bearing and consists of a plurality of circular rings with different diameters in a combined mode, the transmission wheel is matched on the transmission ring and used for driving the transmission ring layer by layer, a central ring of the transmission ring is directly driven by the motor, and the transmission ring is upwards and fixedly connected with the spiral top ring. The active type human body omnidirectional motion platform is scientific and ingenious in structural design, and compared with a passive type omnidirectional motion platform, the human body does not need to be bound, so that a more real motion feeling can be provided, the problem that virtual space motion is limited by a real space is effectively solved, and the active type human body omnidirectional motion platform has the characteristics of low noise, high expansibility and the like.

Description

Adduction type human body omnidirectional motion platform

Technical Field

The invention relates to the technical field of human body movement equipment, in particular to an inward-folded human body omnidirectional movement platform.

Background

In the modern society of the rapid development of computer network technology, the development of scientific and technological economy has not only been brought to network technology, the innovation of amusement and recreation function has also been brought to the development, virtual reality environment's terminal simulation ware type is various from this, but in most terminal simulation ware, all need the place of large tracts of land to move, sensitivity is not enough, to jumping squat to turn to the motion such as can't realize freely, it is low to feel the fidelity, and because when the human body removes, do not have safeguard measure and cause the injury easily, these have all greatly restricted the development of current human universal moving platform.

In order to solve the problems of the prior art, people have long searched for and put forward various solutions. For example, "a universal running tread device (201320425296.2)", including casing, treadmill body, main control system and sensor, sensor and treadmill body all are connected with main control system electricity the casing includes the upper cover, the upper cover is provided with an entrance to a cave, the treadmill body sets up in the casing, the below of entrance to a cave position the sensor transmits its atress information of sensing people's running to main control system, main control system control adjusts treadmill body traffic direction.

And for another example, the virtual reality human body omnidirectional movement input platform (201510333880.9) solves the problems of poor protection effect and low safety during human body movement. But it still belongs to a passive treadmill, causing the human body to be restrained from the waist, and it is very unnatural to walk backwards.

In the omnidirectional movement input platform (201611214960.3) based on speed decomposition and synthesis, the problem of unnatural walking is effectively solved, and the structure is simple. However, the chain transmission method has disadvantages inherent in the chain transmission, that is, the phenomena of tooth jumping, dislocation, etc. are easily caused, and the maintenance cost is high, and the problem of noise caused by friction between the chain and other parts is difficult to solve. In addition, because of using chain formula mode, only the gyro wheel of one side is effective at the operation in-process, and half gyro wheel then can't use, and the gyro wheel utilization efficiency is low.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the inward-folding type human body omnidirectional motion platform is better in experience effect, lighter and thinner, active, easy to maintain, low in noise and high in roller utilization rate.

The technical scheme is as follows: in order to achieve the purpose, the invention provides an inward-folding type human body omnidirectional motion platform which comprises a base, a thrust bearing, a transmission ring, a transmission wheel, a motor, a spiral top ring and a roller wheel embedded into the spiral top ring, wherein the base directly bears the thrust bearing and the transmission wheel, the transmission ring is borne on the thrust bearing and is upwards fixedly connected with the spiral top ring, the transmission ring is formed by combining a plurality of circular rings with different diameters, the transmission wheel is matched on the transmission ring and is used for driving the transmission ring layer by layer, the center ring of the transmission ring is directly driven by the motor, the motor and the transmission wheel drive the transmission ring to drive the spiral top ring to rotate, the roller wheel is embedded into the spiral top ring to achieve the inward-folding and outward-folding functions in any direction, and the inward-folding and outward-folding functions of a platform plane are achieved.

Furthermore, a motor shaft fixing groove for fixing the motor shaft, a plurality of concentric thrust bearing tracks with different radiuses and a plurality of driving wheel fixing points are arranged on the base, the thrust bearings are respectively matched on the corresponding thrust bearing tracks, and the driving wheel fixing points are located between the thrust bearing tracks with different radiuses and are used for fixing the driving wheels.

Furthermore, the thrust bearing comprises a retainer ring and a plurality of steel balls, the steel balls are arranged on the retainer ring at equal intervals, and the retainer ring is used for ensuring that the steel balls have constant intervals when rotating in the thrust bearing track. The thrust bearings have different radii for running in different radii thrust bearing tracks.

Furthermore, the transmission ring is composed of a group of concentric rings with different diameters, a plurality of spiral top ring fixing holes used for fixing the spiral top rings are formed in the front face of the transmission ring, thrust bearing tracks matched with the thrust bearings are arranged on the back face of the transmission ring, and a motor rotating fixing groove used for fixing a motor is formed in the center ring of the transmission ring.

Further, the motor is provided with axle stiff end and driving ring fixed point, the cooperation of axle stiff end is used for fixing the motor shaft of motor on the base in the motor shaft fixed slot, driving ring fixed point cooperatees with the rotatory fixed slot of motor for the centre ring of driving ring can be driven to the motor.

Furthermore, the inner side and the outer side of the driving wheel are respectively provided with a bearing and a transmission structure, the driving wheel is fixed on a fixing point of the driving wheel through the bearing, so that the driving wheel can rotate freely, and the transmission structure is used for being combined with the transmission ring, so that the driving wheel can be driven mutually.

Further, the spiral top ring is divided into a clockwise adduction spiral top ring and an anticlockwise adduction spiral top ring, the clockwise adduction spiral top ring and the anticlockwise adduction spiral top ring are alternately distributed at intervals in the radial direction, a roller groove and a top ring fixing hole are formed in the clockwise adduction spiral top ring, the roller groove is obliquely arranged right along a circular normal line, a roller is installed in the roller groove, and the top ring fixing hole is used for fixing the clockwise adduction spiral top ring on the transmission ring; the anti-clockwise adduction spiral top ring is provided with a roller groove and a top ring fixing hole which are obliquely arranged along a circular normal line to the left, the roller groove is used for installing a roller, and the top ring fixing hole is used for fixing the anti-clockwise adduction spiral top ring on the transmission ring.

Further, the roller grooves on the clockwise adduction spiral top ring and the anticlockwise adduction spiral top ring are respectively arranged along a circular normal line and are inclined by 45 degrees towards the right and are arranged along the circular normal line and are inclined by 45 degrees towards the left.

Further, the roller comprises a roller body and a roller shaft, the roller body can only rotate around the roller shaft, and for any speed or force which forms a certain angle with the direction of the roller shaft, under the condition of friction with the roller body and only rotation without sliding, the speed or force along the direction of the roller shaft can be counteracted, and only the speed or force along the rotation direction of the roller can be decomposed and retained.

The motor can not only realize the adduction on the plane but also realize the outward placing on the plane under different rotating directions, and the switching of the adduction state and the outward placing state can be realized on the plane of the platform by changing the rotating direction of the motor.

Has the advantages that: compared with the prior art, the invention has the following advantages:

1. by adopting the active motion structure, the influence of the human body bound by the waist is eliminated, more real motion feeling can be provided, the problem that the virtual space motion is limited by the real space is effectively solved, and the experience effect is improved;

2. the roller utilization rate is high, only one motor is needed for the whole machine, the roller utilization rate is as high as 100%, the thickness of the machine body can be less than 5CM, the machine is lighter and thinner, compared with other active omnidirectional motion platforms, half of materials and thickness can be reduced, a high speed regulation range can be provided, and the problem of low roller utilization rate in the prior art is solved;

3. the noise reduction device has good low-noise performance, and solves the problem of high noise in the prior art;

4. through the different control to motor direction of rotation, not only can realize adduction on the plane, can also realize putting outward on the plane.

Drawings

FIGS. 1 and 2 are schematic views of a base of the present invention;

FIGS. 3 and 4 are schematic views of a thrust bearing of the present invention;

FIGS. 5-8 are schematic views of the drive ring of the present invention;

FIG. 9 is a schematic view of a driving wheel according to the present invention;

FIG. 10 is a schematic view of the motor of the present invention;

FIG. 11 is a schematic view of a roller used in the present invention;

FIG. 12 is a schematic view of a clockwise adduction screw top ring of the present invention;

FIG. 13 is a schematic view of a counterclockwise adduction screw top ring of the present invention;

FIG. 14 is a schematic view of the assembly of the spiral top ring of the present invention;

FIG. 15 is a schematic view of the assembly of the spiral top ring insert roller of the present invention;

FIG. 16 is a schematic view of the assembly of parts of the present invention in layers;

FIGS. 17 and 18 are schematic views of a portion of the assembled detail of the present invention;

FIG. 19 is a schematic view of the complete assembly of the present invention

Fig. 20 is a schematic diagram illustrating the principles of the present invention.

Detailed Description

The invention is further elucidated with reference to the drawings and the embodiments.

The invention provides an inward-closing type human body omnidirectional motion platform which comprises a base 100, a thrust bearing 200, a transmission ring 300, a transmission wheel 400, a motor 500, a spiral top ring and a roller 600 embedded into the spiral top ring, wherein the thrust bearing 200 and the transmission wheel 300 are directly borne by the base 100, the transmission ring 300 is borne by the thrust bearing 200, the transmission ring 300 is formed by combining a plurality of circular rings with different diameters to form a concentric circular ring group structure, the transmission wheel 400 is matched on the transmission ring 300 and used for driving the transmission ring 300 layer by layer, a central ring of the transmission ring 300 is directly driven by the motor 500, and the transmission ring 300 is upwards fixedly connected with the spiral top ring.

As shown in fig. 1 and 2, a motor shaft fixing groove 101 for fixing a motor shaft side, a plurality of concentric thrust bearing tracks 102 with different radii and a plurality of driving wheel fixing points 103 are arranged on the base 100, the thrust bearings 200 are respectively matched on the corresponding thrust bearing tracks 102, the thrust bearing tracks 102 with different radii are used for providing a rotating track for the thrust bearings 200 with corresponding radii, and the driving wheel fixing points 103 are located between the thrust bearing tracks 102 with different radii and are used for fixing the driving wheel 400.

As shown in fig. 3, the thrust bearing 200 includes a retainer ring 202 and a plurality of steel balls 201, the steel balls 201 are arranged on the retainer ring 202 at equal intervals, the retainer ring 202 is used to ensure that the steel balls 201 have a constant interval when rotating on the thrust bearing track 102, the thrust bearing 200 has different radii and is used to run on the thrust bearing track 102 with corresponding radii, and fig. 4 shows an overall schematic diagram of the thrust bearings 200 with different radii.

Referring to fig. 5 to 8, fig. 5 is a schematic view of a front surface of a driving ring, fig. 6 is a schematic view of a back surface of the driving ring, the driving ring is composed of a set of concentric rings with different diameters, the front surface of the driving ring 300 is provided with a plurality of spiral top ring fixing holes 302 for fixing the spiral top rings, the back surface is provided with a thrust bearing track 303, the thrust bearing track 303 is used for being supported by the thrust bearing 200 downwards, a center ring of the driving ring 300 is provided with a motor rotation fixing groove 301 for fixing a motor 500, so that the motor 500 can drive the center ring of the driving ring 300 to rotate, as shown in fig. 7 and 8, the schematic views of the front surface and the back surface of the driving ring 300 composed of rings with different diameters are respectively shown, and it should be noted that the edge of the driving ring 300 has. This is related to the design of the driving wheel 400, which is a gear in the best embodiment for reliable and stable operation of the machine body, but for small loads, it is more convenient to use a friction wheel in view of easy manufacture, which is shown in the figure as a friction wheel structure.

As shown in fig. 9, the inside and the outside of the driving wheel 400 are respectively provided with a bearing 401 and a driving structure 402, the driving wheel 400 is fixed on the driving wheel fixing point 103 through the bearing 401 so that the driving wheel 400 can freely rotate, and the driving structure 402 is used for combining with the driving ring 300 so that they can mutually drive. It should be noted here that the driving structure 402 outside the driving wheel 400 has many alternatives, such as friction wheel, gear, etc., which are related to the used driving ring 300 structure, and the best embodiment is gear in view of reliable and stable operation of the machine body, but for small loads, it is more convenient to use friction wheel in view of easy manufacturing. The friction wheel configuration is shown here, and it should be noted that if the linear speed of each driving ring 300 is the same across the platform, the driving wheel 400 can be modified to a certain extent, for example, stepped, and changed at a certain speed, so that the linear speed of each driving ring 300 does not change with the change of radius, and for the material of the driving wheel 400, if nylon material is used for manufacturing, the resulting machine will be excellent in silencing and lubricating effects.

As shown in fig. 10, the motor 500 is provided with a shaft fixing end 501 and a driving ring fixing point 502, the shaft fixing end 501 is fitted in the motor shaft fixing groove 101 for fixing the motor shaft of the motor 500 on the base 100, and the driving ring fixing point 502 is fitted in the motor rotation fixing groove 301 so that the motor 500 can drive the center ring of the driving ring 300 to rotate.

As shown in fig. 11, the roller 600 includes a roller body 602 and a roller shaft 601, the roller body 602 can only rotate around the roller shaft 601, and for any speed or force that forms a certain angle with the direction of the roller shaft 601, when the roller body 602 is rubbed with the roller body, the speed or force along the direction of the roller shaft 601 will be cancelled out, and only the speed or force along the direction of the rotation of the roller will be resolved and retained.

As shown in fig. 12, the spiral top ring is divided into a clockwise adduction spiral top ring 700 and a counterclockwise adduction spiral top ring 800. The clockwise adduction screw top ring 700 is provided with a roller groove 701 inclined 45 degrees to the right along a circular normal line and a top ring fixing hole 702, the roller groove 701 is used for installing the roller 600 so that the roller 600 can rotate therein, and the top ring fixing hole 702 is used for fixing the clockwise adduction screw top ring on the driving ring 300. As shown in fig. 13, the counterclockwise adduction screw top ring 800 is different from the clockwise adduction screw top ring 700 in that the direction of the roller groove 701 is inclined 45 degrees to the left along a circular normal. The clockwise adduction spiral top ring 700 and the anticlockwise adduction spiral top ring 800 have a plurality of different radiuses and are alternately distributed at radial intervals, and the structural design is such that the clockwise and anticlockwise directions of the adjacent spiral top rings in all the spiral top rings with different radiuses are different. The overall effect can be seen in fig. 14 and 15, where fig. 14 shows a set of spiral top rings of different radii arrayed according to a different clockwise and counterclockwise rule for adjacent top rings. The effect of assembling the roller 600 on the spiral top ring is shown in fig. 15. It should be noted here that the fixing manner of the screw top ring and the driving ring 300 may be welding, screwing, gluing, snapping, screwing, etc., or the driving ring 300 and the screw top ring may be directly manufactured as one body, where for convenience of manufacturing, the best embodiment is to divide them into two parts and connect them by using a scheme that screws are fixed through the top ring fixing holes 702 and the screw top ring fixing holes 302.

Referring to fig. 16, which shows a layered schematic diagram of the components of the present invention, it can be seen that the layers are supported and carried by the base 100 from bottom to top, and are driven by the driving wheel 400 from inside to outside.

As shown in fig. 17 and 18, a plurality of concentric thrust bearings 200 with different radii are arranged on the thrust bearing track 303 at the bottommost part of the base 100, a motor 500 is fixed on the motor shaft fixing groove 101 at the center of the base 100, and then a layer is arranged on the motor shaft fixing groove, and the upper part of the thrust bearing 200 runs in the thrust bearing track 303 at the bottom of the transmission ring 300. Between two adjacent driving rings 300, the driving wheel 400 is fixed on the driving wheel fixing point 103 of the base 100, and plays a role of driving between two adjacent driving rings 300. Wherein the driving ring 300 positioned at the center is fixedly coupled with the motor 500 through the motor rotation fixing groove 301. On the next layer, a plurality of concentric screw top rings equipped with the roller 600 are fixedly connected with the driving ring 300 through the top ring fixing holes 702, so that each screw top ring can rotate with the driving ring 300 fixedly connected therewith, thereby completing the overall assembly.

Fig. 19 is a complete assembly diagram of the present embodiment, and a resultant force field contracting toward the center along the normal can be generated in any direction of the surface of the body. The specific principle is as follows:

when the motor 500 drives the center ring of the driving ring 300 to rotate clockwise, the center ring of the driving ring 300 is designated as the 1 st ring 300, which will drive the outer adjacent driving wheel 400 to rotate counterclockwise, and then the set of driving wheels 400 drive the outer adjacent driving ring 300 to rotate counterclockwise, and is designated as the 2 nd ring 300. Similarly, the 2 nd ring 300 will drive the driving wheel 400 at the outer side to rotate clockwise, and the driving wheel 400 will drive the 3 rd ring 300 to rotate clockwise. This driving method can make the rotation direction of the odd-numbered rings 300 on the whole surface consistent with the rotation direction of the motor 500, and the rotation direction is clockwise rotation; the even-numbered ring gear 300 rotates in the counterclockwise direction opposite to the direction in which the motor 500 rotates. Then, when the clockwise adduction screw top ring 700 is installed on the odd-numbered turn transmission ring 300 and the counterclockwise adduction screw top ring 800 is installed on the even-numbered turn transmission ring 300, the clockwise adduction screw top ring 700 and the counterclockwise adduction screw top ring 800 are rotated reversely.

Referring to fig. 20, for each turn of the spiral top ring, due to the existence of the roller 600, the outward force cannot be provided in the direction of rotation of the roller 600, so that each turn of the spiral top ring can only provide the force in the direction of the axis of the black wheel shaft in the figure during the rotation process. When the clockwise adduction screw top ring 700 is rotated clockwise, it generates a force 45 degrees inward along the right side of the normal, and when rotated counterclockwise, it generates a force 45 degrees outward along the left side of the normal. Similarly, when the counter-clockwise adduction screw top ring 800 rotates clockwise, it generates a force 45 degrees outward along the right side of the normal, and when it rotates counter-clockwise, it generates a force 45 degrees inward along the left side of the normal.

When the clockwise adduction screw top ring 700 and the counterclockwise adduction screw top ring 800 simultaneously act on the same object, and the clockwise adduction screw top ring 700 rotates clockwise, and the counterclockwise adduction screw top ring 800 rotates counterclockwise, the clockwise adduction screw top ring 700 may generate a force of 45 degrees inward along the right side of the normal, the counterclockwise adduction screw top ring 800 may generate a force of 45 degrees inward along the left side of the normal, and the entire direction of the force synthesized on the surface of the collector is inward along the normal according to the synthesis principle of the forces.

It should be noted here that not only inward contraction along the normal at any position on a plane but also outward contraction along the normal on a plane can be achieved by different control of the rotation direction of the motor 500, or the arrangement sequence of the screw top rings.

Claims

1. An adduction type human body omnidirectional motion platform is characterized in that: including base, thrust bearing, driving ring, drive wheel, motor, spiral apical ring and the gyro wheel of embedding spiral apical ring, the base is directly bearing thrust bearing and drive wheel, bearing the driving ring on the thrust bearing, the upwards fixed connection spiral apical ring of driving ring, the driving ring comprises the ring combination of a plurality of different diameters, the drive wheel cooperation is used for carrying out the successive layer drive to the driving ring on the driving ring, the centre ring of driving ring passes through motor direct drive, drives the rotation of spiral apical ring through the drive of motor and drive wheel to the driving ring to realize the planar adduction of platform and put the function outward through the gyro wheel.

2. An adduction human omnidirectional exercise platform according to claim 1, characterized in that: the base is provided with a motor shaft fixing groove for fixing a motor shaft, a plurality of concentric thrust bearing tracks with different radiuses and a plurality of driving wheel fixing points, the thrust bearings are respectively matched on the corresponding thrust bearing tracks, and the driving wheel fixing points are located between the thrust bearing tracks with different radiuses and used for fixing the driving wheel.

3. An adduction human omnidirectional exercise platform according to claim 1 or 2, characterized in that: the thrust bearing comprises a retainer ring and a plurality of steel balls, and the steel balls are arranged on the retainer ring at equal intervals.

4. An adduction human omnidirectional exercise platform according to claim 2, characterized in that: the front of transmission ring is provided with a plurality of spiral apical ring fixed orificess that are used for fixed spiral apical ring, and the back is provided with the thrust bearing track with thrust bearing assorted, the centre ring of transmission ring is provided with the rotatory fixed slot of motor that is used for fixed motor.

5. The adduction human omnidirectional exercise platform of claim 4, wherein: the motor is provided with axle stiff end and driving ring fixed point, the cooperation of axle stiff end is used for fixing the motor shaft of motor on the base in the motor shaft fixed slot, driving ring fixed point cooperatees with the rotatory fixed slot of motor for the motor can drive the centre ring of driving ring.

6. An adduction human omnidirectional exercise platform according to claim 2, characterized in that: the transmission wheel is fixed on a fixed point of the transmission wheel through the bearing, so that the transmission wheel can rotate freely, and the transmission structure is used for being combined with the transmission ring, so that the transmission ring can be driven mutually.

7. The adduction human omnidirectional exercise platform of claim 4, wherein: the spiral top ring is divided into a clockwise adduction spiral top ring and an anticlockwise adduction spiral top ring, the clockwise adduction spiral top ring and the anticlockwise adduction spiral top ring are radially and alternately distributed at intervals, a roller groove and a top ring fixing hole which are obliquely arranged along a circular normal line are formed in the clockwise adduction spiral top ring, the roller groove is used for mounting a roller, and the top ring fixing hole is used for fixing the clockwise adduction spiral top ring on the transmission ring; the anti-clockwise adduction spiral top ring is provided with a roller groove and a top ring fixing hole which are obliquely arranged along a circular normal line to the left, the roller groove is used for installing a roller, and the top ring fixing hole is used for fixing the anti-clockwise adduction spiral top ring on the transmission ring.

8. The adduction human omnidirectional exercise platform of claim 7, wherein: and the roller grooves on the clockwise adduction spiral top ring and the anticlockwise adduction spiral top ring are respectively arranged along a circular normal line at an angle of 45 degrees to the right and at an angle of 45 degrees to the left.

9. An adduction human omnidirectional exercise platform according to claim 1 or 7, characterized in that: the roller comprises a roller body and a roller shaft, and the roller body can only rotate around the roller shaft.

10. An adduction human omnidirectional exercise platform according to claim 1, characterized in that: by changing the rotation direction of the motor, the switching between the inward closing state and the outward releasing state can be realized on the platform plane.