CN111111095A - Omnidirectional motion platform based on motion synthesis - Google Patents
Omnidirectional motion platform based on motion synthesis Download PDFInfo
- Publication number
- CN111111095A CN111111095A CN201811289923.8A CN201811289923A CN111111095A CN 111111095 A CN111111095 A CN 111111095A CN 201811289923 A CN201811289923 A CN 201811289923A CN 111111095 A CN111111095 A CN 111111095A
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- CN
- China
- Prior art keywords
- wheel
- motion
- omnidirectional
- user
- belt
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B2022/0271—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills omnidirectional
Abstract
The invention discloses an omnidirectional moving platform based on movement synthesis, which consists of a rack, a driving mechanism and a moving platform, wherein the rack supports the moving platform, the driving mechanism is positioned in the moving platform, the moving platform consists of a crawler structure formed by linking a plurality of running belt modules, and the upper surface of the moving platform is provided with a moving plane, and when a user moves on the surface, the moving plane is controlled by a control system to perform transverse or longitudinal reverse translation, so that the user is kept in the range of the moving plane. Therefore, when the user experiences VR equipment or other sports needing a large place, the space range of the environment is not limited. Compared with the user omnidirectional movement realized in a sliding mode, the user can avoid the constraint feeling when in use and bring real movement feeling.
Description
Technical Field
The invention relates to an omnidirectional motion platform, in particular to a motion platform based on motion synthesis, which can enable a user to realize omnidirectional running.
Background
The omnidirectional movement platform can be used as an implementation scheme of a VR omnidirectional treadmill, and aims to enable a user to freely walk or run in any direction and at any speed in a limited space. In the existing omnidirectional treadmill scheme, the scheme that the feet and the platform slide relatively is mature and is already marketed.
The invention mainly utilizes the technologies of chain transmission and modular belt running mechanisms to realize omnidirectional movement.
Disclosure of Invention
The invention aims to overcome the constraint feeling of the prior art on user experience, and the sliding of the prior art is replaced by real running or walking on a motion platform, so that a user can more approach to real motion in use feeling.
The purpose of the invention is realized by the following technical scheme
The device is an omnidirectional moving platform and consists of a frame, a driving mechanism and a moving platform. In the plane of motion, the direction parallel to the guide rails is referred to as the longitudinal direction and the direction perpendicular to the guide rails is referred to as the transverse direction.
The frame is composed of a bracket, a supporting bottom plate and a guide rail frame. The guide rail frame is a triangular steel frame structure, and three pairs of shaft holes are formed in the guide rail frame and used for mounting the wheel shafts. The supporting bottom plate is welded between the two brackets and used for installing the motor. The guide rail is arranged at the top beam of the guide rail frame and is used for supporting the longitudinal movement of the moving platform.
The driving mechanism consists of a stepping motor, a toothed belt wheel, a toothed belt, a chain wheel shaft, a chain wheel, a long cage-shaped wheel and a flower-shaped wheel. The chain wheel is used for driving longitudinal movement, and the long cage-shaped wheel and the flower-shaped wheel group are used for driving transverse movement.
The motion platform comprises a plurality of running belt modules, and each running belt module comprises a running plate frame, a roller shaft, a roller, a running plate, a running belt, a rolling shaft sleeve and a chain buckle. The chain buckle is used for connecting each belt running module, so that the modules form a whole of a chain structure. The running board frame of the running belt module is used for supporting the roller shaft and the running board, two shafts are arranged on the running board frame, and the plane where the two shafts are located is parallel to the plane of the running board. The running belt is wrapped on the two rollers to provide the freedom degree of the transverse movement of the movement plane. The rolling shaft sleeves are sleeved on the two shafts of the belt running frame, the rolling shaft sleeves can be matched with the grooves formed in the guide rail surface, and the rolling shaft sleeves and the grooves perform relative rolling motion to provide the freedom degree of longitudinal motion of the motion plane. The combination of the two degrees of freedom can realize the omnidirectional movement of the movement plane.
Compared with the prior art, the invention has the following advantages and effects
The device aims to provide a movable surface, and the surface can translate in any direction in a two-dimensional plane. When a user stands on the surface and walks or runs in any direction, the device can ensure that the spatial position of the user is kept within a limited range by actively and reversely translating the surface. Therefore, when the user experiences VR equipment or other sports needing a large place, the space range of the environment is not limited. Compared with the user omnidirectional movement realized in a sliding mode, the user can avoid the constraint feeling when in use and bring real movement feeling. The concrete effects are as follows:
(1) the stepping motor is matched with the toothed belt for transmission, so that the movement speed of the two shafts of the movement platform is accurate and controllable.
(2) The transmission control of the fixed shaft of the rack on the moving shaft of the belt running module is realized by the wheel consisting of the long-strip cage-shaped wheel and the flower-shaped wheel.
(3) The adoption of a motion synthesis mode realizes omnidirectional motion, and is easier to control the change of the instant speed and direction.
(4) The user does not need to fix the relative position of the user by a fixing device during use, and the constraint feeling is reduced.
Drawings
Fig. 1 is an effect diagram of an omnidirectional moving platform, fig. 2 is a schematic diagram of an internal structure of the omnidirectional moving platform, fig. 3 is a schematic diagram of a longitudinal transmission relationship, fig. 4 is a schematic diagram of a transverse transmission mechanism transmission relationship, fig. 5 is a detailed diagram of a long cage-shaped wheel, and fig. 6 is a detailed diagram of a flower-shaped wheel.
In the figure: 1. the device comprises a support, 2 guide rail frames, 3 support base plates, 4 chain wheels, 5 chain wheel shafts, 6 longitudinal toothed belt wheels, 7 toothed belts, 8 stepping motors, 9 transverse toothed belt wheels, 10 long cage-shaped wheels, 11 rolling shaft sleeves, 12 chain buckles, 13 running plate frames, 14 rollers, 15 running belts, 16 running plate plates, 17 flower-shaped wheels, 171 base wheels, 172 radial shafts, 173 radial rolling sleeves, 101 guide tooth end covers and 102 roller columns
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
As shown in figure 1, the device comprises a rack, a driving mechanism and a moving platform, wherein the rack supports the whole device, the driving mechanism is arranged in the device, the moving platform comprises a track structure formed by linking running belt modules, the moving plane is in a range shown by a dotted line frame in the figure, any point in the plane has two degrees of freedom in the transverse direction and the longitudinal direction, the plane omni-directional movement is realized through the motion synthesis principle of the point, when a user moves on the surface, the device is controlled by a control system to perform reverse translation, and the user is kept in the range of the moving plane of the device all the time.
As shown in fig. 2, the frame is composed of (1) a support, (2) a guide rail frame and (3) a supporting bottom plate, wherein the top end of the guide rail frame is provided with a guide surface, and the guide surface is provided with a guide groove for guiding (11) the rolling shaft sleeve to roll longitudinally. (6) The longitudinal toothed belt wheel is arranged on a shaft between the two (2) guide rail frames, (9) the transverse toothed belt wheel and (10) the long cage-shaped wheel are coaxially arranged on one side guide rail frame, and (6) the longitudinal toothed belt wheel and the transverse toothed belt wheel are driven by a stepping motor through a toothed belt.
As shown in fig. 3, (4) the chain wheel is engaged with (11) rolling shaft sleeves installed on (13) running board frames, each (13) running board frame is provided with two shafts of the rolling shaft sleeves, the tail end of each shaft is provided with (12) chain buckles, and the running belt modules are connected with each other two by two to form a crawler belt structure. When the chain wheel rotates, the rolling shaft sleeves leave the track surface on the track frame in the step (2) in sequence and are meshed with the chain wheel in the step (4), and the longitudinal movement of the movement plane is realized. (13) The running board frame is provided with a roller (14) which is used for driving the running belt (15) to move. The two running board frames support (16) running boards for supporting the running belt surfaces, and when a user moves on the running belt surfaces, (15) the running belts and (16) the running boards are in contact and generate relative friction.
As shown in fig. 4, one (13) of the tread plates of each tread module is fitted with a (17) patterned wheel coaxial with the (14) roller. When the motor drives (10) the long cage-shaped wheels to rotate, each meshed (17) flower-shaped wheel is driven to rotate, and then the roller (14) is driven to drive (15) the running belt to move, so that the transverse movement of the movement plane is realized.
As shown in fig. 5, the long bar cage type wheel is composed of two (101) guide end covers and a group (102) of rollers, wherein the gear teeth of the (101) guide gear end covers are provided with bevel angles towards the outside, and when the (17) pattern wheel enters into meshing with the (17) pattern wheel from the outside, the bevel angles guide the (17) pattern wheel gear teeth to enter into a correct meshing position. (102) The roller is arranged on the shaft hole of the inward part of the guide gear end cover and can rotate relatively, and radial friction of meshing with the tooth surface of the pattern wheel is reduced when meshing is carried out.
As shown in FIG. 6, the pattern wheel is composed of (171) a base wheel, (172) a radial shaft and (173) a radial rolling sleeve, wherein (172) the radial shaft is arranged on (171) the base wheel. (173) The radial rolling sleeve is mounted (172) on a radial axis and is capable of relative rotation about the axis to reduce friction between the tooth surface and the elongated cage wheel during longitudinal movement.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (5)
1. The omnidirectional motion platform based on motion synthesis is composed of a rack, a driving mechanism and a motion platform, and is characterized in that the rack supports the motion platform, the driving mechanism is located inside the motion platform, the motion platform is composed of a crawler structure formed by a plurality of running belt modules in a linked mode, when a user on the motion plane moves on the surface, the motion plane is controlled by a control system to perform transverse or longitudinal reverse translation, and the user is kept in the range of the motion plane.
2. An omnidirectional exercise platform based on exercise synthesis according to claim 1, wherein the frame is composed of a support frame, a rail frame and a support bottom plate, the support bottom plate is installed at the bottom of the support frame, the rail frame is installed on the support frame, the top end of the rail frame is provided with a rail surface, and the rail surface is provided with a guide groove for guiding the rolling of the rolling bearing sleeve.
3. An omnidirectional exercise platform based on exercise synthesis as recited in claim 2, wherein said drive mechanism comprises a longitudinal toothed pulley, a transverse toothed pulley and an elongated cage wheel mounted on a rail frame,
and a stepping motor for driving the longitudinal toothed belt wheel and the transverse toothed belt wheel respectively,
and the number of the first and second groups,
the longitudinal toothed belt wheel is used for driving a chain wheel, and the chain wheel is meshed with the rolling shaft sleeve to drive the belt running modules to be mutually linked in pairs to form a crawler belt structure to move longitudinally;
horizontal toothed belt wheel is used for driving rectangular cage type wheel, rectangular cage type wheel rotates and takes turns the meshing with the flower type and carries out lateral motion in order to order about the race belt.
4. An omnidirectional exercise platform based on motion synthesis according to claim 3, wherein said elongated cage-shaped wheel is comprised of two guide end caps and a plurality of rollers, the guide end caps are used for guiding the gear teeth of the pattern wheel into the meshing position, and the rollers are mounted in the shaft holes of the guide end caps for relative rotation.
5. An omnidirectional exercise platform based on motion synthesis as recited in claim 4, wherein said patterned wheel comprises a base wheel, a radial shaft and a radial rolling sleeve, wherein the radial shaft is mounted on the base wheel in a radial direction, and the radial rolling sleeve is mounted on the radial shaft for relative rotation about the shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811289923.8A CN111111095A (en) | 2018-10-31 | 2018-10-31 | Omnidirectional motion platform based on motion synthesis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811289923.8A CN111111095A (en) | 2018-10-31 | 2018-10-31 | Omnidirectional motion platform based on motion synthesis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111111095A true CN111111095A (en) | 2020-05-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811289923.8A Pending CN111111095A (en) | 2018-10-31 | 2018-10-31 | Omnidirectional motion platform based on motion synthesis |
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| CN (1) | CN111111095A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111773616A (en) * | 2020-07-25 | 2020-10-16 | 西安交通大学 | Active multifunctional omnidirectional running machine |
-
2018
- 2018-10-31 CN CN201811289923.8A patent/CN111111095A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111773616A (en) * | 2020-07-25 | 2020-10-16 | 西安交通大学 | Active multifunctional omnidirectional running machine |
| CN111773616B (en) * | 2020-07-25 | 2021-12-28 | 西安交通大学 | Active multifunctional omnidirectional running machine |
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Application publication date: 20200508 |
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