CN205850094U - A kind of step follows machinery - Google Patents
A kind of step follows machinery Download PDFInfo
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- CN205850094U CN205850094U CN201620555762.2U CN201620555762U CN205850094U CN 205850094 U CN205850094 U CN 205850094U CN 201620555762 U CN201620555762 U CN 201620555762U CN 205850094 U CN205850094 U CN 205850094U
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- footrest
- user
- control system
- reference point
- master control
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Abstract
This utility model provides a kind of step to follow machinery, including master control system and the most coupled position detecting device, 2 D shifting unit, also include the position reference point device being separately mounted on user bipod and being synchronized with the movement with foot, described 2 D shifting unit is connected with torr connection device, described torr connection device includes a pair foot torr for carrying user both feet, described position detecting device is for detecting position and the directional information of position reference point device, described master control system controls 2 D shifting unit and moves, footrest is made to catch the both feet of user in the plane determined and carry out during motion center of gravity returns.This utility model aims at the step-movement allowing device follow user, and user is not retrained by single direction in traveling, can walk with any direction, run；User is not limited by crawler belt fixed speed to be forced running and follows, but device adapts to the velocity of user automatically.
Description
Technical field
This utility model relates to a kind of telecontrol equipment, concretely, relate to one can apply free treadmill or its
On his equipment, it is possible to allow sporter complete free traveling in original place, the step of action such as to turn to follow machinery.
Background technology
Through analyzing, there are two obvious limitations in traditional treadmill in the market: can only one direction enter when user runs
OK；Treadmill crawler track speeds is fixed, and forces runner must follow running by crawler track speeds.For the virtual reality risen at present
Technology, treadmill traditional in terms of motion is the most more difficult to be competent at, requirement that user is except moving in original place, and energy
Enough carrying out step-movement rather than fixing speed by demand, in addition, secure context is also required to account for.
Utility model content
For solving two above-mentioned limitations present in tradition treadmill, and in order to adapt in virtual reality technology for step
The requirement cut down, the utility model proposes a kind of step and follows machinery and control method thereof, can allow user original place freely
Advance, turn to, and unfettered.Its technical scheme is as described below:
A kind of step follows machinery, including master control system and the most coupled position detecting device, plane
Mobile device, also includes the position reference point device being separately mounted on user bipod and being synchronized with the movement with foot, described plane
Mobile device is connected with torr connection device, and described torr connection device includes a pair footrest for carrying user both feet, institute's rheme
Put detection device for detecting position and the directional information of position reference point device, described master control system control 2 D shifting unit
Move so that footrest is caught the both feet of user in the plane determined and carries out during motion center of gravity returns.
Described 2 D shifting unit includes fixed mount, rotating control assembly, pendulous device, distance control device；
Described fixed mount establishes one " rotary shaft a1 ", and a1 maintains static in space；
Described rotating control assembly is connected with fixed mount axle, rotates around a1 axle；
One " rotary shaft a2 " established by described rotating control assembly, and a2 maintains static relative to rotating control assembly, with rotation
Rotation control apparatus rotates around a1 together；
Described pendulous device and described rotating control assembly axle are connected in a bit, and referred to as A point rotates around a2；
Described distance control device is slidably connected with described pendulous device or axle is connected, distance control device when being slidably connected
Sliding along the direction that pendulous device determines, when axle connects, distance control device rotates around connecting shaft；
Described distance control device is connected with footrest, and can adjust between footrest and A point according to master control system order
Distance.
Induction installation is installed in described footrest, thus judges whether the foot of user contacts with footrest, described sensing dress
Put and include pressure sensitive device, light-inductive device, distance sensing device, contact switch.
Described position detecting device includes being arranged on the Inertial Measurement Unit on the reference point device of position and wireless transmitter,
And be connected with master control system and wireless receiver that wireless transmitter is corresponding, inertia can be surveyed by described wireless transmitter
The information of amount unit is informed to master control system by wireless receiver.
The corresponding one or more wireless transmitters of each wireless receiver, described wireless transmitter can be by same load
The different modulating information of wave frequency or use different carrier frequencies to make a distinction.
For different position reference point devices, each emitter has corresponding receptor.But receive parts not
Necessarily with transmission parts one_to_one corresponding.As long as receptor is able to receive that and processes different reflections or response message.Generally
System can use high-frequency signal, uses identical carrier frequency, by modulate different information distinguish different transmitting terminals or
Detected thing, therefore practical situation can have only to a reception and processing component.In the case of cost needs, it is possible to
Thinking the corresponding single reception device of each emission element, these parts use different carrier frequencies, thus avoid number
The loss of significance caused according to conflict.
Described footrest is provided with direction-control apparatus and bascule, and described direction-control apparatus is connected with master control system
Connect, for control the direction of footrest towards, the upper surface of described footrest is provided with flat board, and described bascule is provided with gyro
Instrument sensor, for controlling flat board holding level in the plane determined.
Step in this utility model follows machinery and control method thereof, it is intended to realize allowing device follow user
Step-movement, and user is not retrained by single direction in traveling, can walk with any direction, run；User is not
Limited by crawler belt fixed speed and be forced running and follow, but device is adapted to the velocity of user automatically.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that step described in embodiment 1 follows machinery；
Fig. 2 is embodiment 1 footrest, connects control device, the connection diagram of linear guides；
Fig. 3 is embodiment 1 position detecting device structural representation；
Fig. 4 is embodiment 1 footrest workflow schematic diagram；
Fig. 5 is that embodiment 1 user is walked centre of gravity adjustment schematic diagram；
Fig. 6 is the centre of gravity adjustment schematic diagram that embodiment 1 user both feet takeoff；
Fig. 7 is the part-structure schematic diagram that the step of embodiment 2 follows machinery；
Fig. 8 is the part-structure schematic diagram that the step of embodiment 3 follows machinery；
Fig. 9 is the part-structure schematic diagram that the step of embodiment 4 follows machinery.
Detailed description of the invention
This utility model provides a kind of step and follows machinery, in embodiment 1, as it is shown in figure 1, include master control system
System and the most coupled position detecting device, 2 D shifting unit, and the para-position being arranged on user bipod
Putting reference point device 4, described 2 D shifting unit includes fixed mount 1, the connection that is arranged on fixed mount 1 controls device 2 and even
Connect control device 3, described fixed mount 1 and connect and control device 2 and be connected by rotating control assembly 5, described fixed mount 1 and connecting
Connect control device 3 to be connected by rotating control assembly 6, control device 2 connecting and connect and control device 3 and be provided with for holding
Carry a pair footrest 7 of user both feet.
Described footrest 7 is set to a pair, is separately mounted to two different connections and controls, on device, to install in footrest 7
There is gravity sensor, thus judge whether user steps down in footrest 7.
As in figure 2 it is shown, described fixed mount 1 is provided with track, inside and outside the groove of described track is arranged on, described rotation
Control device 5 lower end and be provided with card wheel, along fixed mount 1 around a1 axle rotational slide.It is provided with rotation in the middle part of described rotating control assembly 5
Rotary device, described rotary apparatus is provided with motor, for controlling the rotation connecting control device 2 around a2 axle.Described rotation
Controlling device 5 top and be provided with draw-in groove, the upper and lower side of described draw-in groove is provided with roller, and described connection controls device 2 and is positioned at draw-in groove
In, it is possible to slid axially along self by roller.
One end of footrest 7 is hingedly connected to two and connects the end controlling device, and in figure, visible footrest 7 is arranged on connection control
The end of device 2 processed, described footrest is additionally provided with direction-control apparatus, bascule, described direction-control apparatus and master control system
System is connected, for control the direction of footrest towards, mainly by the Spin Control direction of connecting shaft 8 so that footrest 7 is permissible
Arbitrary Rotation is done around with the connecting shaft 8 being connected control device 2.
The upper surface of described footrest is provided with flat board, and described bascule is provided with gyro sensor, is used for controlling to put down
Plate is holding level in the plane determined.
Footrest can be moved in the plane determined, the plane determined is to set one for simulating ground grading
Plane, carries out the setting of height and size as required, and the various motions of user are all using this plane as reference, in order to protect
Card footrest only moves in this plane, can use arranged below, as arranged net device, described foot in specific plane
Torr top is provided with distance-sensor or pressure inductor, controls footrest and the distance of net device；Can also be specific flat
Face or thereon under laser is set in parallel plane, described footrest is provided with light sensor, thus is maintained at same flat
Move in face.
The track that described fixed mount 1 is arranged is circular, it would however also be possible to employ ellipse, two semicircles, the track shape of two straight lines
Formula, circular use can have advantage on calculating and controlling.
The described control device 2 that connects is straight line guide rail, and therefore the distance for rotating control assembly and footrest adjusts,
It is merely able to be operated by the relative distance controlling to connect control device 2 and rotating control assembly.Device 2 is controlled if connected
It is provided with distance control device, then has only to adjust dilatability.
Connect control device 2 to swing for basic point with rotating control assembly 5, can slide axially along self simultaneously；Rotation
Rotation control apparatus 5 can slide along fixed mount 1.In this device, based on these components and annexation, footrest is at fixed mount 1
Optional position and angle location can be realized in plane.
Fixed mount 1 also is able to arrange more rotating control assembly and coupled connection controls device,
Connect and control to arrange the torr connection device in addition to footrest on device, set according to demand.Thus by fixed mount
Device and torr connection device is controlled, it is achieved the tracking to more multi-user's health reference point plus new connection.
Fig. 3 is the composition schematic diagram of position detecting device, initially sets up the xyz coordinate axes of solid, described position reference point
Device comprises an Inertial Measurement Unit (IMU) and wireless transmitter, and master control system (such as figure, first represent with label C) connects one
The wireless receiver of individual correspondence；As shown in Figure 3, it is assumed that with on plane of movement put o (0,0,0) be three axle initial points, reference by location fill
Putting the respective coordinates position when A point leaves footrest is (X1, Y1, Z1), and moves to space A ' point.
In motor process, the electromagnetic wave that position reference point device is launched is monitored and accepted to master control system in real time, therefrom obtains
Position reference device is based on IMU, the corresponding three-axis attitude angle obtained and acceleration information；
Master control system i.e. obtains the directional information of position reference point device by the z-axis attitude angle received, it is assumed that it is
Relative to plane x-axis angle；
Master control system can obtain the relative of position reference device by the single shaft angular acceleration received with time integral
In the relative position information of three axles, it is added with initial position co-ordinates point (X1, Y1, Z1), i.e. obtains position reference device and exist
The locus (X2, Y2, Z2) that A ' puts；
Master control system according to position reference device at the locus that A ' puts and corresponding horizontal plane relative to the angle of x-axis,
Real Time Drive 2 D shifting unit moves footrest and to corresponding horizontal plane position (X2, Y2) and adjusts footrest relative to x-axis angle
Direction；Thus realize footrest and continue tracing positional reference unit until torr connects.
The corresponding one or more wireless transmitters of each wireless receiver, described wireless transmitter can be by same load
The different modulating information of wave frequency or use different carrier frequencies to make a distinction.
In order to reduce score accumulation error, the time of integration in calculating is left footrest with position reference point device every time and opens
Begin, until footrest receives position reference point device.
When using this device, each on the bipod of user left and right fix a position reference point device 4, because position reference point
Device 4 is fixed together with foot, so run duration substitutes the fortune of foot completely with the characteristics of motion of position reference point device 4
Dynamic rule.
Position detecting device persistently detects, collects feature and the positional information of two position reference point devices 4, and this is believed
Breath passes to master control system；According to feature and positional information, master control system is calculated analytically can distinguish position reference point
Device 4 is in the particular location of plane of movement and direction, and then moves footrest 7 by order-driven 2 D shifting unit, eliminates
Footrest 7 and the position reference point device 4 distance in plane coordinates position, thus realize footrest 7 and follow the level of reference point in real time
Position, until catching the reference point in motion.
Described position reference point device uses active signal to launch, and position detecting device uses the signal of passive type
Receiving, it is also possible to use other forms, the most described position detecting device uses active signal to launch, the reference of described position
Point device uses the signal of passive type to receive and reflection, or described position reference point device and position detecting device all use master
The signal of dynamic formula is launched, and position detecting device uses signal to receive simultaneously.
Because footrest is at the volley, it is difficult to ensure that each wireless receiver finds position reference point device in the same time, because of
Position detecting device is organized in this employing more, it is possible to effectively calculate the discrete point of position of foot when signal receives, thus according to
Further calculate, it is judged that the position of foot, it is possible to the effective accuracy improving position calculation.
In terms of controlling the method for 2 D shifting unit, the concocting method of the tracing positional reference point device of footrest can select
Select different algorithms, as long as ensureing finally have a footrest can catch the position reference point device landed.In an embodiment,
The 2 D shifting unit proposed can realize footrest and position in plane of movement optional position and angle, and avoids two footrests in fortune
Dynamic period occur intersection conflict situation (conflict is to block between current location and source location, it is to avoid mode be first to contract
Short straight rail, then moves rotating control assembly until accessible between current location and target location, then stretches long straight rail until mesh
Punctuate).
Use this 2 D shifting unit, the dispensing mode of footrest tracing positional reference point device that start binding can be used former
Then: motion starts, and first position reference point device that footrest is caught is i.e. its tracing object, and protect during whole motion
Hold tracking until motion terminates.
In order to make operation simpler, it would however also be possible to employ non-omnidistance binding method, but also need to obtain the spy of user
Levying and positional information, described feature includes user foot and the contact condition of footrest, believes according to reference point device direction, position
Breath and user direction orientation information.Described master control system is judging that two position reference point devices of user are moved simultaneously
And when producing intersection, described master control system will control the torr connection function reciprocity of two footrests, and according to position reference point device
Directional information judge the direction of user towards, and then judge that the torr connection function of footrest is the need of swapping.
If during it is to say, left foot and right crus of diaphragm intersect, the footrest of the most former right crus of diaphragm catches left foot, and the footrest of former left foot is caught
Right crus of diaphragm, when judging that position reference point device direction also changes, it can be determined that goes out after user intersects and turns round, now, makes
User is towards change, such as by becoming backwards forward, now, is swapped by the torr connection function of footrest, the footrest of former right crus of diaphragm
Making left foot footrest into, the footrest of former left foot makes right crus of diaphragm footrest into.But if it find that position reference point device towards not changing
During change, then because user not have after intersecting to change towards direction, only need to upper once there is intersection time recover former footrest
Torr connection function.
Control method of the present utility model as shown in Figure 4 based on the 2 D shifting unit in embodiment and start binding side
Method, i.e. determines the unique corresponding relation of footrest and location tracking point, and keeps following the trail of during whole motion.
Starting in motion, user bipod stands in two footrests respectively, is respectively arranged with a position on two feet
Reference point device, two described footrests are to match respectively with described two position reference point devices and bind at run duration
Together；Described footrest persistently judges whether the position reference point device matched with it is the state contacted by foot, and will
This state is sent to described master control system；
Position detecting device persistently detects position and the information in direction of position reference point device, and this information is sent
To master control system, described master control system is according to the contact condition of each footrest, and lasting is fixed to 2 D shifting unit transmission footrest
Bit instruction；
When being positioned footrest and not being touched, master control system directly transmits direction and the positional information of position reference point, makees
Instruct for track and localization；
When being positioned footrest and being touched, master control system transmission calculates the center of gravity got and returns middle positional information, as center of gravity
Return middle positioning instruction；
During motion, when position reference point device falls in footrest, master control system will move according to user's gravity center shift
Footrest reaches during center of gravity returns；When position reference point device leaves footrest, master control system will exist according to position reference point device
The horizontal level Real Time Drive horizontally moving device of plane of movement moves the position reference point device of footrest pursuit movement until falling
Foot.
As long as and the positioning instruction that 2 D shifting unit is received from master control system moves to target with regard to being positioned footrest
Position.
Motion center of gravity judges and center of gravity returns middle realization as it is shown in figure 5, during motor rest, center of gravity is in two footrest lines
Heart position；During motion, in Fig. 6, right crus of diaphragm torr has caught position reference point device, and it is B1 at the coordinate position of horizontal plane,
At the volley, left foot torr traces into A2 position to left foot position reference point device, and A1 is the location point that left foot finally lifts.Line B1
With A1, taking midpoint G1 is former focus point；Line B1 and A2, taking midpoint G2 is current focus point.From G1 point to the direction of G2 point i.e.
Being modeled as the moving direction of user's center of gravity, the distance of 2 is the displacement of center of gravity.The parallel G1-G2 of B1-B2 dotted line in figure, side
To on the contrary, Real Time Drive right crus of diaphragm torr is moved to B2 by master control system from B1, the conjunction effect that final right crus of diaphragm torr and left foot torr move simultaneously
Fruit is that current center of gravity G2 moves to original weight heart G1 point, thus eliminates the displacement of focus point, reaches during focus point returns, it is achieved run
Move in person original place.
Assuming situation during user's taking off from both feet, as shown in Figure 6, A1 and B1 is that left and right foot finally lifts position respectively
Put, A1` and B1` be center of gravity when returning middle about the target location of footrest；A2 and B2 is the current location of two footrests respectively, now left
The most at the volley, right crus of diaphragm torr catches reference point in B2 position to foot；Line A1-B1 is former center of gravity line, and taking midpoint G1 is former focus point,
Line A2-B2 is existing center of gravity line, takes midpoint G2 for existing focus point；Direction from G1 point to G2 point is i.e. modeled as the shifting of user's center of gravity
Dynamic direction, the distance of 2 is the displacement of center of gravity.In figure, the parallel G1-G2 of dotted line B2-B1`, in opposite direction, dotted line A2-A1`
Parallel G1-G2, in opposite direction.Driving right crus of diaphragm torr is moved to B1` by master control system from B2, if in right crus of diaphragm torr moving process, left
Footrest is also coupled to left foot position reference point device, and driving left foot torr is also moved to A1` by master control system from A2.Final right crus of diaphragm torr with
The conjunction effect that left foot torr moves simultaneously is that current center of gravity G2 moves to original weight heart G1 point, thus eliminates the displacement of focus point, reaches
In returning to focus point, it is achieved move in runner original place.
In the free treadmill using this machinery, user can realize any direction and freely advance, and turns to etc. and to move
Make.
Basically, its principles illustrated is as follows:
At least two rotating control assembly that described 2 D shifting unit includes fixed mount, is arranged on fixed mount, described
Rotating control assembly connects has connection to control device so that connecting control device can swing with rotating control assembly for basic point,
The described control device that connects is connected with footrest, and can be from the distance of Row sum-equal matrix rotating control assembly to footrest.Described fixing
Be provided with track on frame, described rotating control assembly can orbiting, described rotating control assembly is provided with carriage,
Can be adjusted it and connect the relative position controlling device.Described connection controls device and is provided with distance control device, described away from
Hydraulic cylinder, leading screw or lever arm is used from controlling device.
The schematic diagram of following the 4th three embodiment of 2-all gives a footrest, and supports the phase of this footrest mobile
Close device and annexation.When being embodied as, introduce an other footrest with same method and relevant apparatus can realize two
Footrest moves with arbitrarily angled and direction in horizontal plane.
In accompanying drawing 7, this embodiment 2 includes three basic devices: a footrest, a rotating control assembly and one away from
From controlling device.As shown in the figure: A point is the shaft connection place of bar AB and base, B point is distance control device and rotating control assembly
Shaft connection place, C point is the junction of distance control device and candan universal joint, and C ' is the connection of footrest and candan universal joint
Place.
Rotating control assembly has two rotary freedoms: connecting at A at axle, B point rotates with a1 for axle；At axle even
Connecing at B, distance control device rotates with a2 for axle.Distance control device linearly can do stretching motion by BC；Footrest
It is connected with distance control device by candan universal joint, it is possible to axle a3, a4 and a5 rotating around candan universal joint do rotation fortune
Dynamic so that footrest can be with Arbitrary Rotation and keep level at horizontal plane.
In order to process the motor decussation situation of two distance control devices, air line distance that A, B are 2 require not less than away from
(assume that distance control device BC section is a cylindrical shape from the radius controlling device, during if not cylindrical shape, take outside it
Connect round radius).
The embodiment 3 of accompanying drawing 8 is a mode of texturing of embodiment 2 in accompanying drawing 7, and it includes a footrest, a rotation
Control device and a distance control device.In figure, A point is the shaft connection place of distance control device and rotating control assembly；A’
Point is a point on distance control device；B point is distance control device and candan universal joint junction；C point is footrest and ten
The junction of word universal joint.Rotating control assembly has two rotary freedoms: distance control device can do rotating around a1, a2 axle
Rotary motion.
2 lines of distance control device A, B are not straight lines, A ' be deviation AB line a point, line segment AA ' with
A ' B is rigidly connected in A ' point, and A ' puts the vertical dimension arriving AB line and (assumes distance control not less than the radius of distance control device
Device A ' B section processed is a cylindrical shape, during if not cylindrical shape, takes the radius of its circumscribed circle)；Distance control device edge
Stretching motion is done in A ' B line direction.The connected mode of distance control device and footrest is with embodiment 2 in accompanying drawing 7.
The embodiment of accompanying drawing 9 includes a footrest, a rotating control assembly and a lever arm.A point be lever arm with
The shaft connection place of rotating control assembly；B is the upper and lower two nodal axisn junctions of lever arm；C point is the company of lever arm and candan universal joint
Meet place；D is the junction of footrest and candan universal joint.
Such as Fig. 9, rotating control assembly has two rotary freedoms: lever arm can do rotation fortune around axle a1, a2 respectively
Dynamic.Axle connect B place, lever arm up and down two save (when being embodied as, it may be considered that more piece situation) AB Yu BC can be around axle a3
Rotate；The annexation of lever arm and footrest is with embodiment in accompanying drawing 7.
When intersecting in view of both feet, described distance control device can use cambered design, thus when both feet intersect
Can walk around the distance control device of the other end, or only distance control device to wherein foot place carries out arc and sets
Meter；It addition, design an extension between distance control device and rotating control assembly, such as the AA ' in embodiment 3,
It is also possible that distance control device has bigger activity space.
Step in this utility model follows machinery, it is possible to realize the step-movement allowing device follow user, and
User is not retrained by single direction in traveling, can walk with any direction, run；User is not by the fixing speed of crawler belt
Degree restriction is forced running and follows, but device adapts to the velocity of user automatically.
Claims (6)
1. a step follows machinery, it is characterised in that: include master control system and the detection of the most coupled position
Device, 2 D shifting unit, also include the position reference point device being separately mounted on user bipod and being synchronized with the movement with foot,
Described 2 D shifting unit is connected with torr connection device, and described torr connection device includes a pair foot for carrying user both feet
Torr, described position detecting device is for detecting position and the directional information of position reference point device, and described master control system controls flat
Face mobile device moves so that footrest is caught the both feet of user in the plane determined and carries out during motion center of gravity returns.
Step the most according to claim 1 follows machinery, it is characterised in that: described 2 D shifting unit includes fixing
Frame, rotating control assembly, pendulous device, distance control device；
Described fixed mount establishes one " rotary shaft a1 ", and a1 maintains static in space；
Described rotating control assembly is connected with fixed mount axle, rotates around a1 axle；
One " rotary shaft a2 " established by described rotating control assembly, and a2 maintains static relative to rotating control assembly, with rotating control
Device processed rotates around a1 together；
Described pendulous device and described rotating control assembly axle are connected in a bit, and referred to as A point rotates around a2；
Described distance control device is slidably connected with described pendulous device or axle is connected, and when being slidably connected, distance control device is along pendulum
Sliding in the direction that dynamic device determines, when axle connects, distance control device rotates around connecting shaft；
Described distance control device is connected with footrest, and can adjust the distance between footrest and A point according to master control system order.
Step the most according to claim 2 follows machinery, it is characterised in that: sensing dress is installed in described footrest
Putting, thus judge whether the foot of user contacts with footrest, described induction installation includes that pressure sensitive device, light-inductive fill
Put, distance sensing device, contact switch.
Step the most according to claim 1 follows machinery, it is characterised in that: described position detecting device includes arranging
Inertial Measurement Unit on the reference point device of position and wireless transmitter, and be connected with master control system and wireless transmit
The wireless receiver that device is corresponding, described wireless transmitter can by the information of Inertial Measurement Unit by wireless receiver inform to
Master control system.
Step the most according to claim 4 follows machinery, it is characterised in that: each wireless receiver corresponding one or
Multiple wireless transmitters, described wireless transmitter can be by the different modulating information of same carrier frequency or use different
Carrier frequency makes a distinction.
Step the most according to claim 1 follows machinery, it is characterised in that: described footrest is provided with direction controlling dress
Putting and bascule, described direction-control apparatus is connected with master control system, for controlling the direction of footrest towards, described footrest
Upper surface be provided with flat board, described bascule is provided with gyro sensor, for controlling flat board in the plane determined
Holding level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620555762.2U CN205850094U (en) | 2016-06-08 | 2016-06-08 | A kind of step follows machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620555762.2U CN205850094U (en) | 2016-06-08 | 2016-06-08 | A kind of step follows machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205850094U true CN205850094U (en) | 2017-01-04 |
Family
ID=57639622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620555762.2U Withdrawn - After Issue CN205850094U (en) | 2016-06-08 | 2016-06-08 | A kind of step follows machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205850094U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963909A (en) * | 2016-06-08 | 2016-09-28 | 北京斯凯兰恩广告有限公司 | Footstep following mechanical device and control method thereof |
| CN110302504A (en) * | 2019-06-21 | 2019-10-08 | 乐歌人体工学科技股份有限公司 | Electric treadmill method for control speed |
| CN112985500A (en) * | 2021-02-10 | 2021-06-18 | 广州市影擎电子科技有限公司 | Universal motion system and detection device thereof |
-
2016
- 2016-06-08 CN CN201620555762.2U patent/CN205850094U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963909A (en) * | 2016-06-08 | 2016-09-28 | 北京斯凯兰恩广告有限公司 | Footstep following mechanical device and control method thereof |
| CN105963909B (en) * | 2016-06-08 | 2018-07-20 | 北京斯凯兰恩广告有限公司 | A kind of step follows mechanical device and its control method |
| CN110302504A (en) * | 2019-06-21 | 2019-10-08 | 乐歌人体工学科技股份有限公司 | Electric treadmill method for control speed |
| CN112985500A (en) * | 2021-02-10 | 2021-06-18 | 广州市影擎电子科技有限公司 | Universal motion system and detection device thereof |
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