CN207270647U - Friction pulley can steering-type omnibearing moving platform - Google Patents
Friction pulley can steering-type omnibearing moving platform Download PDFInfo
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- CN207270647U CN207270647U CN201721172898.6U CN201721172898U CN207270647U CN 207270647 U CN207270647 U CN 207270647U CN 201721172898 U CN201721172898 U CN 201721172898U CN 207270647 U CN207270647 U CN 207270647U
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Abstract
Can steering-type omnibearing moving platform the utility model discloses a kind of friction pulley,The motion platform is by sprocket wheel,The vertical direction transmission mechanism that toothed chain and multiple horizontal drive mechanisms on toothed chain collectively form,Elevating mechanism is provided with horizontal drive mechanism and is fixed on the differential steering slip gear that array is installed in rack,Multigroup motion sensor and pressure sensitive unit is set to collect user's motion state delta data on motion platform,The flexible control of the transmission to horizontal direction is realized by the steering angle and rotating speed that control friction pulley,The utility model is by calculating user's moving displacement variation tendency,The transmission displacement of control platform omnidirectional realizes that omnidirectional moving emulates,It not can reach the effect of good immersion motion simulation by other auxiliary equipments in virtual reality applications,The user used in existing virtual reality applications present in omnibearing moving platform can be improved to virtual and presence by serious the defects of disconnecting.
Description
Technical field
A kind of motion platform is the utility model is related to, especially a kind of omnibearing moving platform.
Background technology
The omnibearing moving platform for being currently used for the experience of virtual reality immersion formula is broadly divided into two classes, and one kind is special by dressing
Slip of the different shoes on by inclination song of the specially treated with spoke shape divergent structure, sporter slide back to motion platform automatically
Center, and then the omnibearing moving platform of omnidirectional's simulating sports, this omnibearing moving platform are users first in curved surface
Upper movement then slides to center of surface position under the effect of gravity again, such as Chinese publication number：CN104971469A, name
Claim：Virtual reality human body Omni-mobile input platform is this omnibearing moving platform, although this omnibearing moving platform structure
Simply, but synchronous hysteresis effect can seriously affect the simulating sports experience effect of user caused by landing process, often need
It is equipped with body auxiliary fixing device to be just avoided that because body kinematics is unbalance caused by reality and virtual impression disconnect the problem of, together
When the motion platform also exist can not accurately controlled motion displacement, the problems such as direction of motion adjustment free degree is limited, because existing sternly
Weight virtual and real disconnection, the motion simulation experience effect of such omnibearing moving platform is relatively poor, in addition one kind be
After motion platform both vertically and horizontally sets transmission mechanism, user to produce moving displacement, according to the movement of user
Change in displacement, by motion platform horizontally and vertically the transmission mechanism of both direction combination be driven, make movement
Platform is driven corresponding displacement round about, will by the resultant motion speed of delivery platform and the transmission of the direction of motion
User is reversely sent to the omnibearing moving platform of initial position, because vertical transmission mechanism and horizontal drive mechanism combine synthesis and pass
The machine construction principle of flowing mode motion platform determines that there are motion platform reaction sensitivity for such omnibearing moving platform at present
Difference, movement feedback transmission is asynchronous, transmission displacement precision controlling is poor, synthesis transmission direction control flexibility is insufficient, can not be accurate
Controlled motion displacement, the direction of motion adjustment free degree are limited, the defects of.
The content of the invention
To solve, reaction sensitivity present in existing omnibearing moving platform is poor, the asynchronous, traffic bit of movement feedback transmission
The defects of precision controlling is poor, synthesis transmission direction control flexibility is insufficient is moved, user is virtual and presence is disconnected, and immerses body
The problem of it is poor to test effect, is unable to reach preferable reciprocal motion experience effect, the utility model provides a kind of friction pulley can
Steering-type omnibearing moving platform, can steering gear cooperation sprocket tooth form chain-drive mechanism realization flexibly control by friction pulley
The function of the transmission change of motion platform vertical and horizontal directions.
Technical solution is used by the utility model solves above-mentioned technical problem：This friction pulley can steering-type omnidirectional moving
It is complete that platform is that a kind of chain wheel driving mechanism is combined with the adjustable differential steering slip gear of friction pulley steering angle
To motion platform, the utility model omnibearing moving platform is by sprocket wheel, silent chain and is fixed on multiple flat on silent chain
The horizontal drive mechanism of the adjacent installation of row collectively forms the transmission mechanism of the vertical direction of a closed circular, by horizontal conveyor machine
Elevating mechanism is provided with the upper surface for the closed circular transmission mechanism that structure is formed and is fixed on what array in rack was installed
Differential deflects slip gear, is provided with multigroup motional induction unit on the moving platform, rubs in the deflection of at least one differential
Wipe transmission mechanism or be used to support on the universal wheel of horizontal drive mechanism and pressure sensitive unit is installed, motional induction unit and pressure
User's motion state delta data is sent to exercise data collection device by power sensing unit by data transmission link, is transported
Dynamic transacter transfers data to motion control unit, motion control unit calculates analysis by data transmission link
The data message generation motion control data received, servo control unit are respectively watched according to the motion control data control received
The rotating speed of motor is taken, the servomotor that connection course changing control worm screw on the moving platform is fixed by lifting gear is connected by worm screw
The turbine for being fixed on and rotating on outer shaft sleeve is connect, by adjusting the deflection angle of control slip gear, is consolidated by lifting gear
Be scheduled on and the servomotor of differential deflection slip gear power transmission shaft is connected in motion platform rack move, by transmission shaft and
The umbrella travelling gear and transmission axis connection being fixed on power transmission shaft, frictional drive of the driving in differential steering unit
Wheel, reaches the drive control to the horizontal conveyor of horizontal drive mechanism by the deflection angle and rotating speed that control friction pulley, is protecting
On the premise of holding vertical direction transmission line speed sync, freely controlling for horizontal direction transmission speed is realized, and then realize omnidirectional
Motion platform freely controlling on vertical-transmission direction and horizontal conveyor direction, is become by calculating analysis user motion state
Change trend, adjustment control the output of each actuator servo motor, reach omnibearing moving platform and adapt to the change of user's movement tendency automatically
The effect of change, by the adaptability of motion platform be driven user moving displacement change by it is sensitive, accurate, synchronously control
System is in the central area of motion platform.
The beneficial effects of the utility model are, the utility model solve existing omnibearing moving platform reaction sensitivity it is poor,
Move the defects of feedback transmission is asynchronous, transmission displacement precision controlling is poor, synthesis transmission direction control flexibility is insufficient, user
Virtual and presence is disconnected, and Flow experience effect is poor, the problem of being unable to reach preferable reciprocal motion experience effect, can be clever
Change that is quick, accurate, synchronously adapting to user's moving displacement, can realize 360 degree of omnidirectional moving emulation, in virtual reality applications
In can reach the effect of complete motion simulation in the case where not equipped by other synkinesias, can improve existing virtual existing
User present in real environment motion platform seriously disconnects virtual and presence, and Flow experience effect is poor, Wu Fada
The problem of to preferable reciprocal motion experience effect, specific feature is as follows：
1st, the utility model realizes the accurate of vertical direction transmission using sprocket wheel and silent chain vertical direction transmission mechanism
Control, horizontal conveyor realize the control of flexible horizontal direction transmission change using differential steering slip gear, can be real
The flexible control of existing 360 degree of any directions and velocity variations.
2nd, the utility model collects user by using the motional induction unit around motion platform and moves appearance
State changes, while is made by the pressure sensitive unit collection under horizontal conveying belt on Universal support turbine friction drive wheel
The center of gravity transfer delta data of user, realizes to the comprehensive and accurate collection of user's motion state delta data.
3rd, the calculating for the motion change trend data that the utility model passes through the user to being collected into and analysis generation fortune
Moving platform transmission mechanism transmission change control parameter, realizes and the automatic of user's motion change trend is adapted to so that use
The moving displacement excursion of person by it is sensitive, accurate, synchronously control middle section in motion platform, whole process is more smart
It is accurate efficient, smooth naturally, improving the effect of user's Flow experience.
4th, the utility model can realize that 360 degree of omnidirectional movings adapt to, and the utility model can be with virtual reality applications
Reach the effect that user can reach complete motion simulation in the case where not equipped by other synkinesias, can improve existing
There is the user present in reality environment motion platform to virtual and presence by serious the defects of disconnecting.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the cross-sectional view of the utility model
Fig. 3 is the overall structure diagram of the utility model motion platform
Fig. 4 is the cross-sectional view of the utility model motion platform
Fig. 5 is the structure diagram of the utility model motion platform horizontal drive mechanism
Fig. 6 is the utility model motion platform differential steering slip gear knot section structure schematic diagram
Fig. 7 is the utility model motion platform differential steering slip gear structure detailed maps.
Fig. 8 is the utility model motion platform silent chain structure diagram.
1. movement platform base in figure, 2. motion platforms, 3. motion sensors, 4. endless belt conveyers, 5 horizontal conveyor machines
Structure, 6. drive sprockets, 7. driven sprockets, 8. silent chains, 9. motion platform racks, 10. differential steering slip gears, 11.
Transmission shaft, 12. worm screws, 13. transmission shafts, 14. friction drive wheels, 15. differential steering gears, 16. turbines, the braking of 17. transmission shafts
Disk, 18. transmission shafts, 19. transmission outer shaft sleeves, 20. elevating mechanisms, 21. crozes, 22. transmission outer shaft sleeve fixing devices, 23. transmissions
Shaft fixing device, 24. power transmission shaft fixing devices, 25. worm screw fixing devices, 26. umbrella travelling gears, the transmission of 27. umbrellas
Gear, 28. transacters, 29. power controls, 30. motion control devices, 31. servo motor control devices, 32.
Universal wheel, 33. umbrella travelling gears, 34. fixing bolts, 35. belt supports, 36. pressure sensors.
Embodiment
With reference to the accompanying drawings and detailed description to the utility model friction pulley can steering-type omnibearing moving platform do into
One step explanation：
Embodiment 1
The utility model friction pulley can steering-type omnibearing moving platform include movement platform base 1, motion platform 2, movement
The two motion platform racks 9 of left and right opposite installation of platform 2, are installed a set of by actively respectively in left and right motion platform rack 9
The transmission mechanism that sprocket wheel 6, driven sprocket 7, silent chain 8 are formed, this two sets of sprocket tooth form chain-drive mechanisms pass through silent chain 8
Bolt 34 is separately fixed in the croze 21 at 5 both ends of horizontal drive mechanism, and multiple horizontal drive mechanisms 5 are parallel adjacent to be fixed on
The conveyer belt of a closing is formed on the bolt 34 of above-mentioned two silent chains 8, the closing being made of above-mentioned horizontal drive mechanism 5 passes
Send band and left and right motion platform rack 9 and two sets of sprocket wheels 6 being separately mounted in the two racks, sprocket wheel 7,8 structure of silent chain
Into transmission mechanism together constitute the vertical transmission mechanism of omnibearing moving platform, in the envelope that these horizontal drive mechanisms 5 are formed
Close conveyer belt to be located in motion platform rack 9 under the horizontal zone of part, be provided with the differential installed in a manner of combination array
Turn to slip gear 10 and be used to support the reversible slip gear that the universal wheel 32 of horizontal drive mechanism 5 is formed,
Above-mentioned differential steering slip gear 10 is installed in motion platform rack 9 by lifting gear, upper end friction drive wheel 14
The endless conveyor belt 4 of exposure level transmission mechanism 5, provides transmission input, which passes by frictional drive for endless belt 4
Driving wheel 14 is installed in differential steering gear 15, is connected by transmission shaft 13 with the umbrella travelling gear of transmission shaft 18 and is driven
Input, transmission shaft 18 are connected to transmission shaft 11 by umbrella travelling gear 26, umbrella travelling gear 27, are connected from transmission shaft 11
Servomotor obtain transmission input, be connected by adjustment control with transmission shaft 11 servomotor realization to friction drive wheel 14
The control of rotating speed, and then control the effect of friction drive wheel transmission output, the deflection more than to friction drive wheel 14
The control of angle and rotating speed, which is realized, is keeping friction drive wheel 14 in vertical direction transmission linear velocity and the transmission linear speed of silent chain
Output is flexibly driven to 4 horizontal direction of endless conveyor belt of horizontal drive mechanism 5 under conditions of degree is consistent, and then realizes omnidirectional
The effect that motion platform is freely driven in 360 degree of omnidirectional's arbitrary motion directions, drive sprocket 6 and transmission in above-mentioned transmission mechanism
Brake apparatus can be set on axis 18, displacement precision controlling is driven with optimization.
Embodiment 2
The above-mentioned left and right motion platform rack 9 of motion platform is symmetrical arranged, and is respectively arranged in left and right motion platform rack 9
Drive sprocket 6, driven sprocket 7, silent chain 8 be equally symmetrical arranged, the bolt 34 of two silent chains 8 is also symmetrical arranged, two
The bolt 34 of 8 corresponding symmetric position of silent chain is separately fixed in the croze 21 at 5 both ends of same level transmission mechanism, horizontal conveyor
5 both ends of mechanism have been symmetrically arranged 3 crozes, wherein middle croze is the round croze of fixed dimension, for fixing tooth
Bolt among 8 correspondence position of shape chain, the bolt can be rotated centered on croze center, and the croze of the right and left is curved face type
Croze, the bolt of left and right two of 8 opposite position of silent chain can slide up and down in corresponding croze, horizontal drive mechanism 5
When being moved under the drive of silent chain 8 at drive sprocket 6 or driven sprocket 7, horizontal drive mechanism 5 will be using middle bolt fastening as axis
Deflection angle is to adapt to the change of tooth form chain drive curved surface.
Embodiment 3
Under the horizontal zone of the upper plane for the annular enclosed conveyer belt that multiple horizontal drive mechanisms 5 are formed, with array
The mode of combination is provided with multiple rows of differential steering slip gear 10 and is used to support the universal wheel 32 of horizontal drive mechanism 5,
The differential steering slip gear 10 is fixed in motion platform rack 9 by lifting gear 20, the array combination
Installation can all be installed as multiple rows of differential steering slip gear 10, can ensure that friction drive wheel 14 to moving region water
In the case of the 4 continuation friction-driven of endless belt conveyer of flat transmission mechanism 5, multiple rows of differential steering frictional drive can also be used
The be staggered mode of installation of mechanism 10 and the universal wheel 32 of multiple rows of only supporting role is installed, and can so reduce motion platform
Complexity and manufacture cost.
Embodiment 4
The differential steering slip gear（10）By friction drive wheel（14）, differential steering gear（15）, turbine
（16）, worm screw（12）, transmission outer shaft sleeve（19）, transmission shaft（18）, power transmission shaft（11）, transmission shaft brake disc（17）, umbrella
Travelling gear（26）, umbrella travelling gear（27）, umbrella travelling gear（33）And fixing device（22）（23）（24）（25）Structure
Into differential steering gear（15）It is fixed on transmission outer shaft sleeve（19）On, by the worm screw of servomotor driving（12）Connection is installed on
It is driven outer shaft sleeve（19）On turbine（16）, by the power transmission shaft of servomotor driving（11）By being fixed on power transmission shaft
（11）On umbrella travelling gear（26）With installed in transmission shaft（18）On umbrella travelling gear（27）It is connected, transmission shaft（18）
And differential steering gear（15）Umbrella travelling gear（33）It is connected, installed in differential steering gear（15）Within frictional drive
Wheel（14）Pass through frictional drive axis（13）With umbrella travelling gear（33）It is connected.
Embodiment 5
Motion platform 2 is fixed within movement platform base 1, is set on movement platform base 1 around motion platform 2
At least one set of motion sensor 3 is put, the motion sensor 3 is used to collect the relevant data ginseng of user's motion state change
Number, such as step change, sole move forward and backward variable, leg offset variable, swing arm amplitude, body forward leaning angle etc., are moving
The differential steering slip gear 10 and be used to support level that multiple rows of array under the horizontal drive mechanism 5 of platform 2 is installed
The universal wheel 32 of transmission mechanism 5 it is therein it is at least one on pressure sensor is installed, the pressure sensor makes for collection
User's central transference change information, user's motion state change information that above-mentioned motion sensor 3 and pressure sensor are collected
Data message is simultaneously sent to exercise data collection device 28 by data by data transmission link, and exercise data collection device passes through
Data transmission link transfers data to motion control unit 30, and motion control unit 30 calculates the data message that analysis receives
Motion control data is generated, servo control unit 31 controls turning for each servomotor according to the motion control data adjustment received
Speed, realizes the control to each transmission mechanism.
Embodiment 6
The omnibearing moving platform includes horizontal drive mechanism, vertical transmission mechanism, friction pulley can steering-type friction biography
Motivation structure, multiple horizontal drive mechanisms are parallel adjacent on vertical transmission mechanism, form an annular enclosed transmission mechanism,
Multiple friction pulleys can steering-type slip gear with array way be arranged on above-mentioned horizontal drive mechanism formed it is annular enclosed
On transmission mechanism under plane, friction drive wheel is connected with the transmission belt of horizontal drive mechanism, and above-mentioned friction pulley can steering-type
The course changing control mechanism of slip gear can be that differential steering gear can also be other steering mechanism, and servomotor is distinguished
With vertical transmission mechanism transmission shaft, friction pulley can steering-type slip gear course changing control mechanism and friction pulley can turn to
The transmission shaft of formula slip gear is connected.
The structural principle that above example is only used for illustrating the utility model is used, and is not formed to the utility model
The restriction of protection domain, the modifications, equivalent substitutions and improvements done within any principle and principle based on the utility model etc.,
It should be included within the rights protection scope of the utility model.
Claims (8)
1. a kind of friction pulley can steering-type omnibearing moving platform, including movement platform base（1）, motion platform（2）, motional induction
Device and motion control device, it is characterised in that：Left and right motion platform rack（9）It is upper that one group of drive sprocket is installed respectively（6）、
Driven sprocket（7）And silent chain（8）, the silent chain（8）Corresponding bolt（34）It is upper fixed multiple parallel adjacent respectively
Varying level transmission mechanism（5）, the multiple parallel adjacent horizontal transport mechanism（5）Collectively form the transmission of a closing
Band；It is described by multiple horizontal drive mechanisms（5）Multiple rows of array installation that is arranged with of the conveyer belt of the closing of composition is used to drive
Horizontal drive mechanism（5）Endless belt conveyer（4）Differential steering slip gear（10）Be used to support horizontal conveyor machine
Structure（5）Universal wheel（32）；Above-mentioned differential steering slip gear（10）Rubbing for steering angle is adjusted for friction drive wheel
Transmission mechanism is wiped, is provided with turbine in it（16）, worm screw（12）, worm screw（12）Connect servomotor and form course changing control mechanism,
Friction drive wheel（14）Installed in differential steering gear（15）It is interior to pass through frictional drive wheel shaft（13）With umbrella travelling gear
（33）Connection, the differential steering slip gear（10）Pass through elevating mechanism（20）It is fixed on motion platform rack
（9）On, movement platform base（1）On be provided with least one motion sensor（3）, in horizontal drive mechanism（5）Under at least
One differential steering slip gear（10）Or it is used to support horizontal drive mechanism（5）Universal wheel（32）On be provided with pressure
Sensor；Drive drive sprocket（6）And differential steering slip gear（10）Servomotor and drive sprocket（6）, from
Movable sprocket（7）, silent chain（8）, horizontal drive mechanism（5）, differential steering slip gear（10）Together constituting one can
The omnibearing moving platform of omnidirectional's transmission.
2. friction pulley according to claim 1 can steering-type omnibearing moving platform, it is characterised in that the omnidirectional moving
Platform include horizontal drive mechanism, vertical transmission mechanism, friction pulley can steering-type slip gear, multiple horizontal drive mechanisms
It is parallel adjacent on vertical transmission mechanism, an annular enclosed transmission mechanism is formed, multiple friction pulleys can steering-type friction
Transmission mechanism is arranged on array way on the annular enclosed transmission mechanism that above-mentioned horizontal drive mechanism formed under plane, friction
Drive is connected with the transmission belt of horizontal drive mechanism, above-mentioned friction pulley can steering-type slip gear course changing control machine
Structure can be that differential steering gear can also be other steering mechanism, servomotor respectively with vertical transmission mechanism transmission shaft, rub
Wipe wheel can steering-type slip gear course changing control mechanism and friction pulley can steering-type slip gear transmission shaft
It is connected.
3. friction pulley according to claim 1 can steering-type omnibearing moving platform, it is characterised in that the motion platform
（2）Left and right motion platform rack（9）It is upper install respectively it is a set of by drive sprocket（6）, driven sprocket（7）, silent chain（8）Form
Transmission mechanism, the drive sprocket（6）Synchronous servo motor is connected to by transmission shaft respectively.
4. friction pulley according to claim 1 can steering-type omnibearing moving platform, it is characterised in that the horizontal conveyor machine
Structure（5）By belt support（35）With installed in belt support（35）On endless belt conveyer（4）Form, multiple levels
Transmission mechanism（5）Pass through the croze at both ends respectively（21）It is parallel be adjacent to installation be fixed to be installed on left and right motion platform rack
（9）On silent chain（8）Bolt（34）On, it is described multiple parallel adjacent to be fixed on silent chain（8）Bolt（34）
On horizontal drive mechanism（5）An annular enclosed conveyer belt is together constituted, it is described to be fixed by multiple parallel adjacent installations
In silent chain（8）On horizontal drive mechanism（5）The annular enclosed conveyer belt and drive sprocket formed（6）, driven sprocket（7）With
And silent chain（8）Together constitute vertical transmission mechanism.
5. friction pulley according to claim 1 can steering-type omnibearing moving platform, it is characterised in that the differential steering
Slip gear（10）By friction drive wheel（14）, differential steering gear（15）, turbine（16）, worm screw（12）, outside transmission shaft
Set（19）, transmission shaft（18）, power transmission shaft（11）, transmission shaft brake disc（17）, umbrella travelling gear（26）, umbrella driving cog
Wheel（27）, umbrella travelling gear（33）And fixing device（22）（23）（24）（25）Form, differential steering gear（15）It is fixed
In transmission outer shaft sleeve（19）On, by the worm screw of servomotor driving（12）Connection is installed on transmission outer shaft sleeve（19）On turbine
（16）, by the power transmission shaft of servomotor driving（11）By being fixed on power transmission shaft（11）On umbrella travelling gear
（26）With installed in transmission shaft（18）On umbrella travelling gear（27）It is connected, transmission shaft（18）And differential steering gear（15）'s
Umbrella travelling gear（33）It is connected, installed in differential steering gear（15）Within friction drive wheel（14）Pass through frictional drive axis
（13）With umbrella travelling gear（33）It is connected.
6. friction pulley according to claim 1 can steering-type omnibearing moving platform, it is characterised in that in motion platform（2）
Horizontal drive mechanism（5）The differential steering slip gear for being arranged with the installation of multiple rows of array（10）Be used to support water
Flat transmission mechanism（5）Universal wheel（32）, at least in the differential steering slip gear（10）Or universal wheel（32）It
Set on one and pressure sensor is installed, which is connected to exercise data collection device by data transmission link
（28）.
7. friction pulley according to claim 1 can steering-type omnibearing moving platform, it is characterised in that the motion platform
（2）Installed in movement platform base（1）It is interior, in movement platform base（1）It is upper to surround motion platform（2）At least one set of movement is set
Sensor（3）, the motion sensor（3）Exercise data collection device is connected to by data transmission link（28）, exercise data
Collection device（28）Exercise data control device is connected to by data transmission link（30）, exercise data control device（30）It is logical
Cross data transmission link and be connected to servo motor control device（31）, servo motor control device connected by data transmission link
To each servomotor, the servomotor, servo motor control device（31）, exercise data control device（30）, exercise data
Collection device（28）, motion sensor（3）And installed in differential steering slip gear（10）Or universal wheel（32）On pressure
Force snesor is connected to energy supply control module by supply line（29）.
8. friction pulley according to claim 1 can steering-type omnibearing moving platform, it is characterised in that the omnidirectional moving
Device indicating movements, data processing equipment, servo motor control device, above-mentioned device indicating movements, data are installed on platform
Processing unit, servo motor control device and servomotor are interconnected by data transmission link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721172898.6U CN207270647U (en) | 2017-09-14 | 2017-09-14 | Friction pulley can steering-type omnibearing moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721172898.6U CN207270647U (en) | 2017-09-14 | 2017-09-14 | Friction pulley can steering-type omnibearing moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207270647U true CN207270647U (en) | 2018-04-27 |
Family
ID=61991073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721172898.6U Expired - Fee Related CN207270647U (en) | 2017-09-14 | 2017-09-14 | Friction pulley can steering-type omnibearing moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207270647U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109248415A (en) * | 2018-08-14 | 2019-01-22 | 东南大学 | A kind of roller type human body omnibearing moving platform and its velocity composite method |
| CN110270051A (en) * | 2019-05-29 | 2019-09-24 | 北京七鑫易维信息技术有限公司 | Balance control method, device, omnidirectional's treadmill and the medium of omnidirectional's treadmill |
-
2017
- 2017-09-14 CN CN201721172898.6U patent/CN207270647U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109248415A (en) * | 2018-08-14 | 2019-01-22 | 东南大学 | A kind of roller type human body omnibearing moving platform and its velocity composite method |
| US11173364B2 (en) | 2018-08-14 | 2021-11-16 | Southeast University | Roller-type omnidirectional physical exercise platform and speed synthesis method for same |
| CN110270051A (en) * | 2019-05-29 | 2019-09-24 | 北京七鑫易维信息技术有限公司 | Balance control method, device, omnidirectional's treadmill and the medium of omnidirectional's treadmill |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |