EP3538227B1 - Omnidirectional treadmill - Google Patents

Omnidirectional treadmill Download PDF

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Publication number
EP3538227B1
EP3538227B1 EP17832186.5A EP17832186A EP3538227B1 EP 3538227 B1 EP3538227 B1 EP 3538227B1 EP 17832186 A EP17832186 A EP 17832186A EP 3538227 B1 EP3538227 B1 EP 3538227B1
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EP
European Patent Office
Prior art keywords
axis
belt
cone
crown
spatial direction
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EP17832186.5A
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German (de)
French (fr)
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EP3538227A1 (en
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Elmar RUDELSTORFER
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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
    • A63B22/0257—Mechanical systems therefor
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/15—Arrangements for force transmissions
    • 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
    • A63B22/0285—Physical characteristics of the belt, e.g. material, surface, indicia
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0028—Training appliances or apparatus for special sports for running, jogging or speed-walking
    • 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
    • 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
    • A63B2022/0278—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 with reversible direction of the running surface
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment

Definitions

  • the invention relates to a device with a surface that can be moved in two spatial directions, in particular an omnidirectional treadmill.
  • Conventional treadmills have a surface on which one can move in one direction.
  • the treadmills are used for jogging in the fitness and home areas. They make it possible to cover any distance forwards or backwards without changing location.
  • VR virtual reality
  • the user moves virtually in the application or in the game.
  • the user wears VR glasses to simulate the game environment, with which the user is visually and auditorily shown the game environment and the course of the game.
  • H. can move or run virtually without changing its spatial position in any horizontal spatial direction (omnidirectional).
  • the present invention is not limited to VR applications and not to horizontal spatial directions alone. Taking into account the preferred area of application, however, the focus of the presentation is subsequently placed on enabling movement, in particular walking or running, without a significant change in the spatial position of the user in VR applications.
  • EP 0 948 377 B1 proposes a variety of solutions for omnidirectional treadmills.
  • the majority of the solutions require many small parts and give the runner running surfaces with inadequate properties.
  • the description (0081) - (0085) describes revolving belt units which are coupled to one another and form a good running surface and with which the movement of the running surface in the first Spatial direction is carried out.
  • endless belts are moved individually on the belt units in the area of the tread by means of special rollers by means of friction. Since the movement of the endless belts is only indirectly coupled via friction, there are differences in the movement of neighboring endless belts at higher loads.
  • the endless belts are not driven outside the area of the tread and are only coupled when they enter the area of the tread. Load impacts and additional wear occur during the coupling process.
  • US 6,123,647 A proposes a plurality of belt units that are moved by a large, transverse main belt.
  • the individual belt units form a surface next to each other.
  • To move the belts on the belt units it is proposed to drive each belt via rollers provided with two gear wheels.
  • the gears are driven by a toothed shaft.
  • the disadvantage is that the gear wheels of the belt units are in the deflection phase without contact with the tooth shaft and are brought into sudden engagement with the tooth shaft when a belt unit comes into contact with the tooth shaft again. Shocks occur in the transition phase, which lead to delays, noises and, subsequently, increased wear.
  • the individual belt units are not provided with a stable support frame with a sliding surface, which has an adverse effect since the belts alone only achieve an unstable surface.
  • US 7,780,573 B1 proposes individual belt units which are moved in the first spatial direction by means of chain wheels and chain and which are driven in the second spatial direction by friction via contact elements which are designed as omni-wheels.
  • the belt units are rotatably connected at one point to the small chain for transmitting the movement in the first spatial direction.
  • a second Connection to the chain has a possibility of displacement and therefore creates an asymmetrical position of the belt units in the curve.
  • the movement of the belts on the individual belt units is coupled via coupling elements such as constant velocity joints, corrugated tubes or universal joints. Sliding elements are provided to take into account the change in length during the coupling. Corrugated pipes without sliding elements have a short lifespan.
  • a disadvantage of this invention is that the belt units are connected only indirectly via the chain and not directly to one another, so that the coupling elements have to be brought into the required position at great expense.
  • additional displacement elements on both sides of a coupling element are required, and the displacement elements tend to jam, since the coupling elements are not intended to be held at the intersection of the axes of rotation of the rollers.
  • US 8,790,222 B2 also suggests individual belt units that are attached and moved on a main belt.
  • the belt units have a common, very long endless belt that is guided from one belt unit to the next by slanted guides on the underside. This means that all conveyor surfaces of the belt units have the same conveyor speed.
  • the endless belt is driven by bale-shaped rollers by friction.
  • a disadvantage of this design is the long endless belt, which leads to local stretching and thus warping of the endless belt when the speed changes rapidly due to inertial forces.
  • the object of the invention is to provide a device which does not have the aforementioned disadvantages of the known devices.
  • an omnidirectional treadmill which enables running in any direction of a plane.
  • the Fig. 1 shows a possible embodiment of a belt unit 1 with an endless main belt 2 rotating in the second spatial direction on roll 3 and roll 21 in a side view.
  • the rollers 3 and 21 are rotatably mounted on a support frame 4 of the belt unit 1.
  • the bracket 5 is pivotally connected at an axis 6 to the bracket 5, which is attached to the support frame of the adjacent belt unit 1.
  • the adjacent belt unit 1 is in turn pivotally connected to the next belt unit 1 via a link 5, and so on, so that all belt units 1 form a continuous endless chain.
  • a roller 7 is arranged, which runs on a fixed rail 8.
  • the rail 8 is at the ends with semicircular rails ( Fig. 2 ) so that a complete circulation of the belt units 1 in the first spatial direction can be carried out.
  • the Fig. 2 shows several rolls 3 of belt units 1 chained together in one part of the circulation.
  • the belt units are guided with rollers 7 on the fixed rail 8.
  • the rotational movement of a roller 3 about its axis is coupled to the rotational movement of the roller 3 of the adjacent belt unit 1 by means of a crown gear 15 described below.
  • the angle 27 between the axes of rotation of adjacent rollers 3 is changed over a wide range with the center axis 6.
  • a crown gear of the crown gear 15 is firmly connected to the associated roller 3 and forms a fixed rotating unit with the roller 3.
  • the coupling of the rotational movement of adjacent rollers 3 can take place in direct contact with crown gear drives, and the contact in the area of the axis 6 means that no further elements, such as sliding elements, are required for length compensation.
  • the axis 6 for changing the angle 27 of axes of rotation of adjacent rollers 3 is formed by a pivot connection.
  • the axis 6 is in the same position as the axis of rotation of the roller 7, which runs on the rail 8.
  • the Fig. 3 shows in a simplified overview the main functions of a device according to the invention.
  • the belt units 1 are arranged side by side so that the belt units 1 located in the upper, walkable part form a plane with the endless belts 2.
  • the belt units 1 roll with rollers 7 on fixed rails 8 ( Fig. 2 ), which causes a movement in the first spatial direction. Movement of the endless belts 2 of the belt units 1 results in a movement in the second spatial direction.
  • every direction of movement in the plane can be executed.
  • the movement in the first spatial direction is triggered by the drive wheel 11, with which a propellant 9 is moved, which in turn moves the belt units 1 in the first spatial direction.
  • the drive in the second spatial direction takes place in the embodiment shown via gear wheels 12, each of which is connected to a roller 3 of the belt unit 1.
  • the toothed wheels 12 can be driven by a toothed shaft 13 which is parallel to the first main axis.
  • the toothed shaft 13 can be driven via a drive wheel 14.
  • By rotating the gear wheels 12, the surface formed by the endless belts 2 is moved in the second spatial direction.
  • the Fig. 4 shows in the lateral representation direction several belt units 1, which are in circulation in the first spatial direction with the rollers 7 on the rail 8. At the end of the straight rail 8, the belt units 1 are guided in a curve and further combined to form an endless chain. From the illustration it can be seen that the distance between the rollers 7, due to the width of a belt unit 1, is large in relation to the radius of the semicircular rail at the end of the straight part of the rail 8. A strong polygon effect would occur in the curve when driving with a chain wheel. This is avoided by, in the preferred embodiment, the drive in the first spatial direction using an endless propellant 9.
  • the propellant 9 consists of a flexible band, preferably designed as a toothed belt.
  • the propellant 9 has its own oval circulation and is equipped with drivers 10 which come into contact with the belt units 1 in the straight part of the circulation and cause the movement of the belt units 1 in the first spatial direction.
  • Fig. 5 shows a detail of an embodiment of the teeth of a crown gear transmission of the present invention.
  • the above-mentioned conditions for the transmission are carried out with a crown gear transmission, the crown gears of which have a tooth shape formed from partial cones, the driven and the driven crown gear preferably being equipped with the same tooth shape.
  • a tooth 16, 17 can consist of a complete rotationally symmetrical truncated cone ( Fig. 5 ) or be composed of two partial cones ( Fig. 6 ).
  • the partial cones or the truncated cone have a cone axis parallel to the axis of rotation of the crown gear.
  • the conical surfaces are preferably produced by rotating a generatrix about the conical axis, so that cuts normal to the conical axis result in cross-sectional or circular cross-sections.
  • FIG. 5 an embodiment with a completely rotationally symmetrical truncated cone with straight cone generators is shown.
  • the cone 16 of the driving wheel touches the cone of the driven wheel at the contact point 20.
  • the crown wheels with axes of rotation 18 and 19 are pivoted at a pivot angle 27 via the axis 6.
  • the axis of rotation 24 of the cone generators lies parallel to the axis of rotation 18 of the driving crown gear.
  • the straight cone-generating end is inclined to the axis of rotation 24 at a taper angle 25.
  • the taper angle is between 8.5 ° and 13 °, preferably between 8.5 ° to 10.5 °.
  • the preferred taper angle range provides particularly favorable solutions with regard to the requirements (i) and (ii) mentioned, but it requires small tooth heights in order to avoid undercut.
  • the undercut can be avoided without reducing the tooth height by providing a chamfer 28 on the edge of the truncated cone.
  • the second cone end for the chamfer 28 is a straight line with a taper angle 29.
  • the cone with taper angle 25 is preferably connected to the cone with taper angle 29 with a rounding.
  • the resulting rotating body has preferably an arc as generatrix with taper angles that lie in the course of the arc between the taper angle of the two straight cone generators.
  • the length of at least one of the cone generators can go to zero, which only defines the end angle of the arc and the chamfer 28 appears as a simple rounding.
  • FIG. 6 An embodiment of crown gear teeth 16 and 17 composed of two partial cones is shown.
  • the crown gear tooth 16 consists of a partial cone 22 and a partial cone 23 arranged mirror-symmetrically thereto.
  • the mirror-symmetrical partial cone 23 takes over the drive contact after reversing the direction of rotation with the axis of rotation 18.
  • the axis of rotation 24 and the taper angle 25 are shown.
  • the axis of rotation 24 is parallel to the axis of rotation 18 of the driving crown gear.
  • the surface of the partial cone is generated by rotating a straight generatrix which is inclined by the taper angle 25 to the axis of rotation 24. Same taper angle ranges as for the full truncated cone below Fig. 5 described also apply to the partial cones in Fig. 6 .
  • Fig. 7 shows a preferred embodiment of the crown gear, in which a crown gear of the crown gear 15 is combined with a drive gear 12.
  • the endless belts 2 of the belt units 1 are located in the straight walk-in part of the device, they form a flat surface.
  • the part of the flat surface covered by the endless belts 2 has, by design, gaps which result from the arrangement of crown gear, drive and / or support structures.
  • An advantageous embodiment is therefore the combination of a crown gear within the drive gear 12.
  • belt units 1, which are located in the upper straight part of the revolution the axes of rotation of the rollers 3 are in an extended position.
  • the crown gear 15 is accommodated completely within the drive gear 12 in this position.
  • the design-related gap between the treadmills 2 is thus small and is only determined by the width of the drive gear 12.
  • the treadmill according to the invention provides the runner with a total area which can be moved in all directions. Narrow surfaces remain between the endless belts 2 of the belt units 1 and only take over the movements of the first spatial direction.
  • the invention relates to an omnidirectional treadmill which has a plurality of connected belt units (1) with a support frame (4) and endless belts (2) which are moved all around in the first spatial direction.
  • the endless belts (2) of the belt units (1) are moved in the second spatial direction.
  • the endless belts (2) are preferably driven in the second spatial direction via gearwheels (12) fixed on rollers (3) and a toothed shaft (13). All endless belts (2) are synchronized by coupling with crown gear drives (15) with a special tooth shape arranged between the belt units (1).

Description

Die Erfindung betrifft eine Vorrichtung mit einer in zwei Raumrichtungen bewegbaren Oberfläche, insbesondere ein omnidirektionales Laufband.The invention relates to a device with a surface that can be moved in two spatial directions, in particular an omnidirectional treadmill.

Herkömmliche Laufbänder weisen eine Oberfläche auf, auf der man sich in einer Raumrichtung bewegen kann. Die Laufbänder werden im Fitness- und Heimbereich zum Joggen verwendet. Sie ermöglichen es, ohne Ortsveränderung beliebig lange Strecken vorwärts oder rückwärts zurück zu legen.Conventional treadmills have a surface on which one can move in one direction. The treadmills are used for jogging in the fitness and home areas. They make it possible to cover any distance forwards or backwards without changing location.

Für Virtual-Reality (VR)-Anwendungen bewegt sich der Benutzer virtuell in der Anwendung bzw. im Spiel. In einer häufigen Ausprägung trägt der Benutzer zur Simulation der Spielumgebung eine VR-Brille, mit der der Benutzer visuell und auditiv die Spielumgebung und den Spielverlauf dargestellt bekommt. In diesen VR-Anwendungen ist es erforderlich, dass sich der Spieler ohne Ortsveränderung, d. h. ohne wesentliche Veränderung seiner räumlichen Position, in beliebige horizontale Raumrichtungen (omnidirektional) virtuell bewegen beispielsweise gehen oder laufen kann.For virtual reality (VR) applications, the user moves virtually in the application or in the game. In a frequent form, the user wears VR glasses to simulate the game environment, with which the user is visually and auditorily shown the game environment and the course of the game. In these VR applications, it is necessary for the player to move without changing location. H. can move or run virtually without changing its spatial position in any horizontal spatial direction (omnidirectional).

Es wird hier darauf hingewiesen, dass sich die vorliegende Erfindung nicht auf VR-Anwendungen und nicht auf horizontale Raumrichtungen allein beschränkt. Unter Berücksichtigung des bevorzugten Anwendungsbereichs wird in der Folge jedoch der Schwerpunkt der Darstellung auf eine Ermöglichung der Bewegung insbesondere des Gehens oder Laufens ohne wesentliche Veränderung der räumlichen Position des Benutzers in VR-Anwendungen gelegt.It is pointed out here that the present invention is not limited to VR applications and not to horizontal spatial directions alone. Taking into account the preferred area of application, however, the focus of the presentation is subsequently placed on enabling movement, in particular walking or running, without a significant change in the spatial position of the user in VR applications.

Zur Ermöglichung des virtuellen Gehens oder Laufens in beliebigen horizontalen Raumrichtungen ohne wesentliche Veränderung der räumlichen Position existieren bereits mehrere bekannte Ausführungen.Several known designs already exist to enable virtual walking or running in any horizontal spatial direction without significantly changing the spatial position.

Ausführungen mit Laufbändern sind aus nachstehend angeführten Dokumenten bekannt.Designs with treadmills are known from the documents listed below.

EP 0 948 377 B1 schlägt eine Vielzahl von Lösungen für omnidirektionale Laufbänder vor. Die Mehrzahl der Lösungen bedarf vieler Kleinteile und gibt dem Läufer Laufoberflächen mit unzureichenden Eigenschaften. In der Beschreibung (0081) - (0085) werden umlaufende aneinander gekoppelte Bandeinheiten beschrieben, die eine gute Laufoberfläche bilden und mit denen die Bewegung der Laufoberfläche in der ersten Raumrichtung durchgeführt wird. Für die Bewegung in der zweiten Raumrichtung werden Endlosbänder auf den Bandeinheiten im Bereich der Lauffläche einzeln durch spezielle Walzen mittels Reibung bewegt. Da die Bewegung der Endlosbänder nur indirekt über Reibung gekoppelt ist, ergeben sich bei höherer Belastung Differenzen in der Bewegung von benachbarten Endlosbändern. Die Endlosbänder sind außerhalb des Bereichs der Lauffläche nicht angetrieben und werden erst bei Eintritt in den Bereich der Lauffläche gekoppelt. Während des Einkopplungsvorganges treten Belastungsstöße und zusätzlicher Verschleiß auf. EP 0 948 377 B1 proposes a variety of solutions for omnidirectional treadmills. The majority of the solutions require many small parts and give the runner running surfaces with inadequate properties. The description (0081) - (0085) describes revolving belt units which are coupled to one another and form a good running surface and with which the movement of the running surface in the first Spatial direction is carried out. For the movement in the second spatial direction, endless belts are moved individually on the belt units in the area of the tread by means of special rollers by means of friction. Since the movement of the endless belts is only indirectly coupled via friction, there are differences in the movement of neighboring endless belts at higher loads. The endless belts are not driven outside the area of the tread and are only coupled when they enter the area of the tread. Load impacts and additional wear occur during the coupling process.

US 6,123,647 A schlägt eine Mehrzahl von Bandeinheiten vor, die von einem großen, quer geführten Hauptband bewegt werden. Die einzelnen Bandeinheiten bilden nebeneinander angeordnet eine Fläche. Zur Bewegung der Bänder auf den Bandeinheiten wird vorgeschlagen, jedes Band über mit zwei Zahnrädern versehene Rollen anzutreiben. Die Zahnräder werden von einer Zahnwelle angetrieben. Nachteilig wirkt sich aus, dass die Zahnräder der Bandeinheiten in der Umlenkphase ohne Kontakt zur Zahnwelle stehen und in plötzlichen Eingriff mit der Zahnwelle gebracht werden, wenn eine Bandeinheit wieder in den Kontakt mit der Zahnwelle tritt. Es treten in der Übergangsphase Stöße auf, die zu Verzögerungen, Geräuschen und auch in weiterer Folge zu erhöhtem Verschleiß führen. Des Weiteren sind die einzelnen Bandeinheiten nicht mit einem stabilen Tragrahmen mit Gleitfläche versehen, was sich nachteilig auswirkt, da mit den Bänder allein nur eine wenig stabile Oberfläche erreicht wird. US 6,123,647 A proposes a plurality of belt units that are moved by a large, transverse main belt. The individual belt units form a surface next to each other. To move the belts on the belt units, it is proposed to drive each belt via rollers provided with two gear wheels. The gears are driven by a toothed shaft. The disadvantage is that the gear wheels of the belt units are in the deflection phase without contact with the tooth shaft and are brought into sudden engagement with the tooth shaft when a belt unit comes into contact with the tooth shaft again. Shocks occur in the transition phase, which lead to delays, noises and, subsequently, increased wear. Furthermore, the individual belt units are not provided with a stable support frame with a sliding surface, which has an adverse effect since the belts alone only achieve an unstable surface.

DE 10 2006 040 485 A1 schlägt ebenfalls einzelne Bandeinheiten auf einem Hauptband vor. Die einzelnen Bandeinheiten sind mit Hydraulikmotoren und Stützstruktur versehen. Alle Hydraulikmotoren der Bandeinheiten sind hydraulisch in Serie verbunden und haben damit gleiche Fördergeschwindigkeit. Nachteilig dabei sind die aufwändige und teure Konstruktion mit Hydraulikmotoren sowie das eher träge Ansprechverhalten einer Vielzahl von Hydraulikelementen. DE 10 2006 040 485 A1 also suggests individual tape units on a main tape. The individual belt units are equipped with hydraulic motors and a support structure. All hydraulic motors of the belt units are hydraulically connected in series and therefore have the same conveying speed. Disadvantages are the complex and expensive construction with hydraulic motors and the rather sluggish response behavior of a large number of hydraulic elements.

US 7,780,573 B1 schlägt einzelne Bandeinheiten vor, die in der ersten Raumrichtung mittels Kettenrädern und Kette bewegt werden und die in der zweiten Raumrichtung durch Reibung über Kontaktelemente, die als Omni-Räder ausgebildet sind, angetrieben werden. Die Bandeinheiten sind nur an einer Stelle drehbar mit der kleingliedrigen Kette für die Übertragung der Bewegung in der ersten Raumrichtung verbunden. Eine zweite Verbindung zur Kette weist eine Verschiebemöglichkeit auf und erzeugt daher eine asymmetrische Lage der Bandeinheiten in der Kurve. Die Bewegung der Bänder auf den einzelnen Bandeinheiten wird über Kopplungselemente wie Gleichlaufgelenke, Wellrohre oder Kardangelenke gekoppelt. Zur Berücksichtigung der Längenveränderung bei der Kopplung sind Verschiebelemente vorgesehen. Wellrohre ohne Verschiebelemente weisen nur eine kurze Lebensdauer auf. Nachteilig bei dieser Erfindung ist, dass die Bandeinheiten nur indirekt über die Kette und nicht direkt miteinander verbunden sind und damit die Kopplungselemente aufwändig in die erforderliche Lage gebracht werden müssen. Zum Längenausgleich sind zusätzliche Verschiebelemente beiderseits eines Kopplungselementes erforderlich und die Verschiebelemente neigen zu Verklemmungen, da nicht vorgesehen ist, die Kopplungselemente im Schnittpunkt der Rotationsachsen der Rollen zu halten. US 7,780,573 B1 proposes individual belt units which are moved in the first spatial direction by means of chain wheels and chain and which are driven in the second spatial direction by friction via contact elements which are designed as omni-wheels. The belt units are rotatably connected at one point to the small chain for transmitting the movement in the first spatial direction. A second Connection to the chain has a possibility of displacement and therefore creates an asymmetrical position of the belt units in the curve. The movement of the belts on the individual belt units is coupled via coupling elements such as constant velocity joints, corrugated tubes or universal joints. Sliding elements are provided to take into account the change in length during the coupling. Corrugated pipes without sliding elements have a short lifespan. A disadvantage of this invention is that the belt units are connected only indirectly via the chain and not directly to one another, so that the coupling elements have to be brought into the required position at great expense. For length compensation, additional displacement elements on both sides of a coupling element are required, and the displacement elements tend to jam, since the coupling elements are not intended to be held at the intersection of the axes of rotation of the rollers.

US 8,790,222 B2 schlägt ebenfalls einzelne Bandeinheiten vor, die auf einem Hauptband befestigt sind und bewegt werden. Die Bandeinheiten haben ein gemeinsames sehr langes Endlosband, das durch Schrägführungen auf der Unterseite von einer Bandeinheit zur nächsten geführt wird. Damit haben alle Förderoberflächen der Bandeinheiten die gleiche Fördergeschwindigkeit. Der Antrieb des Endlosbandes erfolgt über ballenförmige Walzen durch Reibung. Nachteilig bei dieser Ausführung ist das lange Endlosband, das bei raschen Geschwindigkeitsänderungen durch Trägheitskräfte zu lokalen Dehnungen und damit zu Verwerfungen des Endlosbandes führt. US 8,790,222 B2 also suggests individual belt units that are attached and moved on a main belt. The belt units have a common, very long endless belt that is guided from one belt unit to the next by slanted guides on the underside. This means that all conveyor surfaces of the belt units have the same conveyor speed. The endless belt is driven by bale-shaped rollers by friction. A disadvantage of this design is the long endless belt, which leads to local stretching and thus warping of the endless belt when the speed changes rapidly due to inertial forces.

Aufgabe der Erfindung ist es, eine Vorrichtung zu schaffen, welche die vorgenannten Nachteile der bekannten Vorrichtungen nicht aufweist.The object of the invention is to provide a device which does not have the aforementioned disadvantages of the known devices.

Dies wird erfindungsgemäß durch eine Vorrichtung erreicht, die die Merkmale des Anspruches 1 aufweist.This is achieved according to the invention by a device which has the features of claim 1.

Bevorzugte und vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Preferred and advantageous embodiments of the invention are the subject of the dependent claims.

Erfindungsgemäß wird ein omnidirektionales Laufband zur Verfügung gestellt, welches das Laufen in jeder Richtung einer Ebene ermöglicht.According to the invention, an omnidirectional treadmill is provided which enables running in any direction of a plane.

Einzelne Ausgestaltungen der Erfindung sind beispielhaft in den Zeichnungen dargestellt und werden nachstehend beschrieben.Individual embodiments of the invention are shown by way of example in the drawings and are described below.

Es zeigt:

  • Fig. 1 eine Seitansicht einer umlaufenden Bandeinheit in einer möglichen Ausbildung der vorliegenden Erfindung,
  • Fig. 2 Rollen von Bandeinheiten einer Ausführung der vorliegenden Erfindung in mehreren Positionen des Umlaufs in Seitansicht,
  • Fig. 3 eine Schrägansicht mit den Hauptfunktionen der Vorrichtung in einer Ausführung der vorliegenden Erfindung,
  • Fig. 4 eine Seitansicht einer Ausführung der vorliegenden Erfindung,
  • Fig. 5 eine Ausführungsform von Zähnen eines Kronenzahnradgetriebes der vorliegenden Erfindung
  • Fig. 6 eine weitere Ausführungsform von Zähnen eines Kronenzahnradgetriebes der vorliegenden Erfindung,
  • Fig. 7 eine Schrägansicht einer Ausführung eines Kronenradgetriebes mit integriertem Antriebszahnrad
It shows:
  • Fig. 1 a side view of a rotating belt unit in a possible embodiment of the present invention,
  • Fig. 2 Rolling tape units of an embodiment of the present invention in multiple positions of the circulation in side view,
  • Fig. 3 2 shows an oblique view with the main functions of the device in an embodiment of the present invention,
  • Fig. 4 2 shows a side view of an embodiment of the present invention,
  • Fig. 5 an embodiment of teeth of a crown gear transmission of the present invention
  • Fig. 6 Another embodiment of teeth of a crown gear transmission of the present invention,
  • Fig. 7 an oblique view of an embodiment of a crown gear with integrated drive gear

Die Fig. 1 zeigt eine mögliche Ausbildung einer Bandeinheit 1 mit einem in der zweiten Raumrichtung auf Rolle 3 und Rolle 21 umlaufenden endlosen Hauptband 2 in Seitansicht. Die Rollen 3 und 21 sind auf einem Tragrahmen 4 der Bandeinheit 1 drehbar gelagert. Am Tragrahmen 4 ist eine Lasche 5 befestigt. Die Lasche 5 ist bei einer Achse 6 mit der Lasche 5, die am Tragrahmen der benachbarten Bandeinheit 1 befestigt ist, schwenkbar verbunden.The Fig. 1 shows a possible embodiment of a belt unit 1 with an endless main belt 2 rotating in the second spatial direction on roll 3 and roll 21 in a side view. The rollers 3 and 21 are rotatably mounted on a support frame 4 of the belt unit 1. On the support frame 4, a tab 5 is attached. The bracket 5 is pivotally connected at an axis 6 to the bracket 5, which is attached to the support frame of the adjacent belt unit 1.

Die benachbarte Bandeinheit 1 ist wiederum mit der nächsten Bandeinheit 1 über eine Lasche 5 schwenkbar verbunden und so fort, sodass alle Bandeinheiten 1 eine umlaufende endlose Kette bilden.The adjacent belt unit 1 is in turn pivotally connected to the next belt unit 1 via a link 5, and so on, so that all belt units 1 form a continuous endless chain.

Auf derselben Achse 6, die durch die Verbindung von benachbarten Bandeinheiten 1 gegeben ist, ist eine Laufrolle 7 angeordnet, die auf einer raumfesten Schiene 8 läuft. Die Schiene 8 ist an den Enden mit halbkreisförmigen Schienen (Fig.2) versehen, sodass ein kompletter Umlauf der Bandeinheiten 1 in der ersten Raumrichtung durchführbar ist.On the same axis 6, which is given by the connection of adjacent belt units 1, a roller 7 is arranged, which runs on a fixed rail 8. The rail 8 is at the ends with semicircular rails ( Fig. 2 ) so that a complete circulation of the belt units 1 in the first spatial direction can be carried out.

Die Fig. 2 zeigt mehrere Rollen 3 von aneinander geketteten Bandeinheiten 1 in einem Teil des Umlaufs. Im Umlauf werden die Bandeinheiten mit Laufrollen 7 auf der raumfesten Schiene 8 geführt. Die Rotationsbewegung einer Rolle 3 um ihre Achse ist mittels eines in der Folge beschriebenen Kronenradgetriebes 15 mit der Rotationsbewegung der Rolle 3 der benachbarten Bandeinheit 1 gekoppelt. Der Winkel 27 zwischen den Rotationsachsen von benachbarten Rollen 3 wird dabei mit Mittelpunkt Achse 6 über einen weiten Bereich geändert. Ein Kronenrad des Kronenradgetriebes 15 ist jeweils mit der zugehörigen Rolle 3 fest verbunden und bildet mit der Rolle 3 eine feste Dreheinheit. Die Kopplung der Rotationsbewegung von benachbarten Rollen 3 kann mit Kronenradgetrieben in direktem Kontakt erfolgen und durch den Kontakt im Bereich der Achse 6 sind keine weiteren Elemente, wie Schiebeelemente, für einen Längenausgleich erforderlich.The Fig. 2 shows several rolls 3 of belt units 1 chained together in one part of the circulation. In circulation, the belt units are guided with rollers 7 on the fixed rail 8. The rotational movement of a roller 3 about its axis is coupled to the rotational movement of the roller 3 of the adjacent belt unit 1 by means of a crown gear 15 described below. The angle 27 between the axes of rotation of adjacent rollers 3 is changed over a wide range with the center axis 6. A crown gear of the crown gear 15 is firmly connected to the associated roller 3 and forms a fixed rotating unit with the roller 3. The coupling of the rotational movement of adjacent rollers 3 can take place in direct contact with crown gear drives, and the contact in the area of the axis 6 means that no further elements, such as sliding elements, are required for length compensation.

Die Achse 6 zur Winkeländerung 27 von Rotationsachsen von benachbarten Rollen 3 wird durch eine Schwenkverbindung gebildet. Die Achse 6 ist lagegleich mit der Drehachse der Laufrolle 7, die auf der Schiene 8 läuft.The axis 6 for changing the angle 27 of axes of rotation of adjacent rollers 3 is formed by a pivot connection. The axis 6 is in the same position as the axis of rotation of the roller 7, which runs on the rail 8.

Die Fig. 3 zeigt in einer vereinfachten Gesamtübersicht die Hauptfunktionen einer erfindungsgemäßen Vorrichtung. Die Bandeinheiten 1 sind nebeneinander so angeordnet, dass die im oberen, begehbaren Teil befindlichen Bandeinheiten 1 mit den Endlosbändern 2 eine Ebene bilden. Die Bandeinheiten 1 rollen mit Rollen 7 auf raumfesten Schienen 8 (Fig. 2), wodurch eine Bewegung in der ersten Raumrichtung erfolgt. Durch Bewegung der Endlosbänder 2 der Bandeinheiten 1 erfolgt eine Bewegung in der zweiten Raumrichtung. In der Kombination der beiden Hauptbewegungsrichtungen (symbolisiert durch die Doppelpfeile in Fig. 3) ist jede Bewegungsrichtung in der Ebene ausführbar.The Fig. 3 shows in a simplified overview the main functions of a device according to the invention. The belt units 1 are arranged side by side so that the belt units 1 located in the upper, walkable part form a plane with the endless belts 2. The belt units 1 roll with rollers 7 on fixed rails 8 ( Fig. 2 ), which causes a movement in the first spatial direction. Movement of the endless belts 2 of the belt units 1 results in a movement in the second spatial direction. In the combination of the two main directions of movement (symbolized by the double arrows in Fig. 3 ) every direction of movement in the plane can be executed.

Die Bewegung in der ersten Raumrichtung wird über das Antriebrad 11 ausgelöst, mit dem ein Treibmittel 9 bewegt wird, das seinerseits die Bandeinheiten 1 in der ersten Raumrichtung bewegt.The movement in the first spatial direction is triggered by the drive wheel 11, with which a propellant 9 is moved, which in turn moves the belt units 1 in the first spatial direction.

Der Antrieb in der zweiten Raumrichtung erfolgt in der dargestellten Ausführung über Zahnräder 12, die jeweils mit einer Rolle 3 der Bandeinheit 1 verbunden sind,. Die Zahnräder 12 sind von einer Zahnwelle 13, die parallel zur ersten Hauptachse liegt, antreibbar. Die Zahnwelle 13 ist über ein Antriebsrad 14 antreibbar. Durch Rotation der Zahnräder 12 wird die durch die Endlosbänder 2 gebildete Oberfläche in der zweiten Raumrichtung bewegt.The drive in the second spatial direction takes place in the embodiment shown via gear wheels 12, each of which is connected to a roller 3 of the belt unit 1. The toothed wheels 12 can be driven by a toothed shaft 13 which is parallel to the first main axis. The toothed shaft 13 can be driven via a drive wheel 14. By rotating the gear wheels 12, the surface formed by the endless belts 2 is moved in the second spatial direction.

Die Fig. 4 zeigt in seitlicher Darstellungsrichtung mehrere Bandeinheiten 1, die sich mit den Laufrollen 7 auf der Schiene 8 im Umlauf in der ersten Raumrichtung befinden. Am Ende der geraden Schiene 8 werden die Bandeinheiten 1 in einer Kurve geführt und weiter zu einer endlosen Kette zusammengeführt. Aus der Darstellung ist zu erkennen, dass der Abstand zwischen den Laufrollen 7, bedingt durch die Breite einer Bandeinheit 1, groß im Verhältnis zum Radius der halbkreisförmigen Schiene am Ende des geraden Teils der Schiene 8 ist. In der Kurve würde bei Antrieb mit einem Kettenrad ein starker Polygoneffekt auftreten. Dieser wird vermieden, indem in der bevorzugten Ausführung der Antrieb in der ersten Raumrichtung mittels eines endlosen Treibmittels 9 erfolgt. Das Treibmittel 9 besteht aus einem flexiblen Band, bevorzugt als Zahnriemen ausgeführt. Das Treibmittel 9 hat einen eigenen ovalen Umlauf und ist mit Mitnehmern 10 ausgestattet, die im geraden Teil des Umlaufs mit den Bandeinheiten 1 in Kontakt treten und die Bewegung der Bandeinheiten 1 in der ersten Raumrichtung bewirken.The Fig. 4 shows in the lateral representation direction several belt units 1, which are in circulation in the first spatial direction with the rollers 7 on the rail 8. At the end of the straight rail 8, the belt units 1 are guided in a curve and further combined to form an endless chain. From the illustration it can be seen that the distance between the rollers 7, due to the width of a belt unit 1, is large in relation to the radius of the semicircular rail at the end of the straight part of the rail 8. A strong polygon effect would occur in the curve when driving with a chain wheel. This is avoided by, in the preferred embodiment, the drive in the first spatial direction using an endless propellant 9. The propellant 9 consists of a flexible band, preferably designed as a toothed belt. The propellant 9 has its own oval circulation and is equipped with drivers 10 which come into contact with the belt units 1 in the straight part of the circulation and cause the movement of the belt units 1 in the first spatial direction.

In Fig. 5 zeigt in einem Detailausschnitt eine Ausführungsform der Zähne eines Kronenzahnradgetriebes der gegenständlichen Erfindung.In Fig. 5 shows a detail of an embodiment of the teeth of a crown gear transmission of the present invention.

Für die Erfindung ist ein Kronenradgetriebe 15 vorteilhaft, das die Rotationsbewegung einer Rolle 3 einer Bandeinheit 1 auf die Rolle 3 der benachbarten Bandeinheit 1 unter den folgenden Bedingungen überträgt:

  1. (i) Für eine geringe Bauhöhe der Vorrichtung soll die Übertragung über einen weiten Winkelbereich 27 der Rotationsachsen der Rollen 3 erfolgen, beispielsweise zwischen 0° und 60°.
  2. (ii) Die Rotationsbewegung um die Achse 18 des treibenden Kronenrads soll auf das getriebenen Kronenrad mit Achse 19 bei allen Betriebsbedingungen kontinuierlich und ohne merklichen Zeitverzug übertragen werden. Dies gilt insbesonders für Drehgeschwindigkeitsänderungen und Drehrichtungswechsel.
  3. (iii) Die Achse 6 der Winkeländerung 27 der Rotationsachsen der Rollen 3 soll so weit außerhalb des Schnittpunkts der Rotationsachsen 18 und 19 liegen, dass eine Kollision der Bandeinheiten bei größtem Winkel 27 vermieden wird.
A crown gear 15 is advantageous for the invention, which transmits the rotational movement of a roller 3 of a belt unit 1 to the roller 3 of the adjacent belt unit 1 under the following conditions:
  1. (i) For a low overall height of the device, the transmission should take place over a wide angular range 27 of the axes of rotation of the rollers 3, for example between 0 ° and 60 °.
  2. (ii) The rotational movement about the axis 18 of the driving crown gear should be transmitted continuously and without any noticeable time delay to the driven crown gear with axis 19 under all operating conditions. this applies especially for changes in speed and direction of rotation.
  3. (iii) The axis 6 of the change in angle 27 of the axes of rotation of the rollers 3 should lie so far outside the intersection of the axes of rotation 18 and 19 that a collision of the belt units at the largest angle 27 is avoided.

Die oben angeführten Bedingungen an die Übertragung werden erfindungsgemäß mit einem Kronenradgetriebe ausgeführt, dessen Kronenräder eine aus Teilkegeln gebildete Zahnform aufweisen, wobei das angetriebene und das getriebene Kronenrad bevorzugt mit gleicher Zahnform ausgestattet sind. Ein Zahn 16, 17 kann aus einem vollständigen rotationssymmetrischen Kegelstumpf bestehen (Fig. 5) oder aus zwei Teilkegeln zusammengesetzt sein (Fig.6). Die Teilkegel oder der Kegelstumpf haben eine Kegelachse parallel zur Rotationsachse des Kronenrads. Die Kegelflächen werden bevorzugt durch Rotation einer Erzeugenden um die Kegelachse erzeugt, womit Schnitte normal auf die Kegelachse kreis- oder kreissegmentförmige Querschnitte ergeben.According to the invention, the above-mentioned conditions for the transmission are carried out with a crown gear transmission, the crown gears of which have a tooth shape formed from partial cones, the driven and the driven crown gear preferably being equipped with the same tooth shape. A tooth 16, 17 can consist of a complete rotationally symmetrical truncated cone ( Fig. 5 ) or be composed of two partial cones ( Fig. 6 ). The partial cones or the truncated cone have a cone axis parallel to the axis of rotation of the crown gear. The conical surfaces are preferably produced by rotating a generatrix about the conical axis, so that cuts normal to the conical axis result in cross-sectional or circular cross-sections.

In Fig. 5 ist eine Ausführungsform mit vollständig rotationssymmetrischem Kegelstumpf mit gerader Kegelerzeugenden dargestellt. Der Kegel 16 des treibenden Rades berührt den Kegel des getriebenen Rades im Kontaktpunkt 20. Über die Achse 6 werden die Kronenräder mit Rotationsachsen 18 und 19 mit einem Schwenkwinkel 27 geschwenkt. Die Drehachse 24 der Kegelerzeugenden liegt parallel zur Rotationsachse 18 des treibenden Kronenrads.In Fig. 5 an embodiment with a completely rotationally symmetrical truncated cone with straight cone generators is shown. The cone 16 of the driving wheel touches the cone of the driven wheel at the contact point 20. The crown wheels with axes of rotation 18 and 19 are pivoted at a pivot angle 27 via the axis 6. The axis of rotation 24 of the cone generators lies parallel to the axis of rotation 18 of the driving crown gear.

Die gerade Kegelerzeugende ist unter einem Verjüngungswinkel 25 zur Drehachse 24 geneigt. Der Verjüngungswinkel liegt zwischen 8,5° und 13°, bevorzugt zwischen 8,5° bis 10,5°. Der bevorzugte Verjüngungswinkelbereich ergibt besonders günstige Lösungen hinsichtlich der genannten Anforderungen (i) und (ii), er erfordert jedoch geringe Zahnhöhen, um Hinterschnitt zu vermeiden. Der Hinterschnitt kann ohne Zahnhöhenverringerung vermieden werden, indem eine Fase 28 an der Kante des Kegelstumpfs angebracht wird. Die zweite Kegelzeugende für die Fase 28 ist eine Gerade mit einem Verjüngungswinkel 29.The straight cone-generating end is inclined to the axis of rotation 24 at a taper angle 25. The taper angle is between 8.5 ° and 13 °, preferably between 8.5 ° to 10.5 °. The preferred taper angle range provides particularly favorable solutions with regard to the requirements (i) and (ii) mentioned, but it requires small tooth heights in order to avoid undercut. The undercut can be avoided without reducing the tooth height by providing a chamfer 28 on the edge of the truncated cone. The second cone end for the chamfer 28 is a straight line with a taper angle 29.

Die Verbindung des Kegel mit Verjüngungswinkel 25 zum Kegel mit Verjüngungswinkel 29 erfolgt bevorzugt mit einer Abrundung. Der dadurch entstehende Drehkörper, hat bevorzugt einen Bogen als Erzeugende mit Verjüngungswinkeln, die im Verlauf des Bogens zwischen den Verjüngungswinkel der beiden geraden Kegelerzeugenden liegen.The cone with taper angle 25 is preferably connected to the cone with taper angle 29 with a rounding. The resulting rotating body has preferably an arc as generatrix with taper angles that lie in the course of the arc between the taper angle of the two straight cone generators.

Die Länge mindestens einer der Kegelerzeugenden kann in einer möglichen Ausführungsform gegen Null gehen, womit nur der Endwinkel des Bogens festgelegt ist und die Fase 28 als einfache Abrundung aufscheint.In one possible embodiment, the length of at least one of the cone generators can go to zero, which only defines the end angle of the arc and the chamfer 28 appears as a simple rounding.

In Fig. 6 ist ein Ausführungsbeispiel von aus zwei Teilkegeln zusammengesetzten Kronenradzähnen 16 und 17 dargestellt. Der Kronenradzahn 16 besteht aus einem Teilkegel 22 und einen spiegelsymmetrisch dazu anordneten Teilkegel 23. Der spiegelsymmetrische Teilkegel 23 übernimmt den Antriebskontakt nach Umkehr der Drehrichtung bei Rotationsachse 18. Für den Teilkegel 22 sind die Drehachse 24 und der Verjüngungswinkel 25 eingezeichnet. Die Drehachse 24 liegt parallel zur Rotationsachse 18 des treibenden Kronenrads. Die Oberfläche des Teilkegels wird durch Drehung einer geraden Erzeugenden, die um den Verjüngungswinkel 25 zur Drehachse 24 geneigt ist, erzeugt. Gleiche Verjüngungswinkelbereiche wie für den vollständigen Kegelstumpf unter Fig. 5 beschrieben gelten auch für die Teilkegel in Fig. 6.In Fig. 6 An embodiment of crown gear teeth 16 and 17 composed of two partial cones is shown. The crown gear tooth 16 consists of a partial cone 22 and a partial cone 23 arranged mirror-symmetrically thereto. The mirror-symmetrical partial cone 23 takes over the drive contact after reversing the direction of rotation with the axis of rotation 18. For the partial cone 22, the axis of rotation 24 and the taper angle 25 are shown. The axis of rotation 24 is parallel to the axis of rotation 18 of the driving crown gear. The surface of the partial cone is generated by rotating a straight generatrix which is inclined by the taper angle 25 to the axis of rotation 24. Same taper angle ranges as for the full truncated cone below Fig. 5 described also apply to the partial cones in Fig. 6 .

Fig. 7 zeigt eine bevorzugte Ausführung des Kronenradgetriebes, bei der ein Kronenrad des Kronenradgetriebes 15 mit einem Antriebszahnrad 12 kombiniert ist. Wenn die Endlosbänder 2 der Bandeinheiten 1 sich im geraden begehbaren Teil der Vorrichtung befinden, bilden sie eine ebene Fläche. Der von den Endlosbändern 2 bedeckte Teil der ebenen Fläche weist konstruktionsbedingt Spalten auf, die sich durch die Anordnung von Kronenräder-, Antriebs- und/oder Unterstützungskonstruktionen ergeben. Eine vorteilhafte Ausführung ist daher die Kombination eines Kronenrades innerhalb des Antriebszahnrads 12. Bei Bandeinheiten 1, die sich im oberen geraden Teil des Umlaufs befinden, liegen die Rotationsachsen der Rollen 3 in gestreckter Lage vor. In dieser Position wird in einer bevorzugten Ausführung das Kronenradgetriebe 15 völlig innerhalb des Antriebszahnrades 12 untergebracht. Damit ist der konstruktionsbedingte Spalt zwischen den Laufbändern 2 klein und nur durch die Breite des Antriebszahnrades 12 bestimmt. Fig. 7 shows a preferred embodiment of the crown gear, in which a crown gear of the crown gear 15 is combined with a drive gear 12. If the endless belts 2 of the belt units 1 are located in the straight walk-in part of the device, they form a flat surface. The part of the flat surface covered by the endless belts 2 has, by design, gaps which result from the arrangement of crown gear, drive and / or support structures. An advantageous embodiment is therefore the combination of a crown gear within the drive gear 12. In belt units 1, which are located in the upper straight part of the revolution, the axes of rotation of the rollers 3 are in an extended position. In a preferred embodiment, the crown gear 15 is accommodated completely within the drive gear 12 in this position. The design-related gap between the treadmills 2 is thus small and is only determined by the width of the drive gear 12.

Das Laufband gemäß der Erfindung vermittelt dem Läufer eine in allen Richtungen bewegbare Gesamtfläche. Zwischen den Endlosbändern 2 der Bandeinheiten 1 bleiben zwar schmale Flächen, die nur die Bewegungen der ersten Raumrichtung übernehmen.The treadmill according to the invention provides the runner with a total area which can be moved in all directions. Narrow surfaces remain between the endless belts 2 of the belt units 1 and only take over the movements of the first spatial direction.

Diese schmalen Flächen stören im praktischen Betrieb jedoch nicht, weil sie um die Dicke des Endlosbandes tiefer liegen und damit vom Auftritt des Benutzers nicht erreicht werden.These narrow surfaces do not interfere in practical operation, however, because they are lower by the thickness of the endless belt and therefore cannot be reached by the user.

Zusammenfassend betrifft die Erfindung ein omnidirektionales Laufband, welches über mehrere verbundene Bandeinheiten (1) mit Tragrahmen (4) und Endlosbändern (2) verfügt, die in der ersten Raumrichtung umlaufend bewegt werden. In der zweiten Raumrichtung werden die Endlosbänder (2) der Bandeinheiten (1) bewegt. Der Antrieb der Endlosbänder (2) in zweiter Raumrichtung erfolgt bevorzugt über auf Rollen (3) befestigten Zahnrädern (12) und eine Zahnwelle (13). Der Gleichlauf aller Endlosbänder (2) erfolgt durch Kopplung mit zwischen den Bandeinheiten (1) angeordneten Kronenradgetrieben (15) mit spezieller Zahnform.In summary, the invention relates to an omnidirectional treadmill which has a plurality of connected belt units (1) with a support frame (4) and endless belts (2) which are moved all around in the first spatial direction. The endless belts (2) of the belt units (1) are moved in the second spatial direction. The endless belts (2) are preferably driven in the second spatial direction via gearwheels (12) fixed on rollers (3) and a toothed shaft (13). All endless belts (2) are synchronized by coupling with crown gear drives (15) with a special tooth shape arranged between the belt units (1).

Claims (12)

  1. Device having a surface movable in two directions in space, wherein belt units (1) movable in the first direction in space are drivable by at least one driving means (9), which belt units (1) are each provided with a carrier frame (4), wherein each carrier frame (4) of a belt unit (1) is pivotably connected at fixed distance to the carrier frame (4) of the adjacent belt unit (1) via one or more rotary joints forming an axis (6), wherein the belt units (1) are provided with rollers (3) and endless belts (2) for the movement in the second spatial direction, which are coupled to a drive, characterized in that the rotational movement of a roller (3) is coupled to the roller (3) of the adjoining belt unit (1) by means of crown gearing (15) with a tooth profile, with which variable rotational movements of the driving roller (3) can be continuously transmitted to the driven roller (3) when the angle (27) between the rotational axes of the rollers (3) changes with an axis (6) lying in the region of the engagement profile and outside the point of intersection of the rotational axes of the rollers (3).
  2. Device according to claim 1, characterized in that the crown gearing (15) is provided with a tooth profile (16) in the form of a part of a rotary body having an axis of rotation parallel to the rotational axis (18) of the crown gear and having circular-segment-shaped cross-sections normal to the axis of rotation.
  3. Device according to claim 1, characterized in that the crown gearing (15) is provided with a tooth profile (16) in the form of a truncated cone, which is optionally composed of two partial truncated cones and whose cone axes are aligned parallel to the rotational axis (18) of the crown gear.
  4. Device according to claim 2 or 3, characterized in that the partial cones or partial truncated cones are formed by a straight generatrix with a taper angle (25) to the cone axis of between 8.5° and 13°, preferably between 8.5° and 10.5°.
  5. Device according to claim 2, characterized in that the crown gearing (15) is provided with a tooth profile (16) in the form of a rotary body or part of a rotary body formed by two straight generatrices, the first generatrix of which has a taper angle (25) to the cone axis of between 5° and 13°, preferably between 8° and 10.5°, the second generatrix has a taper angle (29) to the cone axis of between 8° and 15°, and the connection from the first cone to the second cone is preferably made with a rounding as generatrix of the central part of the rotary body, wherein the taper angles lie between the taper angles of the cones in the course of the rounding.
  6. Device according to claim 5, characterized in that the crown gearing (15) is equipped with a tooth profile (16) in the form of a rotary body which is optionally composed of two partial rotary bodies and whose axes of rotation are aligned parallel to the rotational axis (18) of the crown gear.
  7. Device according to one of claims 1 to 6, characterized in that the rollers (7) rotatably connected to the belt units (1) run on rails (8) in the first spatial direction, wherein the axis of rotation of a roller (7) coincides with the axis (6) of the pivotable connection of a belt unit (1) to the adjacent belt unit (1).
  8. Device according to one of claims 1 to 7, characterized in that the drive of the rollers (3) is effected by a gear wheel (12) connected to the roller (3).
  9. Device according to one of claims 1 to 8, characterized in that at least one crown gearing (15) is connected to a gear wheel (12) which is in engagement with at least one toothed shaft (13) arranged parallel to the first spatial direction in a position with an angle (27) of 0°.
  10. Device according to one of claims 8 or 9, characterized in that the crown gearing (15) is partially or completely inside the gear wheel (12) in the position with an angle (27) of 0°.
  11. Device according to one of claims 1 to 10, characterized in that the drive in the first spatial direction is effected by means of a driving means (9) on which drivers (10) are fixed, which in the first spatial direction communicate with the belt units (1) and effect the drive of the belt units (1) in the first spatial direction.
  12. Device according to claim 11, characterized in that the driving means (9) consists of at least one driven toothed belt or at least one driven, preferably fine-linked chain on which the drivers (10) are fixed.
EP17832186.5A 2016-12-27 2017-12-22 Omnidirectional treadmill Active EP3538227B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT5862016 2016-12-27
PCT/AT2017/060344 WO2018119485A1 (en) 2016-12-27 2017-12-22 Omnidirectional treadmill

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EP3538227A1 EP3538227A1 (en) 2019-09-18
EP3538227B1 true EP3538227B1 (en) 2020-07-01

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US (1) US10946236B2 (en)
EP (1) EP3538227B1 (en)
JP (1) JP7042818B2 (en)
KR (1) KR102542293B1 (en)
CN (1) CN109963625B (en)
WO (1) WO2018119485A1 (en)

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CN109963625A (en) 2019-07-02
JP2020503911A (en) 2020-02-06
US20190255382A1 (en) 2019-08-22
EP3538227A1 (en) 2019-09-18
KR20190100166A (en) 2019-08-28
CN109963625B (en) 2021-02-09
WO2018119485A1 (en) 2018-07-05
KR102542293B1 (en) 2023-06-12
US10946236B2 (en) 2021-03-16
JP7042818B2 (en) 2022-03-28

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