KR20170062831A - Omnidirectional Motion Generation Device Using Omnidirectional Omni Drive Ball Assembly - Google Patents

Omnidirectional Motion Generation Device Using Omnidirectional Omni Drive Ball Assembly Download PDF

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Publication number
KR20170062831A
KR20170062831A KR1020150168500A KR20150168500A KR20170062831A KR 20170062831 A KR20170062831 A KR 20170062831A KR 1020150168500 A KR1020150168500 A KR 1020150168500A KR 20150168500 A KR20150168500 A KR 20150168500A KR 20170062831 A KR20170062831 A KR 20170062831A
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South Korea
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unit
axis direction
axis
omnidirectional
power
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KR1020150168500A
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Korean (ko)
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KR101778588B1 (en
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차무현
박찬석
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한국기계연구원
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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
    • A63B22/0046—Details of the support elements or their connection to the exercising apparatus, e.g. adjustment of size or orientation
    • 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
    • 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
    • A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes

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  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Vascular Medicine (AREA)
  • Cardiology (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Educational Technology (AREA)
  • Educational Administration (AREA)
  • Business, Economics & Management (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The present invention relates to an omni-directional motion generating device using an omnidirectional drive ball assembly, and more particularly, to an omnidirectional motion generating device using an omnidirectional drive ball assembly capable of rotation control in X- and Y- And an omnidirectional drive ball assembly capable of generating omnidirectional motion through rotation speed control of the omnidirectional drive ball assembly.

Description

Technical Field [0001] The present invention relates to an omnidirectional motion generation device using an omnidirectional drive ball assembly,

The present invention relates to an omni-directional motion generating device using an omnidirectional drive ball assembly, and more particularly, to an omnidirectional motion generating device using an omnidirectional drive ball assembly capable of rotation control in X- and Y- And an omnidirectional drive ball assembly capable of generating omnidirectional motion through rotation speed control of the omnidirectional drive ball assembly.

The forward motion generation device is a device capable of motion generation in all directions, and a representative example is a two-dimensional treadmill.

The omnidirectional motion generating device is not only used for simulating a virtual reality requiring bodily sensation and physical strength training, but also capable of moving forward and backward in one direction, It can be used for combat training of soldiers, virtual tour, fire safety training, and movement simulations of robots.

The forward motion generation device is provided with a space for simulation (treadmill tread as a representative example) rotatable in the X-axis direction and the Y-axis direction perpendicular to the X-axis direction. The X- There is a feature that motion in all directions can be generated through rotation speed control.

Prior art related to this is disclosed in US Pat. No. 7780573 ("Omni-directional Treadmill with Applications"), which discloses a treadmill capable of motion generation in all directions.

The prior art is a method of installing a wheel that is provided inside the treadmill to provide a friction force to the tread, thereby indirectly transmitting the power.

This is advantageous in that the weight of the entire treadmill is reduced in weight by indirectly transmitting power to the tread, but is slippery or slippery during power transmission, resulting in resistance and inefficient power transmission.

Further, when a plurality of wheels indirectly providing power by frictional force are disposed, a plurality of devices for fixing the wheels to the inside are provided, complicating the internal structure, resulting in a problem of inefficiency in manufacture and use.

U.S. Patent No. 7780573 ("Omni-directional Treadmill with Applications")

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide an omni drive ball assembly capable of controlling rotation speed in X- and Y- Directional omnidirectional drive ball assembly capable of generating an omnidirectional drive ball as well as efficient power transmission.

An omni-directional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention includes: a body; A tread portion fixed to the body and configured to be rotatable in the X-axis direction and the Y-axis direction; And a driving part formed to contact the tread part in the body and to rotate in the X axis direction and the Y axis direction to circulate the tread part, wherein the driving part includes a first body and a second body each having a hemispherical shape, And a fixing part formed to penetrate through the connection part so as to be parallel to the plane of the first body and the second body, wherein the first body and the second body, The body includes a ball formed to be rotatable about the connection portion, at least one connection with both ends of the fixing portion, a power for transmitting the rotational force in the direction of the fixed portion axis and rotating the ball in the axial direction And a power unit for supplying a rotational force to the power transmission unit.

Particularly, the power transmitting portion includes a power transmitting portion body; An X-axis driving force transmitting part formed to be able to be fixed in the Y-axis direction with respect to the fixed part and transmitting rotational force to rotate the ball in the X-axis direction; And a Y-axis driving force transmitting unit that is rotatable in the X-axis direction with respect to the fixed unit and transmits a rotational force to rotate the ball in the Y-axis direction.

Further, the X-axis power transmission unit is formed to penetrate both sides of the upper portion of the power transmission body in the Y-axis direction, and is rotatable in the axial direction.

Further, the Y-axis driving force transmitting portion is formed on both sides of the upper portion of the power transmitting body in the X-axis direction, and is capable of being fixed to the fixed portion, and is rotatable in the axial direction; A lower transmission part formed to penetrate both sides of the lower portion of the power transmission body in the X axis direction and rotatable in the axial direction; And an intermediate transfer unit for transferring rotational force between the upper transfer unit and the lower transfer unit.

The intermediate transfer unit may be a chain belt type in which a chain groove is formed.

The upper transmission portion and the lower transmission portion may include transmission grooves formed to engage with the chain grooves.

The ball may further include a first body perpendicular to the fixed portion and an auxiliary ball formed on the second longest portion of the second body.

The power transmitting portion includes an X-axis driving force portion for supplying a rotational force to the X-axis driving force transmitting portion, a Y-axis driving force portion for supplying a rotational force to the Y-axis driving force transmitting portion, and a control portion for controlling the X-axis driving force portion and the Y- do.

The tread portion includes a unit body and a tread formed so as to surround the unit body in the Y axis direction so as to be circulatable in the Y axis direction. The unit body is formed so as to be coupled at both ends thereof And is formed so as to be circulable in the X-axis direction.

The omnidirectional motion generating device using the omnidirectional drive ball assembly according to the present invention is capable of generating motions in all directions by controlling the rotational speed of the omni-directional drive ball assembly that is rotated in the X- and Y- There are advantages.

In particular, an omnidirectional motion generating device using an omnidirectional drive ball assembly according to the present invention is advantageous in that power generation can be efficiently performed because motion can be generated by friction with a plurality of omnidirectional balls.

In addition, by transmitting the power through the spherical omnidirectional ball, it is possible not only to provide a certain level of ground contact feeling irrespective of the person's foot direction, but also to enhance the maintainability such as production and inflow of foreign matter.

1 illustrates an omni-directional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention.
2 is a view illustrating a driving unit of an omnidirectional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention.
3 is a view of another driving unit of an omnidirectional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention.
4 is a view illustrating a ball of a driving unit of an omnidirectional motion generating apparatus using the omnidirectional drive ball assembly according to the present invention.
FIGS. 5 to 6 are views showing a ball and a power transmitting unit of a driving unit of an omni-directional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention.
FIG. 7 is a view illustrating a power transmission unit of a driving unit of an omnidirectional motion generating apparatus using an omni-directional drive ball assembly according to the present invention.
8 illustrates an embodiment of a tread of an omni-directional motion generating device using an omnidirectional drive ball assembly according to the present invention.
9 is a view illustrating an embodiment of a ball in a driving unit of an omnidirectional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention.

Hereinafter, an omni-directional motion generating apparatus using the omnidirectional drive ball assembly having the above-described features will be described in detail with reference to the accompanying drawings.

Prior to this, terms and words used in the present specification and claims should not be construed in a conventional or dictionary sense, and the inventor should appropriately define the concept of the term to describe its invention in the best possible way The present invention should be construed in accordance with the spirit and concept of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

1 is a view illustrating an omni-directional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention.

1, an omni-directional motion generating apparatus 1000 using an omnidirectional drive ball assembly according to the present invention includes a body 100, a tread unit 200, and a driver 300 .

The tread portion 200 is fixed to the body 100 by the power received from the outside and is moved in the X-axis direction and the Y-axis direction to be circulated.

In this case, the X-axis direction and the Y-axis direction are arbitrary directions perpendicular to each other.

The driving part 300 is formed to contact the outer surface of the tread part 200 inside the body 100 and moves in the X axis direction and the Y axis direction to move the tread part 200 The tread part 200 is formed on the upper surface of the body 100 and the driving part 300 is disposed inside the body 100 to transmit power to the tread part 200. [ But it is not limited thereto.

FIG. 2 is a view illustrating a driving unit of an omnidirectional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention, and FIG. 3 is a block diagram illustrating a driving unit of an omni-directional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention. 4 is a view illustrating a ball of a driving unit of an omnidirectional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention, and Figs. 5 to 6 are views showing an omnidirectional drive FIG. 7 is a view showing a power transmitting unit of a driving unit of an omnidirectional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention .

2 to 7, an omni-directional motion generating apparatus 1000 using an omnidirectional drive ball assembly according to the present invention will be described in more detail.

The driving unit 300 includes a ball 310, a power transmitting unit 320 and a power unit 330. The ball 310 includes a first body 311 and a second body 312, A connection part 313 connecting the first body 311 and the second body 312 to each other and a connection part 313 parallel to the plane of the first body 311 and the second body 312, (Not shown).

The shape of the fixing portion 314 is preferably a rod shape that is easy to fix, but is not limited thereto.

In this case, the first body 311 and the second body 312 of the ball 310 are rotatably (freely rotatable) about the connecting portion 313.

The power transmitting part 320 is formed to be connectable to at least one or more ends of the fixing part 314 formed on the ball 310 and transmits a rotational force in the axial direction of the fixing part 314, Is rotated in the axial direction.

The power transmitting portion 320 includes a power transmission body 321 formed between one ball 310 and two or more balls 310 and is fixed to the fixing portion 314 in the Y axis direction And an X-axis transmitting portion 322 that rotates in the axial direction to transmit the rotational force to rotate the ball 310 in the X-axis direction.

The power transmission unit 320 is configured to fix the ball 310 in the X-axis direction and rotate in the axial direction to rotate the ball 310 in the Y-axis direction so that the Y- And a transfer unit 323.

That is, the driving unit 300 of the omnidirectional motion generating apparatus 1000 using the omni-directional drive ball assembly according to the present invention includes a ball 310 rotatably received in the X-axis direction to receive a rotational force, The balls 310 are rotated in the X-axis direction and the Y-axis direction by connecting the ball 310 rotatably formed in the tread part 200 by connecting the balls 310 in series by the power transmission part 320, It is possible to generate the motion in all directions by controlling the rotation speed of the ball 310 rotating in the X axis direction and the Y axis direction.

As described above, the driving unit 300 fixes the ball 310 to the hemispherical first body 311 and the second body 312 using the connecting portion 313, 311 and the second body 312 are formed as omni balls capable of idly rotating freely about the connecting portion 313 so that the balls 310 are rotated in the X- and Y- The tread portion 200 can rotate in a direction opposite to the tread portion 200 and move freely, so that it is easy to generate motion in all directions.

The power transmission unit 320 is fixed to the fixing unit 314 of the ball 310 to receive the rotational force from the power unit 330 and is connected to the at least one ball 310 And an X-axis driving force transmitting portion 322 for rotating the ball 310 in the X-axis direction may be formed to penetrate both upper surfaces of the power transmitting body 312 in the Y-axis direction.

That is, the X-axis driving force transmitting portion 322 is formed to penetrate both sides of the upper portion of the power transmitting body 321 in the Y-axis direction and is fixed to the power transmitting body 321, The ball can be rotated in the X-axis direction through the rotation in the axial direction. (At this time, a free rotational motion in the Y-axis direction)

The Y-axis driving force transmitting portion 323 has the same function as the X-axis driving force transmitting portion 322. The Y-axis driving force transmitting portion 323 is formed so that the X-axis driving force transmitting portion 322 passes through the upper surface of the power transmitting body 321 It must be formed to avoid this.

For the reasons stated above, the Y-axis driving force transmitting portion 323 is formed on both sides of the upper portion of the power transmitting body 321 in the X-axis direction so as to be fixed to the fixing portion 314, And a lower transmission portion 323-2 formed to penetrate both sides of the lower portion of the power transmission body 321 in the X axis direction and to be rotatable in the axial direction And an intermediate transfer unit 323-3 for transmitting a rotational force between the upper transfer unit 323-1 and the lower transfer unit 323-2.

That is, the ball 310 fixed to the X-axis driving force transmitting portion 322 and the Y-axis driving force transmitting portion 323 must be positioned at the same height since they must be in contact with the tread portion 200, Shaft power transmitting portion 322 formed so as to penetrate the upper surface of the X-axis driving force transmitting portion 322 so as not to interfere with the operation of the X-axis driving force transmitting portion 322 transmitting the rotational force to the ball 310, The ball 310 can transmit the rotational force supplied from the power unit 330 to the ball 310 through the lower transmission unit 323-1 formed through the lower surface of the power transmission unit body 321 and the lower transmission unit 323-1, have.

It is preferable that the intermediate transfer portion 323-3 is a chain belt type in which a chain groove (not shown) is formed, and the upper transfer portion 323-1 and the lower transfer portion 323-2 are in the form of a chain belt And a transmission groove (not shown) formed to engage with the guide groove.

The power unit 330 includes an X axis power unit 331 for supplying a rotational force to the X axis power transmission unit 322 and a Y axis power unit 332 for supplying a rotational force to the Y axis power transmission unit 323, And a control unit (not shown) for controlling the X-axis driving force unit 331 and the Y-axis driving force unit 332.

The control unit controls the X-axis driving force unit 331 and the Y-axis driving force unit 332 to control the rotation speed of the ball 310 to generate motion in all directions as well as in the X-axis direction and Y-axis direction .

8 is a view showing an embodiment of a tread portion of an omni-directional motion generating device using an omnidirectional drive ball assembly according to the present invention.

1 or 8, the tread portion 200 includes a unit body 210, a tread formed to surround the unit body 210 in the Y axis direction, (220) and the unit body (210) are formed so that both ends of the unit body (210) are parallel to each other in the X-axis direction and are rotatable in the X-axis direction.

That is, the tread part 200 is formed such that the tread 220 contacts the ball 310 of the driving part 300, and the tread 220 is rotated in the Y-axis direction of the ball 310, And circulates in the Y-axis direction while enclosing the unit body 210.

At this time, both ends of the unit body 210 in the Y axis direction may further include a circulation roller 230 for circulating the tread 220.

The tread portion 200 is formed such that the tread 220 contacts the ball 310 of the driving portion 300 so that the ball 310 and the tread 220 rotate in the X- The body 210 is rotated in the X-axis direction.

1, the unit body 210 is fixed to a chain belt or the like formed on the body 100 and is formed to be circulable in the X-axis direction.

9 is a view illustrating an embodiment of a ball in a driving unit of an omni-directional motion generating apparatus using an omnidirectional drive ball assembly according to the present invention.

9, the ball 310 includes the first body 311 perpendicular to the fixing portion 314 and the auxiliary ball 315 formed on the longest side of the second body 312 .

It is recommended that the auxiliary ball 315 be formed in a small bead shape so that it does not interfere with the rotation of the ball 310 in the X axis direction and the Y axis direction.

When the ball 310 rotates in the X-axis direction or the Y-axis direction, the auxiliary ball 315 is the longest length of the first body and the second body in the vertical direction with respect to the fixed portion (hereinafter, Quot;) is in contact with the tread 220, it is formed to compensate for the difficulty in free-rotating motion.

That is, even if the auxiliary ball 315 contacts the tread 220 when it is the longest of the first body 311 and the second body 312, the auxiliary ball 315 can freely rotate by the auxiliary ball 315 .

1000: Omnidirectional motion generating device using omni-directional drive ball assembly
100: Body
200: tread portion 210: unit body
220: Tread 230: Circulation roller
300:
310: view
311: first body 312: second body
313: connection 314:
315: Secondary ball
320: Power transmission unit 321: Power transmission unit body
322: X-axis power transmitting portion 323: Y-axis power transmitting portion
323-1: upper transfer portion 323-2: lower transfer portion
323-3:
330:
331: X-axis driving force unit 332: Y-axis driving force unit

Claims (9)

Body;
A tread portion fixed to the body and configured to be rotatable in the X-axis direction and the Y-axis direction; And
And a driving unit that is formed in the body so as to be in contact with the tread unit and rotates in the X axis direction and the Y axis direction to circulate the tread unit,
The driving unit
A connecting body for connecting and fixing one side of the first body and the second body by connecting the first body and the second body in a semispherical shape, Wherein the first body and the second body include a ball rotatably mounted on the connection portion,
A power transmitting portion formed to be connected to at least one end of the fixing portion so as to be rotatable in the axial direction by transmitting a rotational force in the direction of the fixed portion shaft;
And a power unit for supplying a rotational force to the power transmitting unit. The omnidirectional motion generating apparatus using the omni-directional drive ball assembly according to claim 1,
The method according to claim 1,
The power transmission portion
Power transmission body;
An X-axis driving force transmitting part formed to be able to be fixed in the Y-axis direction with respect to the fixed part and transmitting rotational force to rotate the ball in the X-axis direction; And
And a Y-axis driving force transmitting unit that is rotatable in the Y-axis direction and is rotatable in the X-axis direction with respect to the fixed unit. The omnidirectional motion using the omnidirectional drive ball assembly Generating device.
3. The method of claim 2,
The X-
And an omnidirectional motion generating device using the omni-directional drive ball assembly, wherein the omnidirectional drive ball assembly is formed to penetrate both sides of the power transmitting body in a Y-axis direction and to be rotatable in an axial direction.
3. The method of claim 2,
The Y-
An upper conveying portion formed on both sides of the upper portion of the power transmitting portion in the X-axis direction and fixed to the fixing portion, the upper conveying portion being rotatable in the axial direction;
A lower transmission part formed to penetrate both sides of the lower portion of the power transmission body in the X axis direction and rotatable in the axial direction; And
And an intermediate transfer unit for transferring a rotational force between the upper transfer unit and the lower transfer unit.
5. The method of claim 4,
The intermediate transfer unit
And a chain groove is formed in the inside of the omni-directional drive ball assembly.
6. The method of claim 5,
The upper transfer part and the lower transfer part
And a transmission groove formed to be engaged with the chain groove.
The method according to claim 1,
The ball
Further comprising an auxiliary ball formed on a side of the longest length of the first body and the second body perpendicular to the fixed portion.
3. The method of claim 2,
The power transmission portion
An X-axis power unit for supplying a rotational force to the X-axis power transmission unit,
A Y axis power unit for supplying a rotational force to the Y shaft power transmitting unit,
And a controller for controlling the X-axis power unit and the Y-axis power unit.
The method according to claim 1,
The tread portion
A unit body,
And a tread formed to surround the unit body in the Y axis direction and to be circulatable in the Y axis direction,
Wherein the unit body is formed so that both ends thereof are coupled to each other in parallel in the X-axis direction, and is formed so as to be circulable in the X-axis direction.
KR1020150168500A 2015-11-30 2015-11-30 Omnidirectional Motion Generation Device Using Omnidirectional Omni Drive Ball Assembly KR101778588B1 (en)

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KR1020150168500A KR101778588B1 (en) 2015-11-30 2015-11-30 Omnidirectional Motion Generation Device Using Omnidirectional Omni Drive Ball Assembly

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107737434A (en) * 2017-11-30 2018-02-27 佛山市神风航空科技有限公司 A kind of treadmill of band VR equipment

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69621844T2 (en) 1996-08-27 2003-01-30 David E E Carmein OMNIDIRECTIONAL TREADMILL DEVICE
US8790222B2 (en) 2010-07-29 2014-07-29 George Burger Single belt omni directional treadmill
KR101670718B1 (en) 2015-05-29 2016-10-31 경상대학교산학협력단 Omni-directional treadmill apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107737434A (en) * 2017-11-30 2018-02-27 佛山市神风航空科技有限公司 A kind of treadmill of band VR equipment

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