WO2019192228A1 - 体验平台驱动设备及虚拟现实体验椅 - Google Patents

体验平台驱动设备及虚拟现实体验椅 Download PDF

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Publication number
WO2019192228A1
WO2019192228A1 PCT/CN2018/125753 CN2018125753W WO2019192228A1 WO 2019192228 A1 WO2019192228 A1 WO 2019192228A1 CN 2018125753 W CN2018125753 W CN 2018125753W WO 2019192228 A1 WO2019192228 A1 WO 2019192228A1
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WO
WIPO (PCT)
Prior art keywords
direct drive
driving device
experience
motion
fixing plate
Prior art date
Application number
PCT/CN2018/125753
Other languages
English (en)
French (fr)
Inventor
刘元江
周忠厚
冯蓬勃
刘鹏
刘元宜
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歌尔股份有限公司
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Publication of WO2019192228A1 publication Critical patent/WO2019192228A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C9/00—Stools for specified purposes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C15/00—Other seating furniture
    • A47C15/004—Seating furniture for specified purposes not covered by main groups A47C1/00 or A47C9/00
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C7/00—Parts, details, or accessories of chairs or stools
    • A47C7/002—Chair or stool bases
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/90—Constructional details or arrangements of video game devices not provided for in groups A63F13/20 or A63F13/25, e.g. housing, wiring, connections or cabinets

Definitions

  • the present invention relates to the field of virtual reality technologies, and in particular, to an experience platform driving device and a virtual reality experience chair.
  • Virtual Reality is a virtual environment that uses computer simulation to generate a three-dimensional space. It provides users with simulations of visual, auditory, tactile and other senses, allowing users to have an immersive feeling. Unrestricted observation of things in three dimensions.
  • an experience platform driven device includes:
  • Each of the plurality of sets of motion actuators includes: at least two direct drive rotary motors, at least two planetary gears, and at least two slide bars;
  • the at least two planetary gears are respectively connected to output shafts of the direct drive rotating electrical machines of the at least two direct drive rotating electrical machines;
  • the at least two planetary gears respectively mesh with the common gear
  • One of the at least two planetary gears is driven to rotate along the meshing side of the common gear under the rotational power output of the direct drive rotating electric machine connected thereto, and drives the direct drive rotating electric machine to perform an arc motion;
  • each of the at least two slide bars is respectively associated with a corresponding direct drive rotary motor, and is rotatable relative to the direct drive rotary motor.
  • each set of motion executing mechanisms further includes: a motor fixing component of the same number as the at least two direct drive rotating electrical machines;
  • the motor fixing component includes an upper fixing plate, a lower fixing plate, and a side plate connecting the upper fixing plate and the lower fixing plate;
  • the upper fixing plate, the lower fixing plate and the side plate surround the accommodating groove
  • the planetary gear is received in the receiving groove
  • the lower fixing plate is provided with a through hole
  • the direct drive rotating electric machine is fixed on the lower fixed plate, and an output shaft of the direct drive rotating electric machine is inserted into the receiving groove through the through hole to be connected with the planetary gear;
  • One end of one of the at least two slide bars is hinged to the upper fixed plate.
  • the experience platform driving device further includes: a lower platform;
  • the lower platform includes a bottom plate and a support table disposed on the bottom plate;
  • the common gear is disposed on the support table
  • the motor fixing component is disposed on the support table and movable relative to the support platform;
  • a gap is provided between the direct drive rotating motor fixed to the motor fixing member and the bottom plate.
  • the experience platform driving device further includes: a guide rail;
  • the guide rail is disposed on the support table and located above the common gear
  • the guide rail is a circular ring rail
  • a center line of the circular rail coincides with a center line of the common gear
  • the upper fixing plate is provided with a slider structure that is coupled to the guide rail.
  • the circular orbital rail is an integrally formed structure or is formed by splicing two or more curved rails.
  • the maximum outer diameter of the rail is smaller than the largest outer diameter of the common gear; the common gear is disposed at the top of the support table.
  • the inner ring of the circular ring rail is provided with an inner ring sliding slot
  • the outer ring is provided with an outer ring sliding slot
  • the upper fixing plate is correspondingly provided with two corresponding inner ring sliding slots
  • the outer ring chute is coupled with the connected slider structure.
  • the plurality of sets of motion actuators are at least three sets of motion actuators.
  • the experience platform driving device further includes: an upper platform;
  • the upper platform is provided with a plurality of hinged seats
  • the other ends of the slide bars of the plurality of sets of motion actuators are respectively hinged to the upper platform by one of the plurality of hinged seats.
  • a virtual reality experience chair in another embodiment, includes: a seat and the experience platform driving device provided by the above embodiment; the bottom of the seat is coupled to the other end of each of the plurality of sets of motion actuators.
  • the platform driver device For the specific structure implementation of the platform driver device, refer to the above content, and details are not described herein again.
  • the experience platform driving device includes an upper platform; the upper platform is provided with a mounting structure; and the seat may be fixed on the upper platform by the mounting structure.
  • the technical solution provided by the embodiment of the invention eliminates the mechanical transmission components such as the electric cylinder, the multi-rack and the gear, the transmission belt and the pulley in the prior art by using the direct drive structure of the motor and the actuator, and overcomes the mechanical transmission structure. Complex and improved response speed.
  • the technical solution provided by the embodiment of the invention adopts the structure of the common gear and the plurality of sets of motion executing mechanisms, and has the advantages of compact structure, small volume, low inertia, and overcomes the disadvantage of the inertia of the traditional mechanical structure.
  • FIG. 1 is a schematic structural diagram of an experience platform driving device according to an embodiment of the present invention
  • Figure 2 is a plan view of Figure 1;
  • FIG. 3 is a schematic structural diagram of an experience platform driving device according to another embodiment of the present invention.
  • Figure 4 is a side view of the shaft of Figure 3;
  • FIG. 5 is a schematic structural diagram of a virtual reality experience chair according to an embodiment of the present invention.
  • FIG. 1 and FIG. 2 are schematic diagrams showing the structure of an experience platform driving device according to an embodiment of the present invention.
  • the drive apparatus includes a common gear 305 and a plurality of sets of motion actuators 30.
  • Each of the plurality of sets of motion actuators 30 includes at least two direct drive rotary motors 380, at least two planetary gears 370, and at least two slide bars 350.
  • At least two planetary gears 370 are respectively coupled to output shafts of at least two of the direct drive rotary electric machines 380; at least two planetary gears 370 are respectively meshed with the common gear 305; one of the at least two planetary gears 370
  • the planetary gear 370 is driven along the meshing side of the common gear 305 by the rotational power output from the direct drive rotary electric machine 380 connected thereto, and drives the direct drive rotary electric machine 380 to perform an arc motion.
  • One end of each of the at least two slide bars 350 is interlocked with a corresponding one of the rotary electric machines 380, and is rotatable relative to the direct drive rotary electric machine 380.
  • the technical solution provided by the embodiment of the invention eliminates the mechanical transmission components such as the electric cylinder, the multi-rack and the gear, the transmission belt and the pulley in the prior art by using the direct drive structure of the motor and the actuator, and overcomes the mechanical transmission structure. Complex and improved response speed.
  • the technical solution provided by the embodiment of the invention adopts the structure of the common gear and the plurality of sets of motion executing mechanisms, and has the advantages of compact structure, small volume, low inertia, and overcomes the disadvantage of the inertia of the traditional mechanical structure.
  • the above-mentioned direct drive rotary motor can be realized by a servo motor.
  • the plurality of sets of motion actuators in the above embodiments may be at least three sets of motion actuators, such as the three sets of motion actuator schemes shown in Figures 1 and 2.
  • the planetary gear and the common gear may be connected by internal meshing, or may be externally meshed (as shown in FIGS. 1 and 2).
  • the sliding rods in the above-mentioned various types of motion actuators can be implemented by using a fixed rod or a telescopic rod, which is not specifically limited in the embodiment of the present invention.
  • each set of motion actuators may further include: the same number of motor fixing members 360 as the at least two direct drive rotating machines 380.
  • the motor fixing member 360 includes an upper fixing plate 361, a lower fixing plate 363, and a side plate 362 connecting the upper fixing plate 361 and the lower fixing plate 363.
  • the upper fixing plate 361, the lower fixing plate 363, and the side plate 362 surround the receiving groove.
  • the planetary gear 370 is received in the accommodating groove; the lower fixing plate 363 is provided with a through hole; the direct drive rotating motor 380 is fixed on the lower fixing plate 363, and the output shaft of the direct drive rotating motor 380 extends through the through hole into the accommodating groove
  • the inside is connected to the planetary gear 370 (not shown).
  • One end of one of the at least two slide bars 350 is hinged to the upper fixed plate.
  • the experience platform driving device may further include: a lower platform 20.
  • the lower platform 20 includes a bottom plate 201 and a support table 202 disposed on the bottom plate 201; a common gear 305 is disposed on the support table 202; the motor fixing member 360 is disposed on the support table 202 and movable relative to the support table 202; A gap X is provided between the direct drive rotary motor 380 on the member 360 and the bottom plate 201.
  • the common gear 305 may be disposed at the top of the support table 202.
  • the purpose of this embodiment is to provide a certain gap between the direct drive rotating electrical machine and the bottom plate in order to avoid collision of the direct drive rotating electrical machine with the bottom plate during the arc motion.
  • the size of the gap can be adjusted according to the accuracy of the actual equipment.
  • the driving device further includes a guide rail 340, as shown in FIG.
  • the manner in which the guide rails are laid may include the following methods:
  • Method 1 The guide rail is laid on the bottom plate of the lower platform. That is, a guide rail conforming to the arc motion track of the direct drive rotating motor is laid on the bottom plate, and a slider adapted to the guide rail is installed at the bottom of each direct drive rotary motor.
  • Method 2 laying on the side wall of the support platform of the lower platform. That is, a circular guide rail is laid on the side wall of the support table, and a slider adapted to the guide rail is provided on the side of the upper fixing plate and/or the lower fixing plate of the motor fixing member facing the support table side wall.
  • Method 3 Set the guide rail on the top of the support table. That is, one end of the upper fixing plate of the motor fixing member facing the guide rail is provided with a slider adapted to the guide rail.
  • the guide rail and the common gear may be fixed on the lower platform in any manner, and the present invention is not limited thereto.
  • the guide rail 340 is disposed on the support table 202 and above the common gear 305.
  • the guide rail 340 is a circular ring rail; the center line of the circular ring rail coincides with the center line of the common gear 305; and the upper fixing plate 361 is provided with a slider structure that is coupled with the guide rail 340.
  • the maximum outer diameter of the guide rail 340 is smaller than the maximum outer diameter of the common gear 305, and the common gear 305 is disposed at the top of the support table 202.
  • the upper fixing plate 361 of the motor fixing member 360 is larger in the radial direction of the common gear 305 than the lower fixing plate 363.
  • the common gear 305 is between the upper fixed plate 361 and the lower fixed plate 363, and the upper fixed plate 363 is located above the common gear 305.
  • the guide rail and the slider structure involved in the embodiments of the present invention can be implemented by any of the prior art structures.
  • a dovetail groove is arranged on the guide rail, and the slider structure is a trapezoidal structure adapted to the dovetail groove.
  • the channel slot is disposed on the guide rail, and the slider structure is a trapezoidal structure that is adapted to the channel slot; and the like, which is not specifically limited in the embodiment of the present invention.
  • the inner ring of the circular ring rail is provided with an inner ring sliding slot
  • the outer ring is provided with an outer ring sliding slot
  • the upper fixing plate is correspondingly provided with two sliding rings respectively with the inner ring sliding slot and the outer ring The slot fits the connected slider structure.
  • one end of each of the at least two sliding bars 350 can be hinged to a corresponding motor by a joint bearing or a spherical joint component 390 (shown in FIG. 1).
  • the upper portion of the component 360 is fixed.
  • the plurality of sets of motion executing mechanisms are at least three sets of motion executing mechanisms, for example, three sets of motion executing mechanisms as shown in FIG. 1 and FIG. 2; of course, five or six sets may be used, and the embodiment of the present invention is This is not specifically limited.
  • the above-mentioned circular orbital rail may be an integrally formed structure, or may be formed by splicing two or more arcuate rails, and the like, which is not specifically limited in the embodiment of the present invention.
  • FIG. 3 and FIG. 4 are schematic diagrams showing the structure of an experience platform driving device according to another embodiment of the present invention. This embodiment is described by taking three sets of motion executing mechanisms as an example.
  • the experience platform includes an upper platform 10, a lower platform 20, three sets of motion actuators 30, guide rails 340, and a common gear 305.
  • the lower platform 20 includes a bottom plate 201 and a support table 202 disposed on the bottom plate 201.
  • the common gear 305 is disposed at the top of the support table 202.
  • the guide rail 340 is disposed on the support table 202 and above the common gear 305.
  • the rail 340 is a circular rail and the maximum outer diameter of the rail 340 is less than the maximum outer diameter of the common gear 305.
  • each set of motion actuators 30 includes two direct drive rotary motors 380, two slide bars 350, four spherical joint members 390, two planet gears 370, and two motor stationary members 360.
  • the two direct drive rotary electric machines 380 are respectively fixed to the guide rail 340 by two motor fixing members 360, the planetary gears 370 are shaft-connected to the direct drive rotary electric machine 380, and the planetary gears 370 are externally meshed with the common gear 305.
  • the direct drive rotary electric machine 380 outputs a rotary power drive planetary gear 370 to rotate; the planetary gear 370 rolls along the outer circumference of the common gear 305, thereby driving the direct drive rotary electric machine 380 to perform an arc motion.
  • Both ends of each of the two slide bars 350 are respectively hinged to the upper fixing plate of the motor fixing member 360 and the upper platform 10 through a spherical joint member 390.
  • the upper platform 10 is provided with six hinged seats (such as a mount for mounting the spherical joint member 390), and the six hinged seats are evenly distributed on the upper platform 10.
  • six hinged seats form a set of mounts, two of which are arranged side by side in each of the mount sets; three mount sets are evenly distributed on the upper platform.
  • the six hinged seats can also be fixed on the upper platform 10 in any distributed manner, and the present invention does not limit this.
  • the six-degree-of-freedom movement of the upper platform 10 is achieved by the cooperative movement of the plurality of sets of motion executing mechanisms 30. There is a gap between the six direct drive rotary motors in the three sets of motion actuators 30 and the bottom plate of the lower platform.
  • the technical solution provided by the embodiment provides an upper platform compared to the above embodiment, and the addition of the upper platform facilitates the installation of the subsequent seat or other carrier.
  • the installer only needs to align the buckle under the seat or other carrier with the card hole on the upper platform, and then press down to complete the installation.
  • the experience platform driving device includes three sets of motion executing mechanisms as an example, and the number of the motion executing mechanisms included in the experience platform may also be four groups, five groups, and six groups, and the present invention does not Any restrictions.
  • a three-dimensional coordinate axis is set in advance, wherein the direction perpendicular to the lower platform shown in FIG. 2 is set to the Z axis, and the X and Y axes are as shown in FIG. 2.
  • each set of motion actuators 30 when each of the two direct drive rotary motors 380 in each set of motion actuators 30 moves in a direction toward or away from each other along the guide rails 340, each set of motion actuators 30 is driven.
  • the two slide bars 350 move, thereby driving the upper platform 10 to move up and down in the Z-axis direction.
  • the motion directions of the six direct drive rotary motors 380 of the three sets of motion actuators 30 are combined to form a circle around the Z axis.
  • the three sets of motion actuators 30 drive the upper platform 10 to make clockwise around the Z axis. Or turn counterclockwise.
  • both of the second motion actuator 320 and the third motion actuator 330 move along the direction of the rail 340 near the first motion actuator 310, second.
  • the distance of the two direct drive rotary motors 380 in the motion actuator 320 remains unchanged, the distance of the two direct drive rotary motors 380 in the third motion actuator 330 remains unchanged, and two of the first motion actuators 310
  • the direct drive rotary electric machine 380 is kept in a free state (ie, the two direct drive rotary motors are close to each other, away from or remain in position); at this time, the three sets of motion actuators drive the upper platform 10 to move back and forth along the X-axis direction.
  • the two direct drive rotary motors 380 in the second motion actuator 320 move in the direction in which the guide rails 340 are close to each other, the two direct drive rotary motors 380 in the third motion actuator 330 are in close proximity to each other along the guide rails. Movement, the two direct drive rotary motors 380 of the first motion actuator 310 move along the guide rails away from each other. At this time, the three sets of motion actuators drive the upper platform 10 to rotate in the Y-axis direction.
  • the two direct drive rotary motors 380 of the first motion actuator 310 are all moved along the guide rail 340 toward or away from the third motion actuator 330, and the first motion actuator 310
  • the distance between the two direct drive rotary motors 380 remains unchanged, and the two direct drive rotary motors 380 of the second motion actuator 320 move along the guide rail 340 toward or away from the third motion actuator 330, and
  • the distances of the two direct drive rotary motors in the second motion actuator 320 remain unchanged, and the speed of the two direct drive rotary motors 380 in the first motion actuator 310 is less than the two direct drives in the second motion actuator 320.
  • the actuator drives the upper platform 10 to move left and right along the Y-axis direction.
  • the two direct drive rotary motors 380 of the second motion actuator 320 move along the direction of the guide rail 340 toward each other
  • the two direct drive rotary motors 380 of the first motion actuator 310 move away from each other along the guide rail 340.
  • the two direct drive rotary motors 380 of the third motion actuator 330 move along the direction in which the guide rails 340 move away from each other.
  • the three sets of motion actuators drive the upper platform 10 to rotate in the X-axis direction.
  • the realization of the six-degree-of-freedom motion of the experience platform requires not only controlling the position of the motor but also controlling the moving speed of the motor.
  • the specific motions of the direct-drive rotary motors of the six-degree-of-freedom motion of the above-listed experience platform are merely examples.
  • they can also be used for the direct-drive rotary motors.
  • Other cooperative movements are not limited to the examples listed above.
  • the virtual reality experience chair includes: a seat 40 and an experience platform driving device.
  • the experience platform driving device comprises: a common gear and a plurality of sets of motion executing mechanisms; wherein each of the plurality of sets of motion executing mechanisms comprises: at least two direct drive rotating electric machines, at least two planetary gears and at least two sliding parts a rod; at least two planetary gears respectively coupled to output shafts of at least two direct drive rotating electrical machines; at least two planetary gears respectively meshing with the common gear; one of the at least two planetary gears is The rotary drive of the connected direct drive rotary motor is driven to roll along the meshing side of the common gear, and drives the direct drive rotary motor to perform an arc motion; one end of each of the at least two slide bars is respectively rotated with a corresponding direct drive The motor is linked and can rotate relative to the direct drive rotary motor.
  • the bottom of the seat is coupled to the other end of each of the plurality of sets of motion actuators.
  • the experience platform driving device in this embodiment may be implemented by using the structure provided in the foregoing embodiment.
  • the experience platform driving device in this embodiment may be implemented by using the structure provided in the foregoing embodiment.
  • the experience platform driving device in this embodiment may be implemented by using the structure provided in the foregoing embodiment.
  • FIG. 5 is a schematic structural diagram of a virtual reality experience chair according to an embodiment of the present invention.
  • the experience platform driving device in this embodiment further includes an upper platform 10.
  • the seat 40 can be coupled to the experience platform drive device via a mounting structure on the upper platform 10.
  • the virtual reality experience chair provided in this embodiment adopts the experience platform provided by the above embodiment, and adopts the direct drive structure of the motor and the actuator, and cancels the electric cylinder, the multi-rack and the gear, and the transmission belt in the prior art.
  • Mechanical transmission components such as pulleys overcome the complexity of the mechanical transmission structure and improve the response speed.
  • the virtual reality experience chair provided by the invention has low inertia and overcomes the disadvantages of the inertia of the traditional mechanical structure.

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Abstract

一种驱动设备、体验平台及虚拟现实体验椅。其中，驱动设备包括：公用齿轮(305)及多组运动执行机构(30)；其中，多组运动执行机构(30)中每组运动执行机构(30)包括：至少两个直驱旋转电机(380)、至少两个行星齿轮(370)及至少两个滑杆(350)；至少两个行星齿轮(370)分别与至少两个直驱旋转电机(380)中各直驱旋转电机(380)的输出轴连接；至少两个行星齿轮(370)分别与公用齿轮(305)啮合；至少两个行星齿轮(370)中的一行星齿轮(370)在与其连接的直驱旋转电机(380)输出的旋转动力驱动下沿公用齿轮(305)的啮合侧滚动，并带动直驱旋转电机(380)作弧线运动；至少两个滑杆(350)中各滑杆(350)的一端分别与对应的一个电机(380)联动，且能相对电机(380)转动。本驱动设备、体验平台及虚拟现实体验椅结构紧凑，体积小，惯性低，克服了传统机械结构的惯性大的弊端。

Description

体验平台驱动设备及虚拟现实体验椅 技术领域
本发明涉及虚拟现实技术领域，尤其涉及一种体验平台驱动设备及虚拟现实体验椅。
背景技术
虚拟现实(Virtual Reality)，简称VR技术，是利用计算机模拟产生一个三维空间的虚拟环境，提供使用者关于视觉、听觉、触觉等感官的模拟，让使用者产生身临其境感觉，可以实时、无限制地观察三维空间内的事物。
将VR技术与座椅结合在一起形成虚拟现实体验平台是目前一项重要应用。对于如何将VR技术嵌入到传统座椅上，是一个亟待解决的问题。另外，现有技术中，虚拟现实体验平台多采用电缸进行驱动，同时以多齿条与齿轮、传动皮带与皮带轮作为机械传动部件，存在响应速度慢、噪音大、运动振动大、结构复杂、机械磨损严重等缺点。
有鉴于此，有必要提供一款新型体验平台，以克服上述缺点。
发明内容
本发明的一个目的是提供一种虚拟现实体验平台的新技术方案。
于是，在本发明的一个实施例中，提供了一种体验平台驱动设备。该体验平台驱动设备包括：
公用齿轮及多组运动执行机构；其中，
所述多组运动执行机构中每组运动执行机构包括：至少两个直驱旋转电 机、至少两个行星齿轮及至少两个滑杆；
所述至少两个行星齿轮分别与所述至少两个直驱旋转电机中各直驱旋转电机的输出轴连接；
所述至少两个行星齿轮分别与所述公用齿轮啮合；
所述至少两个行星齿轮中的一行星齿轮在与其连接的直驱旋转电机输出的旋转动力驱动下沿所述公用齿轮的啮合侧滚动，并带动所述直驱旋转电机作弧线运动；
所述至少两个滑杆中各滑杆的一端分别与对应的一个直驱旋转电机联动，且能相对直驱旋转电机转动。
可选地，所述每组运动执行机构还包括：与所述至少两个直驱旋转电机数量相同的电机固定部件；
所述电机固定部件包括上固定板、下固定板及连接所述上固定板和所述下固定板的侧板；
所述上固定板、所述下固定板及所述侧板围合成容置槽；
所述行星齿轮容置在所述容置槽内；
所述下固定板上设有通孔；
所述直驱旋转电机固定在所述下固定板上，且所述直驱旋转电机的输出轴通过所述通孔伸入所述容置槽内与所述行星齿轮连接；
所述至少两个滑杆中的一滑杆的一端铰接于所述上固定板。
可选地，所述的体验平台驱动设备还包括：下平台；
所述下平台包括底板和设置在所述底板上的支撑台；
所述公用齿轮设置在所述支撑台上；
所述电机固定部件设置在所述支撑台上，且能相对所述支撑台移动；
固定在所述电机固定部件上的直驱旋转电机与所述底板之间设有间隙。
可选地，所述的体验平台驱动设备还包括：导轨；
所述导轨设置在所述支撑台上，且位于所述公用齿轮的上方；
所述导轨为圆环形轨；
所述圆环形轨的中心线与所述公用齿轮的中心线重合；
所述上固定板上设有与所述导轨配合连接的滑块结构。
可选地，所述圆环形轨为一体成型结构或由两段或两段以上的弧形轨拼接形成。
可选地，所述导轨的最大外径小于所述公用齿轮的最大外径；所述公用齿轮设置在所述支撑台的顶部。
可选地，所述圆环形轨的内环设有内环滑槽，外环设有外环滑槽；所述上固定板上对应设有两个分别与所述内环滑槽和所述外环滑槽配合连接的滑块结构。
可选地，所述多组运动执行机构为至少三组运动执行机构。
可选地，所述的体验平台驱动设备还包括：上平台；
所述上平台上设有多个铰接座；
所述多组运动执行机构中的各滑杆的另一端分别通过所述多个铰接座中一个铰接座与所述上平台铰接。
在本发明的另一个实施例中，提供了一种虚拟现实体验椅。该虚拟现实体验椅包括：座椅及上述实施例提供的体验平台驱动设备；所述座椅的底部与所述多组运动执行机构中的各滑杆的另一端连接。其中，体验平台驱动设备的具体结构实现可参见上述内容，此处不再赘述。
可选地，若所述体验平台驱动设备中包括有上平台；所述上平台上设有安装结构；所述座椅可通过所述安装结构固定在所述上平台上。
本发明实施例提供的技术方案，通过使用电机和执行机构的直驱结构，取消了现有技术中的电缸、多齿条与齿轮、传动皮带与皮带轮等机械传动部件，克服了机械传动结构复杂，提高了响应速度。另外，本发明实施例提供的技术方案采用公用齿轮及多组运动执行机构的结构，其结构紧凑，体积小，惯性低，克服了传统机械结构的惯性大的弊端。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了本发明一实施例提供的体验平台驱动设备的结构示意图；
图2为图1的俯视图；
图3示出了本发明另一实施例提供的体验平台驱动设备的结构示意图；
图4为图3的轴侧视图；
图5示出了本发明一实施例提供的虚拟现实体验椅的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1和图2示出了本发明一实施例提供的体验平台驱动设备的结构示意图。如图1和图2所示，驱动设备包括：公用齿轮305及多组运动执行机构30。其中，多组运动执行机构30中每组运动执行机构30包括：至少两个直驱旋转电机380、至少两个行星齿轮370及至少两个滑杆350。至少两个行星齿轮370分别与至少两个直驱旋转电机380中各直驱旋转电机380的输出轴连接；至少两个行星齿轮370分别与公用齿轮305啮合；至少两个行星齿轮370中的一行星齿轮370在与其连接的直驱旋转电机380输出的旋转动力驱动下沿公用齿轮305的啮合侧滚动，并带动直驱旋转电机380作弧线运动。 所述至少两个滑杆350中各滑杆350的一端分别与对应的一个旋转电机380联动，且能相对直驱旋转电机380转动。
本发明实施例提供的技术方案，通过使用电机和执行机构的直驱结构，取消了现有技术中的电缸、多齿条与齿轮、传动皮带与皮带轮等机械传动部件，克服了机械传动结构复杂，提高了响应速度。另外，本发明实施例提供的技术方案采用公用齿轮及多组运动执行机构的结构，其结构紧凑，体积小，惯性低，克服了传统机械结构的惯性大的弊端。
这里需要说明的是：上述直驱旋转电机可选用伺服电机实现。上述实施例中的多组运动执行机构可以为至少三组运动执行机构，例如图1和图2中所示的三组运动执行机构方案。上述行星齿轮与公用齿轮可采用内啮合的方式连接，也可采用外啮合的方式(如图1和图2所示)。上述各组运动执行机构中的滑杆可选用固定杆或伸缩杆实现，本发明实施例对此不作具体限定。
进一步的，上述实施例中，如图1和图4所示，每组运动执行机构还可包括：与至少两个直驱旋转电机380数量相同的电机固定部件360。电机固定部件360包括上固定板361、下固定板363及连接上固定板361和下固定板363的侧板362；上固定板361、下固定板363及侧板362围合成容置槽。行星齿轮370容置在容置槽内；下固定板363上设有通孔；直驱旋转电机380固定在下固定板363上，且直驱旋转电机380的输出轴通过通孔伸入容置槽内与行星齿轮370连接(图中未示出)。至少两个滑杆350中的一滑杆350的一端铰接于上固定板。
如图3和图4所示，上述实施例提供的体验平台驱动设备还可包括：下平台20。下平台20包括底板201和设置在底板201上的支撑台202；公用齿轮305设置在支撑台202上；电机固定部件360设置在支撑台202上，且能相对支撑台202移动；固定在电机固定部件360上的直驱旋转电机380与底板201之间设有间隙X。
具体的，如图3所示，公用齿轮305可设置在支撑台202的顶部。另外，本实施例在设计时在直驱旋转电机与底板之间留出了一定的间隙的目的是为 了避免直驱旋转电机在作弧线运动时与底板发生碰撞。该间隙的大小可根据实际设备的精度调整。
进一步的，为了保证电机移动轨迹不发生偏移，所述驱动设备还包括导轨340，如图2所示。其中，导轨的铺设方式可包括如下几种方式：
方式一、导轨铺设在下平台的底板上。即在底板上铺设符合直驱旋转电机的弧形运动轨迹的导轨，各直驱旋转电机的底部安装有与导轨适配的滑块。
方式二、铺设在下平台的支撑台的侧壁上。即在支撑台的侧壁上铺设圆环形导轨，电机固定部件的上固定板和/或下固定板的朝向支撑台侧壁的侧面上设有与导轨适配的滑块。
方式三、在支撑台的顶部设置导轨。即电机固定部件的上固定板的朝向所述导轨的一端设有与导轨适配的滑块。
本发明实施例中，导轨与公用齿轮还可按照任意方式固定在下平台上，对此，本发明并不作任何限定。
下面以上述方式三提供铺设方案为例进行说明。上述方式三的一种可实现的方案是，如图2和图4所示，导轨340设置在支撑台202上，且位于所述公用齿轮305的上方。导轨340为圆环形轨；圆环形轨的中心线与公用齿轮305的中心线重合；上固定板361上设有与导轨340配合连接的滑块结构。进一步的，如图4所示，导轨340的最大外径小于公用齿轮305的最大外径，公用齿轮305设置在支撑台202的顶部。相应的，电机固定部件360的上固定板361在公用齿轮305半径方向上的尺寸要大于下固定板363的尺寸。公用齿轮305处于上固定板361和下固定板363之间，上固定板363位于公用齿轮305的上方。
本发明实施例中涉及到的导轨和滑块结构可采用现有技术中的任一种结构实现。例如，导轨上设置燕尾槽，滑块结构为与燕尾槽相适配的梯形结构。又例如，如图所示，导轨上设置渠道槽，滑块结构为与渠道槽相适配的梯形结构；等等，本发明实施例对此不作具体限定。
具体的，圆环形轨的内环上设有内环滑槽，外环设有外环滑槽；上固定 板上对应设有两个分别与所述内环滑槽和所述外环滑槽配合连接的滑块结构。
一种可实现的方案中，上述实施例中，所述至少两个滑杆350中各滑杆350的一端可通过关节轴承或球形关节部件390(如图1所示)铰接于对应的电机固定部件360的上固定板上。
本实施例中多组运动执行机构为至少三组运动执行机构，例如，如1和图2中示出的三组运动执行机构；当然，也可以是五组、六组，本发明实施例对此不作具体限定。
进一步的，上述圆环形轨可以为一体成型结构，或由两段或两段以上的弧形轨拼接形成等等，本发明实施例对此不作具体限定。
图3和图4示出了本发明另一实施例提供了一种体验平台驱动设备的结构示意图。本实施例以三组运动执行机构为例进行说明。参见图3和图4，该体验平台包括：上平台10、下平台20、三组运动执行机构30、导轨340及公用齿轮305。其中，下平台20包括底板201及设置在底板201上的支撑台202；公用齿轮305设置在支撑台202的顶部，导轨340设置在支撑台202上，且位于公用齿轮305的上方。导轨340为圆环形轨，且导轨340的最大外径小于公用齿轮305的最大外径。参见图3，每组运动执行机构30包括：两个直驱旋转电机380、两个滑杆350、四个球形关节部件390、两个行星齿轮370和两个电机固定部件360。两个直驱旋转电机380分别通过两个电机固定部件360固定于导轨340上，行星齿轮370与直驱旋转电机380轴连接，行星齿轮370与公用齿轮305外啮合。直驱旋转电机380输出旋转动力驱动行星齿轮370旋转；行星齿轮370沿公用齿轮305的外周滚动，进而带动直驱旋转电机380作弧线运动。两个滑杆350中每个滑轨的两端各通过一个球形关节部件390分别铰接于电机固定部件360的上固定板上及上平台10上。上平台10上设有六个铰接座(如用于安装球型关节部件390的安装座)，六个铰接座可均匀地分布在上平台10上。或者，参见图2，六个铰接座中两两一组形成安装座组，每个安装座组中的两个铰接座并排设置；三个安装座组均布在上平台上。当然，六个铰接座还可按照任意分布方式固定在上平台10上，本发明对此并不作出任何限定。本发明实施例中， 通过多组运动执行机构30的配合运动，实现上平台10的六自由度的运动。三组运动执行机构30中的六个直驱旋转电机与下平台的底板之间留有间隙。
需要说明的是，上述电机固定部件的具体实现、导轨的结构、导轨的铺设方式等等本实施例中未详细描述的地方可参见上述实施例中的相应内容，此处不再赘述。本实施例提供的技术方案相较于上述实施例增设了上平台，增加上平台可方便后续座椅或其他承载体的安装。举例来说，上平台上设置多个安装结构，比如卡孔，安装人员只需将座椅或其他承载体下方的卡扣对准上平台上的卡孔，然后向下按压即可完成安装。另外，上述实施例中，体验平台驱动设备包含有三组运动执行机构仅仅是作为一个示例，体验平台包含的运动执行机构的数量还可为四组、五组、六组，对此本发明并不作任何限定。
下面结合上述三组运动执行机构的实施例来说明本发明实施例提供的体验平台实现六自由度的全方位运动的过程。
本发明实施例中，预先设定一三维坐标轴，其中，设定垂直于图2示出的下平台的方向为Z轴，X、Y轴如图2中所示。
参见图2、图3和图4，当每组运动执行机构30中的两个直驱旋转电机380均沿着导轨340相互靠近或者远离对方的方向运动时，则带动每组运动执行机构30中的两个滑杆350运动，进而带动上平台10沿Z轴方向上下运动。当每组运动执行机构30中的两个直驱旋转电机380均沿着同一个方向运动，三组运动执行机构30中的6个直驱旋转电机380的运动方向组合形成一个围绕着Z轴做顺时针或者逆时针的运动时，且每组运动执行机构30中的两个直驱旋转电机380的距离保持不变，此时，三组运动执行机构30带动上平台10绕Z轴做顺时针或逆时针转动。
参见图2、图3和图4，第二运动执行机构320和第三运动执行机构330中的两个直驱旋转电机380均沿着导轨340靠近第一运动执行机构310的方向运动，第二运动执行机构320中的两个直驱旋转电机380的距离保持不变，第三运动执行机构330中的两个直驱旋转电机380的距离保持不变，且第一运动执行机构310中的两个直驱旋转电机380保持自由状态(即两个直驱旋转电机相 互靠近、远离或保持位置不动)；此时，三组运动执行机构带动上平台10沿X轴方向前后运动。当第二运动执行机构320中的两个直驱旋转电机380沿着导轨340相互靠近对方的方向运动，第三运动执行机构330中的两个直驱旋转电机380沿着导轨相互靠近对方的方向运动，第一运动执行机构310中的两个直驱旋转电机380沿着导轨相互远离对方的方向运动，此时，三组运动执行机构带动上平台10沿Y轴方向转动。
参见图2、图3和图4，第一运动执行机构310中的两个直驱旋转电机380均沿着导轨340靠近或者远离第三运动执行机构330的方向运动，且第一运动执行机构310中的两个直驱旋转电机380的距离保持不变，第二运动执行机构320中的两个直驱旋转电机380均沿着导轨340靠近或者远离第三运动执行机构330的方向运动，且第二运动执行机构320中的两个直驱旋转电机的距离保持不变，第一运动执行机构310中的两个直驱旋转电机380的运动速度小于第二运动执行机构320中的两个直驱旋转电机380的运动速度，第三运动执行机构330中的两个直驱旋转电机380保持自由状态(即两个直驱旋转电机相互靠近、远离或保持位置不动)，此时，三组运动执行机构带动上平台10沿Y轴方向左右运动。当第二运动执行机构320中的两个直驱旋转电机380沿着导轨340相互靠近对方的方向运动，第一运动执行机构310中的两个直驱旋转电机380沿着导轨340相互远离对方的方向运动，第三运动执行机构330中的两个直驱旋转电机380沿着导轨340相互远离对方的方向运动，此时，三组运动执行机构带动上平台10沿X轴方向转动。
需要说明的是，本发明实施例中，体验平台六自由度运动的实现，不仅需要控制电机的位置，还需要控制电机的运动速度。上述列举的体验平台的六自由度运动的各直驱旋转电机的具体运动情况，仅仅是作为一个示例，除上述列举的各直驱旋转电机的配合运动外，还可为各直驱旋转电机的其他配合运动，并不局限于上述列举的示例。
本发明又一实施例提供了一种虚拟现实体验椅。该虚拟现实体验椅包括：一座椅40以及体验平台驱动设备。其中，体验平台驱动设备包括：公用齿轮 及多组运动执行机构；其中，多组运动执行机构中每组运动执行机构包括：至少两个直驱旋转电机、至少两个行星齿轮及至少两个滑杆；至少两个行星齿轮分别与至少两个直驱旋转电机中各直驱旋转电机的输出轴连接；至少两个行星齿轮分别与公用齿轮啮合；至少两个行星齿轮中的一行星齿轮在与其连接的直驱旋转电机输出的旋转动力驱动下沿公用齿轮的啮合侧滚动，并带动直驱旋转电机作弧线运动；至少两个滑杆中各滑杆的一端分别与对应的一个直驱旋转电机联动，且能相对直驱旋转电机转动。座椅的底部与多组运动执行机构中的各滑杆的另一端连接。
这里需要说明的是：本实施例中的体验平台驱动设备可采用上实施例提供的结构实现，具体可参见上述实施例中的相关内容，此处不再赘述。
图5示出了本发明一实施例提供的虚拟现实体验椅的结构示意图。该实施例中体验平台驱动设备还包括上平台10。座椅40可通过上平台10上的安装结构与体验平台驱动设备连接。
本实施例提供的虚拟现实体验椅，采用上述实施例提供的体验平台，因其采用了电机和执行机构的直驱结构，取消了现有技术中的电缸、多齿条与齿轮、传动皮带与皮带轮等机械传动部件，克服了机械传动结构复杂，提高了响应速度。另外，本发明提供的虚拟现实体验椅，惯性低，克服了传统机械结构的惯性大的弊端。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种体验平台驱动设备，其特征在于，包括：公用齿轮及多组运动执行机构；其中，
    所述多组运动执行机构中每组运动执行机构包括：至少两个直驱旋转电机、至少两个行星齿轮及至少两个滑杆；
    所述至少两个行星齿轮分别与所述至少两个直驱旋转电机中各直驱旋转电机的输出轴连接；
    所述至少两个行星齿轮分别与所述公用齿轮啮合；
    所述至少两个行星齿轮中的一行星齿轮在与其连接的直驱旋转电机输出的旋转动力驱动下沿所述公用齿轮的啮合侧滚动，并带动所述直驱旋转电机作弧线运动；
    所述至少两个滑杆中各滑杆的一端分别与对应的一个直驱旋转电机联动，且能相对直驱旋转电机转动。
  2. 根据权利要求1所述的体验平台驱动设备，其特征在于，所述每组运动执行机构还包括：与所述至少两个直驱旋转电机数量相同的电机固定部件；
    所述电机固定部件包括上固定板、下固定板及连接所述上固定板和所述下固定板的侧板；
    所述上固定板、所述下固定板及所述侧板围合成容置槽；
    所述行星齿轮容置在所述容置槽内；
    所述下固定板上设有通孔；
    所述直驱旋转电机固定在所述下固定板上，且所述直驱旋转电机的输出轴通过所述通孔伸入所述容置槽内与所述行星齿轮连接；所述至少两个滑杆中的一滑杆的一端铰接于所述上固定板。
  3. 根据权利要求2所述的体验平台驱动设备，其特征在于，还包括：下平台；
    所述下平台包括底板和设置在所述底板上的支撑台；
    所述公用齿轮设置在所述支撑台上；
    所述电机固定部件设置在所述支撑台上，且能相对所述支撑台移动；
    固定在所述电机固定部件上的直驱旋转电机与所述底板之间设有间隙。
  4. 根据权利要求3所述的体验平台驱动设备，其特征在于，还包括：导轨；
    所述导轨设置在所述支撑台上，且位于所述公用齿轮的上方；
    所述导轨为圆环形轨；
    所述圆环形轨的中心线与所述公用齿轮的中心线重合；
    所述上固定板上设有与所述导轨配合连接的滑块结构。
  5. 根据权利要求4所述的体验平台驱动设备，其特征在于，所述圆环形轨为一体成型结构或由两段或两段以上的弧形轨拼接形成。
  6. 根据权利要求4或5所述的体验平台驱动设备，其特征在于，所述导轨的最大外径小于所述公用齿轮的最大外径；
    所述公用齿轮设置在所述支撑台的顶部。
  7. 根据权利要求4或5所述的体验平台驱动设备，其特征在于，所述圆环形轨的内环设有内环滑槽，外环设有外环滑槽；
    所述上固定板上对应设有两个分别与所述内环滑槽和所述外环滑槽配合连接的滑块结构。
  8. 根据权利要求1至5中任一项所述的体验平台驱动设备，其特征在于，所述多组运动执行机构为至少三组运动执行机构。
  9. 根据权利要求1至5中任一项所述的体验平台驱动设备，其特征在于，还包括：上平台；
    所述上平台上设有多个铰接座；
    所述多组运动执行机构中的各滑杆的另一端分别通过所述多个铰接座中一个铰接座与所述上平台铰接。
  10. 一种虚拟现实体验椅，其特征在于，包括：座椅及上述权利要求1至8中任一项所述的体验平台驱动设备；
    所述座椅的底部与所述多组运动执行机构中的各滑杆的另一端连接。
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