WO2022141902A1 - 一种基于虚拟现实交互的主动式六自由度运动平台 - Google Patents

一种基于虚拟现实交互的主动式六自由度运动平台 Download PDF

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Publication number
WO2022141902A1
WO2022141902A1 PCT/CN2021/085111 CN2021085111W WO2022141902A1 WO 2022141902 A1 WO2022141902 A1 WO 2022141902A1 CN 2021085111 W CN2021085111 W CN 2021085111W WO 2022141902 A1 WO2022141902 A1 WO 2022141902A1
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degree
base
support column
active
virtual reality
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PCT/CN2021/085111
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English (en)
French (fr)
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王金康
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苏州原浩兴科技有限公司
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    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G31/02—Amusement arrangements with moving substructures
    • A63G31/12—Amusement arrangements with moving substructures with inflatable and movable substructures
    • 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
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • 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
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
    • 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
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators

Definitions

  • the invention relates to the technical field of six-degree-of-freedom motion platforms, in particular to an active six-degree-of-freedom motion platform based on virtual reality interaction.
  • the object has six degrees of freedom in space, namely the movement degrees of freedom along the three rectangular coordinate axes of x, y, and z and the rotational degrees of freedom around these three coordinate axes.
  • Six degrees of freedom, especially the active six-degree-of-freedom motion platform based on virtual reality interaction is widely used in various training simulators such as flight simulators, ship simulators, naval helicopter take-off and landing simulation platforms, tank simulators, and car driving. Simulators, train driving simulators, earthquake simulators, dynamic movies, entertainment equipment and other fields, but the existing virtual reality interactive active six-degree-of-freedom motion platforms still have shortcomings in use.
  • the existing active six-degree-of-freedom motion platform for virtual reality interaction is in use, although it can perform three-degree-of-freedom attitude and three-degree-of-freedom linear displacement motion, with the increase of people's experience requirements, the original can only perform three-degree-of-freedom motion.
  • the six-degree-of-freedom motion platform with three-degree-of-freedom attitude and three-degree-of-freedom linear displacement motion has become an existing short board because it cannot perform omnidirectional rotation. For this reason, we propose an active six-degree-of-freedom motion platform based on virtual reality interaction.
  • the present invention provides an active six-degree-of-freedom motion platform based on virtual reality interaction.
  • a rotating mechanism By setting a rotating mechanism, it solves the problem that although the main body of the original device can perform three-degree-of-freedom attitude and three-degree-of-freedom linear displacement Movement, but the problem of not being able to rotate three hundred and sixty degrees, plays a role in facilitating rotation.
  • an active six-degree-of-freedom motion platform based on virtual reality interaction including a device body, the bottom end of the device body is provided with a base, and the inner side of the base is provided with a rotating mechanism , the rotating mechanism further includes a first limiting groove, the first limiting groove is opened on the top surface of the base, the bottom surface of the device main body is provided with a support column, and the bottom end of the support column is provided with a first bearing, The outer surface of the bottom end of the support column is provided with a first bevel gear, one side surface of the first bevel gear is provided with a second bevel gear, one side of the top surface of the base is provided with a mounting groove, and the inner side of the mounting groove is provided with a second bevel gear.
  • a motor one end of the motor is provided with a connecting rod, and the other end of the connecting rod is fixedly connected with the second bevel gear.
  • the top surface of the base is provided with a stabilization mechanism
  • the stabilization mechanism further includes a chute
  • the chute is opened on the top surface of the base
  • the bottom surface of the device main body is provided with a connecting block
  • the bottom surface of the connecting block is provided with a second limiting groove
  • the inner side of the second limiting groove is provided with a rotating shaft
  • the outer surface of the rotating shaft is provided with a roller.
  • the device body and the support column are fixedly connected, and the support column is located at the center point of the device body.
  • the bottom surface of the base is provided with a rubber pad, and the bottom surface of the rubber pad is provided with an anti-slip groove.
  • the rotating shaft and the roller are rotatably connected, and a second bearing is provided at the connection between the rotating shaft and the roller.
  • the roller and the chute are in rolling connection, and the cross-section of the chute is annular in plan view.
  • the main body of the device can be effectively supported in the process of rotation, which can improve the stability.
  • Fig. 1 is the overall structure schematic diagram of the present invention
  • Fig. 2 is the top view structure schematic diagram of the base of the present invention.
  • Fig. 3 is the enlarged structure schematic diagram of A place in Fig. 1 of the present invention.
  • Fig. 4 is the enlarged structural schematic diagram of the place B in Fig. 1 of the present invention.
  • an active six-degree-of-freedom motion platform based on virtual reality interaction includes a device body 1, the bottom end of the device body 1 is provided with a base 2, the inner side of the base 2 is provided with a rotating mechanism, and the rotating mechanism is also It includes a first limit slot 3, the first limit slot 3 is opened on the top surface of the base 2, the bottom surface of the device main body 1 is provided with a support column 4, the bottom end of the support column 4 is provided with a first bearing 10, and the bottom end of the support column 4
  • a first bevel gear 5 is provided on the outer surface
  • a second bevel gear 6 is provided on one side surface of the first bevel gear 5
  • a mounting groove 7 is opened on one side of the top surface of the base 2
  • a motor 8 is provided inside the mounting groove 7, and one end of the motor 8 is provided.
  • a connecting rod 9 is provided, and the other end of the connecting rod 9 is fixedly connected with the second bevel gear 6;
  • a stabilization mechanism is provided on the top surface of the base 2 , and the stabilization mechanism further includes a chute 11 , which is opened on the top surface of the base 2 , and the bottom of the device body 1
  • the end surface is provided with a connecting block 12, the bottom surface of the connecting block 12 is provided with a second limiting groove 13, the inner side of the second limiting groove 13 is provided with a rotating shaft 14, and the outer surface of the rotating shaft 14 is provided with a roller 15;
  • the motor 8 When the main body 1 of the device needs to be rotated according to the needs of the scene, the motor 8 is first started, and the motor 8 drives the connecting rod 9 to rotate.
  • the connecting rod 9 drives the first bevel gear 5 to rotate through the second bevel gear 6, and the first bevel gear 5 drives the support column 4 to rotate.
  • the support column 4 rotates in situ inside the first limit groove 3, the support column 4 rotating in place drives the device main body 1 to rotate, and the device main body 1 drives the connecting block 12 to rotate synchronously, connecting the
  • the block 12 drives the roller 15 to rotate through the rotating shaft 14, and the roller 15 rolls along the inner side of the chute 11, and the operation is completed; by setting the rotating mechanism, it solves the problem that the original device main body 1 can perform three-degree-of-freedom posture and three-degree-of-freedom linear displacement motion. , but the problem of not being able to rotate three hundred and sixty degrees plays a role in facilitating the rotation; by setting up a stabilization mechanism, the device body 1 can be effectively supported during the rotation process, which improves the stability.
  • this embodiment discloses that, as shown in Figures 1 and 3, the device body 1 and the support column 4 are fixedly connected, and the support column 4 is at the center point of the device body 1;
  • the support column 4 whose point is on the same vertical line as the center point of the device main body 1 is beneficial to be more stable when the support column 4 drives the device main body 1 to rotate, and improves the rotation effect.
  • this embodiment discloses, as shown in FIG. 1 , the bottom surface of the base 2 is provided with a rubber pad, and the bottom surface of the rubber pad is provided with a non-slip groove; , which effectively reduces the vibration during the operation of the device and improves the shock absorption effect.
  • this embodiment discloses that, as shown in FIG. 4 , the rotating shaft 14 and the roller 15 are rotatably connected, and a second bearing is provided at the connection between the rotating shaft 14 and the roller 15 ;
  • the second bearing at the connection point of 15 is beneficial to the better rotation of the roller 15 along the rotating shaft 14, which improves the rotation effect.
  • the present embodiment discloses that, as shown in FIG. 4 , the roller 15 and the chute 11 are in rolling connection, and the cross section of the chute 11 is annular in plan view; It is beneficial for the roller 15 to better move in a circular motion along the top of the base 2, which improves the limiting effect.
  • the model of the motor 8 mentioned above in this embodiment is Y132S1-2
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)
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Abstract

本发明公开了一种基于虚拟现实交互的主动式六自由度运动平台，包括装置主体，所述装置主体底端设置有底座，所述底座内侧设置有旋转机构，所述旋转机构还包括第一限位槽，所述第一限位槽开设于底座顶端表面，所述装置主体底端表面设置有支撑柱，所述支撑柱底端设置有第一轴承，所述支撑柱底端外表面设置有第一锥齿轮，所述第一锥齿轮一侧表面设置有第二锥齿轮，所述底座顶端表面一侧开设有安装槽，所述安装槽内侧设置有电机，所述电机一端设置有连接杆；通过设置了旋转机构，解决了原来装置主体虽然可以进行三自由度姿态与三自由度线位移运动，但是不能进行三百六十度的旋转的问题，起到便于旋转的作用。

Description

一种基于虚拟现实交互的主动式六自由度运动平台 技术领域
本发明涉及六自由度运动平台技术领域，特别是涉及一种基于虚拟现实交互的主动式六自由度运动平台。
背景技术
物体在空间具有六个自由度，即沿x、y、z三个直角坐标轴方向的移动自由度和绕这三个坐标轴的转动自由度，因此要完全确定物体的位置，就必须清楚这六个自由度，尤其是基于虚拟现实交互的主动式六自由度运动平台被广泛应用到各种训练模拟器如飞行模拟器、舰艇模拟器、海军直升机起降模拟平台、坦克模拟器、汽车驾驶模拟器、火车驾驶模拟器、地震模拟器以及动感电影、娱乐设备等领域，但是现有的虚拟现实交互的主动式六自由度运动平台在使用时仍然存在不足。
现有的虚拟现实交互的主动式六自由度运动平台在使用时，其虽然可以进行三自由度姿态与三自由度线位移运动，但是随着人们体验需求的增加，原有只能进行三自由度姿态与三自由度线位移运动的六自由度运动平台，因为不能进行全方位旋转成为了现有的短板，为此我们提出一种基于虚拟现实交互的主动式六自由度运动平台。
发明内容
为了克服现有技术的不足，本发明提供一种基于虚拟现实交互的 主动式六自由度运动平台，通过设置了旋转机构，解决了原来装置主体虽然可以进行三自由度姿态与三自由度线位移运动，但是不能进行三百六十度的旋转的问题，起到便于旋转的作用。
为解决上述技术问题，本发明提供如下技术方案：一种基于虚拟现实交互的主动式六自由度运动平台，包括装置主体，所述装置主体底端设置有底座，所述底座内侧设置有旋转机构，所述旋转机构还包括第一限位槽，所述第一限位槽开设于底座顶端表面，所述装置主体底端表面设置有支撑柱，所述支撑柱底端设置有第一轴承，所述支撑柱底端外表面设置有第一锥齿轮，所述第一锥齿轮一侧表面设置有第二锥齿轮，所述底座顶端表面一侧开设有安装槽，所述安装槽内侧设置有电机，所述电机一端设置有连接杆，且所述连接杆另一端与第二锥齿轮固定连接。
作为本发明的一种优选技术方案，所述底座顶端表面设置有稳定机构，所述稳定机构还包括滑槽，所述滑槽开设于底座顶端表面，所述装置主体底端表面设置有连接块，所述连接块底端表面开设有第二限位槽，所述第二限位槽内侧设置有转轴，所述转轴外表设置有滚轮。
作为本发明的一种优选技术方案，所述装置主体与支撑柱为固定连接，且所述支撑柱处于装置主体的中心点处。
作为本发明的一种优选技术方案，所述底座底端表面设置有橡胶垫，且所述橡胶垫底端表面开设有防滑沟。
作为本发明的一种优选技术方案，所述转轴与滚轮为转动连接， 且所述转轴与滚轮的连接处设置有第二轴承。
作为本发明的一种优选技术方案，滚轮与滑槽为滚动连接，所述滑槽的俯视截面呈环形。
与现有技术相比，本发明能达到的有益效果是：
1、通过设置了旋转机构，解决了原来装置主体虽然可以进行三自由度姿态与三自由度线位移运动，但是不能进行三百六十度的旋转的问题，起到便于旋转的作用。
2、通过设置了稳定机构，使得装置主体在旋转的过程中可以得到有效的支撑，起到提高稳定性的作用。
附图说明
图1为本发明的整体结构示意图；
图2为本发明底座的俯视结构示意图；
图3为本发明图1中A处的放大结构示意图；
图4为本发明图1中B处的放大结构示意图；
其中：1、装置主体；2、底座；3、第一限位槽；4、支撑柱；5、第一锥齿轮；6、第二锥齿轮；7、安装槽；8、电机；9、连接杆；10、第一轴承；11、滑槽；12、连接块；13、第二限位槽；14、转轴；15、滚轮。
具体实施方式
为了使本发明实现的技术手段、创作特征、达成目的与功效易于 明白了解，下面结合具体实施例，进一步阐述本发明，但下述实施例仅仅为本发明的优选实施例，并非全部。基于实施方式中的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得其它实施例，都属于本发明的保护范围。下述实施例中的实验方法，如无特殊说明，均为常规方法，下述实施例中所用的材料、试剂等，如无特殊说明，均可从商业途径得到。
实施例:
如图1-图3所示，一种基于虚拟现实交互的主动式六自由度运动平台，包括装置主体1，装置主体1底端设置有底座2，底座2内侧设置有旋转机构，旋转机构还包括第一限位槽3，第一限位槽3开设于底座2顶端表面，装置主体1底端表面设置有支撑柱4，支撑柱4底端设置有第一轴承10，支撑柱4底端外表面设置有第一锥齿轮5，第一锥齿轮5一侧表面设置有第二锥齿轮6，底座2顶端表面一侧开设有安装槽7，安装槽7内侧设置有电机8，电机8一端设置有连接杆9，且连接杆9另一端与第二锥齿轮6固定连接；
在其他实施例中，本实施例公开了，请如图4所示，底座2顶端表面设置有稳定机构，稳定机构还包括滑槽11，滑槽11开设于底座2顶端表面，装置主体1底端表面设置有连接块12，连接块12底端表面开设有第二限位槽13，第二限位槽13内侧设置有转轴14，转轴14外表设置有滚轮15；
根据场景需求需要旋转装置主体1时，首先启动电机8，电机8带动连接杆9转动，连接杆9通过第二锥齿轮6带动第一锥齿轮5转 动，第一锥齿轮5带动支撑柱4转动，支撑柱4在第一轴承10的作用下在第一限位槽3内侧进行原地转动，原地转动的支撑柱4带动装置主体1进行旋转，装置主体1带动连接块12同步旋转，连接块12通过转轴14带动滚轮15转动，同时滚轮15沿着滑槽11内侧滚动，操作完成；通过设置了旋转机构，解决了原来装置主体1虽然可以进行三自由度姿态与三自由度线位移运动，但是不能进行三百六十度的旋转的问题，起到便于旋转的作用；通过设置了稳定机构，使得装置主体1在旋转的过程中可以得到有效的支撑，起到提高稳定性的作用。
在其他实施例中，本实施例公开了，请如图1、图3所示，装置主体1与支撑柱4为固定连接，且支撑柱4处于装置主体1的中心点处；通过设置了中线点与装置主体1中心点处于同一垂直线的支撑柱4，有利于支撑柱4带动装置主体1旋转时更加稳定，提升了旋转效果。
在其他实施例中，本实施例公开了，请如图1所示，底座2底端表面设置有橡胶垫，且橡胶垫底端表面开设有防滑沟；通过设置了底座2底端表面的橡胶垫，有效减低了装置运行时产生的震感，提升了减震效果。
在其他实施例中，本实施例公开了，请如图4所示，转轴14与滚轮15为转动连接，且转轴14与滚轮15的连接处设置有第二轴承；通过设置了转轴14与滚轮15连接处的第二轴承，有利于滚轮15更好的沿着转轴14转动，提升了转动效果。
在其他实施例中，本实施例公开了，请如图4所示，滚轮15与滑槽11为滚动连接，滑槽11的俯视截面呈环形；通过设置了俯视截面呈环形的滑槽11，有利于滚轮15更好的沿着底座2顶端进行环形移动，提升了限位效果。
本实施例中上述所提到的电机8型号为Y132S1-2
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的仅为本发明的优选例，并不用来限制本发明，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (6)

  1. 一种基于虚拟现实交互的主动式六自由度运动平台，包括装置主体(1)，其特征在于：所述装置主体(1)底端设置有底座(2)，所述底座(2)内侧设置有旋转机构，所述旋转机构还包括第一限位槽(3)，所述第一限位槽(3)开设于底座(2)顶端表面，所述装置主体(1)底端表面设置有支撑柱(4)，所述支撑柱(4)底端设置有第一轴承(10)，所述支撑柱(4)底端外表面设置有第一锥齿轮(5)，所述第一锥齿轮(5)一侧表面设置有第二锥齿轮(6)，所述底座(2)顶端表面一侧开设有安装槽(7)，所述安装槽(7)内侧设置有电机(8)，所述电机(8)一端设置有连接杆(9)，且所述连接杆(9)另一端与第二锥齿轮(6)固定连接。
  2. 根据权利要求1所述的一种基于虚拟现实交互的主动式六自由度运动平台，其特征在于：所述底座(2)顶端表面设置有稳定机构，所述稳定机构还包括滑槽(11)，所述滑槽(11)开设于底座(2)顶端表面，所述装置主体(1)底端表面设置有连接块(12)，所述连接块(12)底端表面开设有第二限位槽(13)，所述第二限位槽(13)内侧设置有转轴(14)，所述转轴(14)外表设置有滚轮(15)。
  3. 根据权利要求1所述的一种基于虚拟现实交互的主动式六自由度运动平台，其特征在于：所述装置主体(1)与支撑柱(4)为固定连接，且所述支撑柱(4)处于装置主体(1)的中心点处。
  4. 根据权利要求1所述的一种基于虚拟现实交互的主动式六自由度运动平台，其特征在于：所述底座(2)底端表面设置有橡胶垫， 且所述橡胶垫底端表面开设有防滑沟。
  5. 根据权利要求2所述的一种基于虚拟现实交互的主动式六自由度运动平台，其特征在于：所述转轴(14)与滚轮(15)为转动连接，且所述转轴(14)与滚轮(15)的连接处设置有第二轴承。
  6. 根据权利要求2所述的一种基于虚拟现实交互的主动式六自由度运动平台，其特征在于：滚轮(15)与滑槽(11)为滚动连接，所述滑槽(11)的俯视截面呈环形。
PCT/CN2021/085111 2020-12-29 2021-04-01 一种基于虚拟现实交互的主动式六自由度运动平台 WO2022141902A1 (zh)

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