WO2024053763A1 - Dispositif de performance de mouvement de marche actif pour mise en œuvre de réalité virtuelle et son procédé de fonctionnement - Google Patents

Dispositif de performance de mouvement de marche actif pour mise en œuvre de réalité virtuelle et son procédé de fonctionnement Download PDF

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Publication number
WO2024053763A1
WO2024053763A1 PCT/KR2022/013542 KR2022013542W WO2024053763A1 WO 2024053763 A1 WO2024053763 A1 WO 2024053763A1 KR 2022013542 W KR2022013542 W KR 2022013542W WO 2024053763 A1 WO2024053763 A1 WO 2024053763A1
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WIPO (PCT)
Prior art keywords
footrest
coupled
virtual reality
timing belt
gear
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PCT/KR2022/013542
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English (en)
Korean (ko)
Inventor
최정웅
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비와일즈 주식회사
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Publication of WO2024053763A1 publication Critical patent/WO2024053763A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer

Definitions

  • the present invention relates to an active walking motion performing device and operating method for implementing virtual reality. More specifically, the ring gear, planetary gear member, and sun gear are organically combined so that when one gear operates, the other gears are also affected. It relates to an active walking motion performing device and operating method for implementing virtual reality that can control the movement of the footrest, rotation of the footrest, and rotation of the rail with minimal control.
  • Virtual reality images reproduce dynamic changes according to the virtual environment controlled by virtual reality devices, allowing users to feel the movements of virtual reality as the movements of real reality.
  • Conventional virtual reality devices allow users to experience visual and auditory senses by sitting in a seat and operating a controller according to the situation occurring on the screen.
  • treadmill devices for virtual reality or augmented reality developed to date are simply a means of assisting walking or running in one direction on flat ground.
  • the user may feel uncomfortable or may not be able to immerse themselves in virtual reality.
  • the locomotion device restricts the user to a specific position and provides only limited motion to the user, so there is a problem of imperfectly implementing the user's motion in virtual reality compared to when the user actually walks.
  • Patent Document 1 Republic of Korea Patent No. 10-2053501 (2019.12.02)
  • the purpose of the present invention to solve the above problems is to enable simultaneous movement and rotation of a pair of footrests, so that a two-footed walking motion can be performed with only two motors, using a ring gear, planetary gear member, and sun gear.
  • the angle of the footrest can also be rotated, enabling natural movement with minimal control, and an active walking movement performance device and device for implementing virtual reality that can produce a variety of more realistic walking movements. It provides a method of operation.
  • the configuration of the present invention for achieving the above object includes a footrest portion on which the user's foot rests and is rotatable; A driving unit that supports the scaffold unit and implements at least one operation of movement and rotation of the scaffold unit; and a power unit that supports the drive unit and transmits power to the drive unit, wherein the drive unit rotates in one direction or the other direction with respect to the power unit, thereby supporting the user to walk in place.
  • a driving unit that supports the scaffold unit and implements at least one operation of movement and rotation of the scaffold unit
  • a power unit that supports the drive unit and transmits power to the drive unit, wherein the drive unit rotates in one direction or the other direction with respect to the power unit, thereby supporting the user to walk in place.
  • a pair of footrest parts may be formed in a direction perpendicular to the longitudinal direction of the driving unit and may be formed to be symmetrical with respect to a center line bisecting the driving unit.
  • the footrest portion includes a step base; A foot timing pulley formed in a cylindrical shape with a protrusion extending upward by a predetermined length at the center of the upper surface and coupled to the step base; A footrest idler coupled to the lower surface of the step base; and a footrest coupled to the protrusion.
  • the driving unit includes a rail formed in a rectangular shape; Two ball screws that are coupled to the step base and rotate to move the step base, each end of which is coupled to the rail and the other end of which is a bevel gear; A ring gear coupled to the central portion of the rail; A planetary gear member coupled to the lower end of the ring gear; and a timing belt member connected to the ring gear and rotating the footrest portion according to the rotation of the ring gear.
  • the planetary gear member includes: a planetary gear coupled to a lower end of the ring gear and transmitting rotation to the ring gear; and a carrier whose upper part is coupled to the lower end of the planetary gear and whose lower part is made of a bevel gear and is formed to mesh with the bevel gear of the ball screw.
  • the timing belt member includes a timing belt coupled to a lower side of the footrest timing pulley; A driving timing pulley whose lower part is coupled to one side of the timing belt and whose upper part is formed of a gear; and a driving idler coupled to the other side of the timing belt.
  • the power unit includes a rotating shaft; A sun gear coupled to the top of the rotation shaft; a timing belt motor coupled to the rotating shaft; A ball screw motor formed of a bevel gear and coupled to the lower part of the carrier to rotate the carrier; and a case formed to surround the timing belt motor and the ball screw motor.
  • the two footrest parts move in a direction closer to or away from each other, and the rail may be fixed.
  • each of the two footrests when the timing belt motor is driven, each of the two footrests may rotate while the rail rotates.
  • the configuration of the present invention for achieving the above object includes a first step in which the power unit operates; A second step in which the driving unit coupled to the power unit operates; And it provides a method of operating an active walking motion performing device for implementing virtual reality, comprising a third step in which each of the two footrest units coupled to the driving unit approaches or is spaced apart from each other along the horizontal direction.
  • the configuration of the present invention for achieving the above object includes a first step in which the power unit operates; A second step in which the driving unit coupled to the power unit operates; An active walking motion performing device for implementing virtual reality, characterized in that it includes a third step in which the driving unit itself rotates, each of the two footrest parts rotates, and each of the two footrest parts approaches or is spaced apart from each other. Provides an operation method.
  • the rotation speed of each of the two motors provided in the power unit may be varied so that the rotation angle of each of the two footrest units may be changed.
  • the effect of the present invention according to the above configuration is that a pair of footrests can be moved and rotated at the same time, so that a walking motion on both feet can be performed with only two motors, and by using a ring gear, a planetary gear member, and a sun gear.
  • the angle of the footrest can also be rotated, allowing natural movement with minimal control, allowing for a variety of more realistic walking movements.
  • Figure 1 is a perspective view from one direction showing an active walking motion performing device for implementing virtual reality according to an embodiment of the present invention.
  • Figure 2 is an exploded perspective view from one direction showing the ability to perform active walking movements for virtual reality implementation according to an embodiment of the present invention.
  • Figure 3 is an exploded perspective view from one direction of a footrest provided in an active walking motion performing device for implementing virtual reality according to an embodiment of the present invention.
  • Figure 4 is an exploded perspective view from one direction showing the coupling relationship between the ring gear, planetary gear, carrier, and sun gear of the driving part and the operating part provided in the active walking motion performing device for implementing virtual reality according to an embodiment of the present invention.
  • Figure 5 is a perspective view from one direction showing a state in which a step base provided in an active walking motion performing device for implementing virtual reality according to an embodiment of the present invention is coupled to a ball screw and a timing belt member.
  • Figure 6 is a cross-sectional view in one direction showing a combined state of the power unit and the drive unit provided in the device for performing active walking motions for implementing virtual reality according to an embodiment of the present invention.
  • the most preferred embodiment according to the present invention includes a footrest unit on which the user's feet rest and is rotatable; A driving unit that supports the scaffold unit and implements at least one operation of movement and rotation of the scaffold unit; and a power unit that supports the drive unit and transmits power to the drive unit, wherein the drive unit rotates in one direction or the other direction with respect to the power unit, thereby supporting the user to walk in place. do.
  • Figure 1 is a perspective view from one direction showing an active walking motion performing device for implementing virtual reality according to an embodiment of the present invention
  • Figure 2 is a perspective view showing active walking motion performing for virtual reality implementation according to an embodiment of the present invention. This is an exploded perspective view of the device from one direction.
  • the active walking motion performing device 100 for implementing virtual reality includes a footrest unit 110, a drive unit 120, a power unit 130, and a bearing unit 140.
  • Figure 3 is an exploded perspective view from one direction of a footrest provided in an active walking motion performing device for implementing virtual reality according to an embodiment of the present invention.
  • the footrest unit 110 includes a step base 111, a footrest timing pulley 112, a footrest idler 113, a spring 114, a footrest 115, and a wheel 116.
  • the footrest unit 110 is rotatable when the user's foot rests on it.
  • the footrest portion 110 is formed in a pair, and the pair of footrest portions 110 are formed in a direction perpendicular to the longitudinal direction of the drive portion 120, which will be described later, to form a drive portion ( It is formed to be symmetrical about the center line that bisects 120).
  • the pair of footrest units 110 move toward or away from each other on the drive unit 120 by the ball screw 122, which will be described later.
  • the distance between any one of the pair of footrest parts 110 and the center line and the distance between the other footrest part 110 of the pair of footrest parts 110 and the center line are the same. move to do so.
  • the footrest portion 110 can be moved left or right on the rail 121 without rotating the footrest 115.
  • the operation of the footrest timing pulley 112 varies depending on the difference between the speed at which the step base 111 moves and the speed at which the timing belt 125a, which will be described later, moves.
  • the angle of the footrest 115 is determined by controlling the movement of the footrest portion 110.
  • the step base 111 has a first guide member whose central portion has a first opening open in the vertical direction and a second opening opened in a direction parallel to the driving unit 120, and which has a first guide member. It consists of a second guide member extending from the member.
  • the first guide member described above is formed in the shape of a hexahedron without a lower surface and forms an internal space.
  • a footrest timing pulley 112 is coupled to the first opening.
  • the second guide member described above is formed to extend downward from any one of the four sides of the first guide member.
  • a ball screw 122 which will be described later, is coupled to the second opening.
  • the footrest timing pulley 112 is formed in a cylindrical shape and has a protrusion extending upward by a predetermined length at the center of the upper surface, and is coupled to the step base 111.
  • the upper portion of the side of the footrest timing pulley 112 is coupled to the first opening of the step base 111.
  • the operation of the footrest timing pulley 112 varies depending on the difference between the speed at which the step base 111 moves and the speed at which the timing belt 125a, which will be described later, moves.
  • the timing belt 125a has a drive timing pulley 125b located on one side and a drive idler 125c located on the other side, and the footrest timing pulley 112 is coupled so as to contact only one side of the timing belt 125a.
  • the step idler 113 coupled to the lower surface of the first guide member of the step base 111 supports the step timing pulley 112 and the timing belt 125a to rotate in close contact with the step base by the ball screw 122.
  • the operation of the footrest timing pulley 112 varies depending on the difference between the speed at which 111 moves and the speed at which the timing belt 125a moves.
  • the footrest timing pulley 112 moves while maintaining the current angle without rotating.
  • the footrest timing pulley 112 rotates and moves counterclockwise.
  • the footrest timing pulley 112 rotates and moves clockwise.
  • the footrest idler 113 is coupled to the lower surface of the step base 111, and specifically, is coupled to the lower surface of the first guide member of the step base 111.
  • the spring 114 is coupled to the protrusion of the footrest timing pulley 112.
  • the footrest 115 is coupled to the protrusion and spring 114 of the footrest timing pulley 112.
  • the footrest 115 and the footrest timing pulley 112 are integrated by the spring 114, so that the footrest 115 moves together according to the rotation of the footrest timing pulley 112. It rotates, and when the user lifts his foot and moves his foot, the footrest 115 is separated from the footrest timing pulley 112 and rotates freely.
  • the footrest 115 is rotated at the same angle as the rotation angle of the rail 121 but in the opposite direction.
  • the footrest 115 maintains the angle before the rail 121 and the footrest 115 rotate from the user's perspective.
  • the rotation angle ( ⁇ 1 ) of the scaffold 115 is calculated by [Equation 2] below.
  • ⁇ 1 - N 2 x ⁇ 2
  • the reason why the equation is negative means that the rotation direction of the footrest 115 and the rotation direction of the ring gear 123, which will be described later, are opposite to each other.
  • the wheel 116 is coupled to the side of the first guide member of the step base 111.
  • the wheels 116 are formed in plural pieces.
  • a plurality of wheels 116 are respectively coupled to both sides of the side of the first guide member located parallel to the longitudinal direction of the rail 121 so that the footrest portion 110 is connected to the rail 121. Allows movement in the longitudinal direction.
  • the driving unit 120 includes a rail 121, a ball screw 122, a ring gear 123, a planetary gear member 124, and a timing belt member 125.
  • the driving unit 120 supports the footrest unit 110 and implements at least one of movement and rotation of the footrest unit 110.
  • the driving unit 120 supports the user's walking in place by rotating in one direction or the other with respect to the power unit 130, which will be described later.
  • the rail 121 is formed in a rectangular shape.
  • Both ends of the rail 121 extend downward to form third openings that are open in a direction parallel to the second opening, and a fourth opening that is open in the vertical direction is formed in the central portion.
  • a rail perforation is formed in the rail 121, and a part of the step base 111 is inserted into the rail perforation, so that the footrest unit 110 moves within the range of the rail perforation formed in the rail 121. do.
  • the rail 121 supports the user's weight and serves to limit the movement of the footrest unit 110 so that it does not deviate from the radius.
  • the rail 121 and the wheel 116 are used as a means of supporting the footrest 110 and limiting the radius at which the footrest 110 can move, but the roller 121 is not limited thereto. And it may be composed of a combination of rods, linear bearings and rods, ball screws, TM screws, etc.
  • the ball screw 122 is formed of two pieces.
  • the ball screw 122 is coupled to the step base 111 and moves the step base 111 as it rotates.
  • One end of each ball screw 122 is coupled to the rail 121, and the other end is made of a bevel gear.
  • the ball screw 122 is inserted into the second opening of the step base 111, and one end is coupled to the third opening of the rail 121.
  • the bevel gears formed on the other ends of the two ball screws 122 are coupled to the lower part of the carrier 124b so as to face each other, and are rotated by the ball screw rotor 134a, which will be described later, so that the two ball screws 122 rotate at the same rotational speed, but in opposite directions.
  • the pair of footrest parts 110 each coupled to the two ball screws 122 rotate at the same rotational speed, but are formed as a pair of footplates by the two ball screws 122 rotating in opposite directions.
  • the other foothold part 110 of the pair of footrest parts 110 moves in the other direction or one direction and moves symmetrically to each other. I do it.
  • a separate transmission may be installed to move the footrest 115.
  • the ball screw 122 is used as a means to move the footrest 110, but it is not limited thereto and may be composed of a timing belt, timing chain, TM screw, etc.
  • a bevel gear is used to move a pair of footrests 110 symmetrically to each other or to rotate the footrest 115, but the present invention is not limited to this, and the configured bevel gear Instead of using a spur gear, the footrest portion 110 can be moved and the footrest 115 can be rotated.
  • a spur gear and a timing belt are used instead of the bevel gear of the ball screw motor 134, the bevel gear of the carrier 124b, and the ball screw 122, which are configured to move the pair of footrests 110 symmetrically. It can be configured with a spur gear and a timing belt instead of the bevel gear of the carrier 124b configured to rotate the footrest 115.
  • a footrest moving timing belt configuration consisting of another timing belt for moving the footrest portion 110, such as the timing belt member 125 coupled to rotate the footrest portion 115 described above, is formed so that the footrest portion 110 and a spur gear, and the spur gear is connected to the ball screw motor 134.
  • the ball screw motor 134 rotates and transmits rotation to the spur gear, and moves the footrest movement timing belt connected to the spur gear, thereby moving the pair of footplate parts 110, respectively.
  • the ring gear 123 is coupled to the central portion of the rail 121.
  • the ring gear 123 is coupled to the fourth opening formed in the central portion of the rail 121.
  • Figure 4 is an exploded perspective view from one direction showing the coupling relationship between the ring gear, planetary gear, carrier, and sun gear of the driving part and the operating part provided in the active walking motion performing device for implementing virtual reality according to an embodiment of the present invention.
  • the planetary gear member 124 includes a planetary gear 124a and a carrier 124b.
  • the planetary gear member 124 is coupled to the lower end of the ring gear 123.
  • the upper part of the planetary gear member 124 is coupled with the ring gear 123.
  • the lower part of the planetary gear member 124 is connected to the ball screw 122 and the ball screw rotor 134a, and the inner surface is connected to the sun gear 132.
  • the rotation received from the sun gear 132 is transmitted to the ring gear 123, or the rotation received from the ball screw rotor 134a is transmitted to the ball screw 122.
  • the planetary gear 124a is coupled to the lower end of the ring gear 123 and transmits rotation to the ring gear 123.
  • the upper part of the carrier 124b is coupled to the lower end of the planetary gear 124a, and the lower part is made of a bevel gear and is formed to engage with the bevel gear of the ball screw 122.
  • the lower part of the carrier 124b is formed to engage with the ball screw rotor 134a, so as the ball screw rotor 134a rotates, the carrier 124b rotates and rotates the ball screw 122.
  • Figure 5 is a perspective view from one direction showing a state in which a step base provided in an active walking motion performing device for implementing virtual reality according to an embodiment of the present invention is coupled to a ball screw and a timing belt member.
  • the timing belt member 125 includes a timing belt 125a, a driving timing pulley 125b, and a driving idler 125c.
  • the timing belt member 125 is connected to the ring gear 123 and rotates the footrest portion 110 according to the rotation of the ring gear 123.
  • the timing belt member 125 described above serves to adjust the angle of the footrest 115.
  • timing belt member 125 is formed in two pieces.
  • the timing belt (125a) is coupled to the lower side of the footrest timing pulley (112).
  • the lower part of the driving timing pulley 125b is coupled to one side of the timing belt 125a and the upper part is formed of a gear.
  • the two driving timing pulleys 125b are positioned to face each other and the ring gear 123 is positioned between the two driving timing pulleys 125b, and the upper part of the ring gear 123 and the two driving timing pulleys 125b ) are coupled so as to engage each other, so that as the ring gear 123 rotates, the two drive timing pulleys (125b) rotate together and move the two timing belts (125a) simultaneously.
  • the drive idler 125c is coupled to the other side of the timing belt 125a.
  • a separate motor and transmission may be mounted on the timing belt member 125.
  • Figure 6 is a cross-sectional view in one direction showing a combined state of the power unit and the drive unit provided in the device for performing active walking motions for implementing virtual reality according to an embodiment of the present invention.
  • the power unit 130 includes a rotation shaft 131, a sun gear 132, a timing belt motor 133, a ball screw motor 134, and a case 135.
  • the power unit 130 supports the drive unit 120 and transmits power to the drive unit 120.
  • the rotation axis 131 is fixed to the ground.
  • the rotation axis 131 has a circular lower end and a central portion extending upward.
  • the sun gear 132 is coupled to the top of the rotation shaft 131.
  • the sun gear 132 is connected to the timing belt rotor 133a, which will be described later, and rotates together as the timing belt rotor 133a rotates.
  • the sun gear 132 is coupled to mesh with the planetary gear 124a and transmits the rotation received from the timing belt rotor 133a to the planetary gear 124a.
  • the above-described ring gear 123 and carrier 124b and the carrier 124b and sun gear 132 are connected to each other and are connected to one of the ring gear 123, the carrier 124b and the sun gear 132.
  • the driving timing pulley (125b) is connected to the ring gear 123
  • the ball screw 122 is connected to the carrier (124b)
  • the timing belt rotor (133a) As it is connected to the sun gear 132, when the ball screw 122 operates, the drive timing pulley 125b also operates at the same time, or when the timing belt rotor 133a operates, the drive timing pulley 125b also operates at the same time. I do it.
  • the timing belt motor 133 includes a timing belt rotor 133a and a timing belt stator 133b.
  • the timing belt motor 133 is coupled to the rotation shaft 131.
  • the timing belt motor 133 serves to rotate the timing belt rotor 133a to rotate the case 135 to which the timing belt stator 133b is coupled and the rail 121 coupled to the case 135. .
  • the sun gear 132 rotates, and as the sun gear 132 rotates and rotates the drive timing pulley 125b, the footrest 115 rotates.
  • each of the two footrests 115 may rotate while the rail 121 rotates.
  • the footrest unit 110 can rotate the rail 121 without moving.
  • the drive timing pulley 125b rotates, thereby moving the timing belt 125a.
  • the footrest 110 since the ball screw 122 is in a stationary state, the footrest 110 does not move, and the footrest 115 rotates clockwise or counterclockwise depending on the moving direction of the timing belt 125a.
  • the footrest 115 since there should be no rotation of the footrest 115 due to the rotation of the rail 121, the footrest 115 is also rotated by the angle at which the rail 121 is rotated, but the footrest 115 is rotated in the opposite direction to the direction in which the rail 121 is rotated. (115) should rotate.
  • the timing belt rotor 133a is a rotating body coupled to the lower part of the rotating shaft 131.
  • the timing belt rotor 133a is connected to the sun gear 132 and transmits rotation to the sun gear 132.
  • the timing belt stator (133b) is formed to surround the outside of the timing belt rotor (133a).
  • the timing belt stator 133b described above is combined with a case 135 to be described later.
  • the timing belt stator 133b rotates the case 135 by the rotation of the timing belt rotor 133a.
  • timing belt motor 133 may be equipped with a separate transmission.
  • the ball screw motor 134 includes a ball screw rotor 134a and a ball screw stator 134b.
  • the ball screw motor 134 is formed as a bevel gear and is coupled to the lower part of the carrier 124b to rotate the carrier 124b.
  • the two footrest parts 110 move in a direction closer to or away from each other, and the rail 121 is fixed.
  • the footrest portion 110 moves, but the angle of the footrest does not change.
  • the timing belt motor 133 when the timing belt motor 133 is not driven and the ball screw motor 134 is driven, the ball screw motor 134 rotates the carrier 124b, and the carrier 124b rotates the ball screw 122. ) is rotated.
  • the moving speed of the step base 111 and the timing belt (When the moving speed of 125a) is the same, the footrest timing pulley 112 moves while maintaining the current angle without rotating.
  • the ball screw rotor 134a is located inside the case 135.
  • the ball screw rotor 134a has one end formed of a bevel gear, and one end of the ball screw rotor 134a is coupled to the lower part of the carrier 124b to rotate the carrier 124b, thereby rotating the ball screw 122. rotate together.
  • the ball screw stator 134b is formed to surround the outside of the ball screw rotor 134a.
  • the case 135 is formed to surround the timing belt motor 133 and the ball screw motor 134.
  • the upper part of the case 135 described above is coupled to the central part of the lower surface of the rail 121, and a fifth opening is formed on the side to be located at the same height as the third opening.
  • the bearing unit 140 includes a first bearing 141, a second bearing 142, a third bearing 143, a fourth bearing 144, a fifth bearing 145, a sixth bearing 146, and a seventh bearing. It includes a bearing 147, an eighth bearing 148, and a ninth bearing 149.
  • the bearing unit 140 serves to fix the rotating body in a certain position, support the rotating shaft, and reduce friction.
  • the first bearing 141 is coupled between the first opening and the footrest timing pulley 112 at a position where the first opening of the step base 111 and the lower part of the footrest timing pulley 112 are coupled. do.
  • the second bearing 142 is located at both ends of the ball screw 122, is positioned and coupled between one end of the ball screw 122 and the third opening of the rail 121, and is connected to the other end of the ball screw 122. It is located between the cases 135 and combined.
  • the third bearing 143 is located inside the ring gear 123, and is located between the upper end of the rotating shaft 131 and the ring gear 123 at a position where the upper end of the rotating shaft 131 and the lower end of the ring gear 123 contact. is combined with
  • the fourth bearing 144 is coupled between the inner surface of the carrier 124b and the rotating shaft 131 at a position where the inner surface of the carrier 124b and the rotating shaft 131 come into contact with each other.
  • the fifth bearing 145 is coupled between the ring gear 123 and the fourth opening at a position where the ring gear 123 is coupled with the fourth opening formed in the center of the rail 121.
  • the sixth bearing 146 is formed of two, one is coupled between the outside of the carrier 124b and the inside of the case 135 to secure the carrier 124b to the case 135, and the other is connected to the case 135. ) is coupled between the rotary shaft 131 and the case 135 at a position where the lower portion of the rotating shaft 131 located inside the case 135 is coupled with the lower inner portion of the case 135.
  • the seventh bearing 147 is formed of two, one is coupled between the case 135 and the rotating shaft 131 at a position where the inner center of the case 135 and the rotating shaft 131 come into contact, and the other is connected to the timing belt.
  • the timing belt is coupled between the rotor 133a and the case 135 at a location where the rotor 133a and the inside of the case 135 come into contact.
  • the eighth bearing 148 is formed of two pieces, and both of them are coupled between the ball screw rotor 134a and the case 135 at a position where the inside of the ball screw rotor 134a and the case 135 come into contact with each other to form a ball screw rotor. It serves to secure (134a) to the case (135).
  • the ninth bearing 149 is coupled between the lower end of the rotating shaft 131 exposed to the outside of the case 135 and the outside of the case 135.
  • the ball screw motor 134 can be driven.
  • the ball screw motor 134 has one end formed of a bevel gear, and as the ball screw motor 134 rotates, the bevel gear rotates.
  • the carrier 124b connected to the ball screw motor 134 may rotate.
  • the lower part of the carrier 124b is formed of a bevel gear, and the bevel gear of the ball screw motor 134 and the bevel gear formed at the lower part of the carrier 124b are connected to rotate the carrier 124b.
  • the two ball screws 122 connected to the carrier 124b and formed on both sides of the carrier 124b may rotate.
  • the other end of the ball screw 122 is formed as a bevel gear, and the lower bevel gear of the carrier 124b is connected to the bevel gear of the ball screw 122, so that the ball screw 122 rotates as the carrier 124b rotates. It rotates.
  • each of the two footrest parts 110 coupled to each of the two ball screws 122 may be approached or spaced apart from each other along the horizontal direction.
  • the two ball screws 122 rotate at the same rotational speed but in opposite directions, and the two foot plates coupled to the two ball screws 122 by the rotation method of the ball screws 122 (110) moves symmetrically with respect to each other, and accordingly, the two footrest parts 110 approach or are spaced apart from each other.
  • the footrest 115 does not rotate and maintains the current angle as the footrest timing pulley 112 does not rotate. And the footrest unit 110 moves.
  • the user's feet are seated on the footrest 115, allowing the user to perform an action of opening or closing the legs.
  • the timing belt motor 133 and the ball screw motor 134 can be driven.
  • the timing belt motor 133 is driven, the rail 121 and the footrest 115 are rotated, and as the ball screw motor 134 is driven, the footrest portion 110 is moved.
  • the rail 121 rotates, and the sun gear 132 connected to the timing belt motor 133 and the carrier 124b connected to the ball screw motor 134 may rotate. .
  • the rail 121 is rotated by the timing belt motor 133, and the rotation shaft 131 coupled to the timing belt motor 133 rotates, rotating the sun gear 132 connected to the rotation shaft 131, and the ball
  • the bevel gear formed on one end of the screw motor 134 and the bevel gear formed on the lower part of the carrier 124b are connected so that the carrier 124b rotates as the ball screw motor 134 rotates.
  • the planetary gear 124a is rotated by the rotation of the sun gear 132, and the two ball screws formed on both sides of the carrier 124b are rotated by the rotation of the carrier 124b. (122) can rotate.
  • each of the two footrests 115 coupled to the two timing belt members 125 performs rotation, and the two footrests coupled to each of the two ball screws 122
  • Each of the units 110 may be close to or spaced apart from each other.
  • the rotation speed of the timing belt motor 133 or the rotation speed of the ball screw motor 134 may vary, so that the rotation angle of each of the two footrests 115 may be changed.
  • timing belt member 125 and the footrest timing pulley 112 are connected, and as the footrest timing pulley 112 rotates by the timing belt member 125, the footrest 115 rotates, and two As the ball screws 122 rotate at the same rotational speed but in opposite directions, the two footrest parts 110 coupled to the two ball screws 122 move symmetrically and become closer to or spaced apart from each other. .
  • the rotation of the footrest 115 occurs as the operation of the footrest timing pulley 112 changes due to the difference between the moving speed of the footrest portion 110 and the moving speed of the timing belt 125a. do.
  • the footrest timing pulley 112 rotates counterclockwise, and the moving speed of the footrest portion 110 increases with the timing belt.
  • the moving speed of (125a) is smaller, the footrest timing pulley (112) rotates clockwise.
  • the footrest 115 when the rail 121 rotates, the footrest 115 is rotated at the same angle as the rotation angle of the rail 121 but in the opposite direction, so that when the user's foot is seated on the footrest 115, From the user's perspective, the footrest 115 maintains the angle it had before the rail 121 and the footrest 115 rotate.
  • step base

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un dispositif de performance de mouvement de marche actif pour une mise en œuvre de réalité virtuelle et son procédé de fonctionnement, le dispositif de performance de mouvement de marche actif comprenant : une unité de repose-pied rotative sur laquelle le pied d'un utilisateur est assis de manière stable ; une unité d'entraînement qui supporte l'unité de repose-pieds et met en œuvre au moins un mouvement parmi le mouvement et la rotation de l'unité de repose-pieds ; et une unité d'alimentation qui supporte l'unité d'entraînement et transmet de l'énergie à l'unité d'entraînement, en permettant un mouvement naturel avec une commande minimale, il est possible de produire une variété de mouvements de marche plus réalistes.
PCT/KR2022/013542 2022-09-08 2022-09-08 Dispositif de performance de mouvement de marche actif pour mise en œuvre de réalité virtuelle et son procédé de fonctionnement WO2024053763A1 (fr)

Applications Claiming Priority (2)

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KR1020220114092A KR102521686B1 (ko) 2022-09-08 2022-09-08 가상현실 구현을 위한 능동 보행동작 수행장치 및 이의 동작 방법
KR10-2022-0114092 2022-09-08

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WO2024053763A1 true WO2024053763A1 (fr) 2024-03-14

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001087415A (ja) * 1999-09-24 2001-04-03 Hiroo Iwata 仮想歩行装置
KR100841177B1 (ko) * 2007-05-04 2008-06-24 경상대학교산학협력단 상지 연동형 보행 재활로봇
KR20120016178A (ko) * 2006-09-25 2012-02-22 파나소닉 전공 주식회사 타동식 운동 보조 장치
KR20150104391A (ko) * 2014-03-05 2015-09-15 한국과학기술연구원 회전3자유도 및 병진3자유도 기반의 보행 재활 훈련 장치
KR20180041881A (ko) * 2016-10-17 2018-04-25 대구대학교 산학협력단 웨어러블 센서를 포함하는 중증 장애자용 보행 재활 장치

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107943289B (zh) * 2017-11-16 2020-11-06 陈昭胜 Vr行走机构以及在虚拟现实场景中行走的方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001087415A (ja) * 1999-09-24 2001-04-03 Hiroo Iwata 仮想歩行装置
KR20120016178A (ko) * 2006-09-25 2012-02-22 파나소닉 전공 주식회사 타동식 운동 보조 장치
KR100841177B1 (ko) * 2007-05-04 2008-06-24 경상대학교산학협력단 상지 연동형 보행 재활로봇
KR20150104391A (ko) * 2014-03-05 2015-09-15 한국과학기술연구원 회전3자유도 및 병진3자유도 기반의 보행 재활 훈련 장치
KR20180041881A (ko) * 2016-10-17 2018-04-25 대구대학교 산학협력단 웨어러블 센서를 포함하는 중증 장애자용 보행 재활 장치

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