WO2024066246A1 - 一种钵体滚珠高自由度结构及ar全地形步行模拟器 - Google Patents

一种钵体滚珠高自由度结构及ar全地形步行模拟器 Download PDF

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Publication number
WO2024066246A1
WO2024066246A1 PCT/CN2023/083361 CN2023083361W WO2024066246A1 WO 2024066246 A1 WO2024066246 A1 WO 2024066246A1 CN 2023083361 W CN2023083361 W CN 2023083361W WO 2024066246 A1 WO2024066246 A1 WO 2024066246A1
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WIPO (PCT)
Prior art keywords
ball
bowl
motor
bowl body
push rod
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PCT/CN2023/083361
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English (en)
French (fr)
Inventor
梁源
Original Assignee
梁源
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Publication date
Priority claimed from CN202222567986.3U external-priority patent/CN219149151U/zh
Priority claimed from CN202211185058.9A external-priority patent/CN115614609A/zh
Application filed by 梁源 filed Critical 梁源
Publication of WO2024066246A1 publication Critical patent/WO2024066246A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand

Definitions

  • the present invention relates to the field of AR technology, and in particular to a bowl-shaped ball high-freedom structure and an AR all-terrain walking simulator.
  • the speed of people wearing the equipment is analyzed, and the behavior is predicted, and the positioning is calibrated with the game terrain simulated by this machine.
  • the motors of the ball and the digging structure are controlled to offset the friction of people walking, so as to achieve the effect of people walking on it like a treadmill.
  • the present invention provides a bowl-shaped ball high-freedom structure, which can realize that the object directly above the ball can have the freedom of the three axes of XYZ through mechanical equipment such as a push rod and a ball motor, achieving a realistic simulation effect, and the arrangement of the contact surface is tighter than that of the manipulator structure with the same degree of freedom on the market;
  • the present invention also provides an AR all-terrain walking simulator, which can simulate people walking in specific scenes such as fields, cities, gravel roads, escalators, etc., achieving a realistic simulation effect, and the arrangement of the contact surface of the manipulator structure with the same degree of freedom on the market is tighter.
  • the present invention provides the following technical solutions:
  • a bowl body ball high degree of freedom structure comprising a bowl body ball structure and an electric push rod arranged for supporting the bowl body ball structure;
  • the bowl body ball structure comprises a bowl body and a ball rotatably arranged in the bowl body, and an electric push rod for supporting the bowl body;
  • the lower end of the bowl body is fixedly connected to a connecting sleeve, and the lower end of the connecting sleeve is movably connected to the upper end of the electric push rod;
  • the bowl body is in the shape of a hemispherical shell, and a rotating shaft is transversely arranged inside it, the rotating shaft passes through the center of the ball, and the rotating two ends are rotatably connected to the rotating shaft holes located on both sides of the bowl body;
  • a first driving mechanism for driving the ball to rotate is provided on the connecting sleeve; and a second driving mechanism for driving the bowl body to rotate on the electric push rod is provided at the lower part of the connecting sleeve.
  • the first driving mechanism includes a first motor, which is fixedly connected to the upper outer side of the connecting sleeve through a first motor fixing plate; the output end of the first motor passes through the first motor fixing plate and is connected to a gear; a through groove is provided on one side of the lower end surface of the bowl body, and a circle of tooth grooves is provided on the surface of the ball bearing, and the upper part of the gear passes through the through groove and engages with the tooth grooves on the ball bearing for transmission.
  • the direction of the through groove is perpendicular to the direction of the rotating shaft, so as to ensure that the ball rotates around the rotating shaft.
  • the second driving mechanism includes a second motor, which is fixedly mounted on a second motor fixing plate, and the upper and lower parts of the second motor fixing plate on a side away from the second motor are provided with connecting ears, the upper connecting ear is fixedly connected to the outer side of a connecting sleeve, and the lower connecting ear is annularly sleeved on the outer side of the electric push rod; the output end of the second motor passes through the second motor fixing plate and is connected to a worm gear, and the upper end of the electric push rod is fixedly connected to a worm gear, and the worm gear and the worm gear are meshingly transmitted.
  • a second motor which is fixedly mounted on a second motor fixing plate, and the upper and lower parts of the second motor fixing plate on a side away from the second motor are provided with connecting ears, the upper connecting ear is fixedly connected to the outer side of a connecting sleeve, and the lower connecting ear is annularly sleeved on the outer side of the electric push rod;
  • the top platform of the bowl structure is wrapped with leather material to assist the balls in simulating friction.
  • An AR all-terrain walking simulator comprises a base structure and a plurality of bowl-shaped ball structures arranged on the base structure; the plurality of bowl-shaped ball structures are divided into two groups, and the two groups of bowl-shaped ball structures are distributed in a rectangular array; and the two groups of bowl-shaped ball structures are arranged in a staggered manner so that the plurality of bowl-shaped ball structures are closely arranged; the bowl-shaped ball structures of one group are supported by a first telescopic structure, and the bowl-shaped ball structures of the other group are supported by a second telescopic structure; the propulsion strokes of the first telescopic structure and the second telescopic structure are unequal, and the first telescopic structure and the second telescopic structure are used to enable the plurality of bowl-shaped ball structures to simulate different terrains.
  • the base structure comprises a lower base plate and an upper base plate, and the lower base plate and the upper base plate are arranged in parallel.
  • the first telescopic structure is a first electric push rod
  • the second telescopic structure is a second electric push rod
  • the lower sleeve portion of the first telescopic structure is fixedly installed between the lower base plate and the upper base plate by bolts, and the upper telescopic portion thereof passes through the upper base plate and is connected to the bowl body ball structure.
  • the sleeve portion at the lower end of the second telescopic structure is fixedly mounted on the upper base plate by bolts, and the fixed telescopic portion at the upper end is connected to the bowl ball structure.
  • the bowl body ball structure includes a bowl body and a ball rotatably arranged in the bowl body; the lower end of the bowl body is fixedly connected to a connecting sleeve, and the lower end of the connecting sleeve is movably connected to the upper end of the electric push rod; the bowl body is in the shape of a hemispherical shell, and a rotating shaft is horizontally arranged inside it, the rotating shaft passes through the center of the ball, and the rotating ends are rotatably connected in the rotating shaft holes located on both sides of the bowl body; a first driving mechanism for driving the ball to rotate is provided on the upper part of the connecting sleeve; and a second driving mechanism for driving the bowl body to rotate on the electric push rod is provided at the lower part of the connecting sleeve.
  • the first driving mechanism includes a first motor, which is fixedly connected to the upper outer side of the connecting sleeve through a first motor fixing plate; the output end of the first motor passes through the first motor fixing plate and is connected to a gear; a through groove is provided on one side of the lower end surface of the bowl body, and a circle of tooth grooves is provided on the surface of the ball bearing, and the upper part of the gear passes through the through groove and engages with the tooth grooves on the ball bearing for transmission.
  • the direction of the through groove is perpendicular to the direction of the rotating shaft, so as to ensure that the ball rotates around the rotating shaft.
  • the second driving mechanism includes a second motor, which is fixedly mounted on a second motor fixing plate, and the upper and lower parts of the second motor fixing plate on a side away from the second motor are provided with connecting ears, the upper connecting ear is fixedly connected to the outer side of a connecting sleeve, and the lower connecting ear is annularly sleeved on the outer side of the electric push rod; the output end of the second motor passes through the second motor fixing plate and is connected to a worm gear, and the upper end of the electric push rod is fixedly connected to a worm gear, and the worm gear and the worm gear are meshingly transmitted.
  • a second motor which is fixedly mounted on a second motor fixing plate, and the upper and lower parts of the second motor fixing plate on a side away from the second motor are provided with connecting ears, the upper connecting ear is fixedly connected to the outer side of a connecting sleeve, and the lower connecting ear is annularly sleeved on the outer side of the electric push rod;
  • the top platform of the bowl structure is wrapped with leather material to assist the balls in simulating friction.
  • the present invention has the following beneficial effects:
  • the present invention provides a bowl-shaped ball bearing high degree of freedom structure, which can realize the object directly above the ball bearing to have the degrees of freedom of the three axes of XYZ through the electric push rod, the ball bearing, the motor and other mechanical equipment.
  • the electric push rod is used to realize the automatic degree of movement up and down the Z axis
  • the bowl-shaped structure is used to realize the 360-degree degree of freedom in the XY plane around the cylinder in the horizontal direction.
  • the motor drives the gear, and the gear drives the ball bearing to rotate around the horizontal axis to provide friction to the object above the device.
  • the present invention also provides an AR all-terrain walking simulator, which has the following beneficial effects:
  • This AR all-terrain walking simulator uses telescopic structure push rods with different strokes to drive several bowl-shaped ball structures to move up and down, which can simulate people walking in specific scenes such as fields, cities, gravel roads, escalators, etc., achieving a realistic simulation effect.
  • This AR all-terrain walking simulator uses mechanical devices such as electric push rods, balls, and motors to enable objects that are directly above the balls to have three degrees of freedom in the XYZ axes.
  • the electric push rods are used to achieve automaticity up and down the Z axis
  • the bowl structure is used to achieve 360 degrees of freedom in the XY plane around the cylinder in the horizontal direction.
  • the motor drives the gears, and the gears drive the balls to rotate around the horizontal axis to provide friction to the objects above the device.
  • FIG1 shows a schematic diagram of the overall structure of Embodiment 1 of the present invention
  • FIG2 shows a schematic diagram of the bowl ball structure of the first embodiment of the present invention
  • FIG3 shows a schematic diagram of the bowl structure of the first embodiment of the present invention
  • FIG4 shows a schematic diagram of the overall structure of Embodiment 2 of the present invention.
  • FIG5 shows a front view of the overall structure of the second embodiment of the present invention.
  • FIG6 shows a top view of the overall structure of the second embodiment of the present invention.
  • FIG7 shows a schematic diagram of the first telescopic structure and the bowl ball structure in the second embodiment of the present invention
  • FIG8 is a schematic diagram showing the second telescopic structure and the bowl ball structure in the second embodiment of the present invention.
  • Embodiment 1 of the present invention discloses a bowl body ball high degree of freedom structure, including a bowl body ball structure 5 and an electric push rod 4 arranged for supporting the bowl body ball structure 5,
  • the bowl body ball structure 5 includes a bowl body 501 and a ball 502 rotatably arranged in the bowl body 501;
  • a connecting sleeve 505 is fixedly connected to the lower end of the bowl body 501, and the lower end of the connecting sleeve 505 is movably connected to the upper end of the electric push rod 4, and the electric push rod 4 is used to realize lifting and lowering in the vertical direction (automaticity of the Z axis up and down);
  • the bowl body 501 is in the shape of a hemispherical shell, and a rotating shaft 503 is horizontally arranged inside it, the rotating shaft 503 passes through the center of the ball 502, and the rotating two ends are rotatably connected in the rotating shaft holes 5012 located on both sides of the bowl body 501;
  • the first driving mechanism includes a first motor 510, which is fixedly connected to the upper outer portion of the connecting sleeve 505 via a first motor fixing plate 511; the output end of the first motor 510 passes through the first motor fixing plate 511 and is connected to a gear 504; a through groove 5011 is provided on one side of the lower end surface of the bowl body 501, a circle of tooth grooves is provided on the surface of the ball 502, and the upper portion of the gear 504 passes through the through groove 5011 and meshes with the tooth grooves on the ball 502 for transmission;
  • the direction of the through slot 5011 is perpendicular to the direction of the rotating shaft 503 , thereby ensuring that the ball 502 rotates around the rotating shaft 503 .
  • the gear 504 When the first motor 510 rotates, the gear 504 is driven to rotate, and the rotation of the gear 504 drives the ball 502 to rotate around the horizontal axis (ie, rotate in the XZ plane), thereby providing friction to the object above the device.
  • the second driving mechanism includes a second motor 508, which is fixedly mounted on a second motor fixing plate 509.
  • the second motor fixing plate 509 is provided with connecting ears 5091 on the upper and lower parts of the side away from the second motor 508.
  • the upper connecting ear 5091 is fixedly connected to the outer side of the connecting sleeve 505, and the lower connecting ear 5091 is annularly sleeved on the outer side of the electric push rod 4.
  • the output end of the second motor 508 passes through the second motor fixing plate 509 and is connected with a worm gear 507.
  • the upper end of the electric push rod 4 is fixedly connected with a worm 506, and the worm gear 507 and the worm gear 506 are meshed for transmission.
  • the worm gear 507 When the second motor rotates, the worm gear 507 is driven to rotate. Since the worm 506 is fixedly connected to the electric push rod, the rotation of the worm gear 507 enables the worm gear 507, the second motor fixing plate 509, the connecting sleeve 505 and the bowl body 501 to realize 360 degrees of freedom in the XY plane in the horizontal direction around the electric push rod. At the same time, the electric push rod can drive it to move up and down along the Z axis, so that the object directly above the ball 502 can have three degrees of freedom in the X, Y, and Z axes.
  • the top platform of the bowl body 501 structure is wrapped with leather material, and the auxiliary ball 502 simulates friction.
  • first driving mechanism can be changed to a chain or other transmission method to realize the rotation of the ball 502
  • second driving mechanism can also be changed to a chain or other transmission method to realize the overall rotation of the bowl body 501, all of which belong to the protection scope of this application.
  • the working principle of the present invention is as follows: when in use, several bowl-shaped ball bearing high-degree-of-freedom structures are formed into a rectangular array and installed on the base of an AR all-terrain walking simulator, or on a landing simulation of an alien lander during medical rehabilitation training and aerospace; the ball bearing surfaces of several bowl-shaped ball bearing high-degree-of-freedom structures form an adjustable and changeable support surface; when the object at its upper end contacts the object on the support surface, the electric push rod, the first motor, and the second motor drive the ball bearing 502 to move in the X, Y, and Z axis directions, so that the object directly above the ball bearing 502 can have the degrees of freedom of the three axes of XYZ.
  • the electric push rod is used to realize the automaticity up and down the Z axis
  • the bowl-shaped body 501 structure is used to realize 360 degrees of freedom in the XY plane around the cylinder in the horizontal direction
  • the motor drives the gear 504
  • the gear 504 drives the ball bearing 502 to rotate around the horizontal axis to provide friction to the object above the device, thereby achieving a realistic simulation effect.
  • the ball 502 of this embodiment can also be configured as a light source so that the ground has a multi-point light source layout, thereby making the bottom surface have lighting effects, such as displaying patterns or videos, to enhance functionality and fun.
  • Example 2 of the present invention discloses an AR all-terrain walking simulator, including a base structure and a plurality of bowl-shaped ball structures 5 arranged on the base structure; the plurality of bowl-shaped ball structures 5 are divided into two groups, and the two groups of bowl-shaped ball structures 5 are distributed in a rectangular array; and the two groups of bowl-shaped ball structures 5 are arranged in a staggered manner at intervals, so that the plurality of bowl-shaped ball structures 5 are closely arranged; the propulsion strokes of the electric push rods 4 in the two groups of bowl-shaped ball structures 5 are not equal, and the electric push rods 4 with different propulsion strokes enable the plurality of bowl-shaped ball structures 5 to simulate different terrains.
  • the base structure comprises a lower base plate 1 and an upper base plate 2, and the lower base plate 1 and the upper base plate 2 are arranged in parallel.
  • the first telescopic structure 3 is a first electric push rod
  • the second telescopic structure 6 is a second electric push rod.
  • the lower sleeve portion of the first telescopic structure 3 is fixedly installed between the lower base plate 1 and the upper base plate 2 by bolts, and the upper telescopic portion thereof passes through the upper base plate 2 and is connected to the bowl ball structure 5 .
  • the lower sleeve portion of the second telescopic structure 6 is fixedly mounted on the upper base plate 2 by bolts, and the upper fixed telescopic portion thereof is connected to the bowl ball structure 5 .
  • the telescopic structures with different strokes are used to drive a plurality of bowl ball structures 5 to move up and down, so as to simulate people walking in specific scenes such as fields, cities, gravel roads, escalators, etc., achieving a realistic simulation effect.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种钵体滚珠高自由度结构和一种AR全地形步行模拟器，该钵体滚珠高自由度结构通过电动推杆（4）、滚珠（502）、第一马达（510）和第二马达（508）等机械设备实现正上方接触滚珠（502）的物体可以拥有XYZ三个轴的自由度；通过电动推杆（4）实现在Z轴上下的自由度，利用钵体（501）结构实现水平方向绕气缸在XY面实现360度自由度，利用第一马达（510）驱动齿轮（504），齿轮（504）带动滚珠（502）绕转轴（503）旋转实现对设备上方物体提供摩擦力；该AR全地形步行模拟器，利用不同行程的第一伸缩结构（3）和第二伸缩结构（6）带动若干个钵体滚珠结构（5）上下移动，可以实现模拟人行走在野地，都市，石子路，扶手电梯等具体场景，达到了逼真拟真效果。

Description

一种钵体滚珠高自由度结构及AR全地形步行模拟器 技术领域
本发明涉及AR技术领域，具体为一种钵体滚珠高自由度结构及AR全地形步行模拟器。
 背景技术
随着VR技术的发展，各种AR（增强现实技术）设备也日益繁多，比如如今市面上出现了万向跑步机，利用机械环固定腰部，使得人可以快速的在光滑带倾角的跑步机上跑动。但是没有一款设备可以与VR游戏同步，利用虚拟建模技术模拟出游戏地面的起伏不平和障碍物，即现有的机械结构无法实现实现正上方接触的物体可以拥有X、Y、Z三个轴的自由度，从而降低了模拟效果；本设备利用推杆、滚珠等设备单元高度差，可以实现模拟人行走在野地，都市，石子路，扶手电梯等具体场景，达到了逼真拟真效果。利用动作捕捉技术，对穿上设备的人进行速度分析，和行为预判，与本机械所模拟的游戏地形进行定位校准。利用编程系统系统，对滚珠和挖状结构的马达进行操控，抵消人行走的摩擦力，达到人行走在上面如跑步机上的效果。
 技术问题
为解决以上问题，本发明提供了一种钵体滚珠高自由度结构，通过推杆、滚珠马达等机械设备实现正上方接触滚珠的物体可以拥有XYZ三个轴的自由度，达到了逼真拟真效果，且相比市面上相同自由度的机械手结构接触面的排列更紧密；
本发明还提供了一种AR全地形步行模拟器，具备模拟人行走在野地、都市、石子路、扶手电梯等具体场景，达到了逼真拟真效果，且相比市面上相同自由度的机械手结构接触面的排列更紧密。
 技术解决方案
为实现上述目的，本发明提供如下技术方案：
一种钵体滚珠高自由度结构，包括钵体滚珠结构和设置在用于支撑所述钵体滚珠结构的电动推杆；所述钵体滚珠结构包括钵体和转动设置在所述钵体内的滚珠，以及用于支撑所述钵体的电动推杆；所述钵体的下端固定连接有连接套筒，所述连接套筒的下端活动连接在电动推杆的上端；所述钵体呈半球壳状，其内部横向设有转轴，所述转轴穿过所述滚珠的中心，且转动的两端转动连接在位于钵体两侧的转轴孔内；所述连接套筒的上设有驱动滚珠转动的第一驱动机构；且连接套筒的下部设有驱动钵体在电动推杆上转动的第二驱动机构。
优选地，所述第一驱动机构包括第一马达，所述第一马达通过第一马达固定板固定连接在连接套筒的外侧上部；所述第一马达的输出端穿过第一马达固定板并连接有齿轮；所述钵体的下端面一侧设有通槽，所述滚珠的表面设有一圈齿槽，所述齿轮的上部穿过通槽与滚珠上的齿槽啮合传动。
优选地，所述通槽的方向和转轴的方向垂直，从而保证滚珠围绕转轴转动。
优选地，所述所述第二驱动机构包括第二马达，所述第二马达固定安装在第二马达固定板上，所述第二马达固定板的远离第二马达的一侧上部和下部均设有连接耳，上部的所述连接耳固定连接在连接套筒的外侧，其下部的所述连接耳呈环状套设在电动推杆的外侧；所述第二马达的输出端穿过第二马达固定板并连接有蜗轮，所述电动推杆的上端固定连接有蜗杆，所述蜗轮和蜗杆之间啮合传动。
优选地，所述钵体结构的顶部平台包裹皮革材料，辅助滚珠模拟摩擦力。
一种AR全地形步行模拟器包括底座结构和设置在所述底座结构上的若干个钵体滚珠结构；若干个所述钵体滚珠结构分成两组，两组所述钵体滚珠结构均呈矩形阵列状分布；且两组所述钵体滚珠结构之间间隔错位排列，使若干个所述钵体滚珠结构紧密的排列；一组的所述钵体滚珠结构通过第一伸缩结构进行支撑，另一组所述钵体滚珠结构通过第二伸缩结构进行支撑；所述第一伸缩结构和第二伸缩结构的推进行程不相等，通过第一伸缩结构和第二伸缩结构使得若干个所述钵体滚珠结构模拟不同的地形。
优选地，所述底座结构包括下底座板和上底座板，所述下底座板和上底座板平行设置。
优选地，所述第一伸缩结构为第一电动推杆，所述第二伸缩结构为第二电动推杆。
优选地，所述第一伸缩结构的下端套筒部通过螺栓固定安装在下底座板和上底座板之间，其上端伸缩部穿过上底座板并于钵体滚珠结构连接。
优选地，所述第二伸缩结构的下端套筒部通过螺栓固定安装在上底座板上，其上端固定伸缩部与钵体滚珠结构连接。
优选地，所述钵体滚珠结构包括钵体和转动设置在所述钵体内的滚珠；所述钵体的下端固定连接有连接套筒，所述连接套筒的下端活动连接在电动推杆的上端；所述钵体呈半球壳状，其内部横向设有转轴，所述转轴穿过所述滚珠的中心，且转动的两端转动连接在位于钵体两侧的转轴孔内；所述连接套筒的上设有驱动滚珠转动的第一驱动机构；且连接套筒的下部设有驱动钵体在电动推杆上转动的第二驱动机构。
优选地，所述第一驱动机构包括第一马达，所述第一马达通过第一马达固定板固定连接在连接套筒的外侧上部；所述第一马达的输出端穿过第一马达固定板并连接有齿轮；所述钵体的下端面一侧设有通槽，所述滚珠的表面设有一圈齿槽，所述齿轮的上部穿过通槽与滚珠上的齿槽啮合传动。
优选地，所述通槽的方向和转轴的方向垂直，从而保证滚珠围绕转轴转动。
优选地，所述所述第二驱动机构包括第二马达，所述第二马达固定安装在第二马达固定板上，所述第二马达固定板的远离第二马达的一侧上部和下部均设有连接耳，上部的所述连接耳固定连接在连接套筒的外侧，其下部的所述连接耳呈环状套设在电动推杆的外侧；所述第二马达的输出端穿过第二马达固定板并连接有蜗轮，所述电动推杆的上端固定连接有蜗杆，所述蜗轮和蜗杆之间啮合传动。
优选地，所述钵体结构的顶部平台包裹皮革材料，辅助滚珠模拟摩擦力。
 有益效果
与现有技术相比，本发明的有益效果是：
本发明提供了一种钵体滚珠高自由度结构，通过电动推杆、滚珠、马达等机械设备实现正上方接触滚珠的物体可以拥有XYZ三个轴的自由度。通过电动推杆实现在Z轴上下的自动度，利用钵体结构实现水平方向绕气缸在XY面实现360度自由度，利用马达驱动齿轮，齿轮带动滚珠绕横轴旋转实现对设备上方物体提供摩擦力。
本发明还提供了一种AR全地形步行模拟器，具备以下有益效果：
1、该AR全地形步行模拟器，利用不同行程的伸缩结构推杆带动若干个钵体滚珠结构上下移动，可以实现模拟人行走在野地，都市，石子路，扶手电梯等具体场景，达到了逼真拟真效果。
2、该AR全地形步行模拟器，通过电动推杆、滚珠、马达等机械设备实现正上方接触滚珠的物体可以拥有XYZ三个轴的自由度。通过电动推杆实现在Z轴上下的自动度，利用钵体结构实现水平方向绕气缸在XY面实现360度自由度，利用马达驱动齿轮，齿轮带动滚珠绕横轴旋转实现对设备上方物体提供摩擦力。
 附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制,在附图中：
图1示出了本发明的实施例一的整体结构示意图；
图2示出了本发明的实施例一的钵体滚珠结构示意图；
图3示出了本发明的实施例一的钵体结构示意图；
图4示出了本发明的实施例二的整体结构示意图；
图5示出了本发明的实施例二的整体结构正视图；
图6示出了本发明的实施例二的整体结构俯视图；
图7示出了本发明的实施例二中第一伸缩结构与钵体滚珠结构的示意图；
图8示出了本发明的实施例二中第二伸缩结构与钵体滚珠结构的示意图。
图中：1、下底座板；2上底座板；4、电动推杆；3、第一伸缩结构；6、第二伸缩结构；5、钵体滚珠结构；501、钵体；502、滚珠；503、转轴；504、齿轮；505、连接套筒；506、蜗杆；507、蜗轮；510、第一马达；511、第一马达固定板；508、第二马达；509、第二马达固定板；5011、通槽；5012、转轴孔；5091、连接耳。
 具体实施方式
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，本领域普通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。
实施例一
参阅图1-3，本发明实施例一公开一种钵体滚珠高自由度结构，包括钵体滚珠结构5和设置在用于支撑钵体滚珠结构5的电动推杆4，钵体滚珠结构5包括钵体501和转动设置在钵体501内的滚珠502；钵体501的下端固定连接有连接套筒505，连接套筒505的下端活动连接在电动推杆4的上端，通过电动推杆4实现在竖直方向上的升降（Z轴上下的自动度）；钵体501呈半球壳状，其内部横向设有转轴503，转轴503穿过滚珠502的中心，且转动的两端转动连接在位于钵体501两侧的转轴孔5012内；连接套筒505的上设有驱动滚珠502转动的第一驱动机构；且连接套筒505的下部设有驱动钵体501在电动推杆上转动的第二驱动机构。
第一驱动机构包括第一马达510，第一马达510通过第一马达固定板511固定连接在连接套筒505的外侧上部；第一马达510的输出端穿过第一马达固定板511并连接有齿轮504；钵体501的下端面一侧设有通槽5011，滚珠502的表面设有一圈齿槽，齿轮504的上部穿过通槽5011与滚珠502上的齿槽啮合传动；
通槽5011的方向和转轴503的方向垂直，从而保证滚珠502围绕转轴503转动。
当第一马达510转动时，带动齿轮504转动，齿轮504转动带动滚珠502绕横轴旋转（即XZ平面内转动），实现对设备上方物体提供摩擦力。
第二驱动机构包括第二马达508，第二马达508固定安装在第二马达固定板509上，第二马达固定板509的远离第二马达508的一侧上部和下部均设有连接耳5091，上部的连接耳5091固定连接在连接套筒505的外侧，其下部的连接耳5091呈环状套设在电动推杆4的外侧；第二马达508的输出端穿过第二马达固定板509并连接有蜗轮507，电动推杆4的上端固定连接有蜗杆506，蜗轮507和蜗杆506之间啮合传动；当第二电动转动时，带动蜗轮507转动，由于蜗杆506是固定连接在电动推杆上的，因此，蜗轮507的转动使得蜗轮507、第二马达固定板509、连接套筒505和钵体501一起实现水平方向绕电动推杆在XY面实现360度自由度。同时电动推杆可以带动其沿Z轴方向上下移动，从而实现正上方接触滚珠502的物体可以拥有X、Y、Z三个轴的自由度。
钵体501结构的顶部平台包裹皮革材料，辅助滚珠502模拟摩擦力。
需要说明的是，第一驱动机构可以改为链条或者其他方式传动来实现滚珠502的转动，第二驱动机构也可以改为链条或者其他方式传动来实现钵体501的整体转动，均属于本申请的保护范围。
本发明的工作原理：使用时，将若干个该钵体滚珠高自由度结构组成矩形阵列状安装在AR全地形步行模拟器底座上，或者医疗康复训练和航空航天时的外星球登录器着陆模拟上；使其若干个该钵体滚珠高自由度结构的滚珠面组成一个可以调节变幻的支撑面；当其上端的物体和该支撑面上的物体接触时，通过电动推杆、第一马达、第二马达带动滚珠502在X、Y、Z轴方向移动，从而实现正上方接触滚珠502的物体可以拥有XYZ三个轴的自由度。通过电动推杆实现在Z轴上下的自动度，利用钵体501结构实现水平方向绕气缸在XY面实现360度自由度，利用马达驱动齿轮504，齿轮504带动滚珠502绕横轴旋转实现对设备上方物体提供摩擦力，从而达到了逼真拟真效果。
需要注意的是，本实施例的滚珠502，还可以设置成发光体，以使地面具有多点光源布局，从而使底面具有灯光效果，如显示图案或视频，增强功能性和乐趣性。
实施例二
以下结合附图4-8，仅对其与实施例一中的不同之处作详细说明：
参阅图4-8，本发明实施例二公开一种AR全地形步行模拟器，包括底座结构和设置在底座结构上的若干个钵体滚珠结构5；若干个钵体滚珠结构5分成两组，两组钵体滚珠结构5均呈矩形阵列状分布；且两组钵体滚珠结构5之间间隔错位排列，使若干个钵体滚珠结构5紧密的排列；两组钵体滚珠结构5内的电动推杆4的推进行程不相等，通过不同推进行程的电动推杆4使得若干个钵体滚珠结构5模拟不同的地形。
底座结构包括下底座板1和上底座板2，下底座板1和上底座板2平行设置。
第一伸缩结构3为第一电动推杆，第二伸缩结构6为第二电动推杆。
第一伸缩结构3的下端套筒部通过螺栓固定安装在下底座板1和上底座板2之间，其上端伸缩部穿过上底座板2并于钵体滚珠结构5连接。
第二伸缩结构6的下端套筒部通过螺栓固定安装在上底座板2上，其上端固定伸缩部与钵体滚珠结构5连接。
本实施例中，利用不同行程的伸缩结构带动若干个钵体滚珠结构5上下移动，可以实现模拟人行走在野地，都市，石子路，扶手电梯等具体场景，达到了逼真拟真效果。
需要注意的是，尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (15)

  1. 一种钵体滚珠高自由度结构，包括钵体滚珠结构（5）和设置在用于支撑所述钵体滚珠结构（5）的电动推杆（4），其特征在于：
    所述钵体滚珠结构（5）包括钵体（501）和转动设置在所述钵体（501）内的滚珠（502），以及用于支撑所述钵体的电动推杆（4）；所述钵体（501）的下端固定连接有连接套筒（505），所述连接套筒（505）的下端活动连接在电动推杆（4）的上端；所述钵体（501）呈半球壳状，其内部横向设有转轴（503），所述转轴（503）穿过所述滚珠（502）的中心，且转动的两端转动连接在位于钵体（501）两侧的转轴孔（5012）内；所述连接套筒（505）的上设有驱动滚珠（502）转动的第一驱动机构；且连接套筒（505）的下部设有驱动钵体（501）在电动推杆上转动的第二驱动机构。
  2. 根据权利要求1所述的一种钵体滚珠高自由度结构，其特征在于：所述第一驱动机构包括第一马达（510），所述第一马达（510）通过第一马达固定板（511）固定连接在连接套筒（505）的外侧上部；所述第一马达（510）的输出端穿过第一马达固定板（511）并连接有齿轮（504）；所述钵体（501）的下端面一侧设有通槽（5011），所述滚珠（502）的表面设有一圈齿槽，所述齿轮（504）的上部穿过通槽（5011）与滚珠（502）上的齿槽啮合传动。
  3. 根据权利要求2所述的一种钵体滚珠高自由度结构，其特征在于：所述通槽（5011）的方向和转轴（503）的方向垂直，从而保证滚珠（502）围绕转轴（503）转动。
  4. 根据权利要求3所述的一种钵体滚珠高自由度结构，其特征在于：所述所述第二驱动机构包括第二马达（508），所述第二马达（508）固定安装在第二马达固定板（509）上，所述第二马达固定板（509）的远离第二马达（508）的一侧上部和下部均设有连接耳（5091），上部的所述连接耳（5091）固定连接在连接套筒（505）的外侧，其下部的所述连接耳（5091）呈环状套设在电动推杆（4）的外侧；所述第二马达（508）的输出端穿过第二马达固定板（509）并连接有蜗轮（507），所述电动推杆（4）的上端固定连接有蜗杆（506），所述蜗轮（507）和蜗杆（506）之间啮合传动。
  5. 根据权利要求4所述的一种钵体滚珠高自由度结构，其特征在于：所述钵体（501）结构的顶部平台包裹皮革材料，辅助滚珠（502）模拟摩擦力。
  6. 一种AR全地形步行模拟器，包括底座结构和设置在所述底座结构上的若干个钵体滚珠结构（5）；其特征在于：若干个所述钵体滚珠结构（5）分成两组，两组所述钵体滚珠结构（5）均呈矩形阵列状分布；且两组所述钵体滚珠结构（5）之间间隔错位排列，使若干个所述钵体滚珠结构（5）紧密的排列；一组的所述钵体滚珠结构（5）通过第一伸缩结构（3）进行支撑，另一组所述钵体滚珠结构（5）通过第二伸缩结构（6）进行支撑；所述第一伸缩结构（3）和第二伸缩结构（6）的推进行程不相等，通过第一伸缩结构（3）和第二伸缩结构（6）使得若干个所述钵体滚珠结构（5）模拟不同的地形。
  7. 根据权利要求6所述的一种AR全地形步行模拟器，其特征在于：所述底座结构包括下底座板（1）和上底座板（2），所述下底座板（1）和上底座板（2）平行设置。
  8. 根据权利要求7所述的一种AR全地形步行模拟器，其特征在于：所述第一伸缩结构（3）为第一电动推杆，所述第二伸缩结构（6）为第二电动推杆。
  9. 根据权利要求8所述的一种AR全地形步行模拟器，其特征在于：所述第一伸缩结构（3）的下端套筒部通过螺栓固定安装在下底座板（1）和上底座板（2）之间，其上端伸缩部穿过上底座板（2）并于钵体滚珠结构（5）连接。
  10. 根据权利要求9所述的一种AR全地形步行模拟器，其特征在于：所述第二伸缩结构（6）的下端套筒部通过螺栓固定安装在上底座板（2）上，其上端固定伸缩部与钵体滚珠结构（5）连接。
  11. 根据权利要求6-10任一项所述的一种AR全地形步行模拟器，其特征在于：所述钵体滚珠结构（5）包括钵体（501）和转动设置在所述钵体（501）内的滚珠（502），所述钵体（501）的下端固定连接有连接套筒（505），所述连接套筒（505）的下端活动连接在电动推杆的上端；所述钵体（501）呈半球壳状，其内部横向设有转轴（503），所述转轴（503）穿过所述滚珠（502）的中心，且转动的两端转动连接在位于钵体（501）两侧的转轴孔（5012）内；所述连接套筒（505）的上设有驱动滚珠（502）转动的第一驱动机构；且连接套筒（505）的的下部设有驱动钵体（501）在电动推杆上转动的第二驱动机构。
  12. 根据权利要求11所述的一种AR全地形步行模拟器，其特征在于：所述第一驱动机构包括第一马达（510），所述第一马达（510）通过第一马达固定板（511）固定连接在连接套筒（505）的外侧上部；所述第一马达（510）的输出端穿过第一马达固定板（511）并连接有齿轮（504）；所述钵体（501）的下端面一侧设有通槽（5011），所述滚珠（502）的表面设有一圈齿槽，所述齿轮（504）的上部穿过通槽（5011）与滚珠（502）上的齿槽啮合传动。
  13. 根据权利要求12所述的一种AR全地形步行模拟器，其特征在于：所述通槽（5011）的方向和转轴（503）的方向垂直，从而保证滚珠（502）围绕转轴（503）转动。
  14. 根据权利要求13所述的一种AR全地形步行模拟器，其特征在于：所述所述第二驱动机构包括第二马达（508），所述第二马达（508）固定安装在第二马达固定板（509）上，所述第二马达固定板（509）的远离第二马达（508）的一侧上部和下部均设有连接耳（5091），上部的所述连接耳（5091）固定连接在连接套筒（505）的外侧，其下部的所述连接耳（5091）呈环状套设在电动推杆（4）的外侧；所述第二马达（508）的输出端穿过第二马达固定板（509）并连接有蜗轮（507），所述电动推杆（4）的上端固定连接有蜗杆（506），所述蜗轮（507）和蜗杆（506）之间啮合传动。
  15. 根据权利要求14所述的一种AR全地形步行模拟器，其特征在于：所述钵体（501）结构的顶部平台包裹皮革材料，辅助滚珠（502）模拟摩擦力。
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Publication number Priority date Publication date Assignee Title
JPH07204359A (ja) * 1994-01-21 1995-08-08 Yamaha Corp 歩行模擬装置
JP2003324980A (ja) * 2002-05-07 2003-11-14 Asmo Co Ltd 複自由度駆動装置
CN112504695A (zh) * 2020-12-03 2021-03-16 中国人民解放军63653部队 多自由度地形模拟装置
US11008175B1 (en) * 2019-03-09 2021-05-18 Titus Gadwin Watts Multi-directional ball rotation apparatus for maneuvering an item
CN113689751A (zh) * 2020-05-18 2021-11-23 北京航天益来电子科技有限公司 应用ar技术的防毒面具训练模拟器
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07204359A (ja) * 1994-01-21 1995-08-08 Yamaha Corp 歩行模擬装置
JP2003324980A (ja) * 2002-05-07 2003-11-14 Asmo Co Ltd 複自由度駆動装置
US11008175B1 (en) * 2019-03-09 2021-05-18 Titus Gadwin Watts Multi-directional ball rotation apparatus for maneuvering an item
CN113689751A (zh) * 2020-05-18 2021-11-23 北京航天益来电子科技有限公司 应用ar技术的防毒面具训练模拟器
CN112504695A (zh) * 2020-12-03 2021-03-16 中国人民解放军63653部队 多自由度地形模拟装置
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