CN107096169A - A kind of omnibearing moving platform based on motion synthesis - Google Patents

Abstract

The invention discloses an omnidirectional motion platform based on motion synthesis, which is composed of a frame, a driving mechanism and a motion platform, wherein the frame supports the motion platform, the drive mechanism is located inside the motion platform, and the motion platform is composed of a plurality of running belts The upper surface of the motion platform is composed of a crawler track structure, and the upper surface of the motion platform is provided with a motion plane. When the user moves on the surface, the motion plane is controlled by the control system to perform horizontal or vertical reverse translation, so that the user remains on the within the plane of motion. In this way, when users experience VR equipment or other sports that require a large venue, they are not limited by the spatial range of their environment. Compared with the omnidirectional motion of the user realized by sliding, it avoids the sense of restraint when the user is using it and brings a real feeling of motion.

Description

An Omnidirectional Motion Platform Based on Motion Synthesis

technical field

The invention relates to an omnidirectional sports platform, in particular to a sports platform based on motion synthesis that enables users to run in all directions.

Background technique

The omnidirectional motion platform can be used as a realization scheme of the VR omnidirectional treadmill. Its purpose is to enable users to walk or run freely in any direction and speed in a limited space. Among the existing omnidirectional treadmill schemes, the scheme that mainly uses the feet and the platform to slide relative to each other is relatively mature and has been marketed.

The present invention mainly utilizes the technologies of chain drive and modular running belt mechanism to realize omnidirectional movement.

Contents of the invention

The purpose of the present invention is to overcome the restriction of the prior art on the user experience, and replace the sliding of the prior art with real running or walking on the sports platform, so that the user's experience in use is closer to the actual movement.

The purpose of the present invention is achieved through the following technical solutions

The patented device is an omnidirectional motion platform consisting of a frame, a driving mechanism and a motion platform. In the motion plane, the direction parallel to the guide rail is called the longitudinal direction, and the direction perpendicular to the guide rail is called the transverse direction.

The frame is composed of a bracket, a supporting base plate and a rail frame. The guide rail frame is a triangular steel frame structure, and three pairs of shaft holes are arranged on it for installing the wheel shaft. The supporting bottom plate is welded between the two brackets for installing the motor. The guide rail is at the top beam of the guide rail frame and is used to support the longitudinal movement of the motion platform.

The driving mechanism is composed of a stepping motor, a toothed belt wheel, a toothed belt, a sprocket shaft, a sprocket wheel, a long cage wheel and a flower wheel. The chain wheel is used to drive the longitudinal movement, and the elongated cage wheel and pattern wheel set is used to drive the lateral movement.

The sports platform is composed of multiple running belt modules, and each running belt module is composed of a running board frame, a roller shaft, a roller, a running board, a running belt, a rolling bushing and a chain buckle. The chain buckle is used to connect each running belt module, so that each module forms a whole of a chain structure. The running board frame of the running belt module is used to support the roller shaft and the running board, on which two shafts are arranged, and the plane where the two shafts are located is parallel to the running board plane. The running belt is wrapped around two rollers that provide freedom of lateral movement of the movement plane. The rolling bushes are set on the two shafts of the running belt frame, and the rolling bushes can cooperate with the grooves on the surface of the guide rail, and the two make relative rolling motions to provide the degree of freedom of the longitudinal movement of the moving plane. The combination of the two degrees of freedom enables omnidirectional movement of the motion plane.

Compared with the prior art, the present invention has the following advantages and effects

The patented device is intended to provide a movable surface capable of translation in any direction within a two-dimensional plane. When the user stands on the surface and walks or runs in any direction, the device can actively reversely translate the surface so that the user's spatial position is kept within a limited range. In this way, when users experience VR equipment or other sports that require a large venue, they are not limited by the spatial range of their environment. Compared with the omnidirectional movement of the user realized by sliding, it avoids the sense of restraint when the user is using it and brings a real feeling of movement. The specific effects are:

(1) The stepper motor cooperates with the toothed belt drive to make the two-axis motion speed of the motion platform accurate and controllable.

(2) The wheel composed of the long cage wheel and the pattern wheel realizes the transmission control of the fixed shaft of the frame to the moving shaft of the running belt module.

(3) Omni-directional movement is realized by means of motion synthesis, which is easier to control the change of speed and direction in real time.

(4) The user does not need to fix the relative position of the user by the fixing device, which reduces the feeling of restraint.

Description of drawings

Figure 1 is the effect diagram of the omnidirectional motion platform, Figure 2 is the schematic diagram of the internal structure of the omnidirectional motion platform, Figure 3 is the schematic diagram of the longitudinal transmission relationship, Figure 4 is the transmission relationship diagram of the transverse transmission mechanism, and Figure 5 is the detail of the long cage wheel Figure 6 is a detailed view of the flower wheel.

In the figure: 1. Bracket, 2. Guide rail frame, 3. Support base plate, 4. Sprocket, 5. Sprocket shaft, 6. Longitudinal toothed belt wheel, 7. Toothed belt, 8. Stepper motor, 9. Horizontal Toothed pulley, 10. Long cage wheel, 11. Rolling bushing, 12. Chain buckle, 13. Running board frame, 14. Roller, 15. Running belt, 16. Running belt plate, 17. Pattern wheel , 171. Base wheel, 172 Radial shaft, 173 Radial rolling sleeve, 101. Guide gear end cover, 102. Roller

detailed description

The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in Figure 1, the patented device is composed of a frame, a driving mechanism and a motion platform. In the range indicated by the dotted line frame in the figure, any point in the plane has two degrees of freedom, horizontal and vertical, and the omnidirectional movement of the plane is realized through the principle of motion synthesis of points. When the user moves on the surface, the device is controlled by the control system to react. When panning, the user remains within the range of the device's motion plane at all times.

As shown in Figure 2, the rack is composed of (1) bracket, (2) guide rail frame and (3) supporting base plate, (2) guide rail surface is provided on the top of guide rail frame, and guide grooves are opened on the track surface for guiding (11) The rolling bush rolls longitudinally. (6) The longitudinal toothed belt wheel is installed on the shaft between the two (2) guide rail frames, (9) the transverse toothed belt wheel and (10) the elongated cage wheel are coaxially installed on one side of the guide rail frame, ( 6) The longitudinal toothed pulley and the transverse toothed pulley are driven by a stepping motor through a toothed belt.

As shown in Figure 3, the (4) sprocket is engaged with (11) rolling bushings mounted on (13) running boards, and each (13) running boards has two shafts of rolling bushings, the ends of which are There are (12) chain buckles, and the running belt modules are linked in pairs to form a track structure. When the sprocket rotates, the rolling bush will leave the track surface on the (2) track frame in turn, and mesh with the (4) sprocket to realize the longitudinal movement of the motion plane. (13) running board frame (14) roller is housed, is used to drive the motion of (15) running belt. Two running board frames are supported with (16) running boards, which are used to support the running belt surface. When the user moves on the running belt surface, (15) running boards will contact and relatively rub against (16) running boards.

As shown in Figure 4, (17) pattern wheel coaxial with (14) cylinder is housed on one (13) running board frame of each running belt module. When the motor drives (10) the elongated cage wheel to rotate, it will drive each of the meshed (17) flower wheels to rotate, and then drive the (14) roller to drive the (15) running belt to move, realizing the lateral movement of the movement plane .

As shown in Figure 5, the long cage wheel is composed of two (10 1) guide end covers and a set of (10 2) rollers, and the outer part of the teeth of the (10 1) guide tooth end cover is provided with a bevel , when the (17) flower-shaped wheel enters from the outside and meshes with it, the bevel will guide the (17) flower-shaped wheel teeth into the correct meshing position. (10 2) The roller is installed on the shaft hole of the inner part of the guide tooth end cover, which can be rotated relative to each other, and reduces the radial friction with the tooth surface of the flower wheel when meshing.

As shown in Figure 6, the pattern wheel consists of (17 1) base wheel, (17 2) radial shaft and (17 3) radial rolling sleeve, (17 2) radial shaft is installed on (17 1) base wheel . (17 3) The radial rolling sleeve is installed on the radial shaft of (17 2), and can perform relative rotation around the shaft to reduce the friction between the tooth surface and the elongated cage wheel during the longitudinal movement.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (5)

1. A kind of omnidirectional motion platform based on motion synthesis, it is made up of frame, drive mechanism and motion platform, it is characterized in that, described frame supports motion platform, and drive mechanism is positioned at motion platform inside, and motion platform is made up of a plurality of runners The upper surface of the motion platform is composed of a crawler track structure linked by modules. When the user moves on the surface, the motion plane is controlled by the control system to perform reverse translation in the horizontal or vertical direction, so that the user remains on the platform. within the range of the plane of motion described above. 2. The omnidirectional motion platform based on motion synthesis as claimed in claim 1, wherein the frame is composed of a support, a guide rail frame and a support base plate, the support floor is installed at the bottom of the support, and the guide rail frame is installed On the bracket, a guide rail surface is arranged at the top thereof, and a guide groove is opened on the guide rail surface for guiding the rolling of the rolling bush. 3. The omnidirectional motion platform based on motion synthesis as claimed in claim 2, wherein the drive mechanism includes a longitudinal toothed pulley, a transverse toothed pulley and a long cage wheel mounted on the rail frame , and stepping motors for respectively driving said longitudinal and transverse toothed pulleys, as well as, The longitudinal toothed pulley is used to drive the sprocket, and the sprocket is engaged with the rolling bushing to drive the running belt modules to link with each other to form a track structure for longitudinal movement; The transverse toothed pulley is used to drive the elongated cage wheel, and the elongated cage wheel rotates and meshes with the pattern wheel to drive the running belt to move laterally. 4. The omnidirectional motion platform based on motion synthesis as claimed in claim 3, wherein the elongated cage wheel is composed of two guide end caps and a set of rollers, and the guide tooth end caps are used to guide the flower The teeth of the type wheel enter the meshing position, and the roller is installed on the shaft hole of the guide gear end cover, which can be used for relative rotation. 5. The omnidirectional motion platform based on motion synthesis as claimed in claim 4, wherein the pattern wheel is composed of a base wheel, a radial shaft and a radial rolling sleeve, and the radial shaft is installed on the radial direction of the base wheel , The radial rolling sleeve is installed on the radial shaft and can rotate relatively around the shaft.