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WO2018170991A1 - Multi-degree-of-freedom vr seat driving device and vr seat - Google Patents

Multi-degree-of-freedom vr seat driving device and vr seat Download PDF

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Publication number
WO2018170991A1
WO2018170991A1 PCT/CN2017/081485 CN2017081485W WO2018170991A1 WO 2018170991 A1 WO2018170991 A1 WO 2018170991A1 CN 2017081485 W CN2017081485 W CN 2017081485W WO 2018170991 A1 WO2018170991 A1 WO 2018170991A1
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WO
WIPO (PCT)
Prior art keywords
seat
freedom
degree
driving device
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/081485
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French (fr)
Chinese (zh)
Inventor
刘捷明
刘东昊
王志伟
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Goertek Techology Co Ltd
Original Assignee
Goertek Techology Co Ltd
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Filing date
Publication date
Application filed by Goertek Techology Co Ltd filed Critical Goertek Techology Co Ltd
Publication of WO2018170991A1 publication Critical patent/WO2018170991A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C7/00—Parts, details, or accessories of chairs or stools
    • A47C7/002—Chair or stool bases
    • A47C7/004—Chair or stool bases for chairs or stools with central column, e.g. office chairs
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C1/00—Chairs adapted for special purposes

Definitions

  • the present invention relates to the field of virtual reality experience, and more particularly to a multi-degree of freedom VR seat drive device and a VR seat.
  • VR Virtual Reality
  • the VR seat performs multi-directional movement by controlling the VR seat drive according to the motion signal, so that the VR seat user experiences multi-pose multi-degree of freedom motion.
  • the existing VR seat drive can only drive the seat to achieve a single degree of freedom of movement, making the VR seat experience poor and application limited.
  • a multi-degree of freedom VR seat drive is provided.
  • the multi-degree-of-freedom VR seat driving device includes a rotating shaft, a rotary driving mechanism, a fixing base, a linear driving mechanism and a universal joint, wherein
  • the rotating shaft includes a rotating portion, a seat mounting portion and a driving mechanism connecting portion, and the seat mounting portion is configured to mount the seat;
  • the rotary drive mechanism is coupled to the drive mechanism connection portion to drive the rotating shaft to rotate about the first axis;
  • the fixing seat is provided with a rotating shaft limiting hole
  • the rotating portion cooperates with the rotating shaft limiting hole to rotate the rotating portion in the rotating shaft limiting hole;
  • the linear drive mechanism includes a first linear drive unit and a second linear drive unit;
  • the universal joint includes a first connecting end and a second connecting end, the first connecting end is connected to the first linear driving unit, and the second connecting end is connected to the rotating driving mechanism;
  • the first linear drive unit is configured to drive the first connection end to move along a second axis
  • the second linear drive unit is configured to drive the first linear drive unit to move along a third axis .
  • the first linear driving unit comprises a first frame, a first motor, a first belt, a first lead screw and a first silk core slider, wherein the first motor and the first wire a rod is mounted on the first frame, and the first wire mother slider is connected to the first connection end;
  • the first motor is configured to drive the first belt to drive the first screw to rotate, so that the first core slider moves along the second axis;
  • the second linear drive unit includes a second frame, a second motor, a second belt, a second lead screw, and a second core slider, wherein the second motor and the second screw are mounted in the
  • the second female slider is connected to the first frame on the second frame;
  • the second motor is configured to drive the second belt to drive the second screw to rotate such that the second core slider moves along the third axis.
  • the first motor is a servo motor
  • the second motor is a servo motor.
  • the multi-degree-of-freedom VR seat driving device further includes a ball socket, the ball socket being located between the rotation shaft limiting hole and the rotating portion;
  • the rotating portion has a spherical shape
  • a ball socket is provided in the ball socket, and the ball socket cooperates with the rotating ball socket.
  • the socket is fixedly connected to the fixing seat.
  • the multi-degree-of-freedom VR seat driving device further includes an elastic connecting member
  • the resilient connector is configured to connect the first connection end and the first linear drive unit.
  • the multi-degree-of-freedom VR seat driving device further includes a connecting plate
  • the connecting plate is provided as a stator for connecting the second connecting end and the rotary drive mechanism.
  • the universal joint is a cross universal joint.
  • the second axis and the third axis are perpendicular.
  • a VR seat is provided.
  • the VR seat includes a seat and the multi-degree of freedom VR seat drive of the present invention
  • the seat is coupled to the seat mounting portion.
  • the inventors of the present invention have found that in the prior art, there is a problem that the VR seat driving device can only drive the seat to achieve a single degree of freedom of motion. Therefore, the technical task to be achieved by the present invention or the technical problem to be solved is not thought of or expected by those skilled in the art, so the present invention is a new technical solution.
  • the second linear drive unit of the linear drive mechanism of the multi-degree-of-freedom VR seat drive of the present invention can drive the first linear drive unit to move along the third axis.
  • the first linear drive unit can drive the first connection end of the universal joint to move along the second axis.
  • the second connecting end of the universal joint is connected with the rotary driving mechanism, so that the universal joint can drive the rotating shaft connected with the rotating driving mechanism to rotate in the rotating shaft limiting hole of the fixed seat.
  • the rotary drive mechanism also drives the rotary shaft to rotate about the first axis. In this way, the multi-degree-of-freedom VR seat drive can achieve multiple degrees of freedom of motion.
  • FIG. 1 is a schematic structural view of an embodiment of a multi-degree-of-freedom VR seat driving device according to the present invention.
  • FIG. 2 is a schematic view showing the use state of the embodiment of the multi-degree-of-freedom VR seat driving device of the present invention.
  • FIG 3 is a schematic structural view of an embodiment of a linear drive mechanism of a multi-degree-of-freedom VR seat drive device according to the present invention.
  • FIG. 4 is a schematic structural view of an embodiment of a rotating shaft and a ball socket of the multi-degree-of-freedom VR seat driving device of the present invention.
  • FIG. 5 is a schematic structural view of a universal joint embodiment of a multi-degree-of-freedom VR seat driving device according to the present invention.
  • FIG. 6 is a schematic structural view of an embodiment of a VR seat of the present invention.
  • Figure 7 is a partial structural view of Figure 6.
  • the present invention provides a multi-degree of freedom VR seat driving device.
  • the multi-degree-of-freedom VR seat driving device of the present invention includes a rotating shaft 1, a rotary drive mechanism 2, a fixed base 3, a linear drive mechanism 4, and a universal joint 5.
  • Figure 1 is a view of the present invention The original state diagram of the multi-degree-of-freedom VR seat drive when not in operation.
  • 2 is a schematic view showing the state of use of the multi-degree-of-freedom VR seat driving device of the present invention, and it should be clear to those skilled in the art that FIG. 2 is only one of the states of use of the multi-degree-of-freedom VR seat driving device of the present invention. .
  • the rotary shaft 1 includes a rotating portion 11, a seat mounting portion 12, and a drive mechanism connecting portion 13.
  • the seat mounting portion 12 is provided for mounting a seat that can be mounted on the seat mounting portion 12 by bolting or welding.
  • the rotary drive mechanism 2 is coupled to the drive mechanism connecting portion 13 to drive the rotary shaft 1 to rotate about the first axis.
  • the rotary drive mechanism 2 can be, for example, a DDR motor (Direct Drive Rotary Motor) or the like.
  • the first axis is the Z axis.
  • the rotary drive mechanism 2 is connected to the drive mechanism connecting portion 13, and generally means that the mover 22 of the rotary drive mechanism 2 is connected to the drive mechanism connecting portion 13.
  • the connection between the rotary drive mechanism 2 and the drive mechanism connection portion 13 can be achieved by welding or bolting or the like.
  • the seat mounting portion 12 and the drive mechanism connecting portion 13 may be respectively located at both ends of the rotating shaft 1, and the rotating portion 11 may be located between the seat mounting portion 12 and the driving mechanism connecting portion 13.
  • a rotating shaft limiting hole 31 is provided on the fixing base 3.
  • the position of the mount 3 is usually fixed.
  • the mount 3 is supported on the ground.
  • the rotating portion 11 cooperates with the rotating shaft limiting hole 31 to rotate the rotating portion 11 in the rotating shaft limiting hole 31.
  • the rotation portion 11 and the rotation shaft limiting hole 31 can be realized by ball joint fitting or the like.
  • the linear drive mechanism 4 includes a first linear drive unit 41 and a second linear drive unit 42.
  • the first linear driving unit 41 and the second linear driving unit 42 are mechanisms that can realize linear driving.
  • the first linear drive unit 41 and the second linear drive unit 42 are both DDL motors (direct drive linear motors) and the like.
  • the universal joint 5 includes a first connecting end 51 and a second connecting end 52.
  • the first connecting end 51 is connected to the first linear driving unit 41, and the second connecting end 52 is connected to the rotary driving mechanism 2. It should be clear to those skilled in the art that the universal joint 5 is a device that can realize variable angle power transmission, that is, variable angle power transmission can be realized between the first connecting end 51 and the second connecting end 52 of the universal joint 5.
  • the first connecting end 51 is connected to the first linear driving unit 41, and generally means that the first connecting end 51 is connected to the mover of the first linear driving unit 41.
  • the connection between the first connection end 51 and the first linear drive unit 41 can be achieved by welding or bolting or the like.
  • the second connecting end 52 is connected to the rotary drive mechanism 2, and generally means that the second connecting end 52 is connected to the stator 21 of the rotary drive mechanism 2.
  • the connection between the second connecting end 52 and the rotary drive mechanism 2 can be achieved by welding or bolting or the like.
  • the first linear drive unit 41 is arranged to drive the first connection end 51 to move along the second axis
  • the second linear drive unit 42 is arranged to drive the first linear drive unit 41 to move along the third axis.
  • the second axis is the X axis
  • the third axis is the Y axis.
  • a cavity for accommodating the rotary drive mechanism 2, the linear drive mechanism 4, and the universal joint 5 may be provided in the mount 3. Further, the linear drive mechanism 4 can be placed or mounted on the bottom wall of the mount 3.
  • the seat mounting portion 12 of the rotary shaft 1 rotates about the first axis, so that 360° rotation of the seat mounted on the seat mounting portion 12 can be achieved.
  • the first linear driving unit 41 drives the first connecting end 51 of the universal joint 5 to move along the second axis
  • the first connecting end 51 of the universal joint 5 drives the second connecting end 52 to move.
  • the rotary drive mechanism 2 connected to the second connection end 52 of the universal joint 5 drives the rotary shaft 1 to swing left and right around the rotary portion 11, for example, the use state shown in Fig. 2 is exhibited. In this way, the left and right swing of the seat mounted on the seat mounting portion 12 of the rotating shaft 1 can be realized.
  • the first connecting end 51 of the universal joint 5 connected to the first linear driving unit 41 moves along with the first linear driving unit 41.
  • the first connecting end 51 of the universal joint 5 drives the second connecting end 52 to move.
  • the rotary drive mechanism 2 connected to the second connection end 52 of the universal joint 5 drives the rotary shaft 1 to swing back and forth around the rotary portion 11. In this way, the front and rear swing of the seat mounted on the seat mounting portion 12 of the rotating shaft 1 can be realized.
  • the multi-degree-of-freedom VR seat drive device can achieve multi-degree of freedom motion by superimposing the movements that can be achieved by the movement or rotation of the rotary drive mechanism 2, the first linear drive unit 41, and the second linear drive unit 42.
  • the second linear drive unit 42 of the linear drive mechanism 4 of the multi-degree-of-freedom VR seat drive of the present invention can drive the first linear drive unit 41 to move along the third axis.
  • First linear drive unit 41 The first connection end 51 of the driveable universal joint 5 is moved along the second axis.
  • the second connecting end of the universal joint 5 is connected to the rotary drive mechanism 2, so that the universal joint 5 can drive the rotary shaft 1 connected to the rotary drive mechanism 2 to rotate in the rotary shaft limiting hole 31 of the fixed base 3.
  • the rotary drive mechanism 2 can also drive the rotary shaft 1 to rotate about the first axis. In this way, the multi-degree-of-freedom VR seat drive can achieve multiple degrees of freedom of motion.
  • the first linear driving unit 41 includes a first frame 411, a first motor 412, a first belt 413, and a first screw. 414 and a first female slider 415.
  • the first motor 412 and the first screw 414 are mounted on the first frame 411, and the first wire slider 415 is coupled to the first connection end 51.
  • the specific type of the first motor 412 can be flexibly selected according to actual needs, for example, the first motor 412 is a servo motor.
  • the connection between the first female slider 415 and the first connecting end 51 can be achieved by welding or bolting or the like.
  • the first motor 412 is configured to drive the first belt 413 to rotate the first screw 414 such that the first core slider 415 moves along the second axis.
  • the first female slider 415 drives the first connecting end 51 of the universal joint 5 to move along the second axis.
  • the second linear drive unit 42 includes a second frame 421, a second motor 422, a second belt 423, a second lead screw 424, and a second core slider 425.
  • the second motor 422 and the second lead screw 424 are mounted on the second frame 421, and the second core slider 425 is coupled to the first frame 411.
  • the specific type of the second motor 422 can be flexibly selected according to actual needs, for example, the second motor 422 is a servo motor.
  • the connection between the second female slider 425 and the first frame 411 can be achieved by welding or bolting or integral molding.
  • the second motor 422 is configured to drive the second belt 423 to drive the second screw 424 to rotate, thereby moving the second core slider 425 along the third axis.
  • the second female slider 425 drives the first linear drive unit 41 to move along the third axis.
  • the first motor 412 is a servo motor and the second motor 422 is a servo motor.
  • the multi-degree-of-freedom VR seat driving device further includes a ball socket 6 on which the ball socket 6 is located and Between the rotating portions 11.
  • the rotating portion 11 has a spherical shape.
  • the ball socket 6 is provided with a ball socket 61, and the ball socket 61 is engaged with the ball portion of the rotating portion 11.
  • the arrangement of the ball socket 6 facilitates better protection of the shaft 1.
  • the ball socket 6 The ball and socket fit between the ball socket 61 and the rotating portion 11 is also advantageous for improving the rotational flexibility of the rotating shaft 1.
  • the ball socket 6 can be directly supported on the fixing base 3 without being connected to the fixing base 3.
  • the socket 6 can be fixedly connected to the fixing base 3.
  • the fixed connection between the socket 6 and the fixed seat 3 can generally be achieved by welding between the outer surface of the socket 6 and the fixed seat 3, or between the projection on the outer wall of the socket 6 and the fixed seat 3. Bolted and so on.
  • the socket 6 can be configured to include two split hemispherical sockets.
  • the hemispherical sockets of the above two split bodies are respectively provided with half ball sockets, and the two split hemisphere sockets can form a complete ball socket 6. This arrangement facilitates more convenient mounting of the rotating shaft 1 and the fixing base 3.
  • the multi-degree of freedom VR seat drive further includes an elastic link 7.
  • the elastic connecting member 7 means a member which is elastic, can be stretched or extruded, and can be, for example, a rubber block or a telescopic sleeve or the like.
  • the arrangement of the resilient connector 7 facilitates better protection of the first linear drive unit 41 and the universal joint 5.
  • the elastic connecting member 7 is provided for connecting the first connecting end 51 and the first linear driving unit 41. Specifically, the elastic connecting member 7 connects the first connecting end 51 and the first female slider 415 of the first linear driving unit 41 together.
  • the above connection can be achieved by welding or bolting.
  • the multi-degree of freedom VR seat drive further includes a web 8.
  • the connecting plate 8 is provided for connecting the second connecting end 52 and the stator 21 of the rotary drive mechanism 2.
  • the arrangement of the connecting plates 8 increases the contact area of the joint of the universal joint 5 and the rotary drive mechanism 2, thereby improving the stability of the connection of the universal joint 5 and the rotary drive mechanism 2.
  • the universal joint 5 is a cross universal joint.
  • the cross universal joint is a cross joint structure well known in the art.
  • the cross universal joint comprises a universal joint upper end flange, a universal joint lower end flange and a cross connecting shaft, the cross connecting shaft and the universal joint upper end flange and the universal joint lower end flange respectively. Way to connect.
  • the universal joint upper end flange and the universal joint lower end flange respectively correspond to the first connection end 51 and the second connection end 52 in the present invention.
  • the second axis and the third axis are perpendicular. As shown in Figure 1, in the state shown in Figure 1.
  • the first axis is perpendicular to the second axis and the second axis.
  • the present invention also provides a VR seat.
  • the VR seat includes a seat 9 and a multi-degree of freedom VR seat drive of the present invention.
  • the seat 9 is coupled to the seat mounting portion 12, and the connection between the seat 9 and the seat mounting portion 12 can be achieved by welding or bolting.
  • the rotary drive mechanism 2 drives the rotary shaft 1 to rotate about the first axis
  • the seat mounting portion 12 of the rotary shaft 1 is rotated about the first axis, so that 360° rotation of the seat 9 can be achieved.
  • the first linear driving unit 41 drives the first connecting end 51 of the universal joint 5 to move along the second axis
  • the first connecting end 51 of the universal joint 5 drives the second connecting end 52 to move.
  • the rotary drive mechanism 2 connected to the second connection end 52 of the universal joint 5 drives the rotary shaft 1 to swing left and right around the rotary portion 11. In this way, the left and right swing of the seat 9 can be achieved.
  • the first connecting end 51 of the universal joint 5 connected to the first linear driving unit 41 moves along with the first linear driving unit 41.
  • the first connecting end 51 of the universal joint 5 drives the second connecting end 52 to move.
  • the rotary drive mechanism 2 connected to the second connection end 52 of the universal joint 5 drives the rotary shaft 1 to swing back and forth around the rotary portion 11. In this way, the front and rear swing of the seat 9 can be achieved.
  • the movement of the VR seat with multiple degrees of freedom can be achieved by the superposition of the movements that can be achieved by the movement or rotation of the rotary drive mechanism 2, the first linear drive unit 41 and the second linear drive unit 42.

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  • Health & Medical Sciences (AREA)
  • Dentistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Seats For Vehicles (AREA)

Abstract

A multi-degree-of-freedom VR seat driving device and a VR seat. The seat driving device comprises a rotary shaft (1), a rotary driving mechanism (2), a fixed seat (3), a linear driving mechanism (4) and a universal joint (5). The rotary shaft (1) comprises a rotary portion (11), a seat mounting portion (12) and a drive mechanism connecting portion (13). The rotary driving mechanism (2) drives the rotary shaft (1) to rotate about a first axis. The fixed seat (3) is provided with a rotary shaft position limiting hole (31). The rotary portion (11) matches the rotary shaft position limiting hole (31). The linear driving mechanism (4) comprises a first linear driving unit (41) and a second linear driving unit (42). The universal joint (5) comprises a first connection end (51) and a second connection end (52). The first connection end (51) is connected to the first linear driving unit (41). The second connection end (52) is connected to the rotary driving mechanism (2). By the above configurations, the multi-degree-of-freedom VR seat driving device of the invention can drive a seat to move in multiple degrees of freedom.

Description

一种多自由度VR座椅驱动装置及VR座椅Multi-degree-of-freedom VR seat drive device and VR seat 技术领域Technical field

本发明涉及虚拟现实体验领域，更具体地，涉及一种多自由度VR座椅驱动装置及VR座椅。The present invention relates to the field of virtual reality experience, and more particularly to a multi-degree of freedom VR seat drive device and a VR seat.

背景技术Background technique

随着VR(Virtual Reality，虚拟现实)技术的发展，例如VR座椅等与VR相关的电子设备也得到了快速的发展。With the development of VR (Virtual Reality) technology, VR-related electronic devices such as VR seats have also been rapidly developed.

VR座椅根据运动信号，通过控制VR座椅驱动装置完成多向移动，使得VR座椅使用者体验到多姿态多自由度运动。The VR seat performs multi-directional movement by controlling the VR seat drive according to the motion signal, so that the VR seat user experiences multi-pose multi-degree of freedom motion.

现有的VR座椅驱动装置仅可驱动座椅实现单一自由度的运动，使得VR座椅的体验不佳，应用局限性大。The existing VR seat drive can only drive the seat to achieve a single degree of freedom of movement, making the VR seat experience poor and application limited.

发明内容Summary of the invention

本发明的一个目的是提供可驱动VR座椅实现多自由度运动的VR座椅驱动装置的新技术方案。It is an object of the present invention to provide a new technical solution for a VR seat drive that can drive a VR seat to achieve multiple degrees of freedom of motion.

根据本发明的第一方面，提供了一种多自由度VR座椅驱动装置。According to a first aspect of the invention, a multi-degree of freedom VR seat drive is provided.

该多自由度VR座椅驱动装置包括转轴、旋转驱动机构、固定座、线性驱动机构和万向节，其中，The multi-degree-of-freedom VR seat driving device includes a rotating shaft, a rotary driving mechanism, a fixing base, a linear driving mechanism and a universal joint, wherein

所述转轴包括转动部、座椅安装部和驱动机构连接部，所述座椅安装部被设置为用于安装座椅；The rotating shaft includes a rotating portion, a seat mounting portion and a driving mechanism connecting portion, and the seat mounting portion is configured to mount the seat;

所述旋转驱动机构与所述驱动机构连接部相连接，以驱动所述转轴绕第一轴旋转；The rotary drive mechanism is coupled to the drive mechanism connection portion to drive the rotating shaft to rotate about the first axis;

所述固定座上设有转轴限位孔；The fixing seat is provided with a rotating shaft limiting hole;

所述转动部与所述转轴限位孔相配合，以使得所述转动部在所述转轴限位孔内转动； The rotating portion cooperates with the rotating shaft limiting hole to rotate the rotating portion in the rotating shaft limiting hole;

所述线性驱动机构包括第一线性驱动单元和第二线性驱动单元；The linear drive mechanism includes a first linear drive unit and a second linear drive unit;

所述万向节包括第一连接端和第二连接端，所述第一连接端与所述第一线性驱动单元相连接，所述第二连接端与所述旋转驱动机构相连接；The universal joint includes a first connecting end and a second connecting end, the first connecting end is connected to the first linear driving unit, and the second connecting end is connected to the rotating driving mechanism;

所述第一线性驱动单元被设置为用于驱动所述第一连接端沿第二轴移动，所述第二线性驱动单元被设置为用于驱动所述第一线性驱动单元沿第三轴移动。The first linear drive unit is configured to drive the first connection end to move along a second axis, and the second linear drive unit is configured to drive the first linear drive unit to move along a third axis .

可选地，所述第一线性驱动单元包括第一机架、第一电机、第一皮带、第一丝杆和第一丝母滑块，其中，所述第一电机和所述第一丝杆安装在所述第一机架上，所述第一丝母滑块与所述第一连接端相连接；Optionally, the first linear driving unit comprises a first frame, a first motor, a first belt, a first lead screw and a first silk core slider, wherein the first motor and the first wire a rod is mounted on the first frame, and the first wire mother slider is connected to the first connection end;

所述第一电机被设置为用于驱动所述第一皮带带动所述第一丝杆转动，从而使得所述第一丝母滑块沿第二轴移动；The first motor is configured to drive the first belt to drive the first screw to rotate, so that the first core slider moves along the second axis;

所述第二线性驱动单元包括第二机架、第二电机、第二皮带、第二丝杆和第二丝母滑块，其中，所述第二电机和所述第二丝杆安装在所述第二机架上，所述第二丝母滑块与所述第一机架相连接；The second linear drive unit includes a second frame, a second motor, a second belt, a second lead screw, and a second core slider, wherein the second motor and the second screw are mounted in the The second female slider is connected to the first frame on the second frame;

所述第二电机被设置为用于驱动所述第二皮带带动所述第二丝杆转动，从而使得所述第二丝母滑块沿第三轴移动。The second motor is configured to drive the second belt to drive the second screw to rotate such that the second core slider moves along the third axis.

可选地，所述第一电机为伺服电机；Optionally, the first motor is a servo motor;

所述第二电机为伺服电机。The second motor is a servo motor.

可选地，所述多自由度VR座椅驱动装置还包括球窝座，所述球窝座位于所述转轴限位孔和所述转动部之间；Optionally, the multi-degree-of-freedom VR seat driving device further includes a ball socket, the ball socket being located between the rotation shaft limiting hole and the rotating portion;

所述转动部具有球形形状；The rotating portion has a spherical shape;

所述球窝座内设有球窝孔，所述球窝孔与所述转动部球窝配合。A ball socket is provided in the ball socket, and the ball socket cooperates with the rotating ball socket.

可选地，所述球窝座与所述固定座固定连接。Optionally, the socket is fixedly connected to the fixing seat.

可选地，所述多自由度VR座椅驱动装置还包括弹性连接件；Optionally, the multi-degree-of-freedom VR seat driving device further includes an elastic connecting member;

所述弹性连接件被设置为用于连接所述第一连接端和所述第一线性驱动单元。The resilient connector is configured to connect the first connection end and the first linear drive unit.

可选地，所述多自由度VR座椅驱动装置还包括连接板；Optionally, the multi-degree-of-freedom VR seat driving device further includes a connecting plate;

所述连接板被设置为用于连接所述第二连接端和所述旋转驱动机构的定子。 The connecting plate is provided as a stator for connecting the second connecting end and the rotary drive mechanism.

可选地，所述万向节为十字万向节。Optionally, the universal joint is a cross universal joint.

可选地，所述第二轴和所述第三轴相垂直。Optionally, the second axis and the third axis are perpendicular.

根据本发明的第二方面，提供了一种VR座椅。According to a second aspect of the invention, a VR seat is provided.

该VR座椅包括座椅和本发明的多自由度VR座椅驱动装置；The VR seat includes a seat and the multi-degree of freedom VR seat drive of the present invention;

所述座椅与所述座椅安装部相连接。The seat is coupled to the seat mounting portion.

本发明的发明人发现，在现有技术中，存在VR座椅驱动装置仅可驱动座椅实现单一自由度的运动的问题。因此，本发明所要实现的技术任务或者所要解决的技术问题是本领域技术人员从未想到的或者没有预期到的，故本发明是一种新的技术方案。The inventors of the present invention have found that in the prior art, there is a problem that the VR seat driving device can only drive the seat to achieve a single degree of freedom of motion. Therefore, the technical task to be achieved by the present invention or the technical problem to be solved is not thought of or expected by those skilled in the art, so the present invention is a new technical solution.

本发明的多自由度VR座椅驱动装置的线性驱动机构的第二线性驱动单元可驱动第一线性驱动单元沿第三轴移动。第一线性驱动单元可驱动万向节的第一连接端沿第二轴移动。万向节的第二连接端与旋转驱动机构相连接，从而万向节可带动与旋转驱动机构相连接的转轴在固定座的转轴限位孔内转动。旋转驱动机构还可驱动转轴绕第一轴旋转。这样，多自由度VR座椅驱动装置可实现多自由度的运动。The second linear drive unit of the linear drive mechanism of the multi-degree-of-freedom VR seat drive of the present invention can drive the first linear drive unit to move along the third axis. The first linear drive unit can drive the first connection end of the universal joint to move along the second axis. The second connecting end of the universal joint is connected with the rotary driving mechanism, so that the universal joint can drive the rotating shaft connected with the rotating driving mechanism to rotate in the rotating shaft limiting hole of the fixed seat. The rotary drive mechanism also drives the rotary shaft to rotate about the first axis. In this way, the multi-degree-of-freedom VR seat drive can achieve multiple degrees of freedom of motion.

通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。Other features and advantages of the present invention will become apparent from the Detailed Description of the <RTIgt;

附图说明DRAWINGS

被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。The accompanying drawings, which are incorporated in FIG

图1为本发明多自由度VR座椅驱动装置实施例的结构示意图。1 is a schematic structural view of an embodiment of a multi-degree-of-freedom VR seat driving device according to the present invention.

图2为本发明多自由度VR座椅驱动装置实施例的使用状态示意图。2 is a schematic view showing the use state of the embodiment of the multi-degree-of-freedom VR seat driving device of the present invention.

图3为本发明多自由度VR座椅驱动装置的线性驱动机构实施例的结构示意图。3 is a schematic structural view of an embodiment of a linear drive mechanism of a multi-degree-of-freedom VR seat drive device according to the present invention.

图4为本发明多自由度VR座椅驱动装置的转轴和球窝座实施例的结构示意图。4 is a schematic structural view of an embodiment of a rotating shaft and a ball socket of the multi-degree-of-freedom VR seat driving device of the present invention.

图5为本发明多自由度VR座椅驱动装置的万向节实施例的结构示意图。 FIG. 5 is a schematic structural view of a universal joint embodiment of a multi-degree-of-freedom VR seat driving device according to the present invention.

图6为本发明VR座椅实施例的结构示意图。6 is a schematic structural view of an embodiment of a VR seat of the present invention.

图7为图6的局部结构示意图。Figure 7 is a partial structural view of Figure 6.

图中标示如下：The figures are as follows:

转轴-1，转动部-11，座椅安装部-12，驱动机构连接部-13，旋转驱动机构-2，定子-21，动子-22，固定座-3，转轴限位孔-31，线性驱动机构-4，第一线性驱动单元-41，第一机架-411，第一电机-412，第一皮带-413，第一丝杆-414，第一丝母滑块-415，第二线性驱动单元-42，第二机架-421，第二电机-422，第二皮带-423，第二丝杆-424，第二丝母滑块-425，万向节-5，第一连接端-51，第二连接端-52，球窝座-6，球窝孔-61，弹性连接件-7，连接板-8，座椅-9。Rotary shaft-1, rotating portion-11, seat mounting portion-12, drive mechanism connecting portion-13, rotary drive mechanism-2, stator-21, mover-22, mount-3, shaft limit hole-31, Linear drive mechanism-4, first linear drive unit-41, first frame-411, first motor-412, first belt-413, first lead screw-414, first silk female slider-415, Two linear drive unit-42, second frame-421, second motor-422, second belt-423, second lead screw-424, second silk female slider-425, universal joint-5, first Connection end - 51, second connection end - 52, ball socket -6, ball socket - 61, elastic connection -7, connection plate -8, seat -9.

具体实施方式detailed description

现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。Various exemplary embodiments of the present invention will now be described in detail with reference to the drawings. It should be noted that the relative arrangement of the components and steps, numerical expressions and numerical values set forth in the embodiments are not intended to limit the scope of the invention unless otherwise specified.

以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。The following description of the at least one exemplary embodiment is merely illustrative and is in no way

对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but the techniques, methods and apparatus should be considered as part of the specification, where appropriate.

在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。In all of the examples shown and discussed herein, any specific values are to be construed as illustrative only and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。It should be noted that similar reference numerals and letters indicate similar items in the following figures, and therefore, once an item is defined in one figure, it is not required to be further discussed in the subsequent figures.

为了解决现有技术中VR座椅驱动装置仅可驱动座椅实现单一自由度的运动的问题，本发明提供了一种多自由度VR座椅驱动装置。In order to solve the problem that the prior art VR seat driving device can only drive the seat to achieve a single degree of freedom of motion, the present invention provides a multi-degree of freedom VR seat driving device.

如图1至图5所示，本发明的多自由度VR座椅驱动装置包括转轴1、旋转驱动机构2、固定座3、线性驱动机构4和万向节5。图1为本发明的 多自由度VR座椅驱动装置未工作时的原始状态图。图2为本发明的多自由度VR座椅驱动装置工作时的使用状态示意图，本领域技术人员应当清楚，图2仅为本发明的多自由度VR座椅驱动装置工作时的使用状态之一。As shown in FIGS. 1 to 5, the multi-degree-of-freedom VR seat driving device of the present invention includes a rotating shaft 1, a rotary drive mechanism 2, a fixed base 3, a linear drive mechanism 4, and a universal joint 5. Figure 1 is a view of the present invention The original state diagram of the multi-degree-of-freedom VR seat drive when not in operation. 2 is a schematic view showing the state of use of the multi-degree-of-freedom VR seat driving device of the present invention, and it should be clear to those skilled in the art that FIG. 2 is only one of the states of use of the multi-degree-of-freedom VR seat driving device of the present invention. .

转轴1包括转动部11、座椅安装部12和驱动机构连接部13。座椅安装部12被设置为用于安装座椅，座椅可通过螺栓连接或焊接等方式安装在座椅安装部12上。The rotary shaft 1 includes a rotating portion 11, a seat mounting portion 12, and a drive mechanism connecting portion 13. The seat mounting portion 12 is provided for mounting a seat that can be mounted on the seat mounting portion 12 by bolting or welding.

旋转驱动机构2与驱动机构连接部13相连接，以驱动转轴1绕第一轴旋转。旋转驱动机构2可例如为DDR电机(直驱式旋转电机)等。在图1中，第一轴为Z轴。The rotary drive mechanism 2 is coupled to the drive mechanism connecting portion 13 to drive the rotary shaft 1 to rotate about the first axis. The rotary drive mechanism 2 can be, for example, a DDR motor (Direct Drive Rotary Motor) or the like. In Figure 1, the first axis is the Z axis.

上述旋转驱动机构2与驱动机构连接部13相连接，通常是指旋转驱动机构2的动子22与驱动机构连接部13相连接。旋转驱动机构2与驱动机构连接部13之间的连接可通过焊接或螺栓连接等方式实现。The rotary drive mechanism 2 is connected to the drive mechanism connecting portion 13, and generally means that the mover 22 of the rotary drive mechanism 2 is connected to the drive mechanism connecting portion 13. The connection between the rotary drive mechanism 2 and the drive mechanism connection portion 13 can be achieved by welding or bolting or the like.

可选地，座椅安装部12和驱动机构连接部13可分别位于转轴1的两端，转动部11可位于座椅安装部12和驱动机构连接部13之间。Alternatively, the seat mounting portion 12 and the drive mechanism connecting portion 13 may be respectively located at both ends of the rotating shaft 1, and the rotating portion 11 may be located between the seat mounting portion 12 and the driving mechanism connecting portion 13.

固定座3上设有转轴限位孔31。实际应用中，固定座3的位置通常固定不变。例如，固定座3支撑在地面上。A rotating shaft limiting hole 31 is provided on the fixing base 3. In practical applications, the position of the mount 3 is usually fixed. For example, the mount 3 is supported on the ground.

转动部11与转轴限位孔31相配合，以使得转动部11在转轴限位孔31内转动。转动部11与转轴限位孔31之间可通过球窝配合等方式实现。The rotating portion 11 cooperates with the rotating shaft limiting hole 31 to rotate the rotating portion 11 in the rotating shaft limiting hole 31. The rotation portion 11 and the rotation shaft limiting hole 31 can be realized by ball joint fitting or the like.

线性驱动机构4包括第一线性驱动单元41和第二线性驱动单元42。第一线性驱动单元41和第二线性驱动单元42为可实现线性驱动的机构。例如，第一线性驱动单元41和第二线性驱动单元42均为DDL电机(直驱式直线电机)等。The linear drive mechanism 4 includes a first linear drive unit 41 and a second linear drive unit 42. The first linear driving unit 41 and the second linear driving unit 42 are mechanisms that can realize linear driving. For example, the first linear drive unit 41 and the second linear drive unit 42 are both DDL motors (direct drive linear motors) and the like.

万向节5包括第一连接端51和第二连接端52，第一连接端51与第一线性驱动单元41相连接，第二连接端52与旋转驱动机构2相连接。本领域技术人员应当清楚，万向节5为可实现变角度动力传递的器件，也即是，万向节5的第一连接端51和第二连接端52之间可实现变角度动力传递。The universal joint 5 includes a first connecting end 51 and a second connecting end 52. The first connecting end 51 is connected to the first linear driving unit 41, and the second connecting end 52 is connected to the rotary driving mechanism 2. It should be clear to those skilled in the art that the universal joint 5 is a device that can realize variable angle power transmission, that is, variable angle power transmission can be realized between the first connecting end 51 and the second connecting end 52 of the universal joint 5.

上述第一连接端51与第一线性驱动单元41相连接，通常是指第一连接端51与第一线性驱动单元41的动子相连接。第一连接端51和第一线性驱动单元41之间的连接可通过焊接或螺栓连接等方式实现。 The first connecting end 51 is connected to the first linear driving unit 41, and generally means that the first connecting end 51 is connected to the mover of the first linear driving unit 41. The connection between the first connection end 51 and the first linear drive unit 41 can be achieved by welding or bolting or the like.

上述第二连接端52与旋转驱动机构2相连接，通常是指第二连接端52与旋转驱动机构2的定子21相连接。第二连接端52和旋转驱动机构2之间的连接可通过焊接或螺栓连接等方式实现。The second connecting end 52 is connected to the rotary drive mechanism 2, and generally means that the second connecting end 52 is connected to the stator 21 of the rotary drive mechanism 2. The connection between the second connecting end 52 and the rotary drive mechanism 2 can be achieved by welding or bolting or the like.

第一线性驱动单元41被设置为用于驱动第一连接端51沿第二轴移动，第二线性驱动单元42被设置为用于驱动第一线性驱动单元41沿第三轴移动。在图1中，第二轴为X轴，第三轴为Y轴。The first linear drive unit 41 is arranged to drive the first connection end 51 to move along the second axis, and the second linear drive unit 42 is arranged to drive the first linear drive unit 41 to move along the third axis. In Fig. 1, the second axis is the X axis and the third axis is the Y axis.

此外，如图1和图2中所示，固定座3内还可设有用于容纳旋转驱动机构2、线性驱动机构4和万向节5的空腔。进一步地，线性驱动机构4可放置或安装在固定座3的底壁上。Further, as shown in FIGS. 1 and 2, a cavity for accommodating the rotary drive mechanism 2, the linear drive mechanism 4, and the universal joint 5 may be provided in the mount 3. Further, the linear drive mechanism 4 can be placed or mounted on the bottom wall of the mount 3.

下面以图1中示出的实施例为例，说明本发明的多自由度VR座椅驱动装置可实现的多自由度运动：The multi-degree-of-freedom motion achievable by the multi-degree-of-freedom VR seat driving device of the present invention will be described below by taking the embodiment shown in FIG. 1 as an example:

当旋转驱动机构2驱动转轴1绕第一轴旋转时，转轴1的座椅安装部12绕第一轴旋转，从而可实现座椅安装部12上安装的座椅的360°旋转。When the rotary drive mechanism 2 drives the rotary shaft 1 to rotate about the first axis, the seat mounting portion 12 of the rotary shaft 1 rotates about the first axis, so that 360° rotation of the seat mounted on the seat mounting portion 12 can be achieved.

当第一线性驱动单元41驱动万向节5的第一连接端51沿第二轴移动时，万向节5的第一连接端51带动第二连接端52运动。此时，与万向节5的第二连接端52相连接的旋转驱动机构2带动转轴1以转动部11为中心左右摆动，例如，呈现出图2中所示的使用状态。这样，可实现转轴1的座椅安装部12上安装的座椅的左右摆动。When the first linear driving unit 41 drives the first connecting end 51 of the universal joint 5 to move along the second axis, the first connecting end 51 of the universal joint 5 drives the second connecting end 52 to move. At this time, the rotary drive mechanism 2 connected to the second connection end 52 of the universal joint 5 drives the rotary shaft 1 to swing left and right around the rotary portion 11, for example, the use state shown in Fig. 2 is exhibited. In this way, the left and right swing of the seat mounted on the seat mounting portion 12 of the rotating shaft 1 can be realized.

当第二线性驱动单元42驱动第一线性驱动单元41沿第三轴移动时，与第一线性驱动单元41相连接的万向节5的第一连接端51随着第一线性驱动单元41运动。万向节5的第一连接端51带动第二连接端52运动。此时，与万向节5的第二连接端52相连接的旋转驱动机构2带动转轴1以转动部11为中心前后摆动。这样，可实现转轴1的座椅安装部12上安装的座椅的前后摆动。When the second linear driving unit 42 drives the first linear driving unit 41 to move along the third axis, the first connecting end 51 of the universal joint 5 connected to the first linear driving unit 41 moves along with the first linear driving unit 41. . The first connecting end 51 of the universal joint 5 drives the second connecting end 52 to move. At this time, the rotary drive mechanism 2 connected to the second connection end 52 of the universal joint 5 drives the rotary shaft 1 to swing back and forth around the rotary portion 11. In this way, the front and rear swing of the seat mounted on the seat mounting portion 12 of the rotating shaft 1 can be realized.

通过旋转驱动机构2、第一线性驱动单元41和第二线性驱动单元42三者的移动或转动可实现的运动的叠加，即可实现多自由度VR座椅驱动装置多自由度的运动。The multi-degree-of-freedom VR seat drive device can achieve multi-degree of freedom motion by superimposing the movements that can be achieved by the movement or rotation of the rotary drive mechanism 2, the first linear drive unit 41, and the second linear drive unit 42.

本发明的多自由度VR座椅驱动装置的线性驱动机构4的第二线性驱动单元42可驱动第一线性驱动单元41沿第三轴移动。第一线性驱动单元41 可驱动万向节5的第一连接端51沿第二轴移动。万向节5的第二连接端与旋转驱动机构2相连接，从而万向节5可带动与旋转驱动机构2相连接的转轴1在固定座3的转轴限位孔31内转动。旋转驱动机构2还可驱动转轴1绕第一轴旋转。这样，多自由度VR座椅驱动装置可实现多自由度的运动。The second linear drive unit 42 of the linear drive mechanism 4 of the multi-degree-of-freedom VR seat drive of the present invention can drive the first linear drive unit 41 to move along the third axis. First linear drive unit 41 The first connection end 51 of the driveable universal joint 5 is moved along the second axis. The second connecting end of the universal joint 5 is connected to the rotary drive mechanism 2, so that the universal joint 5 can drive the rotary shaft 1 connected to the rotary drive mechanism 2 to rotate in the rotary shaft limiting hole 31 of the fixed base 3. The rotary drive mechanism 2 can also drive the rotary shaft 1 to rotate about the first axis. In this way, the multi-degree-of-freedom VR seat drive can achieve multiple degrees of freedom of motion.

如图3所示，在本发明多自由度VR座椅驱动装置的一个实施例中，第一线性驱动单元41包括第一机架411、第一电机412、第一皮带413、第一丝杆414和第一丝母滑块415。第一电机412和第一丝杆414安装在第一机架411上，第一丝母滑块415与第一连接端51相连接。第一电机412的具体类型可根据实际需求灵活选择，例如，第一电机412为伺服电机。第一丝母滑块415与第一连接端51之间的连接可通过焊接或螺栓连接等方式实现。As shown in FIG. 3, in an embodiment of the multi-degree-of-freedom VR seat driving device of the present invention, the first linear driving unit 41 includes a first frame 411, a first motor 412, a first belt 413, and a first screw. 414 and a first female slider 415. The first motor 412 and the first screw 414 are mounted on the first frame 411, and the first wire slider 415 is coupled to the first connection end 51. The specific type of the first motor 412 can be flexibly selected according to actual needs, for example, the first motor 412 is a servo motor. The connection between the first female slider 415 and the first connecting end 51 can be achieved by welding or bolting or the like.

第一电机412被设置为用于驱动第一皮带413带动第一丝杆414转动，从而使得第一丝母滑块415沿第二轴移动。这样，第一丝母滑块415带动万向节5的第一连接端51一起沿着第二轴移动。The first motor 412 is configured to drive the first belt 413 to rotate the first screw 414 such that the first core slider 415 moves along the second axis. Thus, the first female slider 415 drives the first connecting end 51 of the universal joint 5 to move along the second axis.

第二线性驱动单元42包括第二机架421、第二电机422、第二皮带423、第二丝杆424和第二丝母滑块425。第二电机422和第二丝杆424安装在第二机架421上，第二丝母滑块425与第一机架411相连接。第二电机422的具体类型可根据实际需求灵活选择，例如，第二电机422为伺服电机。第二丝母滑块425与第一机架411之间的连接可通过焊接或螺栓连接或一体成型等方式实现。The second linear drive unit 42 includes a second frame 421, a second motor 422, a second belt 423, a second lead screw 424, and a second core slider 425. The second motor 422 and the second lead screw 424 are mounted on the second frame 421, and the second core slider 425 is coupled to the first frame 411. The specific type of the second motor 422 can be flexibly selected according to actual needs, for example, the second motor 422 is a servo motor. The connection between the second female slider 425 and the first frame 411 can be achieved by welding or bolting or integral molding.

第二电机422被设置为用于驱动第二皮带423带动第二丝杆424转动，从而使得第二丝母滑块425沿第三轴移动。这样，第二丝母滑块425带动第一线性驱动单元41一起沿着第三轴移动。The second motor 422 is configured to drive the second belt 423 to drive the second screw 424 to rotate, thereby moving the second core slider 425 along the third axis. Thus, the second female slider 425 drives the first linear drive unit 41 to move along the third axis.

可选地，第一电机412为伺服电机，第二电机422为伺服电机。Optionally, the first motor 412 is a servo motor and the second motor 422 is a servo motor.

如图4所示，在本发明多自由度VR座椅驱动装置的另一个实施例中，多自由度VR座椅驱动装置还包括球窝座6，球窝座6位于转轴限位孔31和转动部11之间。As shown in FIG. 4, in another embodiment of the multi-degree-of-freedom VR seat driving device of the present invention, the multi-degree-of-freedom VR seat driving device further includes a ball socket 6 on which the ball socket 6 is located and Between the rotating portions 11.

转动部11具有球形形状。球窝座6内设有球窝孔61，球窝孔61与转动部11球窝配合。球窝6的设置有利于更好地保护转轴1。此外，球窝6 的球窝孔61与转动部11之间的球窝配合还有利于提高转轴1的转动灵活性。The rotating portion 11 has a spherical shape. The ball socket 6 is provided with a ball socket 61, and the ball socket 61 is engaged with the ball portion of the rotating portion 11. The arrangement of the ball socket 6 facilitates better protection of the shaft 1. In addition, the ball socket 6 The ball and socket fit between the ball socket 61 and the rotating portion 11 is also advantageous for improving the rotational flexibility of the rotating shaft 1.

球窝座6可直接支撑在固定座3上而与固定座3没有连接关系。或者，球窝座6可与固定座3固定连接。球窝座6与固定座3之间的固定连接通常可通过球窝座6的外表面与固定座3之间的焊接，或者球窝座6的外壁上的凸起与固定座3之间的螺栓连接等方式实现。The ball socket 6 can be directly supported on the fixing base 3 without being connected to the fixing base 3. Alternatively, the socket 6 can be fixedly connected to the fixing base 3. The fixed connection between the socket 6 and the fixed seat 3 can generally be achieved by welding between the outer surface of the socket 6 and the fixed seat 3, or between the projection on the outer wall of the socket 6 and the fixed seat 3. Bolted and so on.

具体实施时，可将球窝座6设置为包括两个分体的半球窝座的结构。上述两个分体的半球窝座上分别设有半个球窝孔，两个分体的半球窝座可构成一个完整的球窝座6。这种设置有利于更方便地将转轴1和固定座3安装到一起。In a specific implementation, the socket 6 can be configured to include two split hemispherical sockets. The hemispherical sockets of the above two split bodies are respectively provided with half ball sockets, and the two split hemisphere sockets can form a complete ball socket 6. This arrangement facilitates more convenient mounting of the rotating shaft 1 and the fixing base 3.

在本发明多自由度VR座椅驱动装置的又一个实施例中，多自由度VR座椅驱动装置还包括弹性连接件7。弹性连接件7是指具有弹性、可被拉伸或挤压的器件，可例如为橡胶块或者伸缩套等。弹性连接件7的设置有利于更好地保护第一线性驱动单元41和万向节5。In still another embodiment of the multi-degree of freedom VR seat drive of the present invention, the multi-degree of freedom VR seat drive further includes an elastic link 7. The elastic connecting member 7 means a member which is elastic, can be stretched or extruded, and can be, for example, a rubber block or a telescopic sleeve or the like. The arrangement of the resilient connector 7 facilitates better protection of the first linear drive unit 41 and the universal joint 5.

弹性连接件7被设置为用于连接第一连接端51和第一线性驱动单元41。具体地，弹性连接件7将第一连接端51和第一线性驱动单元41的第一丝母滑块415连接在一起。上述连接可通过焊接或螺栓连接等方式实现。The elastic connecting member 7 is provided for connecting the first connecting end 51 and the first linear driving unit 41. Specifically, the elastic connecting member 7 connects the first connecting end 51 and the first female slider 415 of the first linear driving unit 41 together. The above connection can be achieved by welding or bolting.

在本发明多自由度VR座椅驱动装置的再一个实施例中，多自由度VR座椅驱动装置还包括连接板8。In still another embodiment of the multi-degree of freedom VR seat drive of the present invention, the multi-degree of freedom VR seat drive further includes a web 8.

连接板8被设置为用于连接第二连接端52和旋转驱动机构2的定子21。连接板8的设置可增加万向节5和旋转驱动机构2连接处的接触面积，从而提高万向节5和旋转驱动机构2连接的稳定性。The connecting plate 8 is provided for connecting the second connecting end 52 and the stator 21 of the rotary drive mechanism 2. The arrangement of the connecting plates 8 increases the contact area of the joint of the universal joint 5 and the rotary drive mechanism 2, thereby improving the stability of the connection of the universal joint 5 and the rotary drive mechanism 2.

如图5所示，在本发明多自由度VR座椅驱动装置的还一个实施例中，万向节5为十字万向节。该十字万向节为本领域熟知的十字万向节结构。可选地，十字万向节包括万向节上端法兰、万向节下端法兰以及与十字连接轴，十字连接轴分别与万向节上端法兰和万向节下端法兰以旋转运动副的方式连接。万向节上端法兰和万向节下端法兰分别与本发明中的第一连接端51和第二连接端52相对应。As shown in FIG. 5, in still another embodiment of the multi-degree-of-freedom VR seat driving device of the present invention, the universal joint 5 is a cross universal joint. The cross universal joint is a cross joint structure well known in the art. Optionally, the cross universal joint comprises a universal joint upper end flange, a universal joint lower end flange and a cross connecting shaft, the cross connecting shaft and the universal joint upper end flange and the universal joint lower end flange respectively. Way to connect. The universal joint upper end flange and the universal joint lower end flange respectively correspond to the first connection end 51 and the second connection end 52 in the present invention.

可选地，第二轴和第三轴相垂直。如图1中所示，在图1所示的状态 中，第一轴与第二轴和第二轴相垂直。Optionally, the second axis and the third axis are perpendicular. As shown in Figure 1, in the state shown in Figure 1. The first axis is perpendicular to the second axis and the second axis.

如图6和图7所示，本发明还提供了一种VR座椅。As shown in Figures 6 and 7, the present invention also provides a VR seat.

该VR座椅包括座椅9和本发明的多自由度VR座椅驱动装置。座椅9与座椅安装部12相连接，座椅9和座椅安装部12之间的连接可通过焊接或螺栓连接等方式实现。The VR seat includes a seat 9 and a multi-degree of freedom VR seat drive of the present invention. The seat 9 is coupled to the seat mounting portion 12, and the connection between the seat 9 and the seat mounting portion 12 can be achieved by welding or bolting.

下面以图7中示出的实施例为例，说明本发明的VR座椅可实现的多自由度运动：The multi-degree-of-freedom motion achievable by the VR seat of the present invention will be described below by taking the embodiment shown in FIG. 7 as an example:

当旋转驱动机构2驱动转轴1绕第一轴旋转时，转轴1的座椅安装部12绕第一轴旋转，从而可实现座椅9的360°旋转。When the rotary drive mechanism 2 drives the rotary shaft 1 to rotate about the first axis, the seat mounting portion 12 of the rotary shaft 1 is rotated about the first axis, so that 360° rotation of the seat 9 can be achieved.

当第一线性驱动单元41驱动万向节5的第一连接端51沿第二轴移动时，万向节5的第一连接端51带动第二连接端52运动。此时，与万向节5的第二连接端52相连接的旋转驱动机构2带动转轴1以转动部11为中心左右摆动。这样，可实现座椅9的左右摆动。When the first linear driving unit 41 drives the first connecting end 51 of the universal joint 5 to move along the second axis, the first connecting end 51 of the universal joint 5 drives the second connecting end 52 to move. At this time, the rotary drive mechanism 2 connected to the second connection end 52 of the universal joint 5 drives the rotary shaft 1 to swing left and right around the rotary portion 11. In this way, the left and right swing of the seat 9 can be achieved.

当第二线性驱动单元42驱动第一线性驱动单元41沿第三轴移动时，与第一线性驱动单元41相连接的万向节5的第一连接端51随着第一线性驱动单元41运动。万向节5的第一连接端51带动第二连接端52运动。此时，与万向节5的第二连接端52相连接的旋转驱动机构2带动转轴1以转动部11为中心前后摆动。这样，可实现座椅9的前后摆动。When the second linear driving unit 42 drives the first linear driving unit 41 to move along the third axis, the first connecting end 51 of the universal joint 5 connected to the first linear driving unit 41 moves along with the first linear driving unit 41. . The first connecting end 51 of the universal joint 5 drives the second connecting end 52 to move. At this time, the rotary drive mechanism 2 connected to the second connection end 52 of the universal joint 5 drives the rotary shaft 1 to swing back and forth around the rotary portion 11. In this way, the front and rear swing of the seat 9 can be achieved.

通过旋转驱动机构2、第一线性驱动单元41和第二线性驱动单元42三者的移动或转动可实现的运动的叠加，即可实现VR座椅多自由度的运动。The movement of the VR seat with multiple degrees of freedom can be achieved by the superposition of the movements that can be achieved by the movement or rotation of the rotary drive mechanism 2, the first linear drive unit 41 and the second linear drive unit 42.

虽然已经通过例子对本发明的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上例子仅是为了进行说明，而不是为了限制本发明的范围。本领域的技术人员应该理解，可在不脱离本发明的范围和精神的情况下，对以上实施例进行修改。本发明的范围由所附权利要求来限定。 While the invention has been described in detail with reference to the preferred embodiments of the present invention, it is understood that It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (10)

一种多自由度VR座椅驱动装置，其特征在于，包括转轴、旋转驱动机构、固定座、线性驱动机构和万向节，其中，A multi-degree-of-freedom VR seat driving device, comprising: a rotating shaft, a rotating driving mechanism, a fixing base, a linear driving mechanism and a universal joint, wherein 所述转轴包括转动部、座椅安装部和驱动机构连接部，所述座椅安装部被设置为用于安装座椅；The rotating shaft includes a rotating portion, a seat mounting portion and a driving mechanism connecting portion, and the seat mounting portion is configured to mount the seat; 所述旋转驱动机构与所述驱动机构连接部相连接，以驱动所述转轴绕第一轴旋转；The rotary drive mechanism is coupled to the drive mechanism connection portion to drive the rotating shaft to rotate about the first axis; 所述固定座上设有转轴限位孔；The fixing seat is provided with a rotating shaft limiting hole; 所述转动部与所述转轴限位孔相配合，以使得所述转动部在所述转轴限位孔内转动；The rotating portion cooperates with the rotating shaft limiting hole to rotate the rotating portion in the rotating shaft limiting hole; 所述线性驱动机构包括第一线性驱动单元和第二线性驱动单元；The linear drive mechanism includes a first linear drive unit and a second linear drive unit; 所述万向节包括第一连接端和第二连接端，所述第一连接端与所述第一线性驱动单元相连接，所述第二连接端与所述旋转驱动机构相连接；The universal joint includes a first connecting end and a second connecting end, the first connecting end is connected to the first linear driving unit, and the second connecting end is connected to the rotating driving mechanism; 所述第一线性驱动单元被设置为用于驱动所述第一连接端沿第二轴移动，所述第二线性驱动单元被设置为用于驱动所述第一线性驱动单元沿第三轴移动。The first linear drive unit is configured to drive the first connection end to move along a second axis, and the second linear drive unit is configured to drive the first linear drive unit to move along a third axis . 根据权利要求1所述的多自由度VR座椅驱动装置，其特征在于，所述第一线性驱动单元包括第一机架、第一电机、第一皮带、第一丝杆和第一丝母滑块，其中，所述第一电机和所述第一丝杆安装在所述第一机架上，所述第一丝母滑块与所述第一连接端相连接；The multi-degree-of-freedom VR seat driving device according to claim 1, wherein the first linear driving unit comprises a first frame, a first motor, a first belt, a first screw, and a first thread a slider, wherein the first motor and the first screw are mounted on the first frame, and the first female slider is connected to the first connection end; 所述第一电机被设置为用于驱动所述第一皮带带动所述第一丝杆转动，从而使得所述第一丝母滑块沿第二轴移动；The first motor is configured to drive the first belt to drive the first screw to rotate, so that the first core slider moves along the second axis; 所述第二线性驱动单元包括第二机架、第二电机、第二皮带、第二丝杆和第二丝母滑块，其中，所述第二电机和所述第二丝杆安装在所述第二机架上，所述第二丝母滑块与所述第一机架相连接；The second linear drive unit includes a second frame, a second motor, a second belt, a second lead screw, and a second core slider, wherein the second motor and the second screw are mounted in the The second female slider is connected to the first frame on the second frame; 所述第二电机被设置为用于驱动所述第二皮带带动所述第二丝杆转动，从而使得所述第二丝母滑块沿第三轴移动。 The second motor is configured to drive the second belt to drive the second screw to rotate such that the second core slider moves along the third axis. 根据权利要求2所述的多自由度VR座椅驱动装置，其特征在于，所述第一电机为伺服电机；The multi-degree-of-freedom VR seat driving device according to claim 2, wherein the first motor is a servo motor; 所述第二电机为伺服电机。The second motor is a servo motor. 根据权利要求1至3任一项中所述的多自由度VR座椅驱动装置，其特征在于，所述多自由度VR座椅驱动装置还包括球窝座，所述球窝座位于所述转轴限位孔和所述转动部之间；The multi-degree-of-freedom VR seat driving device according to any one of claims 1 to 3, wherein the multi-degree-of-freedom VR seat driving device further comprises a ball socket, the ball socket being located Between the shaft limiting hole and the rotating portion; 所述转动部具有球形形状；The rotating portion has a spherical shape; 所述球窝座内设有球窝孔，所述球窝孔与所述转动部球窝配合。A ball socket is provided in the ball socket, and the ball socket cooperates with the rotating ball socket. 根据权利要求4所述的多自由度VR座椅驱动装置，其特征在于，所述球窝座与所述固定座固定连接。The multi-degree-of-freedom VR seat driving device according to claim 4, wherein the socket is fixedly coupled to the fixing base. 根据权利要求1至5任一项中所述的多自由度VR座椅驱动装置，其特征在于，所述多自由度VR座椅驱动装置还包括弹性连接件；The multi-degree-of-freedom VR seat driving device according to any one of claims 1 to 5, wherein the multi-degree-of-freedom VR seat driving device further comprises an elastic connecting member; 所述弹性连接件被设置为用于连接所述第一连接端和所述第一线性驱动单元。The resilient connector is configured to connect the first connection end and the first linear drive unit. 根据权利要求1至6任一项中所述的多自由度VR座椅驱动装置，其特征在于，所述多自由度VR座椅驱动装置还包括连接板；The multi-degree-of-freedom VR seat driving device according to any one of claims 1 to 6, wherein the multi-degree-of-freedom VR seat driving device further comprises a connecting plate; 所述连接板被设置为用于连接所述第二连接端和所述旋转驱动机构的定子。The connecting plate is provided as a stator for connecting the second connecting end and the rotary drive mechanism. 根据权利要求1至7任一项中所述的多自由度VR座椅驱动装置，其特征在于，所述万向节为十字万向节。A multi-degree-of-freedom VR seat driving device according to any one of claims 1 to 7, wherein the universal joint is a cross universal joint. 根据权利要求1至8任一项中所述的多自由度VR座椅驱动装置，其特征在于，所述第二轴和所述第三轴相垂直。 A multi-degree-of-freedom VR seat driving apparatus according to any one of claims 1 to 8, wherein said second shaft and said third shaft are perpendicular. 一种VR座椅，其特征在于，包括座椅和权利要求1至9任一项中所述的多自由度VR座椅驱动装置；A VR seat, comprising a seat and the multi-degree-of-freedom VR seat drive device according to any one of claims 1 to 9; 所述座椅与所述座椅安装部相连接。 The seat is coupled to the seat mounting portion.
PCT/CN2017/081485 2017-03-20 2017-04-21 Multi-degree-of-freedom vr seat driving device and vr seat Ceased WO2018170991A1 (en)

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