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WO2018170991A1 - Dispositif d'entraînement de siège vr à degrés de liberté multiples et siège vr - Google Patents

Dispositif d'entraînement de siège vr à degrés de liberté multiples et siège vr 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
Authority
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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English (en)
Chinese (zh)
Inventor
刘捷明
刘东昊
王志伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Goertek Techology Co Ltd
Original Assignee
Goertek Techology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Goertek Techology Co Ltd filed Critical Goertek Techology Co Ltd
Publication of WO2018170991A1 publication Critical patent/WO2018170991A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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

L'invention concerne un dispositif d'entraînement de siège VR à degrés de liberté multiples et un siège VR. Le dispositif d'entraînement de siège comprend un arbre rotatif (1), un mécanisme d'entraînement rotatif (2), un siège fixe (3), un mécanisme d'entraînement linéaire (4) et un joint universel (5). L'arbre rotatif (1) comporte une partie rotative (11), une partie monture de siège (12) et une partie raccordement de mécanisme d'entraînement (13). Le mécanisme d'entraînement rotatif (2) entraîne l'arbre rotatif (1) en rotation autour d'un premier axe. Le siège fixe (3) comporte un trou de limitation de position d'arbre rotatif (31) et la partie rotative (11) coïncide avec ledit trou de limitation de position d'arbre rotatif (31). Le mécanisme d'entraînement linéaire (4) comprend une première unité d'entraînement linéaire (41) et une seconde unité d'entraînement linéaire (42). Le joint universel (5) comprend une première extrémité de raccordement (51) et une seconde extrémité de raccordement (52), où la première extrémité de raccordement (51) est raccordée à la première unité d'entraînement linéaire (41) et la seconde extrémité de raccordement (52) est raccordée au mécanisme d'entraînement rotatif (2). Les configurations ci-dessus permettent au dispositif d'entraînement de siège VR à degrés de liberté multiples selon l'invention d'amener un siège à se déplacer selon de multiples degrés de liberté.
PCT/CN2017/081485 2017-03-20 2017-04-21 Dispositif d'entraînement de siège vr à degrés de liberté multiples et siège vr Ceased WO2018170991A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710167026.9A CN106974461B (zh) 2017-03-20 2017-03-20 一种多自由度vr座椅驱动装置及vr座椅
CN201710167026.9 2017-03-20

Publications (1)

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WO2018170991A1 true WO2018170991A1 (fr) 2018-09-27

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WO (1) WO2018170991A1 (fr)

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CN107637990A (zh) * 2017-10-20 2018-01-30 福建天晴数码有限公司 Vr座椅
CN108577842B (zh) * 2018-05-07 2024-06-14 北京大学深圳医院 磁共振检查固定装置
CN109124132B (zh) * 2018-09-19 2021-06-08 宁波市玄图数字科技有限公司 办公座椅调节装置
CN111616849A (zh) * 2020-04-23 2020-09-04 中国人民解放军第四军医大学 一种人体用防脊柱曲度变形装置

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