A somatosensory decompression device, a decompression somatosensory simulation device and a vehicle

Abstract

The present invention discloses a somatosensory decompression device, a decompression somatosensory simulation device and a vehicle. The key points of the technical solution are as follows: By adopting the somatosensory decompression device combined with the VR somatosensory vehicle inside it, the present invention can provide users with a soothing environmental simulation state. For example, the simulation of environments such as light music and natural environments is provided to give users a relatively soothing scenario simulation, enabling them to put down their psychological burdens, and thus achieving a certain degree of decompression and relief effect. Moreover, the cabin of the somatosensory decompression device can form an airtight space to shield the users inside the cabin, which can achieve the effect of protecting the privacy of users and can also provide a safer environment for users, facilitating users to enjoy the decompression and relaxation service.

Description

Technical Field

[0001] The present invention relates to the technical field of somatosensory decompression equipment, and more specifically, to a somatosensory decompression equipment, a somatosensory decompression simulation device, and a VR somatosensory vehicle. Background Art

[0002] With the continuous development of society, people's pace of life is accelerating, and as a result, people's physical and mental pressures are increasing. Being in a high-pressure state for a long time will cause some mental illnesses. At present, there is a large group of people in China who need psychological intervention or treatment, which has a huge market size and prospects.

[0003] Among the current existing technologies, there are some relaxation devices that can provide users with a relaxation and stress relief service. For example, the Chinese invention patent with publication number CN115110806A discloses an emotional catharsis cabin, including a cabin body, the cabin body side walls include electrically controlled fogging glass and soundproof glass, the electrically controlled fogging glass is arranged on the innermost layer of the cabin body side walls; a cabin door is arranged on the cabin body side wall, and the cabin door is provided with an electronic lock for controlling the locking state of the cabin door; a first control unit is used to receive external control instructions, and control the cabin door electronic lock to lock the cabin door or unlock the cabin door and control the electrically controlled fogging glass to be powered on to present a transparent visual effect or powered off to present a fogged visual effect. Sound isolation and visual isolation can be achieved simultaneously during user use, with strong privacy, which can give users a higher sense of psychological security, allowing them to let go of their psychological burdens, and thereby optimize the emotional catharsis effect of shouting.

[0004] In addition, with the development of VR technology, VR devices can provide users with a simulated reality scene experience with very good authenticity. Some technicians use VR devices to play some soothing images for users, such as soothing natural landscapes, which can provide users with a soothing simulated scene, and can also have a certain soothing and relaxing effect, providing users with richer stress relief services. VR devices are often equipped with somatosensory devices. Through somatosensory vehicles, such as somatosensory chairs, somatosensory sofas and other equipment, they can combine dynamic simulated scenes to bring simulated actions to users, thereby improving the authenticity of the scene.

[0005] Current somatosensory vehicles often adopt a multi-axis mounting method, with multiple sets of rotating shafts installed under the somatosensory chair, so that the somatosensory chair can achieve multi-directional rotational movement to simulate three-dimensional movements; however, the distance between the rotating shaft of the somatosensory vehicle with this structure and the human body is large, resulting in large shaking of each rotating shaft when simulating dynamic movements, and poor stability and smoothness.

[0006] Therefore, a new solution needs to be proposed to solve this problem. Summary of the invention

[0007] The object of the present invention is to solve the above problems and provide a VR somatosensory vehicle, which can form a stable support state for the vehicle and maintain the stability during the dynamic adjustment of the vehicle.

[0008] The above technical object of the present invention is achieved through the following technical solutions: A VR somatosensory vehicle includes a base and a hemispherical seat. The hemispherical seat is a hemispherical shell. A recess adapted to the hemispherical seat is provided on the base, and the lower part of the hemispherical seat is embedded in the base. Three universal wheels are installed inside the base, and each universal wheel is used to press and support the lower part of the hemispherical seat and can achieve universal swing. Three groups of drive-wheel sets are installed inside the base, and the three groups of drive-wheel sets are distributed in a circular array. The outer circumference of the drive-wheel set is in mutual pressing and rolling fit with the lower spherical convex surface of the hemispherical seat, and is used to drive the hemispherical seat to swing.

[0009] The present invention is further provided that the upper side of the hemispherical seat is open and a seat body is installed, and a headrest bracket and a leg bracket are respectively installed on both sides of the upper part of the hemispherical seat.

[0010] The present invention is further provided that each group of drive-wheel sets are mutually at 120°, and the upper side of the drive-wheel set is inclined towards the center of the sphere of the hemispherical seat; each group of drive-wheel sets is respectively driven by a rotary driver, and the drive shaft of the rotary driver is connected to the wheel shaft of the drive-wheel set.

[0011] The present invention is further provided that the drive-wheel set includes a wheel shaft, a drive wheel and a plurality of support wheels. The wheel shaft is rotatably connected inside the base, the drive wheel is coaxially installed outside the wheel shaft, and each support wheel is installed on the outer circumference of the drive wheel and is distributed in a circular array; the support wheel is rotationally supported by a support shaft, and the axis of the support shaft is perpendicular to the radial direction of the drive wheel and also perpendicular to the axis of the wheel shaft.

[0012] The present invention is further provided that the outer circumference of the support wheel is in a structure with a middle bulge and both ends shrinking; the generatrix of the outer circumference of each support wheel is arc-shaped, and the center of the circle coincides with the axis of the support wheel.

[0013] The present invention is further provided that two sets of drive wheels are provided on the wheel shaft, and the two sets of drive wheels are coaxially installed. Support wheels are provided on the outer circumferences of the drive wheels, and the support wheels on the outer circumferences of the two sets of drive wheels are alternately distributed; a gap is formed between adjacent support wheels, and the width of the gap is smaller than the length of the support wheel.

[0014] The present invention is further configured such that a number of support blocks arranged in an annular array are fixedly provided on the outer periphery of the driving wheel, a support shaft is provided between adjacent support blocks, the support wheel has a cylindrical structure, and an axially penetrating shaft hole is provided therein; the support wheel is sleeved on the outer periphery of the support shaft and can achieve radial yaw; a spherical protrusion protruding outward toward the outer periphery is formed in the middle of the support wheel, a connecting ring is provided in the middle section of the shaft hole of the support wheel, a spherical depression adapted to the spherical protrusion is provided on the inner periphery of the connecting ring, the connecting ring is sleeved on the outer periphery of the spherical protrusion, and can swing around the spherical surface of the spherical protrusion and rotate axially.

[0015] The present invention is further configured such that an elastic member is provided between one end of the support shaft and the shaft hole of the support wheel, and the support wheel is maintained in an inclined yaw through the elastic member; one end of the support wheel swings toward the inner side of the driving wheel to form a concave portion, and the other end swings toward the outer side of the driving wheel to form a convex portion; the yaw directions of the support wheels on the two groups of driving wheels are opposite.

[0016] The present invention is further configured such that the elastic member includes a support spring, a fixed sleeve and a rotating sleeve; the fixed sleeve is sleeved on the outer periphery of the support shaft and can achieve axial rotation fixation; the rotating sleeve is sleeved on the inner periphery of the shaft hole and can achieve axial rotation; the two ends of the spring are respectively connected to the outer periphery of the fixed sleeve and the inner periphery of the rotating sleeve, and the spring is located at a position facing the outer side of the driving wheel and is used to push the convex portion of the support wheel to yaw outward.

[0017] The present invention is further configured such that a first annular groove is provided on the outer periphery of the support shaft, the fixed sleeve is sleeved on the outer periphery of the first annular groove and can achieve axial adjustment; a second annular groove is provided on the inner periphery of the shaft hole, and the rotating sleeve is sleeved on the inner periphery of the second annular groove and can achieve axial rotation.

[0018] The present invention is further configured such that an arc surface is formed on the outer periphery of the fixed sleeve, and the arc surface is used to abut against the inner periphery of the rotating sleeve to achieve swing limit.

[0019] The present invention is further configured such that the fixed sleeve can be axially adjusted along the support shaft, and during the adjustment process, the compression degree of the support spring between the fixed sleeve and the rotating sleeve can be adjusted; the width of the first annular groove is larger than the width of the rotating sleeve; at the position of the support shaft corresponding to the first annular groove, an adjustment section is formed; a thread is formed on the outer periphery of the adjustment section, and a stop block is provided at a position outside the thread of the adjustment section. By adjusting the stop block, axial adjustment of the fixed sleeve can be achieved.

[0020] The present invention is further configured such that two stop blocks are provided on the adjustment section, namely a first stop block and a second stop block, and the first stop block and the second stop block abut against each other to achieve fixation.

[0021] The present invention also provides a decompression somatosensory simulation device, including a VR simulation system, the VR simulation system includes a host computer and VR glasses; the VR simulation system also includes the VR somatosensory vehicle as described above.

[0022] The present invention also provides a somatosensory decompression device, including a cabin body, the cabin body encloses to form an accommodation space, and the accommodation space is used for users to enjoy physical and mental decompression services; one side of the cabin body is a dimming surface, and the dimming surface adopts electronically atomized glass, which can change from a transparent state to an opaque state through atomization; a human body sensor, a lighting device, a sound device, and an air conditioning device are arranged inside the cabin body; the decompression somatosensory simulation device as described above is also arranged inside the cabin body.

[0023] In summary, the present invention has the following beneficial effects:

[0024] By adopting a somatosensory decompression device combined with the VR somatosensory vehicle inside it, a soothing environmental simulation state can be provided for users. For example, the simulation of environments such as light music and natural environments can provide a relatively soothing scenario simulation for users, enabling them to put down their psychological burdens, and thus achieving a certain degree of decompression and relief effect. Moreover, the cabin body of the somatosensory decompression device can form a sealed air space to shield the users inside the cabin body, which can achieve the effect of protecting the privacy of users and can also provide a safer environment for users, facilitating users to enjoy decompression and relaxation services.

[0025] By adopting a hemispherical structure as the support chamber of the vehicle, the user can be stably supported. The hemispherical seat can swing around its own center of the sphere under the support of the base, and the inlet can achieve the effect of dynamic simulation; three universal wheels are installed inside the base, and three support points are formed at the lower part of the hemispherical seat, which can stably support the hemispherical seat and can also roll freely, enabling the upper hemispherical seat to form smooth rotation and swing in various directions, and making the adjustment of the hemispherical seat smoother; the structure of three-point support at the bottom, combined with the user's own gravity, can ensure that the center of gravity of the hemispherical seat is always in a stable state during the dynamic adjustment process, being stable between the three support points, and can stably support the user. Moreover, the universal wheels at the three support points are in a compression state, which has better stability and safety compared with the hanging structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a side view of a VR somatosensory vehicle of the present invention;

[0027] Figure 2 It is a schematic structural diagram of the hemispherical seat, universal wheel and drive wheel set of the present invention;

[0028] Figure 3 It is a cross-section of the hemispherical seat, universal wheel and drive wheel set of the present inventionFigure 1 ;

[0029] Figure 4 Is a sectional view of the hemispherical seat, universal wheel and drive wheel set of the present invention Figure 2 ;

[0030] Figure 5 Is a schematic structural diagram of the drive wheel set and the rotary drive of the present invention;

[0031] Figure 6 Is a perspective view of the drive wheel set of the present invention;

[0032] Figure 7 Is a schematic structural diagram of the drive wheel set of the present invention Figure 1 ;

[0033] Figure 8 Is a schematic structural diagram of the drive wheel set of the present invention Figure 2 ;

[0034] Figure 9 Is a schematic structural diagram of the drive wheel set of the present invention Figure 3 ;

[0035] Figure 10 Is a schematic structural diagram of the support wheel of the present invention Figure 1 ;

[0036] Figure 11 Is Figure 10 The enlarged view at position A in

[0037] Figure 12 Is a schematic structural diagram of the support wheel of the present invention Figure 2 ;

[0038] Figure 13 Is Figure 12 The enlarged view at position B in

[0039] Reference numerals: 1, hemispherical seat; 101, seat body; 102, headrest bracket; 103, leg bracket; 104, base; 2, universal wheel; 3, frame; 4, drive wheel set; 5, rotary drive; 51, drive shaft; 41, drive wheel; 42, wheel shaft; 43, wheel body; 44, support block; 45, support wheel; 46, gap; 47, arc-shaped support surface; 451, concave part; 452, convex part; 6, support shaft; 61, spherical protrusion; 62, connecting ring; 63, first ring groove; 64, adjustment section; 7, elastic member; 71, support spring; 72, fixed sleeve; 73, rotating sleeve; 74, second ring groove; 75, arc-shaped surface; 76, first stop block; 77, second stop block; 78, thread; 79, adjustment spring. Detailed implementation manners

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0041] This embodiment discloses a VR somatosensory vehicle, as Figures 1-4 shown, which includes a base 104 and a hemispherical seat 1. The hemispherical seat 1 is a hemispherical shell with an open upper part and a hemispherical convex lower part; a depression adapted to the hemispherical seat 1 is provided on the base 104, and the lower part of the hemispherical seat 1 is embedded in the base 104, which can stably support the hemispherical seat 1, and the hemispherical seat 1 can swing around its own center of the sphere under the support of the base 104.

[0042] Three universal wheels 2 are installed inside the base 104, and the universal wheels 2 are supported and installed in the base 104 through a frame 3. The three universal wheels 2 are installed at the lower oblique position of the hemispherical seat 1 and are mutually at 120°, forming three support points at the lower part of the hemispherical seat 1, which can stably support the hemispherical seat 1. Moreover, the universal wheels 2 can roll freely, enabling the upper hemispherical seat 1 to form smooth rotation and swing in various directions, and making the adjustment of the hemispherical seat 1 smoother.

[0043] Specifically, the universal wheel 2 also adopts a support ball, and the support ball presses and supports the spherical surface of the hemispherical seat 1 with its spherical surface, thereby achieving the support effect of universal adjustment. A cavity for accommodating the support ball is provided in the frame 3, and one side of the support ball extends out from the cavity of the frame 3 to achieve the support effect on the hemispherical seat 1. The universal wheel 2 can freely support the hemispherical seat 1, which is prior art and will not be elaborated here.

[0044] Three groups of driving one-wheel sets 4 are installed at the lower side position inside the base 104, and the three groups of driving one-wheel sets 4 are distributed in a circular array. The driving one-wheel sets 4 form a pressing contact with the lower part of the hemispherical seat 1 and are driven by friction during the transmission process, which can drive the hemispherical seat 1 to achieve swing adjustment. The three groups of driving one-wheel sets 4 can drive the hemispherical seat 1 to rotate in three different directions, and through the three-axis linkage cooperation, the hemispherical seat 1 can be smoothly swung and rotated.

[0045] As Figure 2 shown, the outer periphery of each driving one-wheel set 4 is pressed against the lower spherical convex surface of the hemispherical seat 1, and the hemispherical seat 1 can be driven to swing through rolling cooperation. The three groups of driving one-wheel sets 4 are mutually at 120°, and the upper side of the driving one-wheel set 4 is inclined towards the center of the sphere direction of the hemispherical seat 1 and is pressed and linked with the lower outer peripheral position of the hemispherical seat 1.

[0046] AsFigure 5 As shown, in order to stably rotate the first driving wheel set 4 and control the rotation adjustment angle, each group of the first driving wheel sets 4 is driven by an independent rotation driver 5 respectively. The rotation driver 5 can adopt a servo motor device, so that the rotation angle of the first driving wheel set 4 can be adjusted, and then the movement angle of the vehicle can be adjusted. The driving shaft 51 of the servo motor device is connected to the wheel shaft 42 of the first driving wheel set 4, so as to rotate and drive the first driving wheel set 4 and maintain the stability of the adjustment state.

[0047] This servo motor device can be connected to the host in the VR simulation system, and then can cooperate with the VR vision to achieve adjustment, and then adjust the movement of the hemisphere seat 1, realize the correlation between the visual movement and the vehicle movement, and achieve VR somatosensory simulation. Specifically, the VR simulation system belongs to the prior art and will not be elaborated here.

[0048] As Figure 4 shown, the base 104 has a shell-like structure. The upper side of the base 104 is open to form a groove, and a seat body 101 is installed in the base 104. The shape of the seat body 101 is concave, allowing users to sit on the seat body 101. Moreover, a headrest bracket 102 and a leg bracket 103 are respectively installed on both sides of the upper part of the base 104. The two brackets adopt a detachable installation structure, which is convenient for disassembly and assembly. Through the seat body 101 and the two brackets, the user's body can be supported, and then the user's body can be kept in a lying and sitting state, maintaining a relatively comfortable posture.

[0049] As Figure 5 、 6 shown in FIGS. 6 and 7, the first driving wheel set 4 includes a wheel shaft 42, a driving wheel 41 and a plurality of support wheels 45. The wheel shaft 42 is rotatably connected in the base 104 and is stably supported by bearings; the driving wheel 41 is coaxially installed outside the wheel shaft 42 and is fixed to the wheel shaft 42, and can be driven to rotate by the wheel shaft 42; eight groups of support wheels 45 are installed on the outer periphery of the driving wheel 41, and each support wheel 45 is installed on the outer periphery of the driving wheel 41 and is distributed in a circular array.

[0050] As Figure 6 、 7 shown in FIGS. 8 and 9, eight support blocks 44 are fixed on the outer periphery of the driving wheel 41, and the eight support blocks 44 are distributed in a circular array structure. A support shaft 6 is fixed between two adjacent support blocks 44, and the support wheel 45 is rotatably supported by the support shaft 6. The axis of the support shaft 6 is perpendicular to the radial direction of the driving wheel 41 and is also perpendicular to the axis of the wheel shaft 42. The support wheel 45 has a cylindrical structure with an axially penetrating shaft hole. The support wheel 45 is sleeved on the outer periphery of the support shaft 6, so that the support wheel 45 can achieve axial rotation.

[0051] When a partial driving wheel set 4 drives the hemispherical seat 1 to rotate, slipping will occur between the supporting wheels 45 on the outer periphery of the other driving wheel set 4 and the hemispherical seat 1, forming a slip; by installing a plurality of rotatable supporting wheels 45 on the outer periphery of the driving wheel set 4, the supporting wheel set can rotate along the supporting shaft 6, so that the driving wheel set 4 can not only generate axial rotational linkage with the outer periphery of the hemispherical seat 1, but also achieve axial linkage through the action of the supporting wheels 45, thereby maintaining a stable linkage cooperation between the driving wheel set 4 and the hemispherical seat 1 and maintaining a stable and smooth motion state of the hemispherical seat 1.

[0052] In order to maintain the stable state of the driving wheel set 4 during rotation, the supporting wheels 45 can be set in a structure with a middle bulge and two ends narrowing, forming an arc-shaped supporting surface 47. The generatrix on the outer periphery of each supporting wheel 45 is arc-shaped, and the center of the circle coincides with the axis of the supporting wheel 45, so that the outer periphery of the supporting wheels 45 on the outer periphery of the driving wheel set 4 forms a circular state, as Figure 7 shown in the figure. During the rotation of the wheel set, the outer peripheral surface of each supporting wheel 45 stably presses against the spherical surface of the hemispherical seat 1, thereby maintaining the stable and smooth driving of the driving wheel set 4 to the hemispherical seat 1.

[0053] Since a certain gap 46 is formed between the two supporting wheels 45, when the driving wheel set 4 rotates, at a certain position, the gap 46 between the two supporting wheels 45 will press against the hemispherical seat 1, resulting in possible jerks of the hemispherical seat 1.

[0054] In order to eliminate the influence of the gap 46 between the two supporting wheels 45, two driving wheels 41 can be installed on the axle 42 of the driving wheel set 4, and the two groups of driving wheels 41 transmit power by pressing against the hemispherical seat 1. As Figure 5 、 6 shown in the figure, the two groups of driving wheels 41 are coaxially installed, and eight supporting wheels 45 are installed on the outer periphery of the two groups of driving wheels 41, and the supporting wheels 45 on the outer periphery of the two groups of driving wheels 41 are alternately distributed. The width of the gap 46 between adjacent supporting wheels 45 will be smaller than the length of the supporting wheel 45, and the length of the supporting wheel 45 is slightly larger. Through the supporting wheels 45 in the first group of driving wheels 41, the gap 46 in the second group of driving wheels 41 can be compensated, so that when a group of driving wheel sets 4 presses against and drives the hemispherical seat 1, the driving stability of the driving wheel set 4 can be maintained, and thus the driving stability and smoothness between the supporting wheel 45 and the hemispherical seat 1 can be maintained.

[0055] Furthermore, the support wheel 45 is sleeved on the outer periphery of the support shaft 6 and can achieve radial yaw; the support wheel 45 can swing elastically to a certain extent towards the outer periphery. Through the elastic action of the elastic member 7, the pressure between the outer periphery of the support wheel 45 and the hemispherical seat 1 is increased, and thus the frictional force between the support wheel 45 and the hemispherical seat 1 can be increased. A greater frictional driving force can be provided to the hemispherical seat 1 through the greater frictional force, and thus the driving stability of the hemispherical seat 1 can be maintained, and the stable linkage state between the contact surfaces can be maintained. During the pressing transmission process, a greater frictional force can be formed between the two contact surfaces, and the slipping between the two can also be avoided, forming a state of greater driving force.

[0056] As Figure 10 、 11 shown, a spherical protrusion 61 protruding towards the outer periphery is formed at the middle position of the support wheel 45. A connecting ring 62 is installed in the middle section of the shaft hole of the support wheel 45, and the connecting ring 62 and the support wheel 45 are fixed to each other. A spherical depression is machined on the inner periphery of the connecting ring 62, and the spherical depression and the spherical protrusion 61 are mutually adapted to form a ball head connection structure similar to; the connecting ring 62 is sleeved on the outer periphery of the spherical protrusion 61 and can swing around the spherical surface of the spherical protrusion 61 and rotate axially. In order to maintain the smoothness of adjustment, lubricating oil can be coated between the spherical depression and the spherical protrusion 61, and the smoothness of the movement state of the support wheel 45 can be maintained.

[0057] As Figure 10 shown, an elastic member 7 is installed between one end of the support shaft 6 and the shaft hole of the support wheel 45 to maintain the inclined yaw of the support wheel 45 through the elastic member 7. Among them, one end of the support wheel 45 swings towards the inner side of the driving wheel 41 to form a concave portion 451, and the other end swings towards the outer side of the driving wheel 41 to form a convex portion 452; through the convex portion 452 at one end of the support shaft 6, there is an elastic pressure towards the outer side. When the hemispherical seat 1 is installed, the pressure between the support wheel 45 and the peripheral surface of the hemispherical seat 1 can be increased through the convex portion 452, and thus the stability of the frictional transmission can be maintained, and the driving stability of the hemispherical seat 1 can be improved.

[0058] Furthermore, as Figure 8 、 9 shown, the yaw directions of the support wheels 45 on the two groups of driving wheels 41 are opposite. Specifically, as Figure 8 shown, for the support wheel 45 on the upper side of the first group of driving wheels 41, the right end of the support wheel 45 protrudes outwards to form a convex portion 452, and the left end is recessed inwards to form a concave portion 451; and the support wheels 45 on the outer periphery of this group of driving wheels 41 are distributed in a circular array, so that the inclination direction of the support wheels 45 is in the state as Figure 8 . As Figure 9As shown, the support wheel 45 is located above the second group of drive wheels 41. The left end of the support wheel 45 is recessed inward to form a concave portion 451, and the right end protrudes outward to form a convex portion 452. Moreover, the support wheels 45 on the outer periphery of each group of drive wheels 41 are distributed in an annular array, such that the inclination direction of the support wheels 45 is as shown in Figure 9 state.

[0059] When the first drive wheel group 4 rotates, when the drive wheel 41 rotates counterclockwise, the convex portion 452 that protrudes outward of the support wheel 45 will follow the counterclockwise rotation. As a result, the convex portion 452 will press against the outer peripheral surface of the hemispherical seat 1, and the frictional force between the outer periphery of the support wheel 45 and the hemispherical seat 1 will gradually increase to provide a greater frictional effect, thereby maintaining a stable linkage state. When the drive wheel 41 rotates clockwise, the support wheels 45 on the outer periphery of the other group of drive wheels 41 will perform the above actions, and the frictional force between the outer periphery of the support wheels 45 on this group of drive wheels 41 and the hemispherical seat 1 will gradually increase to provide a greater frictional effect, thereby maintaining a stable linkage state.

[0060] As shown in Figure 11 the elastic member 7 includes a support spring 71, a fixed sleeve 72, and a rotating sleeve 73. The fixed sleeve 72 is sleeved on the outer periphery of the support shaft 6 and is axially rotationally fixed to the support shaft 6. The rotating sleeve 73 is sleeved on the inner periphery of the shaft hole and can rotate axially. The spring is installed between the fixed sleeve 72 and the rotating sleeve 73, and its two ends are respectively connected to the outer periphery of the fixed sleeve 72 and the inner periphery of the rotating sleeve 73. The spring is located at a position facing the outside of the drive wheel 41. Through the elastic action of the spring, the convex portion 452 of the support wheel 45 is pushed to deflect outward, forming a state as shown in Figure 10 , 11 state.

[0061] Through the elastic action of the support spring 71, the support spring 71 generates an outward elastic action on the rotating sleeve 73, such that one side of the support wheel 45 inclines toward the outer periphery direction of the drive wheel 41. The support wheel 45 can produce a certain floating deflection around the spherical protrusion 61 on the support shaft 6. After the support wheel 45 deflects, a concave portion 451 and a convex portion 452 are formed. The convex portion 452 presses against the side wall of the side spherical surface of the hemispherical seat 1 with a greater force. Under the action of the elastic pressure, pressure compensation is formed to generate a greater low pressure, and thus a greater frictional force can be formed, making the rotational drive with the hemispherical seat 1 more stable.

[0062] Furthermore, the elastic member 7 can also adopt an adjustable structure, as shown in Figure 12 , 13 for detailed description. By adjusting the axial position of the fixed sleeve 72 in the elastic member 7, the initial compression amount of the support spring 71 can be adjusted, and thus the deflection elasticity of the support spring 71 for the support wheel 45 can be compensated to form a more flexible elastic pressure.

[0063] A second annular groove 74 is formed on the inner circumference of the shaft hole, and the rotating sleeve 73 is sleeved on the inner circumference of the second annular groove 74 and can rotate axially.

[0064] A first annular groove 63 is formed on the outer circumference of the support shaft 6, and the fixed sleeve 72 is sleeved on the outer circumference of the first annular groove 63. The width of the first annular groove 63 is larger than the width of the rotating sleeve 73. An adjustment section 64 is formed at the position of the first annular groove 63, and a guiding groove is formed between the outer circumference of the adjustment section 64 and the inner ring of the fixed sleeve 72 to guide the movement of the fixed sleeve 72, so that the fixed sleeve 72 can only slide axially and cannot rotate axially. The two ends of the support spring 71 are respectively connected between the fixed sleeve 72 and the rotating sleeve 73. By adjusting the axial position of the fixed sleeve 72, the compression degree of the support spring 71 between the fixed sleeve 72 and the rotating sleeve 73 can be adjusted, and then the compression degree of the support spring 71 can be adjusted to adjust the initial elastic force formed by the support spring 71.

[0065] As Figure 13 shown, for the axial position of the fixed sleeve 72, it can be adjusted by means of a thread 78. Specifically, at the position of the support shaft 6 corresponding to the first annular groove 63, an adjustment section 64 is formed. A thread 78 is formed on the outer circumference of the adjustment section 64, and a stop block is installed at the position outside the thread 78 of the adjustment section 64. A thread 78 adapted to the adjustment section 64 is machined in the inner hole of the stop block to form a threaded connection structure. By adjusting the stop block, the axial adjustment of the fixed sleeve 72 can be realized.

[0066] An adjustment spring 79 is sleeved on the other side of the adjustment section 64. One end of the adjustment spring 79 abuts against the stepped surface on the left side of the adjustment section 64, and the other end abuts against the end face of the fixed sleeve 72, so as to maintain the position of the fixed sleeve 72 and keep the axial position stability of the fixed sleeve 72; at the same time, cooperating with the stop block on the other side of the fixed sleeve 72, the position of the fixed sleeve 72 can be adjusted.

[0067] Moreover, there are two stop blocks on the adjustment section 64, namely a first stop block 76 and a second stop block 77. The first stop block 76 abuts against the fixed sleeve 72, and the second stop block 77 is located on the other side of the first stop block 76. After the adjustment is completed, by tightening the second stop block 77, a pressing effect is formed between the first stop block 76 and the second stop block 77, which can increase the friction force of the threaded part 78, and then the positions of the two stop blocks can be fixed.

[0068] In addition, an arc surface 75 is formed on the outer circumference of the fixed sleeve 72, and a smooth convex structure is formed on the outer side of the arc surface 75, which can abut against the inner circumference of the rotating sleeve 73 to realize swing limit; and the stability of the mutual pressing state between the two can be increased through the smooth arc surface 75, and wear can be reduced.

[0069] This embodiment also discloses a somatosensory simulation device, including a VR simulation system. The VR simulation system includes a host and VR glasses. Devices such as the host and VR glasses in this VR simulation system can be implemented with reference to the prior art and do not belong to the improvement points of this solution, so no further elaboration will be made here.

[0070] In addition, the VR simulation system further includes a VR somatosensory vehicle. The VR somatosensory vehicle can adopt the VR somatosensory vehicle in the above embodiment, which can support the user's body through the cockpit formed by the hemispherical seat 1. Moreover, it can cooperate with the yaw of the hemispherical seat 1 to simulate the dynamic actions of the user's body.

[0071] This somatosensory simulation device can be applied to somatosensory decompression equipment and be used as a decompression somatosensory simulation device in the decompression equipment. When in use, a soothing environment simulation state can be provided in the VR simulation system. For example, the simulation of light music, natural environment and other environments can be provided to the user to provide a relatively soothing scenario simulation, enabling the user to put down the psychological burden and thus achieving a certain degree of decompression and relief effect.

[0072] This embodiment also discloses a somatosensory decompression equipment, including a cabin. The cabin encloses to form an accommodation space for the user to enjoy physical and mental decompression services. The somatosensory simulation device in the above embodiment is installed in the cabin. Through this somatosensory simulation device, a soothing scenario simulation can be provided for the user, thereby achieving the effect of influencing the user's mood and relieving the user's stress. Moreover, the cabin can form a sealed airtight space to shield the user inside the cabin, which can achieve the effect of protecting the user's privacy and can also provide a safer environment for the user.

[0073] Furthermore, in order to have a suitable environment inside the cabin, lighting equipment, air conditioning equipment, and audio equipment can be installed in the cabin to adjust the temperature, light, and sound conditions inside the cabin, thereby forming a more comfortable environment. And a body sensor can be installed in the cabin to identify whether there are people inside the cabin.

[0074] In addition, one side of the cabin is a dimming surface, which adopts electronically controlled dimming glass and can change from a transparent state to an opaque state through atomization. By adjusting the state of the dimming surface, the line of sight inside and outside can be isolated, a certain amount of natural light can be introduced, and the internal space environment cannot be observed, ensuring the privacy of physical and mental decompression and well protecting the user's privacy.

[0075] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A VR somatosensory vehicle, characterized in that, It includes a base (104) and a hemispherical base (1). The hemispherical base (1) is a hemispherical shell. A recess adapted to the hemispherical base (1) is provided on the base (104), and the lower part of the hemispherical base (1) is embedded in the base (104). Three universal wheels (2) are installed inside the base (104). Each universal wheel (2) is used to press and support the lower part of the hemispherical base (1) and can achieve universal swing. Three groups of driving wheel sets (4) are installed inside the base (104). The three groups of driving wheel sets (4) are distributed in an annular array. The outer periphery of the driving wheel set (4) is in mutual pressing and rolling fit with the lower spherical convex surface of the hemispherical base (1) for driving the hemispherical base (1) to swing. The driving wheel set (4) includes a wheel shaft (42), a driving wheel (41) and a number of support wheels (45). The wheel shaft (42) is rotatably connected inside the base (104). The driving wheel (41) is coaxially installed outside the wheel shaft (42). Each support wheel (45) is installed on the outer periphery of the driving wheel (41) and is distributed in an annular array. The support wheel (45) is rotationally supported by a support shaft (6). The axis of the support shaft (6) is perpendicular to the radial direction of the driving wheel (41) and is also perpendicular to the axis of the wheel shaft (42). There are two sets of driving wheels (41) on the wheel shaft (42). The two sets of driving wheels (41) are coaxially installed. Support wheels (45) are provided on the outer peripheries of the driving wheels (41). The support wheels (45) on the outer peripheries of the two sets of driving wheels (41) are alternately distributed. A gap (46) is formed between adjacent support wheels (45), and the width of the gap (46) is smaller than the length of the support wheel (45). A number of annularly arrayed support blocks (44) are fixedly provided on the outer periphery of the driving wheel (41). A support shaft (6) is provided between adjacent support blocks (44). The support wheel (45) is of a cylindrical structure with an axially penetrating shaft hole. The support wheel (45) is sleeved on the outer periphery of the support shaft (6) and can achieve radial yaw. A spherical protrusion (61) protruding outward to the outer periphery is formed in the middle of the support wheel (45). A connecting ring (62) is provided in the middle section of the shaft hole of the support wheel (45). The inner periphery of the connecting ring (62) has a spherical recess adapted to the spherical protrusion (61). The connecting ring (62) is sleeved on the outer periphery of the spherical protrusion (61) and can swing around the spherical surface of the spherical protrusion (61) and rotate axially. An elastic member (7) is provided between one end of the support shaft (6) and the shaft hole of the support wheel (45) to maintain the inclined yaw of the support wheel (45). One end of the support wheel (45) swings towards the inner side of the driving wheel (41) to form a lower concave part (451), and the other end swings towards the outer side of the driving wheel (41) to form an upper convex part (452). The yaw directions of the support wheels (45) on the two sets of driving wheels (41) are opposite. The elastic member (7) includes a support spring (71), a fixed sleeve (72), and a rotating sleeve (73); the fixed sleeve (72) is sleeved on the outer periphery of the support shaft (6) and can be axially rotationally fixed; the rotating sleeve (73) is sleeved on the inner periphery of the shaft hole and can be axially rotated; both ends of the spring are respectively connected to the outer periphery of the fixed sleeve (72) and the inner periphery of the rotating sleeve (73), and the spring is located at a position outside the driving wheel (41) and is used to push the upper convex portion (452) of the support wheel (45) to swing outwards.

2. The VR somatosensory vehicle according to claim 1, characterized in that The upper side of the hemispherical seat (1) is open and is provided with a seat body (101), and a headrest bracket (102) and a leg bracket (103) are respectively installed on both sides of the upper part of the hemispherical seat (1); each group of driving wheel sets (4) are mutually at 120°, and the upper side of the driving wheel set (4) is inclined towards the center of the sphere direction of the hemispherical seat (1); each group of driving wheel sets (4) are respectively driven by a rotary driver (5), and the driving shaft (51) of the rotary driver (5) is connected to the wheel shaft (42) of the driving wheel set (4).

3. A VR somatosensory vehicle according to claim 1, characterized in that, The outer periphery of the support wheel (45) has a structure that bulges in the middle and narrows at both ends; the generatrix of the outer periphery of each support wheel (45) is arc-shaped, and the center of the circle coincides with the axis of the support wheel (45).

4. A decompression somatosensory simulation device, including a VR simulation system, the VR simulation system including a host computer and VR glasses; characterized in that, The VR simulation system further includes a VR somatosensory vehicle as described in any one of claims 1-3.

5. A somatosensory decompression device, comprising a cabin body, the cabin body enclosing to form an accommodation space for a user to enjoy physical and mental decompression services; one side of the cabin body is a dimming surface, the dimming surface is made of electronically atomized glass and can change from a transparent state to an opaque state through atomization; a human body sensor, a lighting device, an audio device and an air conditioning device are arranged in the cabin body; characterized in that, A decompression somatosensory simulation device as described in claim 4 is further provided in the cabin.

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