Universal transportation platform

Abstract

The utility model discloses a universal transportation platform. The platform is composed of a plurality of transportation units which are arranged according to a rule. The conveying unit comprises a conveying part used for driving objects to move and a driving part used for driving the conveying part to rotate, and further comprises a control part used for controlling the moving direction of the conveying part. The VR head-mounted display device can be used in cooperation with the VR head-mounted display device to simulate the real physical feeling of human walking, a user of the head-mounted display device can be located at the center all the time only by controlling the device to be opposite to the human walking direction during use, the motion sickness problem of the VR head-mounted display device is solved, and the real walking feeling is simulated.

Description

TECHNICAL FIELD

[0001] The utility model belongs to object transportation technical field, especially a universal transportation platform. BACKGROUND

[0002] With the development of science and technology, VR technology has been fully improved, especially the light weight of head-mounted equipment, so that VR equipment enters various industries, and the current head-mounted equipment has solved gesture recognition, face recognition and eye movement recognition, and the third party is also researching haptic gloves and somatosensory gloves, and the immersion is further improved, but the universal movement of the feet still has problems, the current scheme is sliding or in-place stepping, and there is still a sensory gap between this way and human natural movement, so that the motion sickness will be generated, which will cause dizziness or discomfort when using the head-mounted equipment.

[0003] There are also various objects in the transportation field, and the current assembly line can only transport according to the fixed flow track, and needs to be re-built if the direction needs to be changed, which is high in cost, and if it is used in express sorting, it cannot be operated, so most of the express points need manual sorting, although some large companies use AGV for sorting, but the cost of building AGV platform is very high, and the investment is very large, and also needs a very large floor area. SUMMARY

[0004] To solve the above technical problems, one technical scheme of the utility model is:

[0005] A universal transportation platform, the platform is composed of a plurality of transportation units arranged in a regular manner;

[0006] The transportation unit comprises a transportation part for moving objects and a driving part for driving the transportation part to rotate, and further comprises a control part for controlling the moving direction of the transportation part.

[0007] Further, the transportation part is a ball assembly arranged at the top, and the ball assembly is a whole ball, a half ball or an arc-shaped ball.

[0008] Further, the transportation part is a column cap assembly arranged at the top, the column cap assembly is provided with an arc-shaped fillet in contact with the object to be moved, and the column cap assembly is inclined to the Z-axis direction at an angle α, and the α is 5-20°.

[0009] Further, the driving part comprises a driving assembly for driving the ball assembly to rotate and a first electric assembly for driving the driving assembly, the first electric assembly and the driving assembly are connected through a connecting assembly, and the driving assembly is arranged at the bottom or the side wall of the ball assembly.

[0010] The control part comprises a second electric component for driving the driving part to turn and a slip ring for rotating power supply, and the second electric component can drive the driving part to turn to any angle.

[0011] Further, the driving part comprises a plurality of driving components arranged at the bottom of the ball component and a plurality of first electric components, the driving component is inclined to the Z axis by an angle θ, and the θ is 30-60°, and the first electric component is connected with the driving component through a connecting component;

[0012] The control part comprises a second electric component for driving the driving part to turn and a slip ring for rotating power supply, and the second electric component can drive the driving part to turn to any angle.

[0013] Further, the driving part further comprises a trigger component for driving the driving component away from / close to the ball component, when the trigger component drives the driving component away from the ball component, the ball component loses power, and when the trigger component drives the driving component close to the ball component, the ball component restores power.

[0014] Further, the driving component is provided with a plurality of guide sheaves perpendicular to the rotating direction of the driving component, and the guide sheaves are used for guiding the sliding between the ball component and the driving component.

[0015] Further, the driving part is a first electric component, and the column cap component is fixed to the output end of the first electric component;

[0016] The control part comprises a second electric component for driving the driving part to turn and a rotating component, and the driving part is connected with the second electric component through the rotating component;

[0017] The rotating component comprises a joint bearing and a swing rod installed in the joint bearing, one end of the swing rod is connected with the driving part, and the other end away from the driving part is connected with a swing disc, the swing disc is provided with an eccentric hole, one end of the swing rod is arranged in the eccentric hole, and the center of the swing disc is connected with the second electric component, when the second electric component drives the swing disc to turn, the swing disc drives the driving part to rotate and swing along the center of the joint bearing through the swing rod.

[0018] Further, the second electric component is a servo motor, which can drive the swing disc to turn to any angle.

[0019] Further, the driving part comprises at least one group of first electric components and a driving plate for rotating a plurality of column cap components, the driving plate is provided with a plurality of fish-eye bearings, the column cap components are meshed with each other through a gear component, and the plurality of column cap components can be synchronously rotated through the gear component;

[0020] The control part comprises at least one second electric component and a control plate for driving the circumferential rotation of the column cap component, the control plate is provided with a plurality of fish-eye bearings, the column cap component is installed in the control plate after penetrating the driving plate, the second electric component can drive the circumferential rotation of the column cap component along the vertical Z axis through the control plate.

[0021] The connecting disc is provided with a central hole for installing the output shaft of the second electric component and an eccentric shaft eccentric to the central hole, the eccentric shaft is connected with the control plate, and the control plate can be driven to swing eccentrically when the second electric component rotates.

[0022] The beneficial effects of the utility model are as follows:

[0023] 1. The utility model can drive the movement of a body in any direction, plan a route according to needs, complete directional transportation, only need to build a platform once to control the transmission in any direction, the cost is low, and the subsequent route can be changed arbitrarily.

[0024] 2. The utility model can be used in cooperation with a VR head-mounted device, simulate the real feeling of walking, and only need to control the device and the walking direction of the human body to be opposite when in use, so that the user of the head-mounted device is always in the center position, solve the motion sickness problem of the VR head-mounted device, and simulate the real walking feeling. DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0026] Figure 1 It is a splicing structure schematic view of the utility model;

[0027] Figure 2 It is a transportation unit schematic view of the utility model 1;

[0028] Figure 3 It is a cut schematic view of the utility model 1;

[0029] Figure 4 It is a driving principle schematic view of the utility model 1;

[0030] Figure 5 It is another driving mode schematic view of the utility model;

[0031] Figure 6 It is a top view of the driving mode of the utility model Figure 5 ​

[0032] Figure 7 is the utility model Figure 5 driving mode of the force diagram;

[0033] Figure 8 is another driving mode schematic view of the utility model;

[0034] Figure 9 is another driving mode schematic view of the utility model;

[0035] Figure 10 is the utility model Figure 9 driving mode of the principle diagram;

[0036] Figure 11 is the utility model arc-shaped ball assembly schematic view;

[0037] Figure 12 is the structure schematic view of embodiment 2 of the utility model;

[0038] Figure 13 is the cut schematic view of embodiment 2 of the utility model;

[0039] Figure 14 is the transport principle schematic view of embodiment 2 of the utility model;

[0040] Figure 15 is the transport principle schematic view of embodiment 2 of the utility model;

[0041] Figure 16 is the transport principle schematic view of embodiment 2 of the utility model;

[0042] Figure 17 is the structure schematic view of embodiment 3 of the utility model;

[0043] Figure 18 is the connecting disc schematic view of embodiment 3 of the utility model;

[0044] Explanation of reference signs:

[0045] 1, transport unit; 11, transport part; 111, ball assembly; 112, column cap assembly; 12, drive part; 121, drive assembly; 121-1, guide pulley; 122, first electric component; 123, connecting component; 124, trigger component; 124-1, gear assembly; 125, drive plate; 126, fish eye bearing; 13, control part; 131, second electric component; 132, slip ring; 133, rotating component; 133-1, joint bearing; 133-2, swing disc; 133-3, swing rod; 133-4, eccentric hole; 134, control plate; 135, connecting disc; 135-1, eccentric shaft; 135-2, center hole. DETAILED DESCRIPTION

[0046] The advantages and features of the present application will be more apparent from the following detailed description of preferred embodiments of the present application, taken in conjunction with the accompanying drawings, so as to make the scope of the present application more clearly defined. Specific embodiment 1:

[0048] A universal transportation platform, the platform is composed of a plurality of regular arrangement of transport unit 1; Specifically, the splicing can use rectangular splicing or circular splicing, considering the comfort of the platform, the more intensive the transport unit, the better the experience, so this embodiment uses diamond splicing, as shown in Figure 1 .

[0049] The transport unit 1 includes a transport part 11 for moving the object and a driving part 12 for driving the transport part 11 to rotate, and a control part 13 for controlling the moving direction of the transport part 11. Specifically, the transport part 1 is a ball assembly 111 arranged at the top, the ball assembly 111 is a whole ball, a half ball or an arc-shaped ball. When using a whole ball, as shown in Figure 3 , the driving part 12 can be placed at the bottom, as shown in Figure 3 , or the side wall, as shown in Figure 8 , considering the size problem, if placed in the side wall, it will increase the overall diameter of the transport unit 1, in order not to waste space, this embodiment is placed in the bottom, as shown in Figure 3 When using a half ball, the driving part can be placed in the place where the ball is missing, further utilizing the space, as shown in Figure 9 , of course, at this time, the half ball can be further changed into an arc shape to increase the contact area of the ball surface and the object and improve the comfort level.

[0050] The driving part 12 includes a driving assembly 121 for driving the ball assembly 111 to rotate and a first electric assembly 122 for driving the driving assembly 121, the first electric assembly 122 is connected with the driving assembly 121 through a connecting assembly 123, the driving assembly 121 is arranged at the bottom or side wall of the ball assembly 111; The connecting piece 123 can be selected according to the actual situation, gear transmission can be used, belt pulley or chain transmission can also be used, in order to reduce the size, this embodiment uses gear transmission. In other embodiments, the driving part 12 can also include a plurality of driving assemblies 121 arranged at the bottom of the ball assembly 111 and a plurality of first electric assemblies 122, as shown in Figure 5 , the driving assembly 121 and the Z-axis inclination angle is θ, the θ is 30-60°, preferably 30°, because the sine function of 30° is an integer, which is convenient for theoretical formula calculation, the first electric assembly 122 and the driving assembly 121 are connected through the connecting assembly 123; Adopting this driving mode, as shown in Figure 7As shown, as long as the rotation speed between every two groups is controlled, the resultant force in different directions can be formed, and the direction and size of the resultant force can be calculated by a sine function, and the embodiment will not be further described.

[0051] The control part 13 includes a second electric component 131 for driving the driving part 12 to turn and a slip ring 132 for rotating power supply. The second electric component 131 can drive the driving part 12 to turn to any angle. The second electric component 131 is a servo motor with feedback, and the servo motor is an absolute angle encoder, so the whole driving part 12 can be controlled to stop at any angle in 360°. The input of the rotation angle can be obtained from the outside, such as directly obtaining the position angle of the VR head-mounted device. The function of the slip ring is to avoid the entanglement of the line of the driving part. Since the driving part needs to be driven by power, the electric wire is essential. However, when the driving part rotates as a whole, the control part 13 below does not rotate, so the electric wire will be entangled. Therefore, the electric power is transmitted by sliding through the slip ring at this time.

[0052] Specifically, in order to better reduce the friction and improve the stability of operation, the driving part 12 further includes a trigger component 124 for driving the driving component 121 away from / close to the ball component 111. When the trigger component 124 drives the driving component 121 away from the ball component 111, the ball component 111 loses power. When the trigger component 124 drives the driving component 121 close to the ball component 111, the ball component 111 restores power. In this way, when the control part needs to turn, it first moves away from the ball component 111, and then moves close to the ball component after the angle rotation is completed. In this way, the hard friction between the driving component 121 and the ball component 111 can be reduced, and the stability performance can be improved. Of course, in other embodiments, the driving component placed on the side wall can be provided with a plurality of guide sheaves 121-1 perpendicular to the rotation direction of the driving component 121. The guide sheaves 121-1 are used for the guiding sliding between the ball component 111 and the driving component 121. Figure 8 As shown, such a design can also reduce the hard friction between the driving component 121 and the ball component 111. Specific embodiment 2:

[0054] A universal transportation platform, the platform is composed of a plurality of regularly arranged transportation units 1;

[0055] The transportation unit 1 includes a transportation part 11 for moving the object and a driving part 12 for driving the transportation part 11 to rotate, and further includes a control part 13 for controlling the moving direction of the transportation part 11.

[0056] The transport part 1 is a column cap assembly 112 arranged at the top end, the column cap assembly 112 is provided with an arc-shaped fillet in contact with the object to be moved, the column cap assembly 112 is inclined to the Z-axis direction by an angle α, and the α is 5-20°. The preferred angle α of the embodiment is 10°, and the inclination angle is the most comfortable at this time.

[0057] The driving part 12 is a first electric assembly 122, the column cap assembly 112 is fixed to the output end of the first electric assembly 122; as Figure 12

[0058] The control part 13 includes a second electric assembly 131 for driving the driving part 12 to rotate and a rotating assembly 133, the driving part 12 is connected with the second electric assembly 131 through the rotating assembly 133; specifically, the second electric assembly 131 is a servo motor, which can drive the swing plate 133-2 to rotate to any angle.

[0059] The rotating assembly 133 includes a joint bearing 133-1 and a swing rod 133-3 installed in the joint bearing 133-1, one end of the swing rod 133-3 is connected with the driving part 12, the other end away from the driving part 12 is connected with the swing plate 133-2, the swing plate 133-2 is provided with an eccentric hole 133-4, one end of the swing rod 133-3 is arranged in the eccentric hole 133-4, and the center of the swing plate 133-2 is connected with the second electric assembly 131; when the second electric assembly 131 drives the swing plate 133-2 to rotate, the swing plate 133-2 drives the driving part 12 to rotate and swing along the center of the joint bearing 133-1 through the swing rod 133-3. As Figure 13 As shown in the figure, due to the eccentric hole 133-4, when rotating, the column cap assembly 112 rotates in a circle, as Figure 14 As shown in the figure, as long as the rotation angle is different, the contact position of the object and the column cap assembly 112 is different, and the direction of the force generated is different, if a plurality of them are formed into one, they can be moved in any direction, as Figure 15 Specific embodiment 3:

[0061] A universal transport platform, the platform is composed of a plurality of transport units arranged in a regular manner 1;

[0062] The transport unit 1 includes a transport part 11 for moving the object and a driving part 12 for driving the transport part 11 to rotate, and further includes a control part 13 for controlling the moving direction of the transport part 11. The main consideration of the embodiment is the cost problem, and each group of transport units in embodiment 2 needs a motor, which leads to high cost of the whole platform. In this embodiment, one group of motors is used to control multiple transport units to move together, reducing the cost of motor investment.

[0063] ​​The transportation part 1 is a column cap assembly 112 arranged at the top end, the column cap assembly 112 is provided with an arc-shaped round corner in contact with the object to be moved, the column cap assembly 112 is inclined to the Z-axis direction by an angle α, and the α is 5-20°. The embodiment preferably is 10°, and the inclination angle is the most comfortable at this time.

[0064] The driving part 12 includes at least one set of first electric components 122 and a driving plate 125 for rotating a plurality of column cap assemblies 112, the driving plate 125 is provided with a plurality of fisheye bearings 126, the column cap assemblies 112 are meshed with each other through a gear assembly 124-1, and the plurality of column cap assemblies 112 can be synchronously rotated through the gear assembly 124-1; as Figure 17

[0065] The control part 13 includes at least one set of second electric components 131 and a control plate 134 for driving the circumferential rotation of the column cap assembly 112, the control plate 134 is provided with a plurality of fisheye bearings 126, the column cap assembly 112 is installed in the control plate 134 after passing through the driving plate 125, the control plate 134 is connected with the second electric components 131 through a connecting disc 135, and the second electric components 131 can drive the column cap assembly 112 to rotate along the vertical Z-axis through the control plate 134;

[0066] The connecting disc 135 is provided with a central hole 135-2 for installing an output shaft of the second electric components 131 and an eccentric shaft 135-1 eccentric to the central hole 135-2, the eccentric shaft 135-1 is connected with the control plate 134, and when the second electric components 131 rotate, the control plate 134 can be driven to eccentrically swing, as Figure 18

[0067] The above is only an embodiment of the application, and does not limit the patent range of the application, any equivalent structural transformation or direct or indirect application in other related technical fields based on the content of the application specification and drawings is also included in the patent protection range of the application.​​

Claims

1. A universal transport platform characterized by: The platform is composed of several regularly arranged transport units (1); The transport unit (1) comprises a transport part (11) for moving the object, a driving part (12) for driving the transport part (11) to rotate, and a control part (13) for controlling the moving direction of the transport part (11); The transport part (11) is a column cap assembly (112) arranged at the top end, the column cap assembly (112) is provided with an arc-shaped round corner in contact with the object to be moved, and the column cap assembly (112) is inclined at an angle α with respect to the Z-axis, wherein the angle α is 5-20°.

2. A universal transport platform according to claim 1, wherein: The transport part (11) is a ball assembly (111) arranged at the top end, the ball assembly (111) is a whole ball, a half ball or an arc-shaped ball.

3. A universal transport platform according to claim 2, wherein: The driving part (12) comprises a driving assembly (121) for driving the ball assembly (111) to rotate and a first electric assembly (122) for driving the driving assembly (121), the first electric assembly (122) is connected with the driving assembly (121) through a connecting assembly (123), and the driving assembly (121) is arranged at the bottom or side wall of the ball assembly (111); The control part (13) comprises a second electric assembly (131) for driving the driving part (12) to turn and a slip ring (132) for rotating power supply, and the second electric assembly (131) can drive the driving part (12) to turn to any angle.

4. The universal transport platform of claim 2, wherein: The driving part (12) comprises several driving assemblies (121) arranged at the bottom of the ball assembly (111) and several first electric assemblies (122), the driving assembly (121) is inclined at an angle θ with respect to the Z-axis, wherein the angle θ is 30-60°, and the first electric assembly (122) is connected with the driving assembly (121) through the connecting assembly (123); The control part (13) comprises a second electric assembly (131) for driving the driving part (12) to turn and a slip ring (132) for rotating power supply, and the second electric assembly (131) can drive the driving part (12) to turn to any angle.

5. The universal transport platform of claim 3, wherein: The driving part (12) further comprises a trigger assembly (124) for driving the driving assembly (121) away from / close to the ball assembly (111), when the trigger assembly (124) drives the driving assembly (121) away from the ball assembly (111), the ball assembly (111) loses power, and when the trigger assembly (124) drives the driving assembly (121) close to the ball assembly (111), the ball assembly (111) restores power.

6. The universal transport platform of claim 3, wherein: The driving assembly (121) is provided with several guide sheaves (121-1) perpendicular to the rotating direction of the driving assembly (121), and the guide sheaves (121-1) are used for guiding the sliding between the ball assembly (111) and the driving assembly (121).

7. The universal transport platform of claim 1, wherein: The driving part (12) is a first electric assembly (122), and the column cap assembly (112) is fixed to the output end of the first electric assembly (122). The control part (13) comprises a second electric component (131) for driving the driving part (12) to rotate and a rotating component (133), and the driving part (12) is connected with the second electric component (131) through the rotating component (133); The rotating component (133) comprises a joint bearing (133-1) and a swing lever (133-3) installed in the joint bearing (133-1), one end of the swing lever (133-3) is connected with the driving part (12), the other end of the swing lever (133-3) is connected with a swing disc (133-2), the swing disc (133-2) is provided with an eccentric hole (133-4), one end of the swing lever (133-3) is arranged in the eccentric hole (133-4), the center of the swing disc (133-2) is connected with the second electric component (131), when the second electric component (131) drives the swing disc (133-2) to rotate, the swing disc (133-2) drives the driving part (12) to rotate along the center of the joint bearing (133-1) through the swing lever (133-3).

8. A universal transport platform according to claim 7, wherein: The second electric component (131) is a servo motor, which can drive the swing disc (133-2) to rotate to any angle.

9. The universal transport platform of claim 1, wherein: The driving part (12) comprises at least one set of first electric components (122) and a driving plate (125) for rotating a plurality of column cap assemblies (112), the driving plate (125) is provided with a plurality of fisheye bearings (126), the column cap assemblies (112) are meshed with each other through a gear assembly (124-1), and the plurality of column cap assemblies (112) can be synchronously rotated through the gear assembly (124-1). The control part (13) comprises at least one set of second electric components (131) and a control plate (134) for driving the column cap assemblies (112) to rotate along a circumference, the control plate (134) is provided with a plurality of fisheye bearings (126), the column cap assemblies (112) are installed in the control plate (134) after passing through the driving plate (125), the control plate (134) is connected with the second electric component (131) through a connecting disc (135), and the second electric component (131) can drive the column cap assemblies (112) to rotate along a vertical Z-axis through the control plate (134); The connecting disc (135) is provided with a central hole (135-2) for installing an output shaft of the second electric component (131) and an eccentric shaft (135-1) eccentric to the central hole (135-2), the eccentric shaft (135-1) is connected with the control plate (134), and when the second electric component (131) rotates, the control plate (134) can be driven to eccentrically swing.

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