Walking device for R-VR-R space station experience

Abstract

The utility model discloses a walking device for R-VR-R space station experience, which is mounted on an annular track at the top in a cabin of a space station environment experience area, and comprises a plurality of floating simulation advancing trolleys mounted on the track and provided with suspension mechanisms for suspending experiencers below; the plurality of electric trolleys are arranged on the track, are arranged at intervals with the plurality of floating simulation advancing trolleys and are used for providing power support; the plurality of connecting trolleys are arranged on the track and are used for separating relatively independent areas among the plurality of floating simulation advancing trolleys; and the connecting mechanisms are arranged between every two adjacent trolleys and are used for connecting the adjacent trolleys together. According to the walking device, an experiencer can experience floating simulation actions in a real simulation environment of a space station, in the experiencing process, all the trolleys run stably, sufficient friction force exists between the trolleys and a track, the trolleys cannot be separated from the track due to slipping, and using is safer and more reliable.

Description

TECHNICAL FIELD

[0001] The utility model relates to space station experience technical field, especially a walking device for R-VR-R space station experience. BACKGROUND

[0002] Space station is a kind of manned spacecraft that can be visited by astronauts for long-term work and life in near-earth orbit for long time operation. At present, only a few people can enter the space station to experience the living and working environment of the space station, and most people still have no chance to experience the space station.

[0003] In recent years, with the development of science and technology and the increasing attention of people to space technology, some people in China have tried to build a simulated space station to enable space enthusiasts to experience the living and working environment of the space station. The inventor and his team have been committed to the research and development of space station experience since 2017. At the beginning, the experimenter wearing a VR helmet (or VR glasses) capable of displaying space pictures stands in the space longing room of an indoor theme park to experience a virtual space scene. Then, based on the above, further research and development are carried out by suspending the experimenter through the steel wire rope of the suspended mechanism floating simulation component, so that the experimenter experiences the floating motion, lifting motion, pitching motion, etc. in the space station. Then, combined with the walking device, the floating simulation component is driven by the walking trolley to enable the experimenter to experience the movement in the space station and the space floating simulation action. Then, combined with the simulation object that can be touched by the experimenter in the real space station cabin, the experimenter can experience the activities in the space station while experiencing the space floating simulation action, so that the experimenter experiences the process from the real scene (simulated space station) - wearing VR helmet (virtual space station) - taking off VR helmet and returning to the real scene (simulated space station), that is, the space station experience from reality to virtual reality and back to reality R-VR-R.

[0004] However, the mechanical devices used in the above research and development process of the applicant are all commercially available products, and the use effect is not good and there are safety hazards. For example, each walking trolley is suspended on the ring-shaped track by a pair of load-bearing wheels to walk along the track. After long time operation, the walking trolley will not be stable when walking on the track, and there is a risk of slipping and leaving the track, which is not safe to use. SUMMARY

[0005] The purpose of the utility model is to provide a walking device for R-VR-R space station experience, which can make the mechanical structure of the walking device run smoothly, has enough friction between the trolley and the track, and will not slip off the track, which is safer and more reliable to use.

[0006] In order to achieve the above object, the utility model provides a kind of walking device for R-VR-R space station experience, it is installed on the annular track of the cabin top in space station environment experience area, it includes: multiple floating simulation travel trolleys for suspending experimenter are installed on the track and are installed below with suspension mechanism;Multiple connecting trolleys for separating relatively independent area between multiple floating simulation travel trolleys are installed on the track;Electrical trolley for providing power support for multiple floating simulation travel trolleys is installed on the track and is spaced apart from multiple floating simulation travel trolleys;Connecting mechanism is arranged between two adjacent trolleys and is used to connect each adjacent trolley together to move along the track simultaneously.

[0007] Preferably, the cross section of the track is I-shaped, and the floating simulation travel trolley comprises: a vehicle frame arranged on the track and capable of walking along the track to enable the experimenter to experience space floating walking in the space station environment experience area;A drive motor is installed on one side of the vehicle frame;A driving walking mechanism is installed on the vehicle frame and above the lower flange of the track, and is in driving connection with the output shaft of the drive motor to enable the travel trolley to walk along the track.

[0008] Preferably, the driving walking mechanism comprises: a first driving walking mechanism at one end of the travel trolley vehicle frame, in driving connection with the output shaft of the drive motor and having a pair of first driving rollers for walking along the upper surface of the lower flange of the track;A second driving walking mechanism is located at the other end of the travel trolley vehicle frame, in driving connection with the output shaft of the drive motor and having a pair of second driving rollers for walking along the upper surface of the lower flange of the track.

[0009] Preferably, the first driving walking mechanism further comprises: a driving shaft in driving connection with the inner side plate and the outer side plate of the travel trolley vehicle frame and having one end in driving connection with the output shaft of the drive motor;A pair of first driving sprockets are installed on both sides of the driving shaft;A pair of first driven sprockets are in driving connection with the pair of first driving sprockets respectively;The pair of first driving rollers are coaxial with the pair of first driven sprockets and located between the inner side plate and the outer side plate, and the pair of first driven sprockets are located outside the inner side plate and the outer side plate respectively.

[0010] Preferably, the second driving walking mechanism further comprises: a pair of second driving sprockets are installed on both sides of the driving shaft and between the pair of first driving sprockets;A pair of second driven sprockets are in driving connection with the pair of second driving sprockets respectively;The pair of second driving rollers are coaxial with the pair of second driven sprockets and located between the inner side plate and the outer side plate, and the pair of second driven sprockets are located outside the inner side plate and the outer side plate respectively.

[0011] Preferably, the floating simulation traveling trolley further comprises: a driven walking mechanism installed at both ends of the traveling trolley frame and below the lower wing plate of the track, for cooperating with the driving rollers to make the floating simulation traveling trolley walk along the track.

[0012] Preferably, the driven walking mechanism comprises: a pair of first driven rollers installed at one end of the traveling trolley frame and below the lower wing plate of the track, for cooperating with the pair of first driving rollers to make the floating simulation traveling trolley walk along the track; a pair of second driven rollers installed at the other end of the traveling trolley frame and below the lower wing plate of the track, for cooperating with the pair of second driving rollers to make the floating simulation traveling trolley walk along the track.

[0013] Preferably, the floating simulation traveling trolley further comprises: a plurality of groups of guide wheels installed on the inner wall of the inner side plate and the inner wall of the outer side plate and corresponding to each other in position to move along the two side walls of the web of the track.

[0014] Preferably, the plurality of groups of guide wheels are above the lower wing plate of the track.

[0015] Preferably, the electric trolley comprises a trolley body and an electric control box installed on the trolley body, and the trolley body has the same structure as the connecting trolley.

[0016] Preferably, the connecting trolley comprises: a frame arranged on the track and capable of walking along the track; a wing plate moving mechanism installed on the frame and capable of moving along the lower wing plate of the track; and a web moving mechanism installed on the frame and capable of moving along the web of the track.

[0017] Preferably, the wing plate moving mechanism comprises two groups of unpowered roller mechanisms installed on the frame and respectively located above and below the lower wing plate of the track, and the web moving mechanism comprises two groups of guide wheel mechanisms installed on the frame and respectively located on the left and right sides of the web of the track.

[0018] Preferably, the unpowered roller mechanism comprises: an upper walking wheel mechanism arranged above the lower wing plate of the track; and a lower walking wheel mechanism arranged below the lower wing plate of the track.

[0019] Preferably, the upper walking wheel mechanism comprises: a pair of overhanging shafts fixed respectively on the inner side plate and the outer side plate of the connecting trolley frame, one end of the pair of overhanging shafts being fixedly connected to the corresponding side plate and the other end being oppositely extended; and a pair of unpowered upper rollers rotatably installed on the pair of overhanging shafts.

[0020] Preferably, the lower walking wheel mechanism comprises: a fixed shaft fixed respectively at both ends on the inner side plate and the outer side plate of the connecting trolley frame; and a pair of unpowered lower rollers rotatably installed on the fixed shaft and corresponding in position to the pair of unpowered upper rollers.

[0021] Preferably, the connecting mechanism comprises a pair of connecting ears arranged on the frames of the two adjacent trolleys to be connected respectively; and a connecting rod assembly rotatably connected with the pair of connecting ears at two ends respectively.

[0022] Preferably, the connecting rod assembly is a telescopic connecting rod assembly or an elastic connecting rod assembly or a non-telescopic connecting rod assembly.

[0023] Preferably, the connecting trolley is a non-powered trolley.

[0024] Preferably, the space station environment experience area further comprises: an in-cabin activity area for experiencing in-cabin activities of the space station and an extra-cabin activity area for experiencing extra-cabin activities of the space station; the in-cabin activity area has the same decoration as a real space station cabin, and is connected head to tail with the extra-cabin activity area.

[0025] Preferably, the space station environment experience area further comprises: a VR helmet worn on the head of the experimenter for displaying a space station virtual reality scene of in-cabin activities and extra-cabin activities of the space station.

[0026] The walking device for R-VR-R space station experience has the advantages that the trolleys run stably, have sufficient friction with the track, and will not slip off the track, and is safer and more reliable in use. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a schematic view of the R-VR-R space station experience facility with the walking device of the utility model;

[0028] Figure 2 is a schematic view of an experimenter in Figure 1 the space station experience facility shown;

[0029] Figure 3 is a front view of the walking device installed on the ring track;

[0030] Figure 4a is a top view of the walking device installed on the ring track;

[0031] Figure 4b is a top view when the electrical slide wire track is arranged in the ring track;

[0032] Figure 5 is Figure 3 A-A view in the figure;

[0033] Figure 6 is Figure 4a B part enlarged view in the figure;

[0034] Figure 7 is Figure 3 C part enlarged view in the figure;

[0035] Figure 8 is a perspective view of a floating simulated travel car;

[0036] Figure 9 is a top view of a floating simulated travel car;

[0037] Figure 10 is a partial structural schematic of a floating simulated travel car mounted on a track;

[0038] Figure 11 is a right view of Figure 10

[0039] Figure 12 is an A-A partial cross-sectional view of Figure 10

[0040] Figure 13 is a B-B cross-sectional view in Figure 10

[0041] Figure 14 is a schematic of an R-VR-R space station experience facility with floating simulated travel cars;

[0042] Figure 15 is a structural schematic of a connecting car;

[0043] Figure 16 is a top view of a connecting car;

[0044] Figure 17 is an A-A cross-sectional view in Figure 16

[0045] Figure 18 is a structural schematic of a telescoping connecting rod assembly;

[0046] Figure 19 is an A-A cross-sectional view of Figure 18

[0047] Figure 20 is a cross-sectional view of a telescoping connecting rod assembly top view;

[0048] Figure 21 is a structural schematic of a flexible connecting rod assembly;

[0049] Figure 22 is an A portion enlarged view in Figure 21

[0050] Figure 23 is a cross-sectional view of a flexible connecting rod assembly top view. DETAILED DESCRIPTION

[0051] As Figure 1 ​​​​​​As shown, it is a structure schematic diagram of the R-VR-R space station experience facility with the walking device of the utility model, wherein R-VR-R refers to reality to virtual reality and back to reality, the space station experience facility is used for generating a space station environment experience area, and as shown Figure 2 As shown, it is a schematic diagram of an experimenter in the space station experience facility, and as can be seen from the figure, the R-VR-R space station experience facility with the walking device of the utility model comprises an in-cabin activity area 2 for experiencing in-cabin activities of a space station cabin and an out-cabin activity area 1 for experiencing out-cabin activities of the space station cabin. Figure 1 As can be seen from the figure, the R-VR-R space station experience facility with the walking device of the utility model comprises an in-cabin activity area 2 for experiencing in-cabin activities of a space station cabin and an out-cabin activity area 1 for experiencing out-cabin activities of the space station cabin.

[0052] As can be seen from the figure, the R-VR-R space station experience facility with the walking device of the utility model comprises an in-cabin activity area 2 for experiencing in-cabin activities of a space station cabin and an out-cabin activity area 1 for experiencing out-cabin activities of the space station cabin. Figure 4b As can be seen from the figure, the R-VR-R space station experience facility with the walking device of the utility model comprises an in-cabin activity area 2 for experiencing in-cabin activities of a space station cabin and an out-cabin activity area 1 for experiencing out-cabin activities of the space station cabin.

[0053] In addition, the space station experience facility further comprises a data acquisition area 6 for acquiring images of the experimenter, a space suit dressing area 5 for the experimenter to put on a space suit and a space suit undressing area 8 for the experimenter to take off the space suit.

[0054] The space station experimenter enters the data acquisition area 6 from a gate (not shown in the figure) of a space station entrance 7, and data acquisition equipment (not shown in the figure) of the data acquisition area 6 acquires data of the experimenter, for example, a 3D face image, height, weight and the like of the experimenter.

[0055] In addition, referring to Figure 14 , the space station experience facility further comprises: a VR helmet 10 worn on the head of the experimenter for showing the space station virtual reality scene of the space station in-cabin activity and the space station out-cabin activity; a central control room 11 for controlling the floating simulation travel car and the suspension mechanism to perform the space floating simulation action and controlling the VR helmet to show the space station virtual reality scene. After the experimenter wears the VR helmet in the in-cabin activity area 2, the floating simulation travel car and the suspension mechanism perform the space floating simulation action corresponding to the space station virtual reality scene shown by the VR helmet, so that the experimenter enters the space station virtual reality environment and the space floating simulation environment. The floating simulation travel car moving along the ring track 3 enters the out-cabin activity area 1 from the in-cabin activity area 2 and returns to the in-cabin activity area 2, so that the experimenter is always immersed in the space station environment of the reality and the virtual reality in the experience process of wearing the VR helmet in the space station cabin.

[0056] After the experimenter 9 enters the in-cabin activity area 2 and is hung on the suspension mechanism 500, the VR helmet worn on the head of the experimenter synchronously performs the space station virtual reality scene and the space floating simulation action with the floating simulation travel car and the suspension mechanism. Specifically, the VR helmet worn on the head of the experimenter 9 displays the space station virtual reality scene of the space station in-cabin activity and the space station out-cabin activity, so that the experimenter enters the space station virtual reality environment; the floating simulation travel car and the suspension mechanism simultaneously perform various space floating simulation actions corresponding to the space station virtual reality scene shown by the VR helmet, so that the experimenter 9 enters the space floating simulation environment while entering the space station virtual reality environment.

[0057] Referring to Figure 1 and Figure 14 , the in-cabin activity area 2 of the utility model is provided with a camera 12, and correspondingly, the central control room 11 (the installation position of the central control room can be determined according to the actual situation) is provided with a monitor 114 receiving the video image output by the camera, for judging whether the experimenter in the cabin wears the VR helmet according to the image shot by the camera, and when it is judged that all the experimenters in the cabin wear the VR helmet, the VR helmet is controlled to show the space station virtual reality scene.

[0058] The utility model discloses a central control room is equipped with treater 113 and VR video player 112, correspondingly, central control room control VR helmet display space station virtual reality scene includes: the VR video player of central control room is equipped with sends VR video to VR helmet, and VR video includes the key mark corresponding to the beginning and end of space station activity scene. The key mark detection module in the processor detects the key mark in the VR video in real time, and the processor sends corresponding control instruction to the floating simulation travelling trolley and the suspension mechanism according to the key mark detected, so that the floating simulation travelling trolley and the suspension mechanism execute the space floating simulation action corresponding to the space station virtual activity scene displayed by the VR helmet. To guarantee the space station experience effect of the experimenter, the central control room is also equipped with transmission delay module 111, which is used for sending VR data to VR glasses or helmet display after sending corresponding control instruction to the floating simulation travelling trolley and the suspension mechanism. The floating simulation travelling trolley and the suspension mechanism have controllers respectively, and the controllers receive the control instruction sent by the processor of the central control room, and control the floating simulation travelling trolley and the suspension mechanism to execute the space floating simulation action according to the control instruction.

[0059] The utility model discloses the space station experience facility of simulation sets up on land, after the experimenter 9 enters the cabin activity area 2, can see similar to the decoration in the real space station cabin, experiences to enter the feeling of real space station. The experimenter 9 wears VR helmet in the cabin activity area 2. Then, the camera set up in the cabin activity area 2 sends the image of the experimenter to the monitor of the central control room, so as to determine whether the experimenter is firmly connected with the rope and wears VR helmet. When determining that all experimenters are tied with the rope and wear VR helmet, the central control room sends VR video to VR helmet, controls VR helmet to display space station virtual reality scene, and sends corresponding control instruction to the floating simulation travelling trolley and the suspension mechanism, so that the floating simulation travelling trolley and the suspension mechanism execute the space floating simulation action corresponding to the space station virtual activity scene displayed by the VR helmet. At this time, the experimenter is immersed in the virtual reality scene of the cabin activity area 2 and the cabin activity area 1. The floating simulation travelling trolley enters the cabin activity area from the cabin activity area and returns to the cabin activity area, so that the experimenter is immersed in the space station environment of reality and virtual reality in the experience process of entering the space station cabin and wearing VR until taking off VR helmet.

[0060] It can be seen that the walking device is an important part of the experimenter to realize the all-around space station experience, and can make the experimenter enter the space station virtual reality environment and the space station floating simulation environment. In order to achieve this purpose, the utility model provides a walking device for R-VR-R space station experience, as shown in Figure 1 、 Figure 2 The walking device of the utility model is installed on the annular track 3 at the top of the cabin in the space station environment experience area, and the cross section of the annular track is in the shape of an I-shaped beam (as shown in Figure 2As shown in the figure).

[0061] Specifically, the walking device comprises: a plurality of floating simulation travel trolleys 400 mounted on the track 3 and having a suspension mechanism below for suspending an experimenter; a plurality of connecting trolleys 14 mounted on the track for separating relatively independent areas between the plurality of floating simulation travel trolleys; a plurality of electrical trolleys 13 mounted on the track and spaced apart from the plurality of floating simulation travel trolleys for providing power support for the plurality of floating simulation travel trolleys; and a connecting mechanism arranged between every two adjacent trolleys and used for connecting the adjacent trolleys together so as to move along the track at the same time.

[0062] As shown in the figure). Figures 3-7 The utility model discloses a plurality of floating simulation travel trolleys, a plurality of electrical trolleys and a plurality of connecting trolleys are mounted on the track, the floating simulation travel trolley is a powered trolley, and the electrical trolley and the connecting trolley are both non-powered trolleys, the trolleys are connected together through the connecting mechanism, and under the driving of the plurality of floating simulation travel trolleys, the trolleys move along the track together, so that the experimenter suspended on the suspension mechanism mounted below the floating simulation travel trolley can realize the space floating simulation action in the real and virtual space station environment under the driving of the floating simulation travel trolley and the suspension mechanism.

[0063] As shown in the figure). Figures 8-13 The utility model discloses a plurality of floating simulation travel trolleys, a plurality of electrical trolleys and a plurality of connecting trolleys are mounted on the track, the floating simulation travel trolley is a powered trolley, and the electrical trolley and the connecting trolley are both non-powered trolleys, the trolleys are connected together through the connecting mechanism, and under the driving of the plurality of floating simulation travel trolleys, the trolleys move along the track together, so that the experimenter suspended on the suspension mechanism mounted below the floating simulation travel trolley can realize the space floating simulation action in the real and virtual space station environment under the driving of the floating simulation travel trolley and the suspension mechanism.

[0064] Specifically, the car frame of the floating simulation travel trolley comprises an inner side plate 402, an outer side plate 405 arranged in parallel and a connecting beam 403 fixedly connected together at the front and rear ends of the two machine frames, and the inner and outer side plates and the connecting beam form a frame body for supporting other components of the walking device and capable of walking along the track under the driving of the motor. In addition, a connecting plate 417 fixedly connected with the inner and outer side plates at both ends is arranged at the middle position of the frame body, and the suspension mechanism 500 is mounted on the connecting plate. When designing, the length extension direction of the inner and outer side plates is parallel to the length extension direction of the track.

[0065] In this invention, a drive motor 401 is fixedly installed on the outside of the inner side plate 402. The drive motor transmits its power to an active walking mechanism installed on the frame and above the lower wing plate of the track, and a driven walking device located below the lower wing plate of the track, which cooperates with the active roller to make the floating simulation traveling car move along the track.

[0066] The active walking mechanism can adopt the following structure, including: located at one end of the frame (e.g. Figure 8 The first active travel mechanism (shown at the front end) is connected to the output shaft of the drive motor and has a pair of first active rollers for traveling along the upper surface of the lower flange of the track; the second active travel mechanism is located at the other end of the frame and is connected to the output shaft of the drive motor and has a pair of second active rollers for traveling along the upper surface of the lower flange of the track.

[0067] Specifically, the first active walking mechanism of this utility model includes: an active shaft 417 with its left and right ends rotatably connected to the inner and outer side plates of the frame, respectively; the left end of the active shaft is connected to the output shaft of the drive motor; a pair of first active sprockets 408 installed on the left and right sides of the active shaft; a pair of first passive sprockets 406 connected to the pair of active sprockets via a first chain 407, the pair of passive sprockets being located in front of and above the pair of first active sprockets; and a pair of first active rollers 404 coaxial with the pair of first passive sprockets and capable of rolling along the upper surface of the lower wing plate of the track under their drive, wherein the pair of first active rollers are located between the inner and outer side plates, and the pair of first passive sprockets are located on the outer side of the inner and outer side plates, respectively.

[0068] In the design, the first active walking mechanism also includes a pair of cantilever shafts 418 for fixing a pair of first passive sprockets thereon. One cantilever shaft is rotatably mounted on the inner side plate, with its left and right ends extending out of the inner side plate respectively. The other cantilever shaft is rotatably mounted on the outer side plate, with its left and right ends extending out of the outer side plate respectively (e.g., Figure 8 (As shown). A passive sprocket is fixedly installed at one end of each cantilever shaft that extends outward from the corresponding side plate, and a first active roller is rotatably installed at the other end that extends outward from the corresponding side plate. There is a certain gap between the opposite ends of the two cantilever shafts, so that the web of the track can be installed between the gaps of the two cantilever shafts.

[0069] Thus, when the drive shaft rotates under the action of the drive motor, it drives a pair of first drive sprockets 408 on the drive shaft to rotate, and transmits the power to a pair of first driven sprockets through the first chain. When the pair of first driven sprockets rotate, they drive a pair of first drive rollers coaxial with them to rotate. Since the pair of first drive rollers are installed above the lower wing plate of the track, when the first drive rollers rotate, they can roll along the upper surface of the lower wing plate, allowing the traveling trolley to move along the track.

[0070] like Figures 8-13As shown, the active walking mechanism further comprises a second active walking mechanism, which comprises: a pair of second active sprockets 413 installed on both sides of the driving shaft and located between the pair of first active sprockets, each second active sprocket is installed on the part between the first active sprocket of the driving shaft and the corresponding side plate outside; a pair of second passive sprockets 410 respectively driven connected with the pair of second active sprockets through the second chain 409, the pair of second passive sprockets are respectively located above the pair of second active sprockets; a pair of second active rollers 411 coaxial with the pair of second passive sprockets and can roll along the upper surface of the lower wing plate of the track under the driving of the pair of second passive sprockets, wherein the pair of second active rollers are located between the inner side plate and the outer side plate, and the pair of second passive sprockets are respectively located outside the inner side plate and the outer side plate.

[0071] When designing, the second active walking mechanism further comprises a pair of overhanging shafts 418 for fixedly installing a pair of second passive sprockets thereon, one of the overhanging shafts is rotatably installed on the inner side plate and the left and right ends respectively protrude from the inner side plate, and the other overhanging shaft is rotatably installed on the outer side plate and the left and right ends respectively protrude from the outer side plate (as shown in Figure 8 Each overhanging shaft has one end fixedly installed with a second passive sprocket and the other end rotatably installed with a second active roller, and the opposite ends of the two overhanging shafts have a certain gap, so that the web plate of the track can be installed between the gap of the two overhanging shafts.

[0072] In this way, when the driving shaft rotates under the action of the driving motor, the pair of first active sprockets 408 on the driving shaft are driven to rotate, and the pair of second active sprockets 413 are also driven to rotate, the power is transmitted to the pair of second passive sprockets through the second chain when the pair of second active sprockets 4 rotates, and the pair of second passive sprockets drive the pair of second active rollers coaxial with them to rotate when the pair of second passive sprockets rotates. Similarly, the pair of second active rollers are installed above the lower wing plate of the track, and can roll along the upper surface of the lower wing plate when the second active rollers rotate, so that the walking trolley can walk along the track in cooperation with the first active rollers.

[0073] By arranging two pairs of active rollers at the front and rear positions on both sides of the track web plate, the walking trolley can walk more stably along the track, and the support provided is more stable.

[0074] In order to further increase the stability of the floating simulation walking trolley of the utility model along the track, prevent it from slipping off and overturning from the track, the utility model walking trolley further comprises a driven walking device installed on the frame and located below the lower wing plate of the track for cooperating with the active roller to make the floating simulation walking trolley walk along the track, the driven walking device comprises: a pair of first driven rollers 415 (see Figure 11 ,Figure 12 ); A pair of second driven rollers 416 (e.g., mounted on the other end of the frame (e.g., the rear end) and located below the lower wing plate of the track, for cooperating with a pair of second driving rollers to enable the floating simulation traveling vehicle to move along the track. Figure 13 (As shown).

[0075] During the design phase, a pivot is installed at each of the front and rear ends of the frame; that is, the two ends of the pivot are fixedly mounted on the inner and outer side plates, respectively (e.g., ...). Figure 13 The rotating shaft is located below the lower wing plate of the track. A driven roller is installed on both sides of each rotating shaft, and the upper part of the four driven rollers contacts the lower surface of the lower wing plate of the track. When the frame moves along the track under the drive of the active travel mechanism, the four driven rollers and the four active rollers at the corresponding positions clamp the lower and upper surfaces of the lower wing plate of the track respectively, generating rolling friction that makes the trolley move along the track.

[0076] Furthermore, in order to prevent the trolley from swaying on the track when it travels along the track, the floating simulation trolley of this utility model also includes multiple sets of guide wheels 412 installed on the inner wall of the inner side plate and the inner wall of the outer side plate, with corresponding positions to roll along the two side walls of the track web.

[0077] like Figure 8 , Figure 9 As shown, this utility model has a set of guide wheels installed at the front and rear ends of the frame. Both sets of guide wheels are located above the lower wing plate of the track. Each set of guide wheels includes two guide wheels. One guide wheel is fixedly installed on the inner wall of the inner side plate through a guide wheel seat, and the other guide wheel is fixedly installed on the inner wall of the outer side plate through a guide wheel seat. The axles of both guide wheels extend in the vertical direction, that is, perpendicular to the axles of the driving roller and the driven roller. There is a certain gap between the outer surfaces of the two guide wheels. This gap is equal to or slightly greater than the thickness of the track web, so that the two guide wheels can contact the two side walls of the web respectively and roll along the side walls.

[0078] Of course, in addition to the above-mentioned components, this utility model also includes various parts required to connect the above-mentioned components together, such as bolts, which will not be described in detail here.

[0079] This utility model's floating simulation trolley moves on the circular track 3 under the control of the central control room. It can drive the experiencer, who is pulled by the suspension mechanism 500 connected to it, to perform space floating walking actions. In conjunction with the suspension mechanism 500 under the control of the central control room, the experiencer can be pulled by the steel wire rope of the suspension mechanism 500 to perform various space floating simulation actions, such as floating motion, lifting motion, pitching motion, etc., so as to make the experiencer's space station experience more perfect.

[0080] The utility model discloses a floating simulation travelling trolley realizes the floating simulation action in the virtual reality space station environment, and the trolley is driven by a driving motor to walk, and four active rollers located above the lower wing plate of the track and four passive rollers located below the lower wing plate of the track are matched to clamp the lower wing plate of the track, four guide wheels located on the both sides of the track web in two groups of guide wheels are matched to clamp the track web, the compact structure occupies little space, and there is enough friction between the trolley and the track, so the trolley does not slip off the track, effectively ensures the stability of the walking device when walking along the track, and is safer and more reliable to use, greatly reducing the occurrence of unsafe accidents.

[0081] The utility model discloses a floating simulation travelling trolley for realizing the floating simulation action of the experimenter in the virtual reality space station environment, and the trolley is driven by a driving motor to walk, and four active rollers located above the lower wing plate of the track and four passive rollers located below the lower wing plate of the track are matched to clamp the lower wing plate of the track, four guide wheels located on the both sides of the track web in two groups of guide wheels are matched to clamp the track web, the compact structure occupies little space, and there is enough friction between the trolley and the track, so the trolley does not slip off the track, effectively ensures the stability of the walking device when walking along the track, and is safer and more reliable to use, greatly reducing the occurrence of unsafe accidents. Figures 3-4b As shown in the accompanying drawings, the utility model discloses a connecting trolley for the floating simulation travelling trolley, and the connecting trolley includes a trolley frame arranged on the track and capable of walking along the track, a wing plate moving mechanism installed on the trolley frame and used for moving along the lower wing plate of the track, and a web moving mechanism installed on the trolley frame and used for moving along the track web.

[0082] As shown in the accompanying drawings, the utility model discloses a connecting trolley for the floating simulation travelling trolley, and the connecting trolley includes a trolley frame arranged on the track and capable of walking along the track, a wing plate moving mechanism installed on the trolley frame and used for moving along the lower wing plate of the track, and a web moving mechanism installed on the trolley frame and used for moving along the track web. Figures 15-17 As shown in the accompanying drawings, the utility model discloses a connecting trolley for the floating simulation travelling trolley, and the connecting trolley includes a trolley frame arranged on the track and capable of walking along the track, a wing plate moving mechanism installed on the trolley frame and used for moving along the lower wing plate of the track, and a web moving mechanism installed on the trolley frame and used for moving along the track web.

[0083] The trolley frame of the connecting trolley is basically the same as the trolley frame of the floating simulation travelling trolley in structure, includes a rack 141 composed of parallelly arranged inner side plates and outer side plates and a rack connecting beam 142 for fixedly connecting the front and rear ends of the rack together, and the rack and the connecting beam constitute a frame body for supporting other components of the connecting trolley.

[0084] The wing plate moving mechanism and the web moving mechanism are installed on the trolley frame, wherein the wing plate moving mechanism includes two groups of non-powered roller mechanisms installed on the trolley frame and located on the upper and lower sides of the lower wing plate of the track respectively, and the web moving mechanism includes two groups of guide wheel mechanisms installed on the trolley frame and located on the left and right sides of the track web respectively.

[0085] Specifically, each set of unpowered roller mechanism includes: an upper walking wheel mechanism 143 arranged above the lower wing plate of the track; and a lower walking wheel mechanism 144 arranged below the lower wing plate of the track. As shown in Figures 15-17 the upper walking wheel mechanism includes: a pair of overhanging shafts fixed on the inner side plate and the outer side plate of the connecting trolley frame respectively, one end of the pair of overhanging shafts is fixedly connected with the corresponding side plate, the other end thereof oppositely extends, and the opposite ends of the pair of overhanging shafts have a certain gap to at least allow the track web to pass through; and a pair of unpowered upper rollers rotatably installed on the pair of overhanging shafts. The lower walking wheel mechanism includes: a fixed shaft having two ends fixed on the inner side plate and the outer side plate of the connecting trolley frame respectively; and a pair of unpowered lower rollers rotatably installed on the fixed shaft and corresponding to the positions of the pair of unpowered upper rollers respectively.

[0086] Each set of guide wheel mechanism includes the same guide wheel structure as the floating simulation traveling trolley, and each set of guide wheel mechanism is installed on the front and rear ends of the connecting trolley frame, and the two sets of guide wheels are located above the lower wing plate of the track. Each set of guide wheel mechanism includes two guide wheels, one of which is fixedly installed on the inner wall of the inner side plate through a guide wheel seat, and the other of which is fixedly installed on the inner wall of the outer side plate through a guide wheel seat. The wheel shafts of the two guide wheels both extend in the vertical direction, that is, perpendicular to the wheel shafts of the unpowered upper rollers, and the opposite outer surfaces of the two guide wheels have a certain gap, which is equivalent to or slightly greater than the thickness of the track web, so that the two guide wheels can respectively contact the two side walls of the web and roll along the side walls.

[0087] When the floating simulation traveling trolley travels along the track, the unpowered roller mechanism and the guide wheel mechanism of the connecting trolley travel along the lower wing plate and the web of the track respectively, so that the connecting trolley travels more stably along the track and will not slip off or overturn from the track.

[0088] The connecting trolley can be used alone, or an electric control box can be installed thereon to form an electric trolley. When the electric trolley is formed, a touch sensor support 21 (see Figure 15 ) is installed at the top end of one side of the frame of the connecting trolley, and an electric control box is fixed on the other side of the frame through a connecting seat 20. Correspondingly, a trolley contact 22 for electrically connecting with the electric trolley line track 3a is installed on the touch sensor support 21.

[0089] Power is introduced into the electric control box through the contact between the trolley contact and the electric trolley line track, and the power connected by the electric control box is transmitted to the power elements of the floating simulation traveling trolley through wires, so that the floating simulation traveling trolley can work. The electric control box is installed with a programmable controller, a motor controller, a relay, a DC power module and the like, and the structure can refer to the prior art. The electric trolley can be electrically connected with the electric trolley line track, and the structure can adopt the structure of the prior art, so it will not be described in detail here. When designing, the number and position of the electric trolley can be configured according to actual needs.

[0090] The cabin exit equipment is similar to a closed conveying chain structure in operation, and when assembled, a connecting trolley can be arranged between two adjacent floating simulation traveling trolleys, so that the two floating simulation traveling trolleys are kept at a proper distance by the connecting trolley to provide a corresponding space for the players to play, and a plurality of (for example, ten) connecting trolleys can be connected and arranged between two adjacent floating simulation traveling trolleys to isolate the entire cabin exit equipment into two relatively independent playing areas by the plurality of connecting trolleys. In addition, an electric control box and a slide contactor support can be installed on the connecting trolley for keeping the adjacent two floating simulation traveling trolleys at a proper distance to provide a corresponding space for the players to play, to form an electrical trolley, so as to facilitate the installation and use of electrical equipment.

[0091] In order to make the connecting trolley, the electrical trolley and the floating simulation traveling trolley move synchronously along the track, the utility model connects two adjacent trolleys together through a connecting mechanism. The connecting mechanism comprises a pair of connecting ears arranged on the frames of two adjacent trolleys to be connected, Figure 7 ) respectively.

[0092] Among them, the connecting rod assembly in the connecting mechanism of the utility model can be a telescopic connecting rod assembly 18, can also be an elastic connecting rod assembly 16, and can also be a non-telescopic connecting rod assembly 15, 17 and 19 with different lengths (see Figure 4a The structure of the connecting rod assembly can be determined according to the different trolleys to be connected in actual application.

[0093] For example, when applied, the connecting mechanism shown in Figure 4a can be used as needed, that is, when the electrical trolley is connected with two adjacent floating simulation traveling trolleys, the electrical trolley can be connected with one floating simulation traveling trolley through the non-telescopic connecting rod assembly 15 and connected with the other floating simulation traveling trolley through the elastic connecting rod assembly 16. When two adjacent connecting trolleys are connected, the non-telescopic connecting rod assembly 17 can be used for connection, or the telescopic connecting rod assembly 18 can be used for connection. When the connecting trolley is connected with the floating simulation traveling trolley, the non-telescopic connecting rod assembly 19 can be used for connection.

[0094] Among them, the telescopic connecting rod assembly 18 of the utility model can adopt the structure as shown in Figures 18-20The structure of the elastic connecting rod assembly 16 comprises a threaded rod 184 on which a connecting pin shaft 187 is arranged, a pair of threaded plates 185 arranged at both ends of the threaded rod, a square tube 182 fixedly connected with one end of the threaded plate, and a U-shaped connecting plate 181 fixedly installed at the other end of the square tube and used for being rotatably connected with a connecting lug on an adjacent trolley.

[0095] The elastic connecting rod assembly 16 can adopt the structure as shown in the figure. Figures 21-23 The structure of the elastic connecting rod assembly 16 comprises a threaded rod 184 on which a connecting pin shaft 187 is arranged, a pair of threaded plates 185 arranged at both ends of the threaded rod, a square tube 182 fixedly connected with one end of the threaded plate, and a U-shaped connecting plate 181 fixedly installed at the other end of the square tube and used for being rotatably connected with a connecting lug on an adjacent trolley.

[0096] In summary, the cabin in the annular space station experience area is fixed with an annular track 3 and an electrical sliding contact line track 3a on the top thereof, a plurality of floating simulation traveling trolleys 400, a plurality of electrical trolleys 13 and a plurality of connecting trolleys 14 are arranged on the annular track 3 and connected as a whole, and the sliding contact line connector of the electrical trolley is connected with the electrical sliding contact line track 3a, so that the trolleys can be driven by the floating simulation traveling trolleys to move along the track synchronously, and the external communication is realized through the electrical trolley, so that the experimenter suspended below the floating simulation traveling trolley by the suspension mechanism can get on the real simulation space station, and after wearing the VR helmet in the annular space station experience area of the simulation space station, the experimenter can be immersed in the virtual reality space station environment.

[0097] Although the utility model has been described in detail above, the utility model is not limited thereto, and the person skilled in the art can make various modifications according to the principle of the utility model. Therefore, any modification made according to the principle of the utility model should be understood as falling within the protection scope of the utility model.

Claims

1. A walking device for R-VR-R space station experience, installed on the ring track on the cabin top of the space station environment experience area, characterized in that, The application relates to a space station environment simulation system, which comprises: a plurality of floating simulation travel trolleys installed on the track and provided with suspension mechanisms for suspending experience persons; a plurality of connecting trolleys installed on the track and used for separating relatively independent areas among the plurality of floating simulation travel trolleys; an electrical trolley installed on the track and arranged between the plurality of floating simulation travel trolleys and used for providing power support for the plurality of floating simulation travel trolleys; a connecting mechanism arranged between two adjacent trolleys and used for connecting the adjacent trolleys together so as to move along the track simultaneously. The floating simulation travel trolley comprises a driving motor, a driving walking mechanism, a driven walking mechanism and two groups of guide wheels; the driving walking mechanism is in transmission connection with an output shaft of the driving motor and is located above a lower wing plate of the track and has two pairs of driving rollers which walk along an upper surface of the lower wing plate of the track; the driven walking mechanism is located below the lower wing plate of the track and has two pairs of driven rollers which are matched with the two pairs of driving rollers respectively; and the two groups of guide wheels are both located below the lower wing plate of the track and each group of guide wheels comprises two guide wheels which are located at two sides of a web plate of the track.

2. The walking device of claim 1, wherein, The track has an I-shaped cross section, and the floating simulation travel trolley further comprises: a trolley frame arranged on the track and capable of walking along the track so that the experience persons can experience space floating walking in the space station environment experience area; the driving motor is installed on one side of the trolley frame; the driving walking mechanism is installed on the trolley frame.

3. The walking device of claim 2, wherein, The driving walking mechanism comprises: a first driving walking mechanism located at one end of the trolley frame, in transmission connection with the output shaft of the driving motor and having a pair of first driving rollers which walk along the upper surface of the lower wing plate of the track; a second driving walking mechanism located at the other end of the trolley frame, in transmission connection with the output shaft of the driving motor and having a pair of second driving rollers which walk along the upper surface of the lower wing plate of the track.

4. The walking device of claim 3, wherein, The driven walking mechanism is installed at both ends of the trolley frame.

5. The walking device of claim 4, wherein, The driven walking mechanism comprises: a pair of first driven rollers installed at one end of the trolley frame and located below the lower wing plate of the track and used for matching with the pair of first driving rollers so that the floating simulation travel trolley walks along the track; a pair of second driven rollers installed at the other end of the trolley frame and located below the lower wing plate of the track and used for matching with the pair of second driving rollers so that the floating simulation travel trolley walks along the track.

6. The walking device of claim 5, wherein, The plurality of groups of guide wheels are installed on inner walls of the inner side plate and the outer side plate and correspond to each other in position so as to move along two side walls of the web plate of the track.

7. The walking device of claim 6, wherein, The electrical trolley comprises a trolley body and an electric control box installed on the trolley body, and the trolley body has the same structure as the connecting trolley.

8. The walking device of claim 7, wherein, The connecting trolley comprises: a trolley frame arranged on the track and capable of walking along the track; a wing plate moving mechanism installed on the trolley frame and used for moving along the lower wing plate of the track; a web plate moving mechanism installed on the trolley frame and used for moving along the web plate of the track.

9. The walking device of claim 8, wherein, The wing plate moving mechanism comprises two groups of unpowered roller mechanisms installed on the trolley frame and located at upper and lower sides of the lower wing plate of the track respectively, and the web plate moving mechanism comprises two groups of guide wheel mechanisms installed on the trolley frame and located at left and right sides of the web plate of the track.

10. The walking device of any one of claims 1-9, wherein, The connecting mechanism comprises: A pair of connecting ears respectively arranged on the frames of two adjacent trolleys to be connected; The connecting rod assembly is rotatably connected with the pair of connecting ears at two ends.

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