CN106730830A - A kind of drive mechanism, multiple degrees of freedom head and VR seats - Google Patents

Abstract

The present invention provides a driving mechanism, a multi-degree-of-freedom pan-tilt and a VR chair, the former includes a support base; a first drive member is installed on the support base; Driven by the driver so that the second driver rotates around the first axis; a third driver configured to be driven by the second driver so that the third driver rotates around the second axis; a load mounting plate , configured to be driven by the third driving member, so that the load mounting plate rotates around a third axis.

Description

A driving mechanism, a multi-degree-of-freedom platform and a VR seat

technical field

The invention relates to the field of multi-degree-of-freedom motion, and more specifically, relates to a driving mechanism, a multi-degree-of-freedom platform, and a VR seat.

Background technique

The driving mechanism refers to a driving assembly composed of multiple driving parts, which is used to drive the load connected to the driving mechanism to move.

The existing driving mechanism adopts a structure in which multiple driving motors are superimposed, which makes the driving mechanism complex in structure and large in size.

Taking the gimbal as an example, the gimbal is used to install and fix the supporting equipment of the camera. When the existing driving mechanism is applied to the pan/tilt, the volume of the pan/tilt will become larger, and it is difficult to meet the requirement of miniaturization of the pan/tilt.

Another example is that when the existing driving mechanism is used to drive the seat of the VR chair, the volume of the VR chair will increase.

Therefore, it is necessary to improve the existing driving mechanism to solve at least one problem in the prior art.

Contents of the invention

An object of the present invention is to provide a new technical solution for the drive mechanism.

According to a first aspect of the present invention, a driving mechanism is provided, comprising:

Support base;

a first driving member installed on the support seat;

a second driving member configured to be driven by the first driving member so that the second driving member rotates around a first axis;

a third driving member configured to be driven by the second driving member so that the third driving member rotates around a second axis;

The load mounting plate is configured to be driven by the third driving member, so that the load mounting plate rotates around a third axis.

Optionally, the support seat includes a bottom plate and a connecting plate;

The first driving member is fixedly connected with the connecting plate.

Optionally, the second driving member is a hollow structure, and the third driving member is located in a hollow of the hollow structure.

Optionally, the second driving member is a ring structure, and the third driving member is located in a ring of the ring structure.

Optionally, the first driving member is a direct drive motor;

The second driving member is a direct drive motor;

The third driving member is a direct drive motor.

Optionally, the second axis is perpendicular to the first axis;

The third axis is perpendicular to the second axis and/or the third axis is perpendicular to the second axis.

According to the second aspect of the present invention, a multi-degree-of-freedom platform is provided, including the driving mechanism of the present invention.

According to a third aspect of the present invention, a VR chair is provided, including the driving mechanism of the present invention.

Optionally, a seat is also included, and the seat is installed on the load mounting plate.

Optionally, the VR seat further includes a base and a fourth driving member, wherein the fourth driving member is installed on the base;

The fourth driving member is configured to drive the support seat to move along the fourth axis.

The inventors of the present invention have found that in the prior art, the driving mechanism does have the problem of complex structure and large volume. Therefore, the technical tasks to be achieved or the technical problems to be solved by the present invention are never thought of or expected by those skilled in the art, so the present invention is a new technical solution.

Compared with the prior art, according to the present invention, the driving mechanism has simple structure and small volume.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a structural schematic diagram of a viewing angle of a driving mechanism embodiment of the present invention;

Fig. 2 is a structural schematic diagram of another viewing angle of the driving mechanism embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a perspective view of the partial structure of the driving mechanism embodiment of the present invention;

Fig. 4 is a structural schematic view of another perspective of the partial structure of the driving mechanism embodiment of the present invention;

Fig. 5 is a schematic structural view of an embodiment of the VR seat of the present invention.

The diagram is marked as follows:

Support base-1, bottom plate-11, connecting plate-12, first drive part-2, first drive part stator-21, first drive part rotor-22, second drive part-3, second drive part stator- 31, the second driver rotor-32, the third driver-4, the third driver stator-41, the third driver rotor-42, the load mounting plate-5, the fourth driver-6, the fourth driver Stator-61, the fourth driving member mover-62, base-7.

detailed description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numbers and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

The present invention provides a driving mechanism, as shown in Figures 1 to 4, comprising:

Support seat 1. The specific structure of the support base 1 can be set according to actual needs. For example, the support base 1 can be a U-shaped plate structure, or the support base 1 has a rectangular frame structure.

Optionally, the support base 1 includes a bottom plate 11 and a connecting plate 12 connected together. The connection between the bottom plate 11 and the connecting plate 12 can be fixed connection or detachable connection. For example, the bottom plate 11 is connected to the connecting plate 12 by bolts, or the bottom plate 11 and the connecting plate 12 are welded together, or the bottom plate 11 and the connecting plate 12 are integrally formed. The bottom plate 11 and the connecting plate 12 are optionally arranged vertically. The connecting plate 12 optionally includes two pieces, and the two connecting plates 12 are fixedly connected to both ends of the bottom plate 11 .

The first driving member 2 is installed on the support base 1 . The specific structure of the first driving part 2 can be set according to actual needs, for example, the first driving part 2 is a direct drive motor. The first driver 2 may include a first driver stator 21 and a first driver rotor 22 .

The first driving member 2 can be mounted on the support base 1 through a detachable connection or a fixed connection. For example, the first driving member 2 and the supporting base 1 are connected together by bolts, or the supporting base 1 and the first driving member 2 are connected together by welding. Alternatively, the stator 21 of the first driver is fixedly connected to the connecting plate 12 of the support base 1 .

The second driving member 3 is configured to be driven by the first driving member 2 so that the second driving member 3 rotates around the first axis. The specific structure of the second driving part 3 can be set according to actual needs, for example, the second driving part 3 is a direct drive motor. The second driver 3 may include a second driver stator 31 and a second driver rotor 32 . Optionally, as shown in the figure, the second driver stator 31 and the second driver rotor 32 have a ring structure. Further, the rotor 32 of the second driving element can rotate 360 degrees relative to the stator 31 of the second driving element. Further, the rotor 32 of the second driving element can rotate around an axis perpendicular to the plane where the ring structure is located.

Optionally, the stator 31 of the second driver is connected with the rotor 22 of the first driver. The first driver 2 drives the second driver 3 to rotate around the first axis, that is, the first driver rotor 22 drives the second driver stator 31 to rotate around the first axis. The second driver rotor 32 rotates around the first axis along with the second driver stator 31 .

Optionally, a first rotating shaft may also be provided between the second driving element stator 31 and the first driving element rotor 22 . Two ends of the first rotating shaft are respectively fixedly connected with the first driver rotor 22 and the second driver stator 31 . Optionally, the connection between the first rotating shaft and the rotor 22 of the first driver and the stator 31 of the second driver is realized by means of bolt connection. Optionally, the first rotating shaft is integrally formed with the first driver rotor 22 or the second driver stator 31 .

The third driving member 4 is configured to be driven by the second driving member 3 so that the third driving member 4 rotates around the second axis. Optionally, the second axis is perpendicular to the first axis.

The specific structure of the third driving part 4 can be set according to actual needs, for example, the third driving part 4 is a direct drive motor.

The third driver 4 may include a third driver stator 41 and a third driver rotor 42 . Optionally, the stator 41 of the third driver is connected with the rotor 32 of the second driver. The second driver 3 drives the third driver 4 to rotate around the second axis, that is, the second driver rotor 32 drives the third driver stator 41 to rotate around the second axis, and the third driver stator 41 is fixed on the The third driver rotor 42 rotates around the second axis along with the third driver stator 41 .

Optionally, the second driving member 3 is a hollow structure, and the third driving member 4 is located inside the second driving member 3 . For example, the second driving member 3 has a ring structure, and the third driving member 4 is located in the ring of the second driving member 3 of the ring structure.

Optionally, a second rotating shaft may also be provided between the stator 41 of the third driving element and the rotor 32 of the second driving element. Two ends of the second rotating shaft are respectively fixedly connected to the second driver rotor 32 and the third driver stator 41 . Optionally, the connection between the second rotating shaft and the rotor 32 of the second driving element and the stator 41 of the third driving element is realized by means of bolt connection. Optionally, the second rotating shaft is integrally formed with the rotor 32 of the second driving element or the stator 41 of the third driving element.

The load mounting plate 5 is configured to be driven by the third driving member 4 so that the load mounting plate 5 rotates around a third axis. Optionally, the third axis is perpendicular to the second axis and/or the third axis is perpendicular to the first axis. Optionally, the load mounting plate 5 is connected with the third driver rotor 42, and the rotation of the third driver rotor 42 drives the load mounting plate 5 to rotate around the third axis.

The load mounting plate 5 can be mounted on the third driving member 4 through a detachable connection or a fixed connection. For example, the load mounting plate 5 is connected to the third driver rotor 42 through bolts, or the load mounting plate 5 is welded to the third driver rotor 42 .

Optionally, the first driving member 2 , the second driving member 3 and the third driving member 4 are all direct drive motors. Direct drive motors are beneficial for improving the response time of the drive mechanism. The direct drive motor is beneficial to improve the transmission efficiency. The direct drive motor is beneficial to further reduce the volume of the drive mechanism.

In a specific embodiment of the driving mechanism of the present invention, the support base 1 includes a bottom plate 11 and two connecting plates 12 , and the two connecting plates 12 are perpendicular to the bottom plate 11 . The first driving member 2 is fixedly connected to the opposite surfaces of the two connecting plates 12 . The second driving member 3 is located between the two connecting plates 12 , and the second driving member 3 is driven by the first driving member 2 to rotate around a first axis parallel to the bottom plate 11 . The second driving member 3 has a ring structure, and the third driving member 4 is located in the ring of the second driving member 3 . The second driving member 3 drives the third driving member 4 to rotate around a second axis perpendicular to the first axis. The load mounting plate 5 is mounted on the third driving member 4, and the load mounting plate 5 is driven by the third driving member 4 to rotate about a third axis perpendicular to the second axis.

The present invention also provides a multi-degree-of-freedom cloud platform, including the driving mechanism of the present invention. The camera is installed or fixed on the load mounting plate 5 . The camera can be installed on the load mounting plate 5 through buckles or bolts.

The multi-degree-of-freedom pan-tilt applied with the driving mechanism of the present invention has a small volume and can meet the requirement of miniaturization of the pan-tilt.

When the multi-degree-of-freedom pan-tilt of the present invention is applied in a VR seat, it is beneficial to reduce the volume of the VR seat. In addition, when the multi-degree-of-freedom pan/tilt of the present invention is applied in a VR seat, the advantage of the fast response speed of the drive mechanism of the present invention is also beneficial to improve or prevent the problem of dizziness of the user caused by the slow response speed of the drive mechanism.

The present invention also provides a VR chair, as shown in FIG. 5 , including the driving mechanism of the present invention.

In a specific embodiment of the VR seat of the present invention, the VR seat further includes a seat (not shown in the figure), and the seat is installed on the load mounting plate 5 . The above-mentioned seat refers to a part for a user to sit on.

The seat can be installed on the load mounting plate 5 through a fixed connection or a detachable connection, for example, the seat and the load mounting plate 5 are connected together by bolts, or the seat and the load mounting plate 5 are welded connected together.

Optionally, the VR seat of the present invention further includes a base 7 and a fourth driving member 6 , the fourth driving member 6 is installed on the base 7 , and the fourth driving member 6 drives the support base 1 to move along the fourth axis. Optionally, the fourth axis is perpendicular to the first axis.

The specific structure of the fourth driving member 6 can be set according to actual needs, for example, the fourth driving member 6 is a linear motor. The fourth driving part 6 may include a fourth driving part stator 61 and a fourth driving part mover 62 . Optionally, the stator 61 of the fourth driving member is connected with the base 7 together. The mover 61 of the fourth driving element is connected with the support base 1 .

The fourth driving member 6 can be mounted on the base 7 through a fixed connection or a detachable connection. For example, the fourth driving member 6 and the base 7 are connected together by bolts, or the fourth driving member 6 and the base 7 are connected together by welding. Optionally, the stator 61 of the fourth driving member is fixedly connected with the base 7 .

In a specific embodiment of the VR seat of the present invention, the support base 1 includes a bottom plate 11 and two connecting plates 12 , and the two connecting plates 12 are perpendicular to the bottom plate 11 . The first driving member 2 is fixedly connected to the opposite surfaces of the two connecting plates 12 . The second driving member 3 is located between the two connecting plates 12 , and the second driving member 3 is driven by the first driving member 2 to rotate around a first axis parallel to the bottom plate 11 . The second driving member 3 has a ring structure, and the third driving member 4 is located in the ring of the second driving member 3 . The second driving member 3 drives the third driving member 4 to rotate around a second axis perpendicular to the first axis. The load mounting plate 5 is installed on the third driving member 4, and the load mounting plate 5 is driven by the third driving member 4 to rotate around a third axis perpendicular to the second axis. The seat is mounted on the load mounting plate 5 . The fourth driving member 6 is installed on the base 7 , and the fourth driving member 6 drives the supporting base 1 to move along a fourth axis perpendicular to the bottom plate 11 .

Although some specific embodiments of the present invention have been described in detail through examples, those skilled in the art should understand that the above examples are for illustration only and not intended to limit the scope of the present invention. Those skilled in the art will appreciate that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (10)

1. a kind of drive mechanism, it is characterised in that including：

Support base；

First actuator, on the support base；

Second actuator, is arranged to be driven by first actuator so that second actuator rotates around first axle；

3rd actuator, is arranged to be driven by second actuator so that the 3rd actuator rotates around the second axle；

Load installing plate, is arranged to be driven by the 3rd actuator so that the load installing plate rotates around the 3rd axle.

2. drive mechanism according to claim 1, it is characterised in that the support base includes base plate and connecting plate；

First actuator is fixedly connected with the connecting plate.

3. drive mechanism according to claim 1, it is characterised in that second actuator is hollow structure, described the Three actuators are located at the middle vacancy of the hollow structure.

4. drive mechanism according to claim 3, it is characterised in that second actuator is cyclic structure, described the Three actuators are located in the ring of the cyclic structure.

5. the drive mechanism according to any one of Claims 1-4, it is characterised in that first actuator is straight drive Motor；

Second actuator is direct driving motor；

3rd actuator is direct driving motor.

6. the drive mechanism according to any one of Claims 1-4, it is characterised in that second axle and described first Axle is perpendicular；

3rd axle is perpendicular with second axle and/or the 3rd axle is perpendicular with second axle.

7. a kind of multiple degrees of freedom head, it is characterised in that including the drive mechanism described in any one of claim 1 to 6.

8. a kind of VR seats, it is characterised in that including the drive mechanism described in any one of claim 1 to 6.

9. VR seats according to claim 8, it is characterised in that also including seat, the seat is arranged on the load On installing plate.

10. VR seats according to claim 8 or claim 9, it is characterised in that the VR seats also include that base and the 4th drives Part, wherein,

The fourth drive member is arranged on the base；

The fourth drive member is arranged to drive the support base to be moved along the 4th axle.