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WO2019051589A1 - Transporteur omnidirectionnel comprenant des pistes pour style de roues mecanum - Google Patents

Transporteur omnidirectionnel comprenant des pistes pour style de roues mecanum Download PDF

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Publication number
WO2019051589A1
WO2019051589A1 PCT/CA2018/051121 CA2018051121W WO2019051589A1 WO 2019051589 A1 WO2019051589 A1 WO 2019051589A1 CA 2018051121 W CA2018051121 W CA 2018051121W WO 2019051589 A1 WO2019051589 A1 WO 2019051589A1
Authority
WO
WIPO (PCT)
Prior art keywords
roller supporting
supporting members
roller
loops
axes
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CA2018/051121
Other languages
English (en)
Inventor
Simon Francis COOKE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Terra Virtual Reality Systems Inc
Original Assignee
Terra Virtual Reality Systems Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Terra Virtual Reality Systems Inc filed Critical Terra Virtual Reality Systems Inc
Publication of WO2019051589A1 publication Critical patent/WO2019051589A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/08—Roller-ways of curved form; with branch-offs
    • B65G13/10—Switching arrangements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
    • A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0285—Physical characteristics of the belt, e.g. material, surface, indicia
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0292—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills separate for each leg, e.g. dual deck
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/24—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of rollers which are moved, e.g. over a supporting surface, by the traction element to effect conveyance of loads or load-carriers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B2022/0271—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills omnidirectional
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0025—Tracking the path or location of one or more users, e.g. players of a game
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0096—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load using performance related parameters for controlling electronic or video games or avatars
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/34—Omni-directional rolls

Definitions

  • the present invention relates to omnidirectional conveyors, which can be used in for example mail or package sorting, food processing, or as treadmills for exercise, that form an upper surface on which a subject can be moved in any direction within a plane of the surface.
  • Omnidirectional conveyors can be employed in mail or package sorting, food processing, or as treadmills for exercise.
  • omnidirectional treadmills these are well known in the art, being particularly suited for use in the virtual reality industry where it is desired to create an environment in which a subject can move across a support surface in any direction.
  • Such prior art systems use components which have significant mass in order to provide any direction of movement within a common plane of an upper surface of the treadmill, which may lead to for example larger treadmills driven by larger motors or a sacrifice in top speed for compactness of the treadmill.
  • an omnidirectional conveyor comprising:
  • roller supporting members each defining an upper run which is elongated along a respective longitudinal axis thereof;
  • a supporting structure which supports the roller supporting members such that (i) the longitudinal axes are parallel to one another, (ii) the upper runs of the roller supporting members form a substantially planar upper surface, and (iii) the upper runs are each drivable in opposing longitudinal directions along the respective longitudinal axis thereof;
  • roller supporting member a plurality of rollers supported on each roller supporting member at longitudinally spaced positions along the upper run thereof such that the rollers are rotatable relative to the roller supporting member about respective roller axes oriented transversely to the longitudinal axis of the upper run of the roller supporting member;
  • roller supporting members including (i) first roller supporting members in which the roller axes of the rollers of the first roller supporting members are parallel to one another for rolling in respective rolling directions oriented in a first common direction and (ii) second roller supporting members in which the roller axes of the rollers of the second roller supporting members are parallel to one another for rolling in respective rolling directions oriented in a second common direction, in which the second common direction of the second rollers is transverse to the first common direction of the first rollers;
  • roller supporting members being supported on the supporting structure such that at least some of the first roller supporting members are separated from one another by one of the second roller supporting members and at least some of the second roller supporting members are separated from one another by one of the first roller supporting members;
  • a controller configured to control the longitudinal movement of the upper runs of the roller supporting members in (i) a first mode in which the first roller supporting members are longitudinally displaced and the second roller supporting members are stationary so as to displace a subject located on the upper surface along a first axis of movement parallel to the second common direction; (ii) a second mode in which the first roller supporting members are stationary and the second roller supporting members are longitudinally displaced so as to displace the subject along a second transverse axis of movement parallel to the first common direction; and (iii) a third mode in which both the first and second roller supporting members are longitudinally displaced so as to displace the subject in an intermediate direction having a directional component along each of the first and second axes of movement.
  • transverse as used herein is understood to comprise any relative angular orientation in which the axes are sloped relative to one another, perpendicularly or non-perpendicularly, so as to intersect one another in a crosswise manner.
  • the invention relates to an apparatus that employs Mecanum wheel-style tracks, that is endless loops supporting rollers thereon, which may provide a simplified arrangement for an omnidirectional treadmill.
  • movement in any direction within a plane of the upper surface may be produced simply by rotating the loops in a prescribed rotational direction and at a prescribed speed, and controlling a rate of rotation of the loops relative to one another.
  • rollers may be supported on other forms of roller supporting members which similarly define an elongate upper run extending along a respective longitudinal axis and having a longitudinally spaced row of rollers thereon.
  • a different supporting structure may be provided to similarly displace the first and second roller supporting members longitudinally relative to one another.
  • first and second roller supporting members are arranged in alternating fashion such that each proximal pair of the roller supporting members of either the first or second set is separated by one roller supporting member of the other one of the first set and the second set. That is, each pair of the roller supporting members of either one of the first and second sets that would otherwise be adjacent are separated by a roller supporting member of the other set. Additionally, therefore, each adjacent pair of the roller supporting members includes one of the first set and one of the second set.
  • roller axes of the first and second roller sets are not perpendicular to one another.
  • roller axes of the first and second roller sets each are oriented at an angle greater than 45 degrees to the longitudinal direction of the respective one of the endless loops so that the roller axes of the two roller sets are more than 90 degrees apart, that is they form an angle therebetween that is greater than 90 degrees.
  • a drive system comprising motors for driving rotation of the shafts that support the endless loops, or other longitudinal drive systems in the instance of other forms of roller supporting members, may have a mechanical advantage when moving the subject or object transverse to the longitudinal direction of the loops as stress on the drive system from displacing the subject, such as torque on the drive system and tension on the endless loops, may be lower in comparison to an arrangement in which the roller axes of the first and second roller sets are at 45 degrees to the longitudinal direction and perpendicular to each other.
  • roller axes of the first and second sets may be oriented at a common angle to the longitudinal direction of the respective one of the endless loops but with the rolling directions transverse to each other.
  • the roller axes form a 1 10 degree angle therebetween, being oriented at a common angle to the longitudinal direction of the respective one of the endless loops but with the rolling directions transverse to each other.
  • a prescribed angle of each of the rollers of the endless loops is 55 degrees to the longitudinal direction of the respective one of the loops.
  • the angle of the first roller set and the angle of the second roller set to the longitudinal direction that an upper run extends need not be the same.
  • the first set could be at 50 degrees to the longitudinal direction and the second set could be at 40 degrees to the longitudinal direction so that the roller axes of the two sets are 90 degrees apart.
  • the first set of the endless loops may be driven in rotation at a common shaft.
  • the second set of the endless loops may be driven in rotation at a common shaft.
  • the omnidirectional conveyor comprises first and second shafts in spaced parallel relation to each other defining the rotational axes of the plurality of endless loops.
  • the omnidirectional conveyor preferably comprises a plurality of rotational transmission elements on each of the first shaft and the second shaft for effecting rotation of the endless loops by rotation of the first and second shafts, the rotational transmission elements including a fixed set of the transmission elements which are fixed to rotate with a respective one of the first shaft and the second shaft and a free set of the transmission elements which are rotatably supported on the respective one of the first and the second shaft but are rotatable freely of rotation thereof, wherein the endless loops are supported on a pair of the transmission elements including one of the fixed set and one of the free set each on a different one of the first shaft and the second shaft.
  • the rotational transmission elements are sprockets or wheels.
  • each one of the first and second shafts are arranged in alternating fashion so that each adjacent pair of the transmission elements on a respective one of the shafts includes one of the fixed set and one of the free set.
  • a drive shaft of the first set of endless loops is driven in rotation by a separate motor from that of the second set.
  • Figure 1 is a perspective view of one embodiment of omnidirectional conveyor according to the present invention, where some com omitted and others are shown schematically or cutaway for clarity of illustration.
  • Figure 2 is a schematic illustration of adjacent endless loops of the embodiment of Figure 1 showing only one roller on each for clarity of illustration.
  • Figure 3 is a perspective view of the embodiment of Figure 1 showing a subject located thereon.
  • Figure 4 is a perspective view of the embodiment of Figure 1 and as shown therein but with a portion of some endless loops cutaway.
  • Figure 5A is a perspective view of another embodiment of omnidirectional conveyor according to the present invention, where some components are omitted and others are shown schematically or cutaway for clarity of illustration.
  • Figure 5B is a perspective view of another embodiment of omnidirectional conveyor according to the present invention, where some components are omitted and others are shown schematically or cutaway for clarity of illustration.
  • Figure 6 is a perspective view of a further embodiment of omnidirectional conveyor according to the present invention, where some components are omitted and others are shown schematically or cutaway for clarity of illustration.
  • Figure 7 is a schematic illustration of roller supporting members showing only one roller on each for illustrative purposes according to a further embodiment of the conveyor.
  • Figure 8 is a schematic illustration of the roller supporting members showing only one roller on each for illustrative purposes according to another embodiment of the conveyor.
  • Figure 9 is a schematic illustration of two adjacent roller supporting members according to yet another embodiment of the conveyor.
  • Figure 10 is a schematic illustration of a portion of the conveyor incorporating the roller supporting members according to the embodiment of Figure 9.
  • an omnidirectional conveyor 10 for producing movement in any direction so that, when used as a treadmill, a subject 1 located on a movable surface 12 of the treadmill can be maintained in a central location thereon or moved to a target location anywhere within an area of the movable surface.
  • Such conveyors may be employed elsewhere, for example, in item/article sorting systems, for example to sort mail and packages, or in food processing systems, and thus reference to 'treadmill' hereinafter is not intended to be limiting.
  • the conveyor 10 which in some of the illustrated embodiments is used as a treadmill, comprises a base or frame (not shown) supporting for rotation a first drive shaft 17 and a second drive shaft 18 defining a pair of spaced parallel rotational axes 19, 20.
  • the first and second drive shafts 17, 18 are driven in rotation about their respective rotational axes by separate motors Mi and M2 (schematically shown) forming a drive system of the treadmill.
  • Each motor has a bidirectional output to effect rotation in opposite rotational directions (i.e., clockwise and counter-clockwise) and variable output speed.
  • a plurality of rotational transmission elements which in the illustrated embodiments are sprockets 21 , are provided on the first and second drive shafts 17, 18 for effecting rotation of tracks 23 based on rotation of the drive shafts.
  • Each sprocket rotates in a plane orthogonal Jo the axis 19 or 20 of the respective drive shaft.
  • the tracks 23 are in the form of endless loops wrapping at one end around the first drive shaft 17 and at the other end around the second drive shaft 18. Thus is formed an upper run 25 which is above the drive shafts, and a lower run 26 below the drive shafts.
  • the tracks 23 each have an inner bearing side in contact with the sprockets 21 and an opposite outer side where there is supported a plurality of rollers 27.
  • the tracks are formed by a plurality of links 28 arranged end-to-end and pivotally connected to one another in an endless chained arrangement, and each link supports multiple rollers 27.
  • the links may each support a single roller, or different links may support different numbers of rollers, including in some instance having some links with no rollers thereon for example.
  • the rollers 27 on each loop are arranged side-by-side so that, in each adjacent pair of the rollers, they overlap one another in an axial direction of the respective roller.
  • Each endless loop 23 has an upper run 25 which extend in a longitudinal direction L parallel to the others and perpendicularly to the drive shafts 17, 18.
  • each upper run 25 is movable in opposite linear directions longitudinally of a respective one of the loops.
  • the loops are much narrower in width than they are in length from one end to the other, and in the illustrated embodiment more clearly shown in Figure 3 a width of each loop is sized such that when a human subject is received on the movable upper surface 12 a plurality of the loops are located beneath the subject's toes and ball of the foot.
  • adjacent tracks are spaced apart by a distance much smaller than the width of the respective track, and are minimally spaced apart so that there is sufficient clearance between the adjacent tracks so that
  • a support assembly S for supporting the upper runs 25 against sagging, particularly when under considerable load when a subject is received on the movable uppers surface 12.
  • the support assembly may define a low friction surface beneath the upper runs 25, for example on a top surface of a plate with a low-friction coating.
  • the support assembly may comprise a series of free wheels or linear bearings.
  • the support assembly includes guides Sg formed by ridges extending in the longitudinal direction and spaced each from the next in the transverse direction so as to resist movement of the upper runs 25 in the transverse direction so that they remain parallel to one another as the subject 1 is displaced on the upper surface 12 in directions transverse to the loops 23.
  • rollers on each loop have roller axes 29 all of which are oriented transversely at a common prescribed angle ⁇ to the longitudinal direction L of the respective loop 23.
  • the prescribed angle ⁇ is 55 degrees.
  • the prescribed angle ⁇ may be any transverse angle relative to the longitudinal direction L except for 90 degrees, in which case the rollers would be perpendicularly transverse to the longitudinal direction, and in which case the omnidirectional treadmill would not operate as will be better appreciated shortly.
  • the roller axes 29 of the rollers on each loop are parallel to one another, and are parallel to the plane of the upper movable surface 12.
  • the rollers axes 29 of each adjacent pair of loops 23 are transverse to each other so as to form a first alternating set of loops indicated at 23A, 23C, 23E, etc. wherein the rollers 27 of those loops are oriented with rolling directions R, which are perpendicular to the roller axes 29, generally in a first common direction D1 .
  • a second alternating set of loops indicated at 23B, 23D, etc. is formed, having rolling directions of their rollers 27 generally oriented in a second common direction D2 which is transverse to the first direction D1 . That is, every other one of the tracks 23 has rollers oriented in a common rolling direction.
  • the first alternating set of loops is driven at a common drive shaft which is that at 1 7, and the second alternating set of loops is driven at a common drive shaft 18.
  • Each endless loop wraps around a pair of the sprockets located in a common plane oriented orthogonal to the axes of both drive shafts indicated at 19 and 20.
  • One of the pair of sprockets is a drive sprocket 21 A fixed to the respective drive shaft so as to rotate therewith, and the other is a guide sprocket 21 B rotatably supported on a different drive shaft but arranged to freely rotate thereabout (regardless of the movement of that drive shaft).
  • each drive shaft rotatably supports sprockets of both the drive and guide type.
  • the drive and the guide sprockets on each one of the first and second drive shafts are arranged in alternating fashion so that each adjacent pair of the sprockets on either shaft includes a drive sprocket 21 A and a guide sprocket 21 B.
  • the drive sprockets may be connected to the drive shafts via conventional arrangements for mechanically coupling a wheel to a shaft. Free rotation of the guide sprockets on the shaft may be provided by any type of bearings.
  • each upper run 25 is movable linearly in opposite longitudinal directions based on the rotational movement of the respective loop 23.
  • a controller 32 (schematically shown) is provided to control the rotational movement of the tracks 23 by controlling the output speed and direction of each of the motors Mi , M2.
  • speed sensors (not shown) are provided on the motors so as to provide feedback about the speed and direction of the motors to the controller.
  • the controller 32 is configured to operate in modes including: (1 ) A first mode in which the first alternating set of loops (23A, 23C, etc.) are rotated, regardless of rotational direction, and the second alternating set (23B, 23D, etc.) are maintained stationary, which acts to displace the subject located on the movable upper surface 12 of the treadmill along a first axis of movement A1 parallel to the second common direction D2 of the second alternating set;
  • the subject in each of the first and second modes the subject can be displaced only in two opposite directions along the corresponding axis of movement A1 or A2.
  • movement can be produced in an infinite number of directions except for those along movement axes A1 and A2.
  • a position tracking system (not shown) is operatively connected to the controller 32 so as to track location of the subject on the movable surface 12, so that the controller may then operate the alternating sets of tracks for maintaining the subject within a target area on the surface 12 or displacing the subject to a desired target location within an overall area of the movable surface.
  • the first alternating set of loops 23A, 23C, etc. are operated in unison so as to rotate in the same direction and at the same speed.
  • the second alternating set of loops 23B, 23D, etc. are operated in unison so as to move in the same direction and at the same speed.
  • the tracks 23 move to keep the subject within the target area or displace the subject towards the target location.
  • the direction and speed that the treadmill, that is collectively all of the tracks, moves the subject to the target area or the target location is termed herein as treadmill velocity (TV).
  • TV treadmill velocity
  • a speed of the first alternating set of loops (23A, 23C, etc.), which may be termed positive loop speed (PLS) for convenience of reference, and a speed of the second alternating set of loops (23B, 23D, etc.), which may be termed negative loop speed (NLS) for convenience of reference, are calculated.
  • the TV may be derived from, but is not limited to derivation solely from, at least one of the subject's position, the previous TV, outputs of a video game, the subject's velocity, the target location, and the target area.
  • the prescribed angle ⁇ of the rollers on the loops of the first alternating set and that of the second alternating set, and the TV, are used to calculate the PLS and NLS.
  • the prescribed angle of the rollers on the first alternating set of loops is related to "positive roller angle” (PRA) and that on the second alternating set of loops is related to "negative roller angle” (NRA).
  • PRA and NRA both use as their reference angle of 0 degrees axis AR which is perpendicular to the longitudinal direction L of the respective loop 23, such that:
  • PRA and NRA are constant parameters.
  • Positive roller direction which is an angle of the rolling direction R of the first alternating set's rollers relative to the reference axis AR
  • negative roller direction which is angle of the rolling direction of the second alternating set's rollers relative to the axis AR, are perpendicular to the PRA and NRA, respectively.
  • "Treadmill direction" is the directional component of treadmill velocity TV.
  • the NRD indicated in the Figure 2 as arrow D2
  • the PRD and NRD are also constant parameters of the treadmill. It will be appreciated that PLS and NLS are positive when the upper runs 25 move in the positive 90 degree direction which is in the direction of arrow L as shown in Figure 2.
  • Treadmill velocity TV is the summation of two velocities, one of which has direction PRD and the other direction NRD.
  • the speeds of these two velocities are the positive roller speed (PRS), and the negative roller speed (NRS).
  • the PRS and NRS do not represent the speed of the physical rollers 27 but rather the speed components of the forgoing two velocities having directions PRD and NRD.
  • the PRS and NRS can be calculated by relating the X component of TV (TVX) and the Y component of TV (TVY) to the X and Y components of the two velocities respectively.
  • TVX is positive its direction is 0 degrees, that is in lateral direction LA relative to the tracks 23.
  • TVY is a positive value its direction is 90 degrees, that is in the direction of arrow L in Figure 2.
  • PRS2NLS are related by unitless factor PRS2NLS.
  • NRS and PLS are related by unitless factor NRS2PLS.
  • PRS2NLS and NRS2PLS are constant parameters of the treadmill.
  • NLS PRS * PRS2NLS
  • the drive and free sets of transmission elements may be supported on different shafts.
  • Each endless loop is supported for rotational movement about a pair of spaced parallel rotational axes defined by the shafts, but not necessarily the same pair of axes as all other loops.
  • FIG. 5A there is one idler shaft 51 supported for free rotation and thus not driven, and two drive shafts 53 and 54 which are driven by a drive system of the conveyor comprising motors Mi and M2.
  • On shaft 53 are carried transmission elements of both the drive type 21 A and free type 21 B, while shaft 54 carries only drive transmission elements 21 A and shaft 51 only free rotating transmission elements 21 B.
  • one set of endless loops is supported at its ends by pair of shafts 51 and 53, and another set of the loops by pair of shafts 53 and 54.
  • both sets of loops can share only one rotational axis, that one defined by shaft 53.
  • the idler shaft may include free transmission elements supporting the loops of this other set.
  • an idler shaft 51 supports a first end of all of the loops of the first and second sets thereon on respective transmission elements 21 B that are all free rotating.
  • the second ends of the first set of loops are supported on a first drive shaft 53 driven by motor Mi
  • the second ends of the second set of loops are supported on a second drive shaft 54 driven by motor M2.
  • transmission elements 21 A are used for coupling the loops to each of drive shafts 53 and 54 respectively, in which the transmission elements 21A rotate with the respective shafts upon which they are supported for transferring drive from the motors to the loops respectively.
  • the movable upper surface 12 is substantially defined between the closest pair of rotational axes or shafts providing support to the rotating loops at opposite ends of the conveyor 10.
  • the first and second sets of endless loops may not be arranged in alternating fashion such that there are some endless loops of the first set which are adjacent one another and some endless loops of the second set which are adjacent one another, but at least some of the endless loops of each of the first and second sets are separated from one another by endless loops of the other set.
  • the roller axes 29 of the first and second roller supporting members 23A and 23B are shown oriented at an angle greater than 45 degrees to the longitudinal direction or longitudinal axis of the respective one of the roller supporting member so that the roller axes of the two roller sets are more than 90 degrees apart, that is they form an angle therebetween that is greater than 90 degrees. More particularly, the roller axes 29 of the first roller supporting members 23A are shown oriented at an angle 100 which is greater than 45 degrees from the longitudinal axis 102 and the roller axes 29 of the second roller supporting members 23B are shown oriented at an angle 104 which is greater than 45 degrees from the longitudinal axis 102. Accordingly the combined angle
  • the roller axes 29 of the first and second roller supporting members 23A and 23B are shown at different angles from the respective longitudinal axes 29 relative to one another. More particularly, the roller axes 29 of the first roller supporting members 23A are shown oriented at an angle 100 relative to the respective longitudinal axis 102, whereas the roller axes 29 of the second roller supporting members 23B are shown oriented at an angle 104 relative to the longitudinal axis 102 which differs from the angle 100 of the roller axes of the first roller supporting members.
  • the combined angle 106 which is equal to the combination of angles 100 and 104, may be 90 degrees or another angle that is less than or greater than 90 degrees.
  • first and second roller supporting members 23A and 23B that are different from the endless loops which form the tracks noted above.
  • the first and second roller supporting members 23A and 23B of Figures 9 and 0 each define an upper run which is elongate along a respective longitudinal axis thereof similar to the previous embodiments, however, the upper run in this instance fully defines the roller supporting member such that there is no corresponding lower run defining the remainder of an endless loop as in previous embodiments.
  • the upper run of the roller supporting member is supported on a suitable supporting structure (not shown) which may take the form of various linkages suitable for driving the upper run in two opposing linear directions along the longitudinal axis of the roller supporting member in place of the shafts that define the supporting structure in the previous embodiments. Similar to the previous embodiments however, the roller supporting members are again supported on the supporting structure such that (i) the longitudinal axes are parallel to one another, and (ii) the upper runs of the roller supporting members form a substantially planar upper surface.
  • the upper run When it is desired to impart a motion to the user supported thereon, the upper run is displaced longitudinally within the plane of the other roller supporting members. If one of the roller supporting members must be returned to a starting position that is longitudinally centered relative to the user without imparting motion to the user, the upper run supporting the rollers thereon can be lowered below the common plane of any active roller supporting members supporting the user thereon so as to be disengaged from the user before returning the roller supporting member longitudinally to the starting position. At the starting position, the roller supporting member can be returned to the plane of the active roller supporting members for again engaging the user thereon. Some of the roller supporting members can be returned to the starting position while other roller supporting members support the user in an alternating manner to provide the effect of an endless platform if it is desired to continue to impart motion to the user in one direction beyond the fixed dimensions of the conveyor.
  • roller supporting members 23A may be desirable to have a pair of first roller supporting members 23A adjacent one another followed by a pair of second roller supporting members 23B adjacent one another in an ongoing alternating series across the lateral width of the conveyor as shown in Figure 10.
  • one of the roller supporting members of each pair can always be engaged with the user to support the user thereon to impart movement to the user while the other roller supporting member of the pair is lowered below the common plane to return to the starting position.
  • This allows both roller supporting members to be continuall re-centered to the starting position in an alternating manner relative to one another while the other roller supporting member continues to support the user thereon.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un transporteur omnidirectionnel comprenant une pluralité de boucles parallèles sans fin supportées pour le mouvement de rotation autour d'une paire d'axes de rotation parallèles espacés. Les boucles supportent des rouleaux avec des axes de rouleau orientés transversalement vers un sens longitudinal d'une boucle respective. Les boucles avec les rouleaux sont disposées de sorte qu'un premier ensemble de boucles avec des rouleaux orientés dans un premier sens commun, et un second ensemble de boucles avec des rouleaux orientés dans un second sens transversal commun sont formés. Au moins certaines des boucles sans fin de chacun du premier et du second ensemble sont séparées l'une de l'autre par les boucles sans fin de l'autre ensemble. Un dispositif de commande est configuré pour commander le mouvement des boucles dans des sens de rotation opposés ou laisser les boucles stationnaires de sorte que le mouvement linéaire bidirectionnel des courses supérieures des ensembles alternés des boucles agit pour déplacer un sujet sur une surface supérieure du tapis roulant dans n'importe quel sens le long ce dernier.
PCT/CA2018/051121 2017-09-12 2018-09-11 Transporteur omnidirectionnel comprenant des pistes pour style de roues mecanum Ceased WO2019051589A1 (fr)

Applications Claiming Priority (2)

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US201762557421P 2017-09-12 2017-09-12
US62/557,421 2017-09-12

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WO2019051589A1 true WO2019051589A1 (fr) 2019-03-21

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10946236B2 (en) * 2016-12-27 2021-03-16 Elmar RUDELSTORFER Omnidirectional treadmill
CN112850069A (zh) * 2019-11-27 2021-05-28 深圳顺丰泰森控股(集团)有限公司 摆轮单元和摆轮分拣机
KR20230024662A (ko) * 2021-08-12 2023-02-21 광주과학기술원 전 방향 트레드밀 장치
WO2023142327A1 (fr) * 2022-01-26 2023-08-03 北京国承万通信息科技有限公司 Dispositif à rouleaux, appareil à rouleaux et procédé d'utilisation du dispositif à rouleaux
EP4464387A1 (fr) * 2023-05-12 2024-11-20 Hangzhou Virtual And Reality Technology Co., Ltd. Dispositif de mouvement omnidirectionnel actif

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US5335780A (en) * 1993-06-07 1994-08-09 Watson Thomas H Multi-direction package movement device
US6409010B1 (en) * 2000-05-17 2002-06-25 Fmc Corporation Split drive component with maintained alignment
US7191894B2 (en) * 2005-04-04 2007-03-20 Laitram, L.L.C. Variable angled-roller belt and conveyor
US20180170678A1 (en) * 2016-12-15 2018-06-21 Feedback, LLC Platforms for omnidirectional movement

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5335780A (en) * 1993-06-07 1994-08-09 Watson Thomas H Multi-direction package movement device
US6409010B1 (en) * 2000-05-17 2002-06-25 Fmc Corporation Split drive component with maintained alignment
US7191894B2 (en) * 2005-04-04 2007-03-20 Laitram, L.L.C. Variable angled-roller belt and conveyor
US20180170678A1 (en) * 2016-12-15 2018-06-21 Feedback, LLC Platforms for omnidirectional movement

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10946236B2 (en) * 2016-12-27 2021-03-16 Elmar RUDELSTORFER Omnidirectional treadmill
CN112850069A (zh) * 2019-11-27 2021-05-28 深圳顺丰泰森控股(集团)有限公司 摆轮单元和摆轮分拣机
CN112850069B (zh) * 2019-11-27 2022-07-08 深圳顺丰泰森控股(集团)有限公司 摆轮单元和摆轮分拣机
KR20230024662A (ko) * 2021-08-12 2023-02-21 광주과학기술원 전 방향 트레드밀 장치
KR102525750B1 (ko) 2021-08-12 2023-04-27 광주과학기술원 전 방향 트레드밀 장치
WO2023142327A1 (fr) * 2022-01-26 2023-08-03 北京国承万通信息科技有限公司 Dispositif à rouleaux, appareil à rouleaux et procédé d'utilisation du dispositif à rouleaux
EP4464387A1 (fr) * 2023-05-12 2024-11-20 Hangzhou Virtual And Reality Technology Co., Ltd. Dispositif de mouvement omnidirectionnel actif

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