Motion platform, haptic feedback device and human-computer interactive system

Patent metadata

Field	Value
Publication number	US-12079381-B2
Application number	US-202217711957-A
Country	US
Kind code	B2
Filing date	Apr 1, 2022
Priority date	Apr 22, 2020
Publication date	Sep 3, 2024
Grant date	Sep 3, 2024

Abstract

This application discloses a motion platform, a haptic feedback device, and a human-computer interactive system. The motion platform includes a first platform, a second platform and a linkage assembly, the first platform and the second platform being connected by the linkage assembly, the second platform being configured to move relative to the first platform. The first platform comprises a first power take-off and a second power take-off, the first power take-off comprising a first output shaft and the second power take-off comprising a second output shaft. The linkage assembly comprises a first parallelogram linkage mechanism and a second parallelogram linkage mechanism connected to each other, and a two-bar linkage mechanism. The two-bar linkage mechanism and the first parallelogram linkage mechanism have the same plane of motion, and the second output shaft being configured to drive motion of the two-bar linkage mechanism.

First claim

What is claimed is:

1. A motion platform, comprising a first platform, a second platform and a linkage assembly, the first platform and the second platform being connected by the linkage assembly, the second platform being a dynamic platform configured to move relative to the first platform being a static platform, wherein the first platform comprises a first power take-off and a second power take-off, the first power take-off comprising a first output shaft and the second power take-off comprising a second output shaft;
the linkage assembly comprises a first parallelogram linkage mechanism and a second parallelogram linkage mechanism connected to each other, and a two-bar linkage mechanism, wherein the first output shaft and the second output shaft are parallelly located on two opposite sides of the first platform;
the first parallelogram linkage mechanism and the second parallelogram linkage mechanism have a same or parallel planes of motion, the first parallelogram linkage mechanism being fixedly connected to the first output shaft, the second parallelogram linkage mechanism being fixedly connected to the second platform at a first side of the second platform, and the first output shaft being configured to drive planar motion of the first parallelogram linkage mechanism and the second parallelogram linkage mechanism; and
the two-bar linkage mechanism and the first parallelogram linkage mechanism have the same plane of motion, one end of the two-bar linkage mechanism being fixedly connected to the second output shaft, the other end of the two-bar linkage mechanism being hinged with a second side of the second platform opposite to the first side, and the second output shaft being configured to drive motion of the two-bar linkage mechanism.

2. The motion platform according to claim 1 , wherein a first turning point of the first parallelogram linkage mechanism is fixedly connected to the first output shaft, a second turning point adjacent to the first turning point is hinged with the first platform, and the first output shaft is configured to drive the planar motion of the first parallelogram linkage mechanism through the first turning point; and
a first side of the second parallelogram linkage mechanism is connected to the first parallelogram linkage mechanism, and the first side is parallel to a target line, the target line being a line connecting the first turning point and the second turning point; a second side of the second parallelogram linkage mechanism is parallel to the first side, and the second side is fixedly connected to the second platform.

3. The motion platform according to claim 2 , wherein the first parallelogram linkage mechanism comprises a first link, a second link and a third link, the second parallelogram linkage mechanism comprises a fourth link, a fifth link and a sixth link, and the two-bar linkage mechanism comprises a seventh link and an eighth link;
a first end of the first link and the first output shaft is fixedly connected at the first turning point, a second end of the first link is hinged with a first end of the second link to form a first revolute joint, a second end of the second link is hinged with a first end of the third link to form a second revolute joint, a second end of the third link is hinged with the first platform at the second turning point to form a third revolute joint, and the first link, the second link, the third link and a line connecting an axis of the first output shaft and an axis of the third revolute joint form the first parallelogram linkage mechanism;
a first end of the fourth link is hinged to the first revolute joint, a second end of the fourth link is hinged with a first end of the fifth link to form a fourth revolute joint, a second end of the fifth link is hinged with a first end of the sixth link to form a fifth revolute joint, a second end of the sixth link is hinged to the second revolute joint, the second link, the fourth link, the fifth link and the sixth link form the second parallelogram linkage mechanism, and the fifth link is fixedly connected to the second platform; and
a first end of the seventh link is fixedly connected to the second output shaft, a second end of the seventh link is hinged with a first end of the eighth link to form a sixth revolute joint, a second end of the eighth link is hinged with the second platform to form a seventh revolute joint, and the seventh link and the eighth link form the two-bar linkage mechanism.

4. The motion platform according to claim 1 , wherein the first output shaft and the second output shaft are arranged in parallel.

5. The motion platform according to claim 4 , wherein the second platform comprises: a third power take-off, a first connection element, and a second connection element; wherein
the third power take-off comprises a third output shaft;
a first end of the first connection element is fixedly connected to the third output shaft; and
the second connection element is hinged with a second end of the first connection element to form an eighth revolute joint, and an axis of the eighth revolute joint form an angle with an axis of the third output shaft.

6. The motion platform according to claim 5 , wherein the third output shaft and the first output shaft are arranged in parallel.

7. The motion platform according to claim 5 , wherein an axis of the eighth revolute joint is perpendicular to an axis of the third output shaft.

8. The motion platform according to claim 5 , wherein the first power take-off, the second power take-off, and the third power take-off are motors.

9. The motion platform according to claim 3 , wherein an axis of the first output shaft, an axis of the second output shaft, and an axis of the third revolute joint are in the same plane.

10. The motion platform according to claim 3 , wherein an axis of the fourth revolute joint, an axis of the fifth revolute joint, and an axis of the seventh revolute joint are in the same plane.

11. The motion platform according to claim 10 , wherein an axis of the fifth revolute joint is coincident with an axis of the seventh revolute joint.

12. The motion platform according claim 3 , wherein in an axial direction of the first output shaft, the seventh link and the eighth link are located on a side of the first link, the second link, the third link, the fourth link, the fifth link and the sixth link that is closer to the second connection element.

13. A haptic feedback device, comprising at least two motion platforms, a platform connection element connecting the at least two motion platforms, each of the motion platforms being fixed on the platform connection element through a first platform, each of the motion platforms comprising the first platform, a second platform and a linkage assembly, the first platform and the second platform being connected by the linkage assembly, the second platform being configured to move relative to the first platform, the first platform being a static platform and the second platform being a dynamic platform, wherein:
the first platform comprises a first power take-off and a second power take-off, the first power take-off comprising a first output shaft and the second power take-off comprising a second output shaft;
the linkage assembly comprises a first parallelogram linkage mechanism and a second parallelogram linkage mechanism connected to each other, and a two-bar linkage mechanism, wherein the first output shaft and the second output shaft are parallelly located on two opposite sides of the first platform;
the first parallelogram linkage mechanism and the second parallelogram linkage mechanism have a same or parallel planes of motion, the first parall

Assignees

• Tencent Tech Shenzhen Co Ltd

Inventors

• Zhang Dongsheng
• Wei Lei
• Chen Ke
• Li Qiang
• Zhang Zhengyou

Classifications

• G06F3/016 Primary

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title

• F16B2/00

  Friction-grip releasable fastenings (for cables or ropes, e.g. cleats F16G11/00 ){(connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections F16B7/00)} · CPC title

• G05G9/04

  in which movement in two or more ways can occur simultaneously · CPC title

• G05G5/03

  Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce (arrangements for indicating the position of the controlling member G05G1/015) · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title