CN204701483U - A kind of anti-cinetosis seat - Google Patents

Abstract

The utility model discloses an anti-sickness seat, which comprises a seat chassis, a ball screw support arranged on the seat chassis and a load-bearing ring supported by a load bar; a hemispherical seat is placed on the load-bearing ring , a sensor is provided at the bottom of the hemispherical seat; a pair of ball screw shafts arranged in parallel and a ball screw y-axis orthogonal to it are connected between the ball screw supports, and a servo motor is arranged on the ball screw shaft; A telescopic balance shaft fixedly connected to the bottom of the load-bearing ring is vertically arranged on the y-axis of the screw; a main control circuit module connected to the servo motor, a rotary encoder and a switching power supply are respectively arranged on the seat chassis, and the main control circuit module and the The sensor is connected. By collecting the shaking posture of the car or the hull in real time, the height and inclination of the seat are compensated in real time, so that the chair can offset the shaking of external disturbances, slow down the damage caused by sudden acceleration and deceleration to the human body, and at the same time adapt to the needs of going uphill, turning, etc. The seat has a certain angle of inclination.

Description

An anti-sickness seat

technical field

The utility model relates to equipment for eliminating vibration interference, in particular to an anti-sickness seat.

Background technique

Transportation is an indispensable part of modern life. According to the survey, about 6% of passengers will suffer from motion sickness and seasickness during short trips of less than four hours, and about 18% of passengers will suffer from motion sickness and seasickness during long-distance travel. . Motion sickness refers to the nervous dysfunction caused by the stimulation of vibration and shaking when riding in a car or boat. The labyrinth of the human inner ear cannot well adapt and adjust the balance of the body, which increases the excitability of the sympathetic nerve. Different means of transportation can be called motion sickness, seasickness, airsickness (aviation motion sickness) and space motion sickness respectively.

At present, the methods that are widely used to temporarily relieve symptoms or delay its occurrence mainly include: sedative and antiemetic drugs, such as Chengyunning, scopolamine, diazepam and other drugs to inhibit central excitation and relieve digestive tract spasm; there is also vestibular exercise. The method, just like pilot training, repeatedly stimulates the vestibule for a considerable period of time, such as: swivel chairs, swings, tigers, boat swings, etc.

To provide a seat that prevents motion sickness and a method for controlling balance has become a technical problem to be solved urgently in this field.

Utility model content

The purpose of this utility model is to provide an anti-sickness seat, which can compensate the height and inclination angle of the seat in real time by collecting the shaking posture of the car or the hull in real time, and enable the chair to offset the shaking of the external disturbance and slow down the movement through the learning algorithm. Sudden acceleration and deceleration will cause harm to the human body, and at the same time, it can adapt to road conditions such as uphill and turning, which require the seat to have a certain inclination angle.

The purpose of this utility model is achieved through the following technical solutions.

An anti-sickness seat includes a seat chassis, a ball screw support arranged on the seat chassis, and a load-bearing ring supported by a load-bearing rod; a hemispherical seat is placed on the load-bearing ring, and the hemispherical seat There is a seat sensor at the bottom; a pair of ball screw x-axis arranged in parallel is connected between the ball screw supports, and a ball screw y-axis slidingly arranged between the ball screw x-axis; the ball screw y-axis A telescopic balance shaft fixedly connected to the bottom of the load-bearing ring is arranged vertically on the top; a main control circuit module, a rotary encoder and a switching power supply connected to the x-axis of the ball screw and the y-axis of the ball screw are respectively arranged on the seat chassis. The main control circuit module is connected with the seat sensor.

Further, the load-bearing ring is in the shape of a disc, universal balls are fixed on the bottom of the disc, the bottom of the hemispherical seat is placed on the universal balls, and the hemispherical seat is adapted to the shape and size of the disc-shaped load-bearing ring.

Further, the telescopic balance shaft is connected with the y-axis of the ball screw through a universal joint.

Further, the main control circuit module is respectively connected to a rotary encoder, a seat sensor and a power circuit, the power circuit is connected to the seat sensor, the rotary encoder is connected to a motor drive circuit, and the motor drive circuit is connected to a servo motor; the seat sensor includes Seat posture sensor, seat cushion posture sensor and balance bar length sensor.

Further, servo motors are provided on the x-axis and y-axis of the ball screw.

Further, three damping springs with axles are connected to the top of the load-bearing rod supporting the load-bearing ring.

Compared with the prior art, the utility model has the following advantages:

Through the real-time dynamic adjustment of the inclination angle of the seat, the seat proactively and non-invasively slows down or even solves the shaking of different amplitudes caused by the car or ship under the interference of the external environment during the transportation process, which is harmful to people with motion sickness. The problem of travel inconvenience caused has wide applicability and usability; at the same time, an ergonomic adjustment process can be obtained through algorithm adjustment to make passengers more comfortable during the journey.

Description of drawings

Fig. 1 is a schematic diagram of the overall appearance of the anti-sickness seat of the utility model;

Fig. 2 is a schematic diagram of the side front view of the anti-sickness seat;

Fig. 3 is a schematic left view of the anti-sickness seat;

Fig. 4 is a structural block diagram of the control circuit;

Fig. 5 is a structural block diagram of a method for controlling balance.

In the figure: 1. Hemispherical seat cushion, 2. Seat chassis, 3. Load bar, 4. Servo motor, 5. Ball screw support, 6. Bearing ring, 7. Ball screw x-axis, 8 .Extensible balance shaft, 9. Ball screw y-axis, 10. Universal joint, 11. Universal ball, 12. Switching power supply, 13. Rotary encoder, 14. Main control circuit module.

detailed description

Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described further.

Fig. 1 is shown in conjunction with Fig. 2, Fig. 3, is the utility model anti-sickness seat overall appearance schematic diagram, comprises seat chassis 2, and is located at the ball screw bearing 5 on the seat chassis 2 and a load rod 3 supported load-bearing ring 6; a hemispherical seat 1 is placed on the load-bearing ring 6, and a seat sensor is provided at the bottom of the hemispherical seat 1; a pair of ball screw x arranged in parallel is connected between the ball screw supports 5 Axis 7, and a ball screw y-axis 9 slidingly arranged between the two ball screw x-axis 7, the ball screw x-axis 7 and the ball screw y-axis 9 are provided with a servo motor 4; the ball screw y-axis 9 is vertically provided with a telescopic balance shaft 8 that is fixedly connected to the bottom of the load-bearing ring 6; the seat chassis 2 is also respectively provided with a main shaft that is connected to the servo motor 4 on the ball screw x axis 7 and the ball screw y axis 9. Control circuit module 14, rotary encoder 13 and switching power supply 12. The main control circuit module 14 is connected with the seat sensor.

Wherein, load-bearing ring 6 is disc shape, is fixed with universal ball 11 at the bottom of dish, and the bottom of hemispherical seat 1 is placed on universal ball 11, and hemispherical seat 1 and disc-shaped load-bearing ring 6 shape and size adapt. The telescopic balance shaft 8 is connected with the y-axis 9 of the ball screw through a universal joint 10 .

The hemispherical seat 1 of the anti-dizziness seat is directly in contact with the universal ball 11, and the universal ball 11 is fixed on the load-bearing ring 6; the ball screw x-axis 7 is fixed on the seat base 2 through the ball screw support 5. The ball screw x-axis 7 and the ball screw y-axis 9 are driven by the servo motor 4; the main function of the main control circuit module 14 is to collect seat status information and perform certain digital calculations to obtain control commands, which are passed to the rotary encoder 13 , and finally control the rotation of the servo motor 4; the switching power supply 12 provides electric energy for the whole system.

Figure 2 is a schematic front view of the anti-sickness seat, which mainly includes a retractable balance shaft 8 and a load-bearing ring 6. It can be seen from the figure that the load-bearing ring 6 is directly connected to the hemispherical seat 1, so the movement of the two has the same direction The movement of the balance bar is driven by the movement of the ball screw in the plane. Since the movement of the hemispherical balance seat and the telescopic balance bar have the same direction, we can adjust the position of the telescopic balance bar to adjust the hemispherical seat. flat.

Figure 3 is a schematic left view of the anti-sickness seat, which mainly includes a universal joint 10, a ball screw y-axis 9 and a ball screw fixed support 5, and a telescopic balance shaft 8 passes through the universal joint 10 and the ball screw y The shaft 9 is connected, and the ball screw support 5 is used to fix the ball screw.

The utility model also includes a controller for the anti-sickness seat, and the circuit block diagram of the controller is as shown in Figure 4:

The controller includes six parts: power circuit, seat attitude acquisition, seat cushion attitude acquisition, balance bar height measurement, CortexM4 main controller, and motor drive circuit. The main control circuit module 14 is respectively connected to the rotary encoder 13 , the seat sensor and the power circuit, the power circuit is connected to the seat sensor, the rotary encoder 13 is connected to the motor drive circuit, and the motor drive circuit is connected to the servo motor 4 .

The seat sensor includes a seat posture sensor, a seat cushion posture sensor and a balance bar length sensor.

The seat of the utility model mainly includes a hemispherical seat, a load-bearing part, a dynamic adjustment part, an attitude detection, a power circuit, a motor drive part, a main control part and a shock-absorbing part.

In the device of the present invention, the seat is a hemispherical structure, and the load-bearing part is through the hemispherical structure below the seat to bear the load, and the hemispherical body is connected with the hemispherical seat base through the small steel ball wheel array (universal ball); The adjustment part dynamically adjusts the height of the three adjustment points relative to the bottom surface through three DC push rod motors to save the level of the plane on the chair or make the chair produce a specific inclination angle according to the road conditions; the attitude detection part can pass multiple The seat sensor and gyroscope are realized; the power supply part is a switching power supply with 24V and 5V output, and the maximum current is 7.5A; the motor drive part accepts the control command of the main control circuit module to adjust the rotation direction and speed of the motor; realizes the use of weak current to control strong Electric effect; the main function of the main control part is to process the collected sensor information and output corresponding control instructions, which includes the mathematical model conversion from the inclination change to the height change of the three DC push rod motors; the shock absorption part is mainly through the DC motor and The bottom surface of the seat supports the load-bearing ring, and the top of the load-bearing rod is connected to three shock-absorbing springs with a shaft and the elasticity of the small steel ball wheel array to eliminate small-scale external vibration interference.

Utilize the seat of the utility model to adjust the method for the balance of the anti-sickness seat, as shown in Figure 5, the method steps are as follows:

Step 1: Turn on the power, two ball screw x-axis and one ball screw y-axis are telescopically adjusted under the drive of the servo motor, which drives the universal joint to link the telescopic balance shaft to adjust the load-bearing ring to make the hemispherical seat produce a specific inclination;

Step 2: Obtain the inclination angle of the hemispherical seat through the acquisition of the seat attitude of the sensor and the seat attitude, and then judge the value of the inclination angle to determine whether the inclination value meets the following conditions:

θ _x ≥ k or θ _y ≥ k

Wherein, θ _x is the roll angle of the seat plane, θ _y is the pitch angle of the seat plane, and k is the anti-shake threshold, and k=0.5 in the utility model;

Determine whether θ _x and θ _y meet the above conditions, if not, repeat steps 1-2; if satisfied, continue to the next step;

Step 3: According to θ _x , θ _y and the inclination value of the hemispherical seat base, calculate the adjustment amount of the telescopic balance shaft;

Generally, the lateral roll of a ship or a car is based on the transverse center axis of the car, and the longitudinal roll is based on the longitudinal center axis of the car. In this system, the xy coordinate system is established with the plane of the seat base, and The intersection point of the horizontal and vertical central axes is the coordinate origin;

In order to achieve a balanced state, the target position of the telescopic balance shaft satisfies the following conditions:

${\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}{{\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}$

${\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}{{\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}$

Among them, x ₁ , y ₁ are the target positions of the telescopic balance shaft in the coordinate system; x ₀ , y ₀ are the initial positions of the balance bar when the bottom surface of the hemispherical seat is balanced and the seat is balanced; α _x , α _y are respectively The values of lateral roll angle and longitudinal pitch angle of the hemispherical seat base collected in real time;

Step 4: Calculate its offset according to the target position x ₁ and y ₁ of the retractable balance shaft in the coordinate system and the current position of the retractable balance shaft;

_Δx =xx ₁

Δy = _{yy 1}

Among them, Δ _x is the lateral roll angle offset of the telescopic balance shaft, Δ _y is the longitudinal pitch angle offset of the telescopic balance shaft, and (x, y) is the current position of the balance bar;

The output of the PID algorithm satisfies the following relational expression;

${\mathrm{<span\; class="notranslate">\; output</span>}}_{\mathrm{<span\; class="notranslate">\; roll</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; KP</span>}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Flag</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; KI</span>}<span\; class="notranslate">\; *</span>{{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}_{\mathrm{<span\; class="notranslate">\; xIntegral</span>}}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; KD</span>}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; last</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; MPU</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; HZ</span>}<span\; class="notranslate">\; ;</span>$

${\mathrm{<span\; class="notranslate">\; output</span>}}_{\mathrm{<span\; class="notranslate">\; Pich</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; KP</span>}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Flag</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; KI</span>}<span\; class="notranslate">\; *</span>{{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}_{\mathrm{<span\; class="notranslate">\; yIntegral</span>}}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; KD</span>}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; last</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; MPU</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; HZ</span>}<span\; class="notranslate">\; ;</span>$

Among them, Output _Roll and Output _Pich are the output values of roll angle and pitch angle respectively, KP is the proportional coefficient, KI is the integral coefficient, KD is the differential coefficient, is the roll angle integral value, is the integral value of the pitch angle, Δ _x _last_x is the lateral roll angle offset of the last stabilizer bar, Δ _y _last_y is the last longitudinal pitch angle offset of the stabilizer bar, and MPU_HZ is the sampling frequency of the attitude sensor. In the present utility model, KP=0.82, KI=0, KD=0.02, MPU _HZ =100;

Step 5: Output the Output _Pich and Output _Roll to the rotary encoder for control output:

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\frac{\frac{{\mathrm{<span\; class="notranslate">\; output</span>}}_{\mathrm{<span\; class="notranslate">\; roll</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; MPU</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; HZ</span>}}$

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span>\frac{\frac{{\mathrm{<span\; class="notranslate">\; output</span>}}_{\mathrm{<span\; class="notranslate">\; roll</span>}}}{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; MPU</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; HZ</span>}}$

Among them, V _x is the speed of motor Ⅰ, the unit is rad/s, V _y is the speed of motor Ⅱ, the unit is rad/s, and d is the tooth pitch of the ball screw;

Step 6: Drive the two motors to rotate according to the V _x and V _y values;

Step 7: Determine whether the user has issued a stop command after the adjustment is completed, if yes, the seat stops working; if not, continue to repeat steps 1 to 5.

Advantages of this system: Because the load is not on the motor, the response speed of the whole system is very fast, which can meet the dynamic balance under high frequency shaking; the cost is low, and only two motors are needed for driving.

The above is only a preferred embodiment of the utility model, and the size drawn in the figure for the convenience of description is not the actual size, but the scope of protection of the utility model is not limited thereto, anyone familiar with the technical field Within the technical scope disclosed in the utility model, any changes or replacements that can be easily imagined by personnel shall be covered by the protection scope of the utility model.

Claims (7)

1. an anti-cinetosis seat, it is characterized in that, comprise Chair underframe (2), and the load-bearing ring (6) that the ball-screw bearing (5) be located on Chair underframe (2) and are supported by weight-loading rod (3); Load-bearing ring (6) is placed with semisphere seat (1), semisphere seat (1) bottom is provided with seat sensor; Along the ball-screw x-axis (7) being connected with pair of parallel layout between ball-screw bearing (5), and the ball-screw y-axis (9) arranged of sliding between ball-screw x-axis (7); Ball-screw y-axis (9) is vertically installed with a scalable balance shaft (8) be fixedly connected with load-bearing ring (6) bottom; Chair underframe (2) is also respectively equipped with the governor circuit module (14), rotary encoder (13) and the Switching Power Supply (12) that are connected with ball-screw y-axis (9) with ball-screw x-axis (7), governor circuit module (14) is connected with seat sensor.

2. anti-cinetosis seat according to claim 1, it is characterized in that, described load-bearing ring (6) is in the form of annular discs, Universal caster (11) is fixed with in tray bottom, semisphere seat (1) bottom is placed on Universal caster (11), and semisphere seat (1) and plate-like load-bearing ring (6) shape size adapt.

3. anti-cinetosis seat according to claim 1, is characterized in that, described scalable balance shaft (8) is connected with ball-screw y-axis (9) by universal-joint (10).

4. anti-cinetosis seat according to claim 3, it is characterized in that, described governor circuit module (14) connects rotary encoder (13), seat sensor and power circuit respectively, power circuit connecting chair sensor, rotary encoder (13) connects motor-drive circuit, and motor-drive circuit connects servomotor (4).

5. anti-cinetosis seat according to claim 4, is characterized in that, described seat sensor comprises seat attitude sensor, seat cushion attitude sensor and balance bar length sensor.

6. anti-cinetosis seat according to claim 1, is characterized in that, described ball-screw x-axis (7) and ball-screw y-axis (9) are provided with servomotor (4).

7. anti-cinetosis seat according to claim 1, is characterized in that, weight-loading rod (3) top supporting described load-bearing ring (6) is connected with the damping spring in three band axle center.