CN209225314U - A kind of self balancing device - Google Patents
A kind of self balancing device Download PDFInfo
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- CN209225314U CN209225314U CN201821661196.9U CN201821661196U CN209225314U CN 209225314 U CN209225314 U CN 209225314U CN 201821661196 U CN201821661196 U CN 201821661196U CN 209225314 U CN209225314 U CN 209225314U
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- Prior art keywords
- self
- balance pipe
- balancing device
- movable part
- balancing
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- 230000006698 induction Effects 0.000 claims abstract description 8
- 239000007788 liquid Substances 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 238000005452 bending Methods 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001595 contractor effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000009184 walking Effects 0.000 description 1
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Abstract
A kind of self balancing device, including chassis (8), movable part (1), self-balancing component is provided between chassis (8) and movable part (1), self-balancing component includes tilt induction part and self-balancing actuator, tilt induction part is balance pipe, balance pipe is provided with liquid oil (205), float (204), balance pipe has at least two pipe ends, it is equipped in each pipe end close to switch (203) and balance pipe plug (202), balance pipe plug (202) is provided with wire hole, electric wire close to switch (203) is connected into driving circuit across wire hole, self-balancing actuator is preferably electric telescopic rod.Self-balancing component can adjust the angle of movable part (1) according to inclined direction of the self balancing device in action process, move movable part (1) towards the direction opposite with the inclined direction of self balancing device, balanced with restoring or keeping.Self balancing device can be Self-Balancing vehicle, and corresponding chassis (8) is vehicle frame, and movable part (1) is seat.
Description
Technical field
The utility model relates to the balance control technology field of machinery field more particularly to a kind of self balancing devices, can answer
Occasion needed for vehicle seat and other.
Background technique
Many units of machinery field need to balance control in operation, more especially with vibration, swing, row
It the mechanical equipment that movements are main manner of execution such as walks, stable operation and the personnel, object of equipment is realized by balance control
The safety of material etc., is important technical concerns point.By taking various Engineerings or civilian class vehicle as an example, when vehicle faces complicated road
When condition, situations such as run-off the straight more, jolt, multi-pass crosses the design of body construction to realize that balance and safety are asked in the prior art
Topic, this technology majority are to propose technical requirements to car body size and frame based on centre of gravity adjustment purpose, are that a kind of defense is set
Meter often leads to the advantages of having to abandon some other aspects when design, such as save material, control car body size etc..Closely
Popular electrodynamic balance vehicle over year, using the gyroscope and acceleration transducer of vehicle body, to detect vehicle body attitude
Variation, and servo-control system is utilized, driving motor is adjusted correspondingly, although there is the idea of active accommodation, this
Body is since this sports equipment is special, and the design of stand-type manipulation determines that nonequilibrium state is the work shape that it is mainly coped with
State.
Currently, still proposing without any technology to general machinery equipment, device in the normal working state, such as usher to seat
The common vehicle (being also possible to the balance car with seat) of chair carries out the thinking of unstable state active accommodation.
Utility model content
To solve the above-mentioned problems, the utility model provides a kind of self balancing device, can be realized to universal machine non-
Self-balancing control under stable state, using the inclination of liquid level variation sensing moving part, high sensitivity is adjusted using expanding-contracting action
Balance, response is fast, and flexibly, structure is simple for control, is especially suitable for being balanced control to the vehicle with seat.
The purpose of this utility model is achieved through the following technical solutions.
A kind of self balancing device, including chassis, movable part are provided with self-balancing between the chassis and the movable part
Component, the self-balancing component adjust the angle of the movable part according to inclined direction of the self balancing device in action process
Degree moves the movable part towards the direction opposite with the inclined direction of the self balancing device, is balanced with restoring or keeping.
A kind of self balancing device as described above, including support portion, described support portion one end are arranged on the chassis, institute
Movable part is stated to be movably arranged on the support portion.
A kind of self balancing device as described above, the self-balancing component include tilt induction part and self-balancing actuator,
The tilt induction part is balance pipe, and the balance pipe is provided with liquid oil, float, and the balance pipe is managed at least two
End is equipped in each pipe end close to switching and balancing pipe plug, and the balance pipe plug is provided with wire hole, close to the electric wire of switch
It is connected into driving circuit across wire hole, the float is under horizontality and close to there are certain intervals between switch.
A kind of self balancing device as described above, the balance pipe include left-right balance pipe and anterior-posterior balance pipe, it is described from
Counter-driving element includes left and right actuator and front and back actuator, and the left-right balance pipe and the left and right actuator are arranged in from flat
The transverse direction of weighing apparatus device, the two cooperation control left-right balance, the anterior-posterior balance pipe and the front and back actuator are arranged in certainly
The longitudinal direction of balancing device, the two cooperation control anterior-posterior balance.
A kind of self balancing device as described above, the balance pipe further includes balance pipe pedestal, is used for and the movable part
Connection.
A kind of self balancing device as described above, the balance pipe are U-tube.
A kind of self balancing device as described above, the self-balancing actuator are telescopic rod, and the telescopic rod passes through flexible
Bar pedestal is connected with chassis and/or movable part, and oscillating bearing is housed in the telescopic rod pedestal, telescopic rod can be made in a certain range
Inside it is freely rotated.
A kind of self balancing device as described above, the driving circuit include driving motor and power supply, the power supply setting
In control box.
A kind of self balancing device as described above, the self balancing device are Self-Balancing vehicle, and the chassis is vehicle frame, described
Vehicle frame is equipped with wheel, and the movable part is seat.
A kind of self balancing device as described above, chassis rear end downward bending or setting stopper section, as safety support
Support.
The utility model has the beneficial effects that:
The utility model provides a kind of self balancing device, can be realized the self-balancing control to universal machine under unstable state
System, using the inclination of liquid level variation sensing moving part, high sensitivity adjusts balance using expanding-contracting action, and response is fast, control
Flexibly, structure is simple, is especially suitable for being balanced control to the vehicle with seat.
The utility model provides a kind of self balancing device, by self balancing device integral frame structure, drive mechanism, drive
The whole design of dynamic structure, control structure, safety protection structure, optimizes structure, improves mechanical efficiency and electric work efficiency,
The comfort and user experience of manipulation are improved, provides guarantee for market industrialization.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, the scheme of the application and advantage skill common for this field
Art personnel will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as practical new to this
The limitation of type.In the accompanying drawings:
Fig. 1 is a kind of self balancing device structural schematic diagram of the utility model embodiment 1.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is 7 structural schematic diagram of telescopic rod pedestal in embodiment 1, wherein (a) is front view, it (b) is side view.
Fig. 4 is balance pipe structural schematic diagram in embodiment 1.
Fig. 5 is balance 202 structural schematic diagram of pipe plug in embodiment 1, wherein (a) is front view, it (b) is side view, (c)
For top view.
Component representated by each appended drawing reference in figure are as follows:
1, movable part, 2, left-right balance pipe, 3, left and right actuator, 4, left wheel, 5, left support frame, 6, left decelerating motor,
7, telescopic rod pedestal, 8, chassis, 9, PULL BOX, 10, control box, 11, support portion, 12, front and back actuator, 13, right decelerating motor,
14, right support frame, 15, right wheel, 16, universal joint, 17, anterior-posterior balance pipe, 201, balance pipe pedestal, 202, balance pipe plug,
203, close to switch, 204, float, 205, liquid oil, 701, oscillating bearing.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below in conjunction with attached drawing.It is to be appreciated that providing these realities
The mode of applying is to be able to thoroughly understand the disclosure, and the scope of the present disclosure can be communicated completely to this field
Technical staff may be realized in various forms the disclosure, without that should be limited by the embodiments set forth herein.
It should be appreciated that the element can be directly connected to when referring to that element is " connected " or " connection " is to another element
Or it is attached to another element, or may exist intermediary element.Other terms for describing relationship between element should be with same
The mode of sample explain (for example, " ... between ", " neighbouring " etc.).It is the orientation " left and right " that is referred in the utility model, " preceding
Afterwards " etc., only it is used to express opposite positional relationship, without the constraint by specific direction reference any in practical application.
Embodiment 1
Referring to Fig. 1 and Fig. 2, Fig. 1 and Fig. 2 is a kind of self balancing device of the present embodiment.Device includes chassis 8, movable part
1, self-balancing component is provided between the chassis 8 and the movable part 1, the self-balancing component is filled according to the self-balancing
The angle that the inclined direction in action process adjusts the movable part 1 is set, fills the movable part 1 towards with the self-balancing
The opposite direction movement of the inclined direction set, to restore or keep to keep to balance.
The self balancing device of the utility model can be any mechanical equipment for needing to balance control in operation or its is attached
Part is more especially the mechanical equipment of main manner of execution with movements such as vibration, swing, walkings.In the present embodiment, described
Self balancing device is the vehicle with seat, which is referred to as Self-Balancing vehicle, correspondingly, the chassis 8 is the self-balancing
The vehicle frame of vehicle, the vehicle frame are equipped with left wheel 4, right wheel 15, and the movable part 1 is the seat of Self-Balancing vehicle.
As shown in Figure 1, self balancing device (Self-Balancing vehicle) includes support portion 11, described 11 one end of support portion is arranged described
On chassis 8 (vehicle frame), the movable part 1 (seat) is movably arranged on the support portion 11.Specifically, the support portion 11 can be with
For seat support bar, seat can be arranged in seat support bar by universal joint 16, universal joint 16 and seat support bar, seat
It is all bolted, facilitates installation.Further, 8 height of chassis is lower than wheel center height, rear end downward bending or setting
Stopper section, as safety supports, to prevent layback dynamics is excessive from accident occurs.
Specifically, the self-balancing component includes tilt induction part and self-balancing actuator, the tilt induction part is flat
Weighing apparatus pipe, the balance pipe have at least two pipe ends, as shown in figure 4, in the present embodiment, the balance pipe is U-tube, described
Balance pipe is provided with liquid oil 205, float 204, is equipped in each pipe end of U-tube close to switch 203 and balance pipe plug
202, the balance pipe plug 202 is provided with wire hole, and the electric wire close to switch 203 is connected into driving circuit across wire hole, described
Float 204 is under horizontality and close to there are certain intervals between switch 203.
Below with reference to Fig. 1 and Fig. 2, in the present embodiment, the balance pipe includes left-right balance pipe 2 and anterior-posterior balance pipe
17, the self-balancing actuator includes left and right actuator 3 and front and back actuator 12, and the left-right balance pipe 2 and the left and right are driven
Moving part 3 is arranged in the transverse direction of self balancing device (Self-Balancing vehicle), the two cooperation control left-right balance, the anterior-posterior balance pipe
17 and the front and back actuator 12 be arranged in the longitudinal direction of self balancing device, the two cooperation control anterior-posterior balance.
As preferable implementation, self-balancing actuator described in the present embodiment is telescopic rod, and the telescopic rod passes through
Telescopic rod pedestal 7 is connected with chassis 8 (vehicle frame) and movable part 1 (seat), in conjunction with Fig. 3, joint is housed in the telescopic rod pedestal 7
Bearing 701 can be such that telescopic rod is freely rotated in a certain range, if the rotation of two freedom degrees or more, left and right occur for seat
And/or telescopic rod can comply with twisting in the front-back direction, prevent telescopic rod from damaging.Preferably, the telescopic rod pedestal 7 of each position
It is two one group, the lifting lug of telescopic rod is placed in centre, and reserves the gap that oscillating bearing 701 is freely rotated.Further, it stretches
Contracting bar pedestal and seal connection point are as close as possible to seat outer rim, to increase the stability of seat.
Here, left and right and telescopic rod in the front-back direction are electric telescopic rod, can be stretched, be received according to motor positive and inverse
Contracting movement.This electric telescopic rod can be integrated in one for matured product in the market, telescopic device with driving motor, can also
Think that balance car is individually designed, telescopic device and driving motor sub-module is laid out, which is not described herein again.
As shown, as the optimization to car body foundation structure, the vehicle frame further include left support frame 5, right support frame 14,
Left decelerating motor 6, right decelerating motor 13, PULL BOX 9, control box 10, the left support frame 5 and right support frame 14 can be rectangle
Tubing connects wheel and vehicle frame.
Below with reference to Fig. 4 and Fig. 5, the U-shaped balance pipe of the present embodiment further includes balance pipe pedestal 201, is used for and seat
Connection, balance pipe pedestal 201 can refer to 7 structure of telescopic rod pedestal, size matching balance pipe plug 202, the balance pipe plug
First 202 lower end is screw thread, facilitates screw-in, and upper end two panels lifting lug and balance pipe pedestal 201 are cooperatively connected, and centre is provided with wire hole,
The convenient electric wire close to switch 203 is drawn, and dress is there are two close to switch 203 in each U-shaped balance pipe, and electric wire is through intermediate electric wire
After hole is drawn, along seat, seat support bar, control box etc., it is respectively connected to the rotating forward of driving motor, on circuit for reversing.
Power supply (battery) needed for being operated in the control box 10 of the present embodiment equipped with whole device and necessary control system
System, the time of driving telescopic rod movement and sequence controller are also arranged in control box 10, and as needed, some other is attached
Device also can be set in control box 10.
Preferably, control box 10 is placed among chassis 8 (vehicle frame) top by front position, left decelerating motor 6 and right deceleration
Motor 13 is also disposed on forward position, keeps frame mass centre forward as far as possible, and people can suitably swing back after taking, and is increased
Comfort.
Preferably, all pipelines on chassis 8 (vehicle frame) are connected in control box 10 by PULL BOX 9, make 8 (vehicle of chassis
Frame) on without exposed route, clean and tidy, safety.
The Self-Balancing vehicle of the present embodiment, when seat is tilted to the left, the float in left-right balance pipe 2 is to the left close to switch
203 is close, connects driving circuit close to switch 203, and the telescopic rod driving motor operating in driving circuit drives left and right directions
Telescopic rod elongation, makes seat return to horizontal position, and at this moment, the float 204 in left-right balance pipe 2 leaves close to switch 203, motor
It shuts down.Conversely, telescopic rod driving motor can operate round about when seat is tilted to the right, left and right directions is driven
Telescopic rod is shunk, and seat is made to return to horizontal position.
Equilibrium principle is identical as the equilibrium principle of left and right directions in the front-back direction, repeats no more.
Further, the seat may simultaneously left and right and front-rear direction shake, left and right and stretch in the front-back direction
Bar understands collective effect to maintain the balance of seat.
In addition, left and right and telescopic rod in the front-back direction are listed in the present embodiment uses motor driven, it is positive and negative according to motor
The example for rotating into row stretching, contractive action, but its implementation is not limited to that, here according to the control of actual machine equipment
And use condition, hydraulic-driven or other mechanical driving structures such as chain drive etc. can also be used, as long as being able to achieve identical
Operate purpose.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with
Subject to the scope of protection of the claims.
Claims (10)
1. a kind of self balancing device, including chassis (8), movable part (1), which is characterized in that in the chassis (8) and the activity
Self-balancing component is provided between portion (1), the self-balancing component includes tilt induction part and self-balancing actuator, and described oneself puts down
The component that weighs adjusts the angle of the movable part (1) according to inclined direction of the self balancing device in action process, makes described
Movable part (1) is moved towards the direction opposite with the inclined direction of the self balancing device, is balanced with restoring or keeping.
2. a kind of self balancing device according to claim 1, which is characterized in that including support portion (11), the support portion
(11) one end is arranged on the chassis (8), and the movable part (1) is movably arranged on the support portion (11).
3. a kind of self balancing device according to claim 1, which is characterized in that the tilt induction part is balance pipe, institute
It states balance pipe and is provided with liquid oil (205), float (204), the balance pipe has at least two pipe ends, is equipped in each pipe end
Close to switch (203) and balance pipe plug (202), the balance pipe plug (202) is provided with wire hole, close to switch (203)
Electric wire passes through wire hole and is connected into driving circuit, and the float (204) is under horizontality and close to there are one between switch (203)
Fixed gap.
4. a kind of self balancing device according to claim 3, which is characterized in that the balance pipe includes left-right balance pipe
(2) and anterior-posterior balance pipe (17), the self-balancing actuator include left and right actuator (3) and front and back actuator (12), the left side
Right balance pipe (2) and the left and right actuator (3) are arranged in the transverse direction of self balancing device, and the two cooperation control left and right is flat
Weighing apparatus, the anterior-posterior balance pipe (17) and the front and back actuator (12) are arranged in the longitudinal direction of self balancing device, the two cooperation
Control anterior-posterior balance.
5. a kind of self balancing device according to claim 3, which is characterized in that the balance pipe further includes balance pipe pedestal
(201), for being connect with the movable part (1).
6. according to a kind of described in any item self balancing devices of claim 3-5, which is characterized in that the balance pipe is U-tube.
7. according to a kind of described in any item self balancing devices of claim 3-5, which is characterized in that the self-balancing actuator is
Telescopic rod, the telescopic rod are connected by telescopic rod pedestal (7) with chassis (8) and/or movable part (1), the telescopic rod pedestal
(7) oscillating bearing (701) are housed in, telescopic rod can be made to be freely rotated in a certain range.
8. according to a kind of described in any item self balancing devices of claim 3-5, which is characterized in that the driving circuit includes driving
Dynamic motor and power supply, the power supply are arranged in control box (10).
9. a kind of self balancing device according to claim 1-5, which is characterized in that the self balancing device is certainly
Balance car, the chassis (8) are vehicle frame, and the vehicle frame is equipped with wheel, and the movable part (1) is seat.
10. a kind of self balancing device according to claim 9, which is characterized in that chassis (8) the rear end downward bending or
Stopper section is set, as safety supports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821661196.9U CN209225314U (en) | 2018-10-15 | 2018-10-15 | A kind of self balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821661196.9U CN209225314U (en) | 2018-10-15 | 2018-10-15 | A kind of self balancing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209225314U true CN209225314U (en) | 2019-08-09 |
Family
ID=67500009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821661196.9U Expired - Fee Related CN209225314U (en) | 2018-10-15 | 2018-10-15 | A kind of self balancing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209225314U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112773625A (en) * | 2021-01-21 | 2021-05-11 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-balancing device for wheelchair |
-
2018
- 2018-10-15 CN CN201821661196.9U patent/CN209225314U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112773625A (en) * | 2021-01-21 | 2021-05-11 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-balancing device for wheelchair |
| CN112773625B (en) * | 2021-01-21 | 2022-11-11 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Self-balancing device for wheelchair |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190809 |