CN211087012U - A device for adjusting the center of gravity of sports - Google Patents

Abstract

The utility model discloses a motion center of gravity adjusting device, which relates to the technical field of motion balancing devices, comprising an attitude detection unit, a drive unit and a universal base, the attitude detection unit and the drive unit are connected to the universal base, and the attitude detection unit is used for real-time Detect the change of the posture of the moving body, and obtain the posture information of the moving body; the drive unit is used to obtain the posture information of the moving body detected by the posture detection unit and calculate the optimal posture movement trajectory and make a series of actions to change the center of gravity of the moving body; The base includes a base and a ball device, the base is fixedly arranged on the moving body, and the attitude detection unit and the driving unit are connected to the upper half of the ball device. It adapts to road conditions to keep the moving body in balance and is not easy to tip over, especially on bumpy roads or roads with a certain slope, so that the moving body runs smoothly and is easy to install on the moving body.

Description

A device for adjusting the center of gravity of sports

technical field

The utility model relates to the technical field of sports balancing devices, in particular to a sports center of gravity adjusting device.

Background technique

With the rapid development of science and technology and people's pursuit of artificial intelligence technology, more and more intelligent mechanical devices or robots are used in all walks of life, and gradually enter our lives. Some special-purpose mechanical devices and robots require movement Sensitive, responsive, and run smoothly. To achieve smooth operation of a moving object (moving body), it is necessary to ensure the movement balance of the entire moving body. At present, there are many devices and methods for achieving motion balance, such as a balance car, which adopts a standing driving mode and controls the body movement through the body's center of gravity and a joystick. Similar to the human body's own balance system, when the body's center of gravity is leaning forward, in order to ensure balance, it needs to move forward, and the same is true when the center of gravity is leaning back. But the balance car does not have the ability to move autonomously. In the no-load state, although the remote control mode can be used to control, it does not have the ability to adjust the center of gravity in real time, so it cannot move and steer quickly, especially on the road with complex terrain, it is difficult to achieve movement balance. For nearly a hundred years, human beings have been working on creating robots that are more like humans. Humanoid robots have stricter requirements for balance when walking or moving. The basic principle is to sense the changes of the robot's movements through the sensors on the robot, and then transmit the data to the control circuit. After the control circuit analyzes, it makes corresponding instructions to correct the robot's movements, so as to keep it balanced. Among them, stability and control strategy are the key to humanoid robot technology, and are also the technical difficulties that the robot field has been pursuing. Although a lot of research results have been achieved in the research of humanoid robots, the current bipedal walking speed, stability and adaptive ability of humanoid robots are still not very ideal;

The inventor of the present utility model has filed an invention patent application with the application number of CN201811416476.8 and the publication number of CN109375627A, titled "Centre of Gravity Adjustment Device and Method". However, it has the disadvantage that the center of gravity adjusting device is not easy to be installed on the moving body, resulting in the unstable process of adjusting the balance of the moving body by the center of gravity adjusting device.

Utility model content

The purpose of this utility model is to provide a movement center of gravity adjustment device to solve the above-mentioned problems in the prior art. The device can adjust the center of gravity of the moving body in real time and automatically, thereby changing the movement state of the moving body and keeping the moving body in balance. No need for human intervention or enabling, it can adapt to the road conditions to keep the moving body in balance and not easy to overturn, especially when the road is bumpy or with a certain slope, the moving body can run smoothly, and it is easy to install on the moving body.

For achieving the above object, the utility model provides the following scheme:

The utility model provides a moving center of gravity adjustment device, comprising an attitude detection unit, a drive unit and a universal base, the attitude detection unit and the drive unit are connected to the universal base, and the attitude detection unit is used for Detect the change of the posture of the moving body in real time, and obtain the posture information of the moving body;

The drive unit includes a single chip microcomputer, a steering gear assembly and an action assembly, the single chip microcomputer is electrically connected to the attitude detection unit, the steering gear assembly is electrically connected to the single chip microcomputer and the action assembly respectively, and the single chip microcomputer is used to obtain After the posture detection unit detects the posture information of the moving body and calculates the optimal posture motion trajectory, the steering gear assembly is controlled to work, and the steering gear assembly drives the action component to work according to the optimal posture motion trajectory. the action component is used to change the center of gravity of the moving body;

The universal base includes a base and a ball device, the lower end of the base is fixed on the moving body, the lower half of the ball device is rotatably connected to the base, the attitude detection unit and the drive unit connected to the upper half of the ball device.

Preferably, the attitude detection unit includes an attitude detection sensor and a control circuit, the attitude detection sensor and the single-chip microcomputer are both electrically connected to the control circuit, and the attitude detection sensor and the control circuit are both arranged in the On the base, the posture detection sensor is used to detect the change of the posture of the moving body in real time and transmit the posture information of the moving body to the single-chip microcomputer through the control circuit.

Preferably, the attitude detection sensor includes a gyroscope and an acceleration sensor.

Preferably, the action assembly includes a transverse assembly and a longitudinal assembly, the steering gear assembly includes a drive module and a plurality of steering gears, the single-chip microcomputer and the drive module are electrically connected, and the drive module and each of the steering gears are Electrically connected, the transverse component and the longitudinal component are both electrically connected to one of the steering components, and the drive module drives the steering gear to control the transverse component and the longitudinal component respectively according to the optimal attitude motion trajectory. Move in landscape and portrait orientations.

Preferably, the action assembly further includes a plurality of balance rods, each of which is electrically connected to one of the steering gears, and the balance rod can change the center of gravity of the moving body by shrinking and extending, and the steering gear Used to drive the balance bar to work.

Preferably, the sphere device includes a support and a sphere, a hole or groove is provided on the base, the sphere is rotatably connected to the inner wall of the hole or groove, and the support is rotatably connected to the inner wall of the hole or groove. The upper half of the sphere, the attitude detection unit and the drive unit are connected to the support.

Preferably, the driving unit further includes a feedback module, the feedback module is electrically connected to the single-chip microcomputer, the attitude detection unit is electrically connected to the feedback module, and the feedback module is used to receive the adjusted center of gravity of the moving body. The deviation value of the movement trajectory of the moving body posture and the deviation value are fed back to the single chip microcomputer.

Preferably, a plurality of universal joint bearings are provided on the inner wall of the hole or the groove, and both ends of the universal joint bearing are respectively connected to the ball device and the inner wall.

Preferably, the attitude detection unit, the drive unit and the universal base are mutually independent units, and are connected with each other in a plug-and-play manner.

The utility model has achieved the following technical effects with respect to the prior art:

The utility model provides a motion center of gravity adjustment device, comprising an attitude detection unit, a drive unit and a universal base, the attitude detection unit and the drive unit are connected to the universal base, and the attitude detection unit is used for real-time detection of changes in the attitude of a moving body, Obtaining the attitude information of the moving body; the driving unit includes a single-chip microcomputer, a steering gear component and an action component, the single-chip microcomputer is electrically connected with the attitude detection unit, the steering gear component is electrically connected with the single-chip microcomputer and the action component, and the single-chip microcomputer is used to obtain the moving body detected by the attitude detection unit. After the attitude information and the optimal attitude movement trajectory are calculated, the steering gear components are controlled to work. The steering gear drives the action components to work according to the optimal attitude movement trajectory. The action components are used to change the center of gravity of the moving body; the universal base includes a base and a spherical device. The lower end is fixed on the moving body, the lower half of the ball device is rotatably connected to the base, the attitude detection unit and the driving unit are connected to the upper half of the ball device, the device can automatically adjust the center of gravity of the moving body in real time, and then change the movement It can keep the balance of the moving body without human intervention or enable, and can adapt to the road conditions to keep the moving body in balance and not easy to overturn, especially on bumpy roads or roads with a certain slope to make the moving body run smoothly and easy to install on the moving body.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only of the present invention. For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of the apparatus for adjusting the center of gravity of sports provided by Embodiment 1;

2 is a schematic structural diagram of a device for adjusting the center of gravity of exercise provided by Embodiment 2;

Figure 3 is a schematic diagram of the connection relationship between the ball device, the base and the connecting bearing in the moving center of gravity adjustment device in Figures 1 and 2;

In the picture: 1-attitude detection unit, 2-drive unit, 3-base, 4-sphere, 5-connecting bearing, 6-support.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

The purpose of this utility model is to provide a device for adjusting the center of gravity of sports, so as to solve the problems existing in the prior art, keep the moving body in balance, without human intervention or enabling, and can adapt to the road conditions to keep the moving body in balance and not easy to fall , especially on bumpy roads or road surfaces with a certain slope, the moving body can run smoothly, and it is easy to install on the moving body.

In order to make the above objects, features and advantages of the present utility model more clearly understood, the present utility model will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example 1

This embodiment provides a movement center of gravity adjustment device, as shown in FIG. 1 and FIG. 3 , including an attitude detection unit 1, a drive unit 2 and a universal base, and the attitude detection unit 1 and the drive unit 2 are connected to the universal base, The attitude detection unit 1 and the drive unit 2 both include several components, the universal base is used to directly or indirectly support the above components, and the attitude detection unit 1 is used to detect changes in the attitude of the moving body in real time, and obtain the attitude information of the moving body;

The drive unit 2 includes a single-chip microcomputer, a steering gear component and an action component. The single-chip microcomputer is electrically connected to the attitude detection unit 1, and the steering gear component is electrically connected to the single-chip microcomputer and the action component respectively. After detecting the attitude information of the moving body and calculating the optimal attitude motion trajectory, the steering gear component is controlled to work. The steering gear component drives the action component to work according to the optimal attitude motion trajectory. The action component is used to change the center of gravity of the moving body. After the command issued by the steering gear, a series of actions can be made to change the center of gravity of the sports center of gravity adjustment device, thereby changing the center of gravity of the moving body and the overall center of gravity of the sports center of gravity adjustment device;

The universal base includes a base 3 and a sphere device. The lower end of the base 3 is fixed on the moving body, the lower half of the sphere device is rotatably connected to the base 3, and the attitude detection unit 1 and the drive unit 2 are connected to the upper half of the sphere device. The action of each component in the drive unit 2 can cause the ball device to rotate relative to the base 3, thereby changing the center of gravity of the moving center of gravity adjusting device, and because the base 3 is fixed on the moving body, the moving body and the moving center of gravity adjusting device are integral. The center of gravity changes to achieve the purpose of adjusting the movement state of the moving body.

Further, the attitude detection unit 1 includes an attitude detection sensor and a control circuit, the attitude detection sensor and the single-chip microcomputer are all electrically connected to the control circuit, the gyroscope, the acceleration sensor and the control circuit are all arranged on the universal base, and the attitude detection sensor is used for real-time detection. The change of the posture of the moving body and the posture information of the moving body are transmitted to the microcontroller through the control circuit.

Further, the attitude detection sensor includes a gyroscope and an acceleration sensor. The gyroscope is used to detect the angular velocity or rotation angle of the moving body when it rotates, and the acceleration sensor is used to detect the linear acceleration in each movement direction of the moving body.

Further, the action component includes a horizontal component and a vertical component, the steering gear component includes a driving module and several steering gears, the single-chip microcomputer and the driving module are electrically connected, the driving module and each steering gear are electrically connected, and the horizontal component and the vertical component are both connected with a steering gear. Electromechanical connection, the drive module drives the steering gear according to the optimal attitude motion trajectory, and the steering gear controls the transverse and longitudinal components to move in the transverse and longitudinal directions respectively. The movement of the center of gravity of the assembly and the longitudinal assembly in the lateral and longitudinal directions. There is a sliding body in both the lateral assembly and the longitudinal assembly that can adjust the position of the center of gravity of the moving center of gravity adjustment device. The sliding body and the upper half of the ball device are slidably connected. Two The sliding body can slide horizontally and vertically, respectively, so as to achieve the purpose of changing the center of gravity of the movement.

Further, the action assembly also includes a number of balance rods, each of which is connected to a steering motor respectively. The balance rod can change the center of gravity of the moving body by shrinking and extending. The steering gear is used to drive the balance rod to work. The balance rod is generally set at On the outermost side of the adjusting device for the center of gravity of the movement, the balance bar is arranged horizontally and symmetrically with respect to the center of the adjusting device for the center of gravity.

Further, the sphere device includes a support 6 and a sphere 4, the base 3 is provided with a hole, the sphere 4 is rotatably connected to the inner wall of the hole, the support 6 is connected to the upper half of the sphere 4, the attitude detection unit 1 and the drive The unit 2 is rotatably connected to the support 6. When the moving body is running on a slope with a larger inclination angle, the sphere 4 can drive the support 6, the attitude detection unit 1 and the driving unit 2 to rotate and tilt, and the moving body can be greatly adjusted. The center of gravity to achieve the purpose of adjusting the center of gravity of the exercise.

It should be noted that a locking mechanism can be set between the sphere 4 and the base 3 to fix the sphere 4 on the base 3, and a locking mechanism can be set between the sphere 4 and the support 6 to lock the support 6 It is fixed and locked on the ball 4, and the locking mechanism is an automatic locking mechanism.

Further, the drive unit 2 also includes a feedback module, the feedback module is electrically connected with the single-chip microcomputer, the attitude detection unit 1 is electrically connected with the feedback module, and the feedback module is used to receive the deviation value of the movement trajectory of the moving body after adjusting the center of gravity of the moving body and feed back the deviation value. For the single-chip microcomputer, the single-chip computer can calculate the attitude motion trajectory after receiving the deviation value, and then complete the fine-tuning of the center of gravity by controlling the driving module.

Further, a plurality of universal connection bearings are arranged on the inner wall of the hole, and both ends of the universal connection bearings are respectively connected to the sphere 4 and the hole wall.

Further, the attitude detection unit 1 , the driving unit 2 and the universal base are independent units from each other, and are connected with each other in a plug-and-play manner, which is simple, convenient and easy to operate.

Embodiment 2

This embodiment provides another apparatus for adjusting the center of gravity of sports, as shown in FIG. 2 and FIG. 3 . The difference from the first embodiment is that the ball device in the apparatus for adjusting the center of gravity for sports in this embodiment includes a support 6 and a sphere 4, the base 3 is provided with a groove, the sphere 4 is rotatably connected to the inner wall of the groove, the support 6 is rotatably connected to the upper half of the sphere 4, and the attitude detection unit 1 and the drive unit 2 are connected to the support 6 The sphere 4 can drive the support 6, the attitude detection unit 1 and the drive unit 2 to rotate and tilt, so as to achieve the purpose of adjusting the center of gravity.

The device for adjusting the center of gravity of the movement provided by the utility model can be installed on the body of a single-wheel, two-wheel or multi-wheel vehicle, and can also be installed on a certain part of the robot to form a moving body that can dynamically adjust the center of gravity. The body can move smoothly.

It should be noted that the accompanying drawings in the description are only simplified structural diagrams of the device, and cannot represent the structural features of each component in the device;

A shell can be arranged outside the sports center of gravity adjusting device provided by the utility model, and all components in the sports center of gravity adjusting device except the base are enclosed in the shell;

The device for adjusting the center of gravity of the exercise provided by the present application controls the overall center of gravity of both the moving body and the center of gravity adjusting device by adjusting the center of gravity of the adjusting device for the center of gravity of the exercise, thereby achieving the purpose of changing the motion state of the moving body.

The principles and implementations of the present utility model are described with specific examples in the present utility model, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present utility model; meanwhile, for those skilled in the art , according to the idea of the present utility model, there will be changes in the specific implementation and application scope. In conclusion, the content of this specification should not be construed as a limitation on the present invention.

Claims (9)

1. A moving body gravity center adjusting device is characterized in that: the attitude detection unit and the driving unit are connected to the universal base, and the attitude detection unit is used for detecting the change of the attitude of the moving body in real time to obtain the attitude information of the moving body;

the driving unit comprises a single chip microcomputer, a steering engine component and an action component, the single chip microcomputer is electrically connected with the attitude detection unit, the steering engine component is electrically connected with the single chip microcomputer and the action component respectively, the single chip microcomputer is used for obtaining attitude information of the moving body detected by the attitude detection unit and calculating an optimal attitude motion track to control the steering engine component to work, the steering engine component drives the action component to work according to the optimal attitude motion track, and the action component is used for changing the gravity center of the moving body;

the universal base comprises a base and a ball device, the lower end of the base is fixedly arranged on the moving body, the lower half part of the ball device is rotatably connected to the base, and the posture detection unit and the driving unit are connected to the upper half part of the ball device.

2. The moving body center of gravity adjusting apparatus according to claim 1, characterized in that: the attitude detection unit comprises an attitude detection sensor and a control circuit, the attitude detection sensor and the single chip microcomputer are electrically connected with the control circuit, the attitude detection sensor and the control circuit are arranged on the universal base, and the attitude detection sensor is used for detecting the change of the attitude of the moving body in real time and transmitting the attitude information of the moving body to the single chip microcomputer through the control circuit.

3. The moving body center of gravity adjusting apparatus according to claim 2, characterized in that: the attitude detection sensor includes a gyroscope and an acceleration sensor.

4. The moving body center of gravity adjusting apparatus according to claim 1, characterized in that: the action assembly comprises a transverse assembly and a longitudinal assembly, the steering engine assembly comprises a driving module and a plurality of steering engines, the single chip microcomputer is electrically connected with the driving module, the driving module is electrically connected with each steering engine, the transverse assembly and the longitudinal assembly are electrically connected with one steering engine, and the driving module drives the steering engines to control the transverse assembly and the longitudinal assembly to move in the transverse direction and the longitudinal direction respectively according to the optimal posture motion track.

5. The moving body center of gravity adjusting apparatus according to claim 4, wherein: the action component further comprises a plurality of balance rods, each balance rod is electrically connected with one steering engine, the balance rods can change the gravity center of the moving body through contraction and extension, and the steering engines are used for driving the balance rods to work.

6. The moving body center of gravity adjusting apparatus according to claim 1, characterized in that: the sphere device comprises a support and a sphere, a hole or a groove is formed in the base, the sphere is rotatably connected to the inner wall of the hole or the groove, the support is rotatably connected to the upper half portion of the sphere, and the posture detection unit and the driving unit are connected to the support.

7. The moving body center of gravity adjusting apparatus according to claim 1, characterized in that: the driving unit further comprises a feedback module, the feedback module is electrically connected with the single chip microcomputer, the attitude detection unit is electrically connected with the feedback module, and the feedback module is used for receiving a deviation value of the attitude motion trail of the moving body after the gravity center of the moving body is adjusted and feeding the deviation value back to the single chip microcomputer.

8. The moving body center of gravity adjusting apparatus according to claim 6, characterized in that: the inner wall of the hole or the groove is provided with a plurality of universal connection bearings, and two ends of each universal connection bearing are respectively connected to the ball body and the inner wall.

9. The moving body center of gravity adjusting apparatus according to claim 1, characterized in that: the attitude detection unit, the driving unit and the universal base are mutually independent units and adopt a plug-and-play connection mode.

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