CN211087012U - Moving body gravity center adjusting device - Google Patents
Moving body gravity center adjusting device Download PDFInfo
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- CN211087012U CN211087012U CN201922430397.9U CN201922430397U CN211087012U CN 211087012 U CN211087012 U CN 211087012U CN 201922430397 U CN201922430397 U CN 201922430397U CN 211087012 U CN211087012 U CN 211087012U
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Abstract
The utility model discloses a moving body gravity center adjusting device, which relates to the technical field of a motion balancing device and comprises a posture detection unit, a driving unit and a universal base, wherein the posture detection unit and the driving unit are connected with the universal base, and the posture detection unit is used for detecting the change of the posture of a moving body in real time to obtain the posture information of the moving body; the driving unit is used for acquiring the attitude information of the moving body detected by the attitude detection unit, calculating an optimal attitude motion track and then making a series of actions to change the gravity center of the moving body; universal base includes base and spheroid device, and the base is fixed to be set up on the motion body, and gesture detecting element and drive unit connect in the first half of spheroid device, the utility model discloses can make motion body keep balance, do not need artificial intervention or enable, but self-adaptation road conditions make motion body keep balance, be difficult for empting, especially jolt or have the road surface of certain slope at the road surface and make motion body even running, and easily install on the motion body.
Description
Technical Field
The utility model relates to a motion balancing unit technical field especially relates to a motion body focus adjusting device.
Background
With the rapid development of science and technology, people chase after artificial intelligence technology, intelligent mechanical devices or robots are applied to various industries and gradually enter our lives, and some mechanical devices and robots with special purposes require sensitive movement, rapid response and stable operation. To realize stable operation of a moving object (moving body), the motion balance of the whole moving body needs to be ensured. At present, there are many devices and methods for realizing motion balance, for example, a balance car adopts a standing driving mode, and controls the motion of a car body through the gravity center of the body and a control rod. Like the self balance system of the human body, when the weight center of the body leans forwards, the body needs to go forwards in order to ensure balance, and the same principle is carried out when the weight center tilts backwards. But the balance car does not have the ability of autonomous movement. In the idle state, although the remote control mode can be used for control, the remote control mode does not have the capability of adjusting the gravity center in real time, so that the rapid movement and steering cannot be realized, and particularly, the movement balance is difficult to achieve on a road surface with complex terrain. In the last century, mankind has been working on creating more humanoid robots, with the requirements for balance being more stringent when the humanoid robot is walking or moving. The basic principle is that the change of the robot action is sensed by a sensor on the robot body, then data is transmitted to a control circuit, and the control circuit analyzes the data and then makes a corresponding instruction to correct the action of the robot, so that the robot keeps balance. The stability and control strategy are the key of the humanoid robot technology and the technical difficulty which is always pursued in the field of the robot at present. Although the research of the humanoid robot obtains a lot of research results, the walking speed, the stability and the self-adaptive capacity of the feet of the humanoid robot are still not ideal;
the inventor of the present invention has proposed the invention patent application with application number CN201811416476.8 and publication number CN109375627A entitled "gravity center adjusting device and method", which has the function of adjusting the gravity center of the moving body and stabilizing the operation of the moving body, but has the disadvantage that the gravity center adjusting device is not easily installed on the moving body, resulting in unstable balance adjusting process of the gravity center adjusting device on the moving body.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a moving body focus adjusting device to solve the problem that above-mentioned prior art exists, this device can be in real time and the focus of automatic adjustment moving body, and then changes moving body motion state, makes moving body keep balance, does not need human intervention or enable, but self-adaptation road conditions make moving body keep balance, be difficult for empting, especially jolt or have the road surface of certain slope at the road surface and make moving body even running, and easily install on moving body.
In order to achieve the above object, the utility model provides a following scheme:
the utility model provides a moving body gravity center adjusting device, which comprises a posture detection unit, a driving unit and a universal base, wherein the posture detection unit and the driving unit are connected on the universal base, and the posture detection unit is used for detecting the change of the posture of the moving body in real time to obtain the posture 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.
Preferably, 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.
Preferably, the attitude detection sensor includes a gyroscope and an acceleration sensor.
Preferably, 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.
Preferably, the action assembly 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.
Preferably, the sphere device comprises a support and a sphere, the base is provided with a hole or a groove, the sphere is rotatably connected to the inner wall of the hole or the groove, the support is rotatably connected to the upper half part of the sphere, and the posture detection unit and the driving unit are connected to the support.
Preferably, 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 trajectory of the moving body after the moving body adjusts the gravity center and feeding the deviation value back to the single chip microcomputer.
Preferably, 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 device and the inner wall.
Preferably, the attitude detection unit, the driving unit and the universal base are mutually independent units, and a plug-and-play connection mode is adopted among the units.
The utility model discloses for prior art gain following technological effect:
the utility model provides a moving body gravity center adjusting device, which comprises a posture detection unit, a driving unit and a universal base, wherein the posture detection unit and the driving unit are connected on the universal base, and the posture detection unit is used for detecting the change of the posture of the moving body in real time to obtain the posture 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 and then controlling the steering engine component to work, the steering engine 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 body device, the lower end of the base is fixedly arranged on the moving body, the lower half part of the ball body device is connected onto the base in a rotating mode, the posture detection unit and the driving unit are connected to the upper half part of the ball body device, the gravity center of the moving body can be adjusted automatically in real time, the moving state of the moving body is changed, the moving body is kept balanced, manual intervention or enabling is not needed, the moving body can be kept balanced in a self-adaptive road condition and is not prone to toppling, and particularly the moving body can run stably on a road surface jolting or a road surface with a certain gradient and is easy to install on the moving.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a device for adjusting the center of gravity of a moving body according to a first embodiment;
fig. 2 is a schematic structural view of a moving body gravity center adjusting apparatus according to a second embodiment;
fig. 3 is a schematic view showing a connection relationship between a ball unit, a base and a connection bearing in the center of gravity adjusting apparatus for a moving body of fig. 1 and 2;
in the figure: 1-attitude detection unit, 2-driving unit, 3-base, 4-sphere, 5-connecting bearing and 6-support.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a moving body focus adjusting device to solve the problem that prior art exists, make the moving body keep balance, do not need artificial intervention or enable, but self-adaptation road conditions make the moving body keep balance, be difficult for empting, especially jolt or have the road surface of certain slope at the road surface and make the moving body even running, and easily install on the moving body.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
Example one
The embodiment provides a moving body gravity center adjusting device, as shown in fig. 1 and fig. 3, which includes a posture detecting unit 1, a driving unit 2 and a universal base, wherein the posture detecting unit 1 and the driving unit 2 are connected to the universal base, both the posture detecting unit 1 and the driving unit 2 include a plurality of components, the universal base is used for directly or indirectly supporting the above components, and the posture detecting unit 1 is used for detecting the change of the posture of the moving body in real time to obtain the posture information of the moving body;
the driving unit 2 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 1, the steering engine component is respectively electrically connected with the single chip microcomputer and the action component, the single chip microcomputer can be of an STM32F103 or STM32F407 model, the single chip microcomputer is used for obtaining attitude information of the moving body detected by the attitude detection unit 1 and calculating an optimal attitude motion trail and then controlling the steering engine component to work, the steering engine component drives the action component to work according to the optimal attitude motion trail, the action component is used for changing the gravity center of the moving body, the action component makes a series of actions capable of changing the gravity center of the moving body gravity center adjusting device after the steering engine receives an sent instruction, and further changes;
universal base includes base 3 and spheroid device, 3 lower extremes of base are fixed to be set up on the motion body, the lower half of spheroid device rotates and connects on base 3, gesture detecting element 1 and drive unit 2 are connected in the first half of spheroid device, the action of each subassembly can arouse in the drive unit 2 that the spheroid device takes place to rotate for base 3, and then change motion body focus adjusting device's focus, because base 3 is fixed in on the motion body again, motion body and motion body focus adjusting device's holistic focus changes, reach the purpose of adjusting the motion body motion state.
Further, the attitude detection unit 1 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 gyroscope, the acceleration 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.
Further, the attitude detecting sensor includes a gyroscope for detecting an angular velocity or a rotational angle of the moving body when the moving body rotates, and an acceleration sensor for detecting linear accelerations in respective directions of the moving body in front, rear, left, and right directions.
Further, the action component comprises a transverse component and a longitudinal component, the steering engine component 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 all the steering engines, the transverse component and the longitudinal component are electrically connected with one steering engine, the driving module drives the steering engines according to the optimal posture motion track, the steering engines control the transverse component and the longitudinal component to move in the transverse direction and the longitudinal direction respectively, the fact that the transverse assembly and the longitudinal assembly move in the transverse direction and the longitudinal direction respectively means that the gravity centers of the transverse assembly and the longitudinal assembly move in the transverse direction and the longitudinal direction, a sliding body capable of adjusting the gravity center position of the moving body gravity center adjusting device exists in each of the transverse assembly and the longitudinal assembly, the sliding body is connected with the upper half part of the ball body device in a sliding mode, and the two sliding bodies can slide in the transverse direction and the longitudinal direction respectively to achieve the purpose of changing the gravity center of the moving body.
Further, the action assembly further comprises a plurality of balance rods, each balance rod is electrically connected with a steering engine, the balance rods can change the gravity center of the moving body through contraction and extension, the steering engines are used for driving the balance rods to work, the balance rods are generally arranged on the outermost side of the gravity center adjusting device of the moving body, the balance rods are horizontally and symmetrically arranged relative to the center of the gravity center adjusting device, and the balance rods play a role in assisting the transverse assembly and the longitudinal assembly to adjust the gravity center of the moving body.
Further, the spheroid device includes a support 6 and a spheroid 4, is equipped with a hole on the base 3, spheroid 4 rotates and connects on the inner wall in hole, support 6 connects in the first half of spheroid 4, gesture detecting element 1 and drive unit 2 rotate and connect on support 6, when the motion body moves in the great slope of inclination, spheroid 4 can drive support 6, gesture detecting element 1 and drive unit 2 and rotate and incline, the focus of regulation motion body by a wide margin, reach the purpose of adjustment motion body focus.
It should be noted that, a locking mechanism may be disposed between the ball 4 and the base 3 for fixing and locking the ball 4 to the base 3, and a locking mechanism may be disposed between the ball 4 and the support 6 for fixing and locking the support 6 to the ball 4, where the locking mechanism is an automatic locking mechanism.
Further, the driving unit 2 further comprises a feedback module, the feedback module is electrically connected with the single chip microcomputer, the posture detection unit 1 is electrically connected with the feedback module, the feedback module is used for receiving a deviation value of a movement track of the moving body after the center of gravity of the moving body is adjusted and feeding the deviation value back to the single chip microcomputer, the single chip microcomputer can calculate the posture movement track after receiving the deviation value, and then the driving module is controlled to finish fine adjustment of the center of gravity.
Furthermore, a plurality of universal connection bearings are arranged on the inner wall of the hole, and two ends of each universal connection bearing are respectively connected to the ball body 4 and the hole wall.
Furthermore, the posture detection unit 1, the driving unit 2 and the universal base are mutually independent units, and a plug-and-play connection mode is adopted among the units, so that the device is simple, convenient and easy to operate.
Example two
The present embodiment provides another moving body gravity center adjusting device, as shown in fig. 2 and fig. 3, the difference from the first embodiment is that the ball device in the moving body gravity center adjusting device of the present embodiment includes a support 6 and a ball 4, the base 3 is provided with a groove, the ball 4 is rotatably connected to the inner wall of the groove, the support 6 is rotatably connected to the upper half of the ball 4, the posture detecting unit 1 and the driving unit 2 are connected to the support 6, and the ball 4 can drive the support 6, the posture detecting unit 1 and the driving unit 2 to rotate and tilt, so as to achieve the purpose of adjusting the gravity center.
The utility model provides a moving body focus adjusting device mountable also can install at a certain position of robot to single round, two-wheeled or multi-wheel car automobile body on for the moving body can steady movement.
The drawings in the specification are only simplified in structure of the device, and cannot show structural features of each component in the device;
the movable body gravity center adjusting device of the utility model can be provided with a shell, and all components except the base in the movable body gravity center adjusting device are sealed in the shell;
the application provides a moving body focus adjusting device controls moving body and the holistic focus of moving body focus adjusting device both through the focus of adjusting moving body focus adjusting device, and then reaches the purpose that changes the moving state of moving body.
The utility model discloses a concrete example is applied to explain the principle and the implementation mode of the utility model, and the explanation of the above example is only used to help understand the method and the core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922430397.9U CN211087012U (en) | 2019-12-30 | 2019-12-30 | Moving body gravity center adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922430397.9U CN211087012U (en) | 2019-12-30 | 2019-12-30 | Moving body gravity center adjusting device |
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| Publication Number | Publication Date |
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| CN211087012U true CN211087012U (en) | 2020-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922430397.9U Active CN211087012U (en) | 2019-12-30 | 2019-12-30 | Moving body gravity center adjusting device |
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| CN (1) | CN211087012U (en) |
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- 2019-12-30 CN CN201922430397.9U patent/CN211087012U/en active Active
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