CN211729181U

CN211729181U - Monitoring inductor for controlling self balance of robot

Info

Publication number: CN211729181U
Application number: CN201921931166.XU
Authority: CN
Inventors: 任杰
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-10-23
Anticipated expiration: 2029-11-05

Abstract

A robot control self-balancing monitoring sensor is: a thimble is erected in the spherical shell, an angle ball with a conductive coil layer is coiled on the lower half part of the thimble, horizontal sand is arranged around the thimble, and the thimble occupies half of the spherical shell; the bare conductor is not closed and is wound around the spherical shell for one circle in the direction, and the power can be switched on; the diameter of the balance plate is equal to the inner diameter of the spherical shell, two ends of each diameter are connected by leads with resistance smaller than that of the direction ring but not opposite, an angle spherical cap with a conductive coil is embedded in the center of the balance plate and completely matched with the angle ball, and the centers of the spherical shell, the balance plate, the direction ring and the angle spherical cap are coincided; if the spherical shell moves, the direction coil is electrified, the inclination direction of the spherical shell is determined through short circuit and unequal resistance values of the wires connected with the two ends of the diameter of the balance plate, the angle ball and the angle ball cap are electrified, and the inclination of the spherical shell is determined through resistance change of the coil. The robot unbalance can be timely and comprehensively mastered, and the robot unbalance can be timely balanced at the electric speed.

Description

Monitoring inductor for controlling self balance of robot

The technical field is as follows:

robot

Background art:

the robot needs to be as flexible as an animal and basically comprises a central computer system, a precisely controlled transmission system, a vibration damping joint system and an automatic balancing system, wherein the key of the automatic balancing is to detect unbalance in time, accurately grasp the inclination direction and the inclination at any time and adjust the gravity center of the robot through the movement of the limbs of the robot in the shortest time so as to restore the inclination to be balanced. The timely detection is not as real-time monitoring, the shortest time is the fastest, and the transmission speed of electricity is fast. Therefore, the robot can monitor self slight inclination including the inclination direction and the inclination in all-round and real time, and simultaneously transmit electric signals to a central computer, thereby being one of the bases on which the robot can flexibly and rapidly move like an animal.

The invention content is as follows:

a thimble is erected in the center of the spherical shell, an angle ball is arranged on the thimble, a conductive coil layer is coiled on the outer surface of the lower half ball of the angle ball, horizontal sand is arranged around the thimble, the horizontal sand occupies half of the spherical shell, the direction ring horizontally winds the spherical shell for one circle, the direction ring is an unclosed naked conductive coil, the two ends of an opening are connected to enable the direction ring to be electrified, the diameter of a balance plate is equal to the inner diameter of the spherical shell, diameter lines as much as possible are drawn on the balance plate, two end points of each diameter line are connected by a lead with a resistance smaller than that of the direction ring, no two resistance values are equal in all leads connected with the diameter lines, an angle ball cap is embedded in the center of the balance plate, the angle ball cap is in a hollow hemispherical shape and internally provided with the conductive coil layer, the angle ball cap is worn on the angle ball to be completely matched, and the centers of; the upper plane of the horizontal sand is always horizontal, the balance plates are always balanced, if the spherical shell moves, the direction ring is electrified, and the inclination direction of the spherical shell is determined through short circuit and unequal resistance values of wires connected with the two ends of the diameter of each balance plate; the angle ball and the angle ball cap are electrified, and the inclination of the ball shell is determined through the resistance change of the coil.

After the robot is used, the self unbalance can be adjusted at the electric speed.

Description of the drawings:

fig. 1 is a cross-sectional view of a monitoring sensor for controlling self-balance of a robot, wherein 1 represents a spherical shell, 2 represents a balance plate, 3 represents horizontal sand, 4 represents a thimble, 5 represents an angle ball, 6 represents an angle ball cap, and 7 represents a direction ring.

Fig. 2 is a schematic diagram of the tilt direction monitoring, in which 1 and 4 indicate tilt directions, 2 indicates a coincidence diameter, 3 indicates a direction circle, and 5 indicates a balance plate.

Fig. 3 is a schematic view of the angular balling method, in which fig. 1 shows the connection point.

The specific implementation mode is as follows:

one, the spherical shell

The object with spherical hollow interior is made of solid material with insulating property, machinability, certain support property and small thermal expansion coefficient. The shape and the specific specification can be determined according to specific conditions, and two objects with hemispherical interiors can be manufactured for convenience of assembly.

Second, direction ring

The open-loop bare conductor coil with the same diameter as the spherical shell is made of a conductor material which is not easy to corrode, has a small thermal expansion coefficient and a relatively large resistance value, and the two ends of the opening of the loop can be connected with an external power supply.

Third, balance plate

The balance plate is a hard insulating material round thin plate with small thermal expansion coefficient, the diameter of the balance plate is equal to the inner diameter of the spherical shell, and a round hole with the diameter equal to the outer diameter of the angular spherical cap is arranged in the center of the balance plate; drawing as many diameter lines as possible on the balance board, wherein two ends of each diameter line are connected by a lead with small resistance value and wrapped with an insulating layer, the center of gravity should be at the center of the board after the leads are connected, and any two of the leads connected with the end points of the diameter lines cannot have equal resistance values.

Four, horizontal sand

The horizontal sand is a hard small ball which has small thermal expansion coefficient, is not conductive, has smooth surface and is not easy to generate static electricity by friction.

Five, angle ball

The ball cap is a half hollow sphere which is buckled on the ball and is completely matched, the lower half part of the ball is coated with insulating glue and is fully coiled with a wire which is as thin as possible and is coated with an insulating layer, then the insulating layer on the surface is scraped, the inner part of the ball cap and the lower half part of the ball are treated in the same way, a coil layer on the lower half part of the ball and a coil layer in the ball cap can just be combined into a complete sphere, and the resistance of the ball changes when the coil layers form a circuit.

Six, thimble

The thimble is a small stick supporting and fixing the angle ball in the spherical shell, and is generally made of stainless steel.

Seven, combination

A thimble is inserted into the center of the half spherical shell, an angle ball is arranged on the thimble, horizontal sand is filled, a direction ring is embedded into the inner perimeter of the spherical shell, an angle ball cap is arranged in the center of a balance plate, one surface of a wire connected with two ends of a diameter line is upwards placed on the horizontal sand, the direction ring is connected with a power supply, and the angle ball and the ball cap are connected with the power supply to buckle the other half spherical shell. After the combination is completed, the circle centers of the balance plate, the direction ring, the angle ball cap and the ball shell are combined into a circle center.

Eight effects

No matter how the spherical shell moves, the coincident circle center is always kept unchanged, the upper plane of the flowing horizontal sand always keeps horizontal automatically, the balance plate always keeps balance, and a diameter line of the balance plate is always coincident with a diameter line of a direction loop; the balance plate keeps balance, when the spherical shell inclines, the conductive coil layer of the angle ball and the conductive coil layer in the angle ball cap can be overlapped, the resistance between two hemispheres with the coil layer is changed due to the change of the overlapped part, and the integral balance is realized when the conductive coil layer of the angle ball and the conductive coil layer of the angle ball cap are not overlapped. The real-time electric signals can be timely and accurately converted into data through a computer, and the inclination direction and the inclination degree are determined. The timely adjustment of the unbalance state and the matching of the vibration reduction joint can ensure the stable and normal movement of the robot in the rapid movement.

Claims

1. A robot control self-balancing monitoring sensor is characterized in that: a thimble is erected in the center of the spherical shell, an angle ball is arranged on the thimble, a conductive coil layer is coiled on the outer surface of the lower half ball of the angle ball, horizontal sand is arranged around the thimble, the horizontal sand occupies half of the spherical shell, the direction ring horizontally winds the spherical shell for one circle, the direction ring is an unclosed naked conductive coil, the two ends of an opening are connected to enable the direction ring to be electrified, the diameter of a balance plate is equal to the inner diameter of the spherical shell, diameter lines as much as possible are drawn on the balance plate, two end points of each diameter line are connected by a lead wire of which the resistance is smaller than that of the direction ring, no two resistance values are equal in all lead wires connected with the diameter lines, an angle ball cap is embedded in the center of the balance plate, the angle ball cap is in a hollow hemispherical shape and internally provided with the conductive coil layer, the angle ball cap belt is completely matched on the angle ball, and the; the upper plane of the horizontal sand is always kept horizontal, the balance plates are always kept balanced, if the spherical shell moves, the direction ring is electrified, and the inclination direction of the spherical shell is determined through short circuit and unequal resistance values of the wires connected with the two ends of the diameter of each balance plate; the angle ball and the angle ball cap are electrified, and the inclination of the ball shell is determined through the resistance change of the coil.