200927564 九、發明說明： 【發明所屬之技街領域】 本發明為-種保持載具負載面水平之裝置及其方法，係每 一個平台各有兩顆水銀感測器來控制水平，可使車體上的平么 能即時保持水平，當車體行進時，感覺到地面有路面不平坦: 小石子太多、坑洞等地形，傾斜一個角度，平台就會即使調整 至水平之技術領域。 ❹ 【先前技術】 按’-般負載面自動平衡機構的主要目的是讓車體行進 後，平台上所乘載的東西，順利的送達到目的地物品不會因 傾斜而產生滑落的現象，但卻都只有單方向平衡，如只有前後 平衡或左右平衡。 【發明内容】 一、解決的問題： ❹ 1.習知負載面自動平衡機構，在使用上是能提供單方向的控制 保持水平的效用。 I 二、解決的手段： 1.該機器人之平台的作動功能是傾斜一個角度後，碰觸到水銀 感測器’馬達就開始帶動平台上的轉動塊作前後左右的動作主 要的平台分成兩層，第一層是左右調整的動作，且第二層是前後 調整的動作’每-辦台左右各有兩顆水銀_器來控制水平， 就可讓車體上的平台能即時保持水平，於車體行進時感覺到地 200927564 面有路面不平坦、小；5子太多、坑洞等，碰觸到水銀感測器之後， 把on或off的動作訊號傳至繼電器，這時馬達就會根據水銀感測 送回來的訊號作正逆轉的動作，自走車上的平台會因地面的狀況 維持至水平。 【實施方式】 請參閲第一〜二圖所示，機器人系統係採用控制器和感測器 搭配組合，以感測器感測平台的傾斜資料，傳送至控制器；因控 ❺制H具有人性化多雜性，所以在接收資料_時，能立即判斷 各平〇的水平，並下達決娘指令給馬達驅動器來控制馬達以維持 平台的平衡性。本系統最大特色在於容易維修、可靠性高、容易 設定或變更程式、運算與通信能力強、抗雜訊模組化設計、擴充 容易等等優點，且未來可持續發展。例如：加入C CD (影像辨識 功能）、A S B F (語音辨識系統）在未來福祉醫療科技發展，將 有無限的可能性。 ® 本發明大致分為一大機構’在下列敎述中將詳細逐項說明： (1)底盤機構··以重型挖掘機為底盤1架構作為機器人的離型， 並加以修改。由一框架11為主體，兩侧設履帶傳動行走裝置工 3 ,係用兩顆伺服馬達12驅動左右兩侧前輪13 2滾動，利用 履帶皮帶131帶動方式把動力傳動至後輪13 3隨之滾動，提 供機器人前後移動，於轉向方面，使用左右伺服馬達12的速差 來達到轉向目的’如：車體偏右須往左修正時，則控制器會下達 指令使右側伺服馬達12 2加速或左側伺服馬達121減速因而 200927564 修正軌跡，在大角度方面也能使左右側伺服馬達12採反方向運 作來達到任何角度的隨即改變，並在履帶皮帶i 3 i内置有一避 震器14於中段，該避震器14係由-橋座χ 4工二邊的兩端向 前及向後各延伸一橋架14 2接於滾輪座χ 4 4内之滾輪丄4 3 二端，滾輪14 3抵於履帶皮帶131内緣，滾輪座14 4上方 置有彈簧下座14 51供彈簧14 5套入，設彈簧上座14 5 2 套於該彈簧14 5上端，三頂端鎖接辅助架丄5固定於框架Ll ❹ 下緣而呈W型，提供承載物的避震與協助支樓。 (2)負載機構：以第一平台2 2、第二平台2 3相疊置於大平台 座21上，該大平台座21架設數個腳架2 i丄於底盤機構之柩 架11上端，在大平台座21上方中央縱向或橫向設有第二伺服 馬達2 31架設於二下枢板2 3 2固定住，且該第二平台2 3固 鎖於第二伺服馬達2 31之框轴桿2 311上，而其上方中央橫 向或縱向亦設有第一伺服馬達2 21架設於二上柩板2 2 2固定 ^ 住，該第一平台2 2固鎖於第一伺服馬達2 21之樞軸桿2 21 1上，並於該第一平台2 2、第二平台2 3各相對二側設置感測 器2 4 ;驅動系統是由兩顆繼電器來控制第一伺服馬達2 2工、 第二伺JI艮馬達2 3 1的順逆轉’以四顆水銀感測器2 4為主，該 水銀感測器2 4係以一封閉的玻璃容器中，封入一對電極和水銀 導體，利用水銀之導電性，當有一定傾斜度時，水銀介於兩電極 間的接點就會導通，而達成調整水平的動作。 200927564 請參閱第三〜五、二一A〜五一A圖所示，左邊的水銀感測 器2 4是第二祠服馬達2 21順轉’而右邊的水銀感測器2 4是 第二伺服馬達2 21逆轉’水銀感測器2 4擺放在第二平台2 3 的左右方，把水銀感測器2 4放置一個角度，大概放置丨度至3 度左右’目的是讓第二平台2 3水平時（如第三—a圖），左右兩 個水銀感測器2 4可以同時保持〇 f f的狀態，水銀感測器2 4 作動過程中，第二平台2 3只要有傾斜一個角度（如第四一a、 ❹ 五—A圖）’水銀感測器2 4就會判斷是否有傾斜，以達到平衡狀 態。下表為水銀感測器2 4作動過程所示（〇代表〇 f f，工代 表 ο η ): 馬達作動方式 (平台狀態） 水銀感測器位置 狀態圖 左側 右側 靜止狀況 (保持水平） 0 0 如第三圖 順時針調整 (向左傾斜） 1 0~~ 如第四圖 逆時針調整 (向右傾斜） 0 1 如第五圖 不可能的狀況 —--—~~—-- — -i~~— ------- --—丨·,. ...— 請參閱第六〜九圖所示’由控制器内部程式的流程架構得知 (如第九圖），負載機構的平台主要分成第一平台2 2、第二平台 23兩層，每個平台二側各有兩顆水銀感測器24來控制水平， 就可讓車體上的負餘能㈣雜水平，t車趙行進時，感覺到 地面有路面不平坦、小石子太多、坑洞等地形，傾斜—個角度碰 觸到水銀制器2 4之後，把on或〇 f f的動作訊號傳至繼電 200927564 器’飼服馬達2 2 1 (2 3 1)就會根據水銀感測2 4送回來的 訊號作順逆轉_作，提供自走車因地面雜制轉至水平， 並藉底盤機構以履帶式為主，可克服翻車及行進上的不平穩或遇 到路面高低落差，比較不容易產生輪胎卡在高低落差之間，建到 有更好的轉彎特性。 〇 9 200927564 【圖式簡單說明】 第一圖為本發明立體分解圖。 第二圖為本發明立體圖。 第三圖為本發明水平狀態前視圖。 第三圖一A為本發明水平狀態時水銀感測器細部示意圖。 第四圖為本發明向左傾斜狀態前視圖。 第四圖一 A為本發明向左傾斜狀態時水銀感測器細部示意圖。 第五圖為本發明向右傾斜狀態前視圖。 第五圖一 A為本發明向右傾斜狀態時水銀感刺器細部示意圖。 第六圖為本發明裝置第一實施立體圖。 第七圖為本發明裝置第二實施立體圖。 第八圖為本發明裝置第三實施立體圖。 第九圖為本發明系統動作流程圖。 【主要元件符號說明】 底盤1 框架1 1 左右伺服馬達12 右側伺服馬達12 2 左側伺服馬達121 行走裝置13 履帶皮帶131 前輪1 3 2 後輪1 3 3 避震器1 4 橋座1 4 1 橋架1 4 2 滾輪1 4 3 滾輪座14 4 彈簧14 5 彈簧下座14 51 彈簧上座14 5 2 輔助架1 5 大平台座21 腳架2 1 1 第一平台2 2 第一伺服馬達2 21 ❹ 200927564 上樞板2 2 2 樞轴桿2 2 1 1 (2 3 1 第二伺服馬達2 31 感測器2 4 1)第二平台23 下樞板2 3 2200927564 IX. Description of the invention: [Technical street field to which the invention belongs] The present invention is a device and method for maintaining the load level of a carrier, and each platform has two mercury sensors to control the level, so that the vehicle can be used. The level of the body can maintain the level immediately. When the car body travels, it feels that the road surface is not flat: too many pebbles, potholes and other terrain, tilting at an angle, the platform will be adjusted to the horizontal technical field. ❹ 【Prior Art】 The main purpose of the 'normal load surface automatic balancing mechanism is to allow the vehicle to travel, and the things carried on the platform can be smoothly delivered to the destination without slipping due to the tilt, but However, there is only one direction balance, such as only front and rear balance or left and right balance. [Draft of the Invention] First, the problem solved: ❹ 1. The known load surface automatic balancing mechanism, in use, can provide one-way control to maintain the level of utility. I. Solution: 1. The function of the platform of the robot is to tilt the angle and touch the mercury sensor. The motor starts to drive the rotating block on the platform for the front, rear, left and right movements. The main platform is divided into two layers. The first layer is the action of adjusting left and right, and the second layer is the action of front and rear adjustment. 'Each - there are two mercury _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ When the car body travels, it feels that the road surface is uneven and small on the surface of 200927564; there are too many 5 sub-holes, holes, etc. After touching the mercury sensor, the on or off action signal is transmitted to the relay, and the motor will be based on the motor. Mercury senses the signal sent back for reversal, and the platform on the self-propelled vehicle will remain level due to the ground conditions. [Embodiment] Please refer to the first to second diagrams. The robot system uses a combination of a controller and a sensor to transmit the tilt data of the sensor sensing platform to the controller; The humanization is more complicated, so when receiving the data, the level of each level can be judged immediately, and the motorized command is given to the motor driver to control the motor to maintain the balance of the platform. The system's biggest features are easy maintenance, high reliability, easy to set or change programs, strong computing and communication capabilities, anti-noise modular design, easy expansion, and so on, and sustainable development in the future. For example, the addition of C CD (image recognition function) and A S B F (voice recognition system) will have unlimited possibilities in the future development of welfare medical technology. ® The present invention is broadly divided into a large organization'. In the following description, the item will be explained in detail: (1) Chassis mechanism · The heavy-duty excavator is used as the chassis 1 structure and modified. The frame 11 is mainly composed of a crawler belt driving device 3 on both sides, and the two servo motors 12 are used to drive the left and right front wheels 132 to roll, and the crawler belt 131 is used to drive the power to the rear wheel 13 3 to roll. The robot is provided to move forward and backward. In terms of steering, the speed difference between the left and right servomotors 12 is used to achieve the steering purpose. For example, when the vehicle body is rightward and must be corrected to the left, the controller will give an instruction to accelerate the right servo motor 12 2 or the left side. The servo motor 121 is decelerated and thus the correction track is 200927564, and the left and right side servo motors 12 can be operated in the reverse direction to achieve any angle change at a large angle, and a suspension 14 is built in the middle of the crawler belt i 3 i. The shock absorber 14 is composed of a bridge block χ four ends of the two sides extending forward and backward, a bridge 14 2 is connected to the roller 丄 4 4 in the roller χ 4 4 at the two ends, the roller 14 3 is abutted on the crawler belt The inner edge of the 131, the roller seat 14 4 is provided with a spring lower seat 14 51 for the spring 14 5 to be nested, and a spring upper seat 14 5 2 is placed on the upper end of the spring 14 5 , and the three top locking auxiliary frame 丄 5 is fixed to the frame L1 ❹ Lower edge and W type Providing support and assistance floor shock carrier thereof. (2) Load mechanism: the first platform 2 2, the second platform 2 3 are stacked on the large platform seat 21, the large platform seat 21 is provided with a plurality of tripods 2 i 丄 at the upper end of the truss 11 of the chassis mechanism, on the large platform A second servo motor 2 31 is disposed in the longitudinal direction of the seat 21 in the longitudinal direction or in the lateral direction, and is fixed on the lower pivot plate 2 3 2 , and the second platform 23 is fixed on the frame shaft 2 311 of the second servo motor 2 31. And the first servo motor 2 21 is disposed on the upper horizontal or vertical direction of the upper portion of the upper servo plate 2 2 2 , and the first platform 2 2 is fixed to the pivot rod 2 of the first servo motor 2 21 . 21 1 , and on the first platform 2 2, the second platform 2 3 opposite sides of the sensor 2 4; the drive system is controlled by two relays of the first servo motor 2 2, the second servo JI The reversal of the motor 2 3 1 is mainly composed of four mercury sensors 24, which are enclosed in a closed glass container, sealed with a pair of electrodes and a mercury conductor, and utilizing the conductivity of mercury. When there is a certain inclination, the joint between the two electrodes of mercury will be turned on, and the action of adjusting the level is achieved. 200927564 Please refer to the third to fifth, two one A to five one A picture, the left side of the mercury sensor 2 4 is the second clothing motor 2 21 forward 'and the right side of the mercury sensor 2 4 is the second The servo motor 2 21 reverses the 'mercury sensor 2 4 placed on the left and right sides of the second platform 2 3 , and the mercury sensor 24 is placed at an angle, approximately placed to a degree of about 3 degrees. 2 3 horizontal (such as the third-a map), the left and right two mercury sensors 24 can maintain the state of 〇 ff at the same time, the mercury sensor 2 4 during the operation, the second platform 2 3 as long as there is an angle of inclination (For example, the fourth one, the fifth five-A map) 'The mercury sensor 24 will judge whether there is tilt to reach the equilibrium state. The following table shows the operation of the mercury sensor 24 (〇 represents 〇ff, worker ο η): Motor actuation mode (platform status) Mercury sensor position status diagram left side right side stationary state (maintained level) 0 0 The third picture is adjusted clockwise (tilt to the left) 1 0~~ If the fourth picture is adjusted counterclockwise (tilt to the right) 0 1 If the fifth picture is impossible ---~~~--- - -i~ ~— ------- ---丨·,. ...— Please refer to the flowchart of the internal program of the controller as shown in the sixth to the ninth figure (as shown in the ninth figure), the load mechanism The platform is mainly divided into a first platform 2, a second platform 23, two layers, two mercury sensors 24 on each side of the platform to control the level, so that the negative energy on the car body (four) miscellaneous level, t car When Zhao traveled, he felt that the ground had uneven terrain, too many pebbles, potholes, etc., and after tilting—the angle touched the mercury maker 2 4, the action signal of on or 〇ff was transmitted to the relay 200927564. 'Feeding motor 2 2 1 (2 3 1) will be based on the signal sent back by mercury sensing 24 4 to provide a self-propelled vehicle for the ground. The miscellaneous system is transferred to the level, and the chassis mechanism is mainly used for the crawler belt. It can overcome the unevenness of the rollover and travel or encounter the height difference of the road surface. It is not easy to produce the tire stuck between the height difference, and it is better to build it. Turning characteristics. 〇 9 200927564 [Simplified illustration of the drawings] The first figure is an exploded perspective view of the present invention. The second figure is a perspective view of the present invention. The third figure is a front view of the horizontal state of the present invention. Figure 3A is a schematic view of the mercury sensor in the horizontal state of the present invention. The fourth figure is a front view of the invention tilted to the left. FIG. 1A is a schematic view showing the details of the mercury sensor when the invention is tilted to the left. The fifth figure is a front view of the present invention tilted to the right. Fig. 1A is a schematic view showing the details of the mercury snagging device when the invention is tilted to the right. Figure 6 is a perspective view of a first embodiment of the apparatus of the present invention. Figure 7 is a perspective view of a second embodiment of the apparatus of the present invention. Figure 8 is a perspective view of a third embodiment of the apparatus of the present invention. The ninth figure is a flow chart of the system operation of the present invention. [Main component symbol description] Chassis 1 Frame 1 1 Left and right servo motor 12 Right servo motor 12 2 Left servo motor 121 Travel device 13 Track belt 131 Front wheel 1 3 2 Rear wheel 1 3 3 Shock absorber 1 4 Bridge 1 4 1 Bridge 1 4 2 Roller 1 4 3 Roller seat 14 4 Spring 14 5 Spring lower seat 14 51 Spring seat 14 5 2 Auxiliary frame 1 5 Large platform seat 21 Tripod 2 1 1 First platform 2 2 First servo motor 2 21 ❹ 200927564 Pivot plate 2 2 2 Pivot rod 2 2 1 1 (2 3 1 Second servo motor 2 31 Sensor 2 4 1) Second platform 23 Lower pivot plate 2 3 2
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