A platform device capable of adjusting balance by itself

Abstract

The present invention relates to a platform device capable of self-adjusting balance, comprising: an external connection platform, an adjustment mechanism, an inclination sensor and a leg bracket; the adjustment mechanism is divided into two groups and cross-distributed at the top of the external connection platform; the leg bracket is divided into four groups and evenly arranged at the bottom of the external connection platform, the leg bracket comprising a thigh and a calf, and the thigh and the calf are respectively provided with a thigh driving device and a calf driving device for driving them to rotate respectively; the inclination sensor is connected to a controller; the inclination sensor is used to detect the horizontal inclination change between the external connection platform and the ground, and serial communication is performed with the controller. After receiving the inclination change information, the controller automatically responds to control the motor driving chip through a center of gravity algorithm processing program and a control program, thereby driving the thigh and calf driving devices and the counterweight rotating block driving part until the inclination sensor detects a horizontal or nearly horizontal state, and finally forms a closed-loop control system so that the platform tends to be horizontal and stable relative to the ground.

Description

Technical Field

[0001] The invention relates to a balance adjustment mechanism, in particular to a platform device capable of self-adjusting balance. Background Art

[0002] The passenger compartment of a vehicle is often equipped with a table to facilitate passengers to write, use computers and place items. Usually, the table top in a vehicle is fixed to the floor of the vehicle body or to the front seat and fixed with bolts. When in use, due to the complex driving conditions and severe bumps, these vibrations are directly transmitted to the table top through the vehicle body, which greatly reduces the user experience of the table top and even makes it impossible to use it normally. This vibration will also reduce the life of components. Most of the existing solutions are to reduce the vibration by improving the chassis suspension of the vehicle. And through the shock-absorbing structure, the vibration is decomposed, but this approach is difficult to cure the problem of desktop bumps. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the present invention provides a platform device that can adjust the balance by itself.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a platform device capable of self-adjusting balance, comprising: an external connection platform, an adjustment mechanism and a leg support; wherein,

[0005] The regulating mechanisms are divided into two groups, which are cross-distributed on the top of the external connection platform;

[0006] The leg brackets are four groups, evenly arranged at the bottom of the external connection platform, the leg brackets include a thigh and a calf, one end of the thigh is connected to the bottom of the external connection platform through a joint rotation, and the other end is connected to the calf through a joint rotation, and the other end of the calf is fixed to the vehicle, and the thigh and calf are respectively provided with a thigh driving device and a calf driving device for driving their respective rotations, and the thigh driving device and the calf driving device are respectively connected to a controller;

[0007] A tilt sensor, wherein the tilt sensor is arranged on the external connection platform and connected to the controller;

[0008] The external connection platform is square, and the four groups of leg supports are respectively arranged at an angle at the bottom of the external connection platform, and an acute angle is formed between the calf and the horizontal plane. A trapezoid is formed between every two leg supports and the external connection platform and the horizontal plane.

[0009] In a preferred embodiment of the present invention, the adjustment mechanism includes two screw rod supports arranged at two ends of the external connection platform, a screw rod is arranged between the two screw rod supports, a counterweight rotating block is slidably arranged on the screw rod, the counterweight rotating block is connected to the counterweight rotating block driving unit, and the counterweight rotating block driving unit drives the counterweight rotating block to move on the screw rod; when encountering bumps, the controller controls two sets of leg brackets to perform the same rotation and lifting action.

[0010] In a preferred embodiment of the present invention, the two screw rods on the two adjusting mechanisms are arranged perpendicularly to each other, and the two groups of adjusting mechanisms are respectively a first adjusting mechanism and a second adjusting mechanism, the first adjusting mechanism includes a first screw rod and a first counterweight rotating block arranged on the first screw rod, the second adjusting mechanism includes a second screw rod and a second counterweight rotating block arranged on the second screw rod, the second screw rod is arranged perpendicularly to the first screw rod, and the second screw rod is located on the upper part of the first screw rod.

[0011] In a preferred embodiment of the present invention, the leg support comprises a first leg support, a second leg support, a third leg support and a fourth leg support, and the four groups of leg supports are respectively arranged at the four corners of the bottom end of the external connection platform. When encountering bumps, the calf driving device in the two groups of leg supports drives the calf to rotate along the connection between the calf and the thigh. The formula is:

[0012] Δα1=α1'-α1, Δα4=α4'-α4

[0013] in, (quasi-Newton method, programming calculation)

[0014] α1'=θ2-θ1,α4'=θ1+θ4

[0015] In the formula, △ α1 is the angle of rotation of one of the calves along the connection between the calf and the thigh, △α4 is the rotation angle of the calf of another adjacent leg bracket along the connection between the calf and the thigh, where r1 is the distance between two adjacent calf drive joints, r2 is the distance between the calf joint and the thigh joint in the same leg bracket, r3 is the distance between two adjacent thigh drive joints, and r4 is the distance between the calf joint and the thigh joint of an adjacent leg bracket, in mm; α1 is the initial angle between the line between the two calf drive joints and one side of the thigh, and α4 is the initial angle between the line between the two calf drive joints and the adjacent thigh. The initial angle of the leg, α1' is the angle between the line between the two shank drive joints and the changed thigh on one side, α4' is the angle between the line between the two shank drive joints and the changed thigh on the other side, unit: °; θ1 is the angle between the line between the two shank drive joints and the horizontal plane (that is, the angle detected by the inclinometer), θ2 is the angle between the thigh on one side and the horizontal plane, θ3 is the angle between the external connection platform and the horizontal plane (should be 0°), θ4 is the angle between the adjacent thigh and the horizontal plane, unit: °.

[0016] The formula for the angle at which the thigh driving device drives the thigh to rotate along the bottom end of the external connection platform is:

[0017] Δα2=α2'-α2, Δα3=α3'-α3;

[0018] Among them, α2'=180°-θ2, α3'=180°-θ4;

[0019] Wherein, α2 is the initial angle between the thigh on one side and the external connection platform, α3 is the initial angle between the thigh on the other side and the external connection platform, α2' is the changed angle between the thigh on one side and the external connection platform, and α3' is the changed angle between the thigh on the other side and the external connection platform, in degrees.

[0020] The formula for the distance that the counterweight rotating block is driven by the counterweight rotating block driving unit to move on the screw rod is:

[0021]

[0022] in,

[0023] Wherein, m0 is the total mass of the mechanism excluding the slider and the motor, m1 and m2 are the masses of the first and second configuration rotary blocks respectively, m3 is the mass of the driving motor of the configuration rotary block, in kg; the distances from the limit point of motion on the positive side of the x-axis to the center of gravity of the two sliders are s1 and s2 respectively, and the distance to the origin is l, in mm; θ is the angle between the guide rail and the x-axis, in °; the overall center of gravity coordinates of the two sliders are (x', y'), the overall center of gravity coordinates of the two motors are (x3, y3), the overall center of gravity coordinates of the rest excluding the slider and the motor are (x0, y0), and the overall center of gravity coordinates of the mechanism are (x, y).

[0024] In a preferred embodiment of the present invention, the inclination sensor is arranged at the bottom end of the external connection platform.

[0025] The beneficial effects of the present invention are: using the inclination sensor to detect the horizontal inclination change between the external connection platform and the ground, and performing serial communication with the controller. After the controller receives the inclination change information, it automatically responds to control the motor drive chip through the center of gravity algorithm processing program and the control program, thereby driving the upper and lower leg drive devices and the counterweight transfer block drive part until the inclination sensor detects a horizontal or nearly horizontal state, and finally forms a closed-loop control system so that the platform tends to be horizontal and stable relative to the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The structure of the present invention is schematically shown Figure 1 ;

[0027] Figure 2 The structure of the present invention is schematically shown Figure 2 ;

[0028] Figure 3 The structure of the present invention is schematically shown Figure 3 ;

[0029] Figure 4 The original size of the adjacent leg supports of the present invention and the size of the adjacent leg supports after the bump occurs;

[0030] Figure 5 It is the original angle between the calf and the thigh on the adjacent leg support of the present invention and the changed angle between the calf and the thigh on the adjacent leg support after the bump occurs;

[0031] Figure 6 It is a schematic diagram of the structure of the regulating mechanism of the present invention on the external connection platform;

[0032] Figure 7 It is a circuit control diagram of the present invention. DETAILED DESCRIPTION

[0033] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0035] Embodiment 1: Figure 1 , Figure 2 and Figure 7 The platform device shown is capable of self-adjusting balance, comprising: an external connection platform 6, an adjustment mechanism and a leg support; wherein,

[0036] The adjustment mechanism is divided into two groups, which are cross-distributed at the top of the external connection platform 6. The adjustment mechanism includes two screw rod supports 8 arranged at two ends of the external connection platform, a screw rod 9 is arranged between the two screw rod supports 8, a counterweight rotating block 10 is slidably arranged on the screw rod 9, and the counterweight rotating block 10 is connected to the counterweight rotating block driving part 11. The two screw rods 9 on the two adjustment mechanisms are arranged perpendicular to each other.

[0037] The leg brackets are four groups, evenly arranged at the bottom of the external connection platform, and the leg brackets include a thigh 3 and a calf 1. One end of the thigh 3 is connected to the bottom of the external connection platform 6 through a joint rotation, and the other end is connected to the calf 1 through a joint rotation. The other end of the calf 1 is fixed on the vehicle. The thigh 3 and the calf 1 are respectively provided with a thigh driving device 7 and a calf driving device 2, and the thigh driving device 7 and the calf driving device 2 are respectively connected to a controller;

[0038] A tilt sensor, which is arranged on the external connection platform 6 and connected to the controller. Specifically, the tilt sensor is arranged at the tilt sensor placement groove 12 at the bottom end of the external connection platform;

[0039] The external connection platform 6 is square, and the four groups of leg brackets are arranged at the bottom of the external connection platform 6 at an angle, and the lower leg 1 forms an acute angle with the horizontal plane. Each two leg brackets form a trapezoid with the external connection platform and the horizontal plane, and the external connection platform is supported by the four groups of leg brackets.

[0040] The thigh driving device 7 and the calf driving device 2 respectively drive the thigh 3 and the calf 1 to rotate, and the counterweight rotating block driving unit 11 drives the counterweight rotating block 10 to move on the screw rod 9; when encountering bumps, the controller controls two groups of leg supports to perform the same rotation and lifting action.

[0041] like Figure 2 As shown, the two groups of adjustment mechanisms are respectively a first adjustment mechanism and a second adjustment mechanism, the first adjustment mechanism includes a first screw rod 901 and a first counterweight rotating block 1001 arranged on the first screw rod 901, the second adjustment mechanism includes a second screw rod 902 and a second counterweight rotating block 1002 arranged on the second screw rod 902, the second screw rod 902 is vertically arranged with the first screw rod 901, and the second screw rod 902 is located on the upper part of the first screw rod 901.

[0042] The device simulates the limbs of animals, and the calf drive device 2 and the thigh drive device 7 drive the calf 1 and the thigh 3 on a leg support. When encountering bumps and tilts, the tilt sensor captures the tilt angle, and the external connection platform tilts to the side off the ground. At this time, the counterweight rotating block driving part drives the first counterweight rotating block 1001 and the second counterweight rotating block 1002 respectively, and the counterweight rotating block rotates to the other side of the leg support off the ground, so that the center of gravity of the entire device returns to the original position, ensuring that the external connection platform is in a balanced state. The mechanical bionic structure of the four-legged support has a good filtering effect on bumps, so that the desktop is always in a balanced state, and items such as water cups and computers can be placed safely, improving the utilization rate of the desktop.

[0043] Embodiment 2: Figure 3 As shown, the leg brackets include a first leg bracket 1a, a second leg bracket 1b, a third leg bracket 1c and a fourth leg bracket 1d. The four sets of leg brackets are respectively arranged at the four corners of the bottom end of the external connection platform. When encountering bumps, Figures 4 to 6 As shown, the formula for the rotation angle of the calf driving device 2 in the two sets of leg brackets to drive the calf 1 along the connection between the calf and the thigh is:

[0044] Δα1=α1'-α1, Δα4=α4'-α4;

[0045] in, (quasi-Newton method, programming calculation)

[0046] α1'=θ2-θ1, α4'=θ1+θ4;

[0047] In the formula, △ α1 is the angle of rotation of one of the calves along the connection between the calf and the thigh, △ α4 is the rotation angle of the calf of another adjacent leg bracket along the connection between the calf and the thigh, where r1 is the distance between two adjacent calf drive joints, r2 is the distance between the calf joint and the thigh joint in the same leg bracket, r3 is the distance between two adjacent thigh drive joints, and r4 is the distance between the calf joint and the thigh joint of an adjacent leg bracket, in mm; α1 is the initial angle between the line between the two calf drive joints and one side of the thigh, and α4 is the initial angle between the line between the two calf drive joints and the adjacent thigh. The initial angle of the leg, α1' is the angle between the line between the two shank drive joints and the changed thigh on one side, α4' is the angle between the line between the two shank drive joints and the changed thigh on the other side, unit: °; θ1 is the angle between the line between the two shank drive joints and the horizontal plane (that is, the angle detected by the inclinometer), θ2 is the angle between the thigh on one side and the horizontal plane, θ3 is the angle between the external connection platform and the horizontal plane (should be 0°), θ4 is the angle between the adjacent thigh and the horizontal plane, unit: °.

[0048] The formula for the angle at which the thigh driving device drives the thigh to rotate along the bottom end of the external connection platform is:

[0049] Δα2=α2'-α2, Δα3=α3'-α3;

[0050] Among them, α2'=180°-θ2, α3'=180°-θ4;

[0051] Wherein, α2 is the initial angle between the thigh on one side and the external connection platform, α3 is the initial angle between the thigh on the other side and the external connection platform, α2' is the changed angle between the thigh on one side and the external connection platform, and α3' is the changed angle between the thigh on the other side and the external connection platform, in degrees.

[0052] Because the inclination angle caused by normal bumping of the vehicle will not be very large, the displacement of the center of gravity in the vertical direction is temporarily ignored. The intersection of the two guide rails' central axes is taken as the coordinate origin O to construct the following Figure 6 The two-dimensional coordinate system shown.

[0053] The formula for the distance that the counterweight rotating block is driven by the counterweight rotating block driving unit to move on the screw rod is:

[0054]

[0055] in,

[0056] Wherein, m0 is the total mass of the mechanism excluding the slider and the motor, m1 and m2 are the masses of the first and second configuration rotary blocks respectively, m3 is the mass of the driving motor of the configuration rotary block, in kg; the distances from the limit point of motion on the positive side of the x-axis to the center of gravity of the two sliders are s1 and s2 respectively, and the distance to the origin is l, in mm; θ is the angle between the guide rail and the x-axis, in °; the overall center of gravity coordinates of the two sliders are (x', y'), the overall center of gravity coordinates of the two motors are (x3, y3), the overall center of gravity coordinates of the rest excluding the slider and the motor are (x0, y0), and the overall center of gravity coordinates of the mechanism are (x, y).

[0057] Specifically, the top of the four sets of leg brackets, i.e., the thighs, are connected to the bottom of the external connection platform 6 by screws 4, and there are copper gaskets 5 between the thighs and the external connection platform, which strengthens the stability of the connection between the thighs and the external connection platform; when the car tilts or bumps, the four legs are driven by the calf drive device 2 and the thigh drive device 7 through the feedback of the inclination sensor installed under the external connection platform 6; when a certain angle is formed between the driven thighs and calves, the external connection platform 6 moves in the opposite direction of the tilt direction of the car. At this time, the counterweight rotating block driving unit 11 controls the movement of the counterweight rotating block 10 along the screw rod 9 by driving the counterweight rotating block 10, so that the center of gravity of the entire device returns to the original position, and ensures that the external connection platform 6 is in a balanced state.

[0058] The inclination sensor is used to detect the change in the horizontal inclination between the external connection platform and the ground, and serial communication is performed with the controller. After receiving the inclination change information, the controller automatically responds to control the motor drive chip through the center of gravity algorithm processing program and the control program, thereby driving the upper and lower leg drive devices and the counterweight transfer block drive unit until the inclination sensor detects a horizontal or nearly horizontal state, and finally forms a closed-loop control system to make the external connection platform tend to be horizontally stable relative to the ground, so as to keep the table top fastened to the top of the external connection platform and parallel to its upper surface through the stud connection stable.

[0059] The present invention has a simple structure, no complicated mechanical structure, occupies little passenger space, and adopts mature technology; it has strong versatility and is suitable for desktop platform applications in all vehicles; it solves the long-standing pain points of desktop devices in vehicles.

[0060] When the device is in an unstable state, the controller controls the four legs to keep the tabletop consistent with the road surface. When bumps occur, the center of gravity of the device is restored to a stable state by changing the height of the four legs and the center of gravity position of the rotating parts inside the device and the angular acceleration and angular momentum changes generated during the rotation process.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0062] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A platform device capable of self-adjusting balance, characterized in that: include: External connection platform, adjustment mechanism and leg support; wherein, The regulating mechanisms are divided into two groups, which are cross-distributed on the top of the external connection platform; The leg brackets are four groups, each of which includes a thigh and a calf. One end of the thigh is connected to the bottom of an external connection platform through a joint rotation, and the other end is connected to the calf through a joint rotation. The other end of the calf is fixed to the vehicle. The thigh and calf are respectively provided with a thigh driving device and a calf driving device for driving their respective rotations. The thigh driving device and the calf driving device are respectively connected to a controller. A tilt sensor, wherein the tilt sensor is arranged on the external connection platform and connected to the controller; The external connection platform is square, and the four groups of leg brackets are arranged at the bottom of the external connection platform in an inclined manner, and an acute angle is formed between the calf and the horizontal plane, and a trapezoid is formed between each two leg brackets and the external connection platform and the horizontal plane; The adjustment mechanism comprises two screw rod supports which are arranged on both ends of the external connection platform relatively, a screw rod is arranged between the two screw rod supports, a counterweight rotating block is arranged slidingly on the screw rod, the counterweight rotating block is connected to the counterweight rotating block driving unit, and the counterweight rotating block driving unit drives the counterweight rotating block to move on the screw rod; when encountering bumps, the controller controls two groups of leg brackets to perform the same rotation and lifting action, and the two screw rods on the two adjustment mechanisms are arranged perpendicular to each other; The two groups of adjustment mechanisms are respectively a first adjustment mechanism and a second adjustment mechanism, the first adjustment mechanism comprises a first screw rod and a first counterweight rotating block arranged on the first screw rod, the second adjustment mechanism comprises a second screw rod and a second counterweight rotating block arranged on the second screw rod, the second screw rod is arranged vertically with the first screw rod, and the second screw rod is located on the upper part of the first screw rod; The leg brackets include a first leg bracket, a second leg bracket, a third leg bracket and a fourth leg bracket. The four groups of leg brackets are respectively arranged at the four corners of the bottom end of the external connection platform. When encountering bumps, the calf driving device in the two groups of leg brackets drives the calf to rotate along the connection between the calf and the thigh. The formula is: in, In the formula, is the angle of rotation of one of the calves along the connection between the calf and the thigh, is the angle of rotation of the calf of the adjacent leg support along the connection between the calf and the thigh, where, The distance between the two adjacent lower leg driving joints, is the distance between the calf joint and the thigh joint in the same leg support, is the distance between the two thigh drive joints. The distance between the calf joint and thigh joint of an adjacent leg support, in mm; is the initial angle between the line connecting the two calf driving joints and one thigh. is the initial angle between the line connecting the two calf driving joints and the adjacent thigh. The angle between the line connecting the two calf driving joints and one thigh after the change, The angle between the line connecting the two lower leg driving joints and the adjacent thigh after the change, unit: °; is the angle between the line connecting the two lower leg driving joints and the horizontal plane, is the angle between the thigh and the horizontal plane when looking at one side, is the angle between the external connection platform and the horizontal plane, is the angle between the adjacent thigh and the horizontal plane, in degrees; The formula for the angle at which the thigh driving device drives the thigh to rotate along the bottom end of the external connection platform is: ； in, ; In the formula, is the initial angle between the thigh and the external connection platform. is the initial angle between the other thigh and the external connection platform, The angle between the thigh and the external connection platform after the change. The angle between the other thigh and the external connection platform after the change, unit: °; The formula for the distance that the counterweight rotating block is driven by the counterweight rotating block driving unit to move on the screw rod is: ； in, ; In the formula, is the total mass of the mechanism excluding the slider and the motor, and are the masses of the first configuration transfer block and the second configuration transfer block, respectively. is the mass of the drive motor of the configuration block, in kg; the distances from the limit point of motion on the positive direction of the x-axis to the center of gravity of the two sliders are and , the distance to the origin is , unit: mm; is the angle between the guide rail and the x-axis, in degrees; the overall center of gravity coordinates of the two sliders are ( , ), the overall center of gravity coordinates of the two motors are ( , ), except for the slider and motor, the rest of the center of gravity coordinates are ( , ), the coordinates of the overall center of gravity of the mechanism are ( , ); The inclination sensor is arranged at the bottom end of the external connection platform.

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