Attitude adjustment device

Abstract

The present invention discloses a posture adjustment device, including a support plate, a main shaft is movably arranged along the length direction of the support plate, and a posture adjustment gear is fixedly connected to the middle end of the main shaft; a posture adjustment motor is fixed to the support plate, and a counterweight is connected below the support plate; it also includes a bowl-shaped left and right motion hubs, a sleeve is arranged at the bottom center of the motion hub, and the open parts of the left and right motion hubs are interlocked to form a drum-shaped structure; it also includes a load bracket, and the two ends of the load bracket are bent into two parallel left and right fork arms, and the left and right fork arms are clamped on the outer sides of the bottom surfaces of the left and right motion hubs; the two ends of the main shaft are movably connected to the sleeves on the left and right motion hubs, and the two free ends of the main shaft are respectively fixedly connected to the ends of the left and right fork arms after extending beyond the sleeves. The present invention can realize the posture adjustment of the load.

Description

Technical Field

[0001] The invention relates to a walking device, in particular to a walking device with a posture self-sustaining function. Background Art

[0002] There are many types of walking devices, ranging from toys to cars. In the prior art, there are various types of walking devices, such as wheeled and tracked. Some walking devices are designed as autonomous or semi-autonomous robots, which can carry a certain load and receive instructions to walk through remote control, wire control, etc., so as to achieve applications in some complex and specific environments. For example, in toxic or dangerous environments, robots can be used to carry camera equipment to perceive the situation, and small robots can be used to work in narrow spaces. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a posture adjustment device capable of adjusting the posture of a load.

[0004] In order to solve the above technical problems, the technical solution of the present invention is:

[0005] A posture adjustment device comprises a support plate, a main shaft is movably arranged on the support plate along its length direction, a posture adjustment gear is fixedly connected to the middle end of the main shaft; a posture adjustment motor is fixed to the support plate, and a counterweight is connected below the support plate;

[0006] It also includes a bowl-shaped left-side motion hub and a right-side motion hub, wherein a shaft sleeve is disposed at the center of the bottom surface of the motion hub, and the open parts of the left-side motion hub and the right-side motion hub are mutually buckled to form a drum-shaped structure;

[0007] It also includes a load bracket, the two ends of which are bent into two parallel left and right fork arms, and the left and right fork arms are clamped on the outer sides of the bottom surfaces of the left and right moving wheel hubs;

[0008] The two ends of the main shaft are movably connected to the sleeves on the left and right moving hubs respectively, and the two free ends of the main shaft are respectively fixedly connected to the ends of the left and right fork arms after extending beyond the sleeves.

[0009] A counterweight cavity is connected below the support plate and matches the inner cavity gap of the drum-shaped structure, and the counterweight is fixed in the counterweight cavity.

[0010] The posture adjustment motor is fixed above the support plate.

[0011] The posture adjustment motor is arranged below the support plate.

[0012] The middle part of the support plate is bent along its axis to form a spindle cavity with an arc-shaped cross-section. Two rings are fixedly arranged on the spindle cavity along its length direction. Spindle sleeves are arranged in the rings. The spindle is movably connected to the rings through the spindle sleeves. The posture adjustment gear on the spindle is arranged in the spindle cavity between the two rings.

[0013] The present invention can realize posture adjustment, that is, the angle between the load thereon and the horizontal plane can be actively adjusted within a rated range. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a stereoscopic diagram of a posture self-sustaining walking device based on spherical support according to an embodiment;

[0015] Figure 2 is a front view of the posture self-sustaining walking device based on spherical support according to the embodiment;

[0016] Figure 3 yes Figure 2 Section view along line AA;

[0017] Figure 4 is a side view of the posture self-sustaining walking device based on spherical support according to the embodiment;

[0018] Figure 5 yes Figure 4 Sectional view along line BB;

[0019] Figure 6 is an exploded view of the posture self-sustaining walking device based on spherical support described in the embodiment;

[0020] Figure 7 yes Figure 6 A front view of

[0021] Figure 8 yes Figure 6 sectional view of . DETAILED DESCRIPTION

[0022] The following embodiment provides a posture self-sustaining walking device based on spherical support, and the present invention seeks protection for the posture adjustment device part thereof.

[0023] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8It can be seen that the posture self-sustaining walking device based on spherical support in this embodiment includes a support plate 1, on which a main shaft 2 is movably provided along its length direction, and the middle end of the main shaft 2 is fixedly connected with a posture adjustment gear 20; the support plate 1 is fixed with a left motion motor 3, a posture adjustment motor 4, and a right motion motor 5, and a counterweight is connected at the bottom of the support plate 1.

[0024] It also includes a bowl-shaped left-side moving hub 6 and a right-side moving hub 6'. A shaft sleeve 60 is disposed at the center of the bottom surface of the moving hub. The open parts of the left-side moving hub 6 and the right-side moving hub 6' are interlocked to form a drum-shaped structure.

[0025] The motion hub comprises a bottom surface formed by a circular plane, the bottom surface edge is integrally formed and bent into a bowl-shaped structure, and the upper part thereof is open; the left motion hub 6 and the right motion hub 6' are symmetrically arranged and interlocked with each other to form a drum-shaped structure. The outer edge of the drum body of the drum-shaped structure is an arc-shaped structure, which is used as a supporting part for the self-supporting device to contact the ground; the left and right planes on both sides of the drum body are parallel to each other and are used to connect the load bracket.

[0026] It also includes a load bracket 7, the middle part of which is provided with an arc portion 70 matching the drum-shaped structure, and the two ends of the arc portion are bent into two parallel left and right fork arms 71, and the left and right fork arms 71 are clamped on the outer sides of the bottom surfaces of the left moving hub 6 and the right moving hub 6'; the middle end of the arc portion 70 is provided with a connecting portion for connecting the load 9;

[0027] The two ends of the main shaft 2 are movably connected to the sleeves 60 on the left moving hub 6 and the right moving hub 6', respectively. If necessary, a bearing can be added between the main shaft 2 and the sleeve 60 to improve flexibility (the bearing is not shown in the figure). The two free ends of the main shaft 2 extend out of the sleeve 60 and are fixedly connected to the ends of the left and right fork arms 71 respectively; in this embodiment, the two free ends of the main shaft 2 and the ends of the two fork arms 71 are mutually clamped.

[0028] The power output shafts of the left motion motor 3 and the right motion motor 5 are respectively connected to the left motion hub 6 and the right motion hub 6 ′, and the power output shaft of the posture adjustment motor 4 is connected to the posture adjustment gear 20 on the main shaft 2 .

[0029] A counterweight cavity 8 that matches the inner cavity gap of the drum-shaped structure is connected below the support plate 1 , and the counterweight is fixed in the counterweight cavity 8 .

[0030] In this embodiment, for ease of arrangement, the left motion motor 3, the posture adjustment motor 4 and the right motion motor 5 are all fixed above the support plate 1. It should be noted that the motor can also be used as a counterweight, that is, at least one of the left motion motor 3, the posture adjustment motor 4 and the right motion motor 5 is arranged below the support plate 1, and the corresponding functions can still be achieved.

[0031] like Figure 6 , Figure 7 , Figure 8 It can be seen that as one of the embodiments, the middle part of the support plate 1 is bent along its axis to form a spindle cavity 10 with an arc-shaped cross-section, and two rings 100 are fixedly arranged on the spindle cavity 10 along its length direction. A spindle sleeve 21 is arranged in the ring 100, and the spindle 2 is movably connected to the ring 100 through the spindle sleeve 21. The posture adjustment gear 20 on the spindle 2 is arranged in the spindle cavity 10 between the two rings 100.

[0032] In this embodiment, the bottom surface of the counterweight cavity 8 matches the inner cavity of the drum-shaped structure, the upper end surface matches the lower bottom surface of the support plate 1, and the two side surfaces respectively match the bottom surfaces of the left moving hub 6 and the right moving hub 6'. The whole is similar to a drum-shaped structure cut in half, so as to achieve the purpose of not interfering with the left moving hub 6 and the right moving hub 6'.

[0033] like Figure 6 It can be seen that as one of the transmission implementation methods, gears are fixed on the shaft sleeves 60 inside the left motion hub 6 and the right motion hub 6', and the power output shafts of the left motion motor 3 and the right motion motor 5 are respectively connected to the left motion hub 6 and the right motion hub 6' through the gears.

[0034] like Figure 3 , Figure 6 , Figure 7 , Figure 8 It can be seen that the two ends of the support plate 1 are provided with side plates 11, and two front and rear fixing rods 12 are provided between the two side plates 11. The left motion motor 3, the posture adjustment motor 4 and the right motion motor 5 are all welded and fixed with auxiliary positioning plates 345, and the auxiliary positioning plate 345 is provided with two left and right holes, and the two fixing rods 12 pass through the two holes respectively and fix the fixing rods 12 and the auxiliary positioning plate with nuts, and the ends of the two fixing rods 12 are fixedly connected with the two side plates 11 respectively. That is, the left motion motor 3, the posture adjustment motor 4 and the right motion motor 5 are fixed to the support plate 1 by the fixing rods 12, and the fixing method thereof is not limited to the above description.

[0035] The main functional features of the posture self-sustaining walking device based on spherical support of this embodiment are as follows:

[0036] 1. It has the function of self-sustaining posture and a certain load capacity

[0037] The device can achieve self-sustaining posture. When interfered by external forces, its posture will change, but after the interference disappears, the device can return to the posture before the interference; that is, the device has a function similar to that of a "tumbler". It should be noted that under the premise of carrying a certain volume load, the device still has the above "tumbler" function, which makes it have a wide range of application scenarios.

[0038] Implementation principle: the open parts of the left moving hub 6 and the right moving hub 6' are interlocked to form a drum-shaped structure, the arc part of the drum-shaped structure touches the ground, the support plate 1 is arranged inside the drum-shaped structure, a counterweight is connected at the bottom of the support plate 1, and a load 9 is connected at the top through a load bracket 7; the weight of the support plate 1 and components such as the counterweight are transmitted to the left moving hub 6 and the right moving hub 6' through the main shaft 2, and the main shaft 2 and the drum-shaped structure can rotate relative to each other.

[0039] Since the counterweight is located below the support plate 1, and the center of gravity of the counterweight is matched with the main shaft 2, that is, the main shaft 2 is horizontally arranged, the center of gravity of the counterweight passes through the center of the main shaft 2. The load 9 and the load bracket 7 as a whole have a suitable volume, so that the center of gravity thereof is balanced with the counterweight, thereby achieving the posture self-sustaining function. When the device as a whole is tilted within a certain angle range by external interference, the counterweight plays a balancing role, and the larger the counterweight, the stronger the balancing ability.

[0040] The weight of the load 9 is limited by the size of the counterweight. In theory, the load capacity of the device can be increased by increasing the weight of the counterweight. In addition, the counterweight cavity 8 is also arranged inside the drum-shaped structure, and the battery and even the motor and other matching parts can be included in the counterweight cavity 8, so that the necessary accessories can be used as counterweights. As a minimum requirement, the total weight of the components fixed above the support plate 1 should be less than the weight of the counterweight below.

[0041] 2. With walking function

[0042] The power output shafts of the left motion motor 3 and the right motion motor 5 are respectively connected to the left motion hub 6 and the right motion hub 6'. Various forms of motion can be achieved by driving the left motion motor 3 and the right motion motor 5 respectively.

[0043] When the left moving hub 6 and the right moving hub 6' move, the main shaft 2 is still driven by the counterweight and rotates relatively with the left moving hub 6 and the right moving hub 6'. Therefore, when the device is in motion, the load 9 and the load bracket 7 will tilt to a certain extent, but will not fall over. When the movement is over, the device can return to its original state.

[0044] 3. With posture adjustment function

[0045] The device can achieve posture adjustment. Specifically, the load bracket 7 can rotate around the main axis 2 at a certain angle, so that the external load 9 on the load bracket 7 can achieve corresponding posture adjustment.

[0046] Implementation method: The attitude adjustment motor 4 works, and the attitude adjustment gear 20 drives the main shaft 2 to rotate. Since the load bracket 7 is fixedly connected to the main shaft 2, that is, the main shaft of the attitude adjustment motor 4 and the load bracket 7 can rotate relative to each other, the load 9 can adjust the attitude accordingly; as the load bracket 7 rotates around the main shaft 2, the support plate 1 and the counterweight rotate in the opposite direction around the main shaft 2, so that the center of gravity remains balanced. With the support plate 1 as a reference, the end of the load bracket 7 has a larger absolute distance relative to the counterweight, which produces a lever effect. Therefore, a small angle rotation of the counterweight can drive the end of the load bracket 7 to make a larger range of attitude adjustment.

[0047] In addition, the posture adjustment in this embodiment also includes the center of gravity adjustment, that is, the raising and lowering of the overall center of gravity. When the device is walking, the center of gravity can be adjusted to obtain a more suitable walking speed.

[0048] It should be noted that since the center of gravity of the counterweight coincides with the midpoint of the main shaft 2, and the main shaft 2 is coaxial with the attitude adjustment gear 20, the rotation of the attitude adjustment gear 20 causes the attitude adjustment. Therefore, during the attitude adjustment process of the device, the two ends of the main shaft 2 always maintain the same height.

[0049] 4. This device can be driven by electricity or battery. After being equipped with corresponding modules, it can be remotely controlled and has a wide range of applications. The battery can be built into the counterweight cavity to be used as a counterweight.

[0050] The specific implementation methods of this embodiment include but are not limited to the above-mentioned embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can make various corresponding changes and modifications according to the present invention, but still fall within the protection scope of the present invention.

Claims

1. A posture adjustment device, comprising a support plate (1), characterized in that: A main shaft (2) is movably provided on the support plate (1) along its length direction, and a posture adjustment gear (20) is fixedly connected to the middle end of the main shaft (2); a posture adjustment motor (4) is fixed on the support plate (1), and a counterweight is connected below the support plate (1); a power output shaft of the posture adjustment motor (4) is drivingly connected to the posture adjustment gear (20); It also includes a bowl-shaped left-side motion hub (6) and a right-side motion hub (6'), wherein a shaft sleeve (60) is provided at the center of the bottom surface of the motion hub, and the open parts of the left-side motion hub (6) and the right-side motion hub (6') are interlocked to form a drum-shaped structure; It also comprises a load bracket (7), wherein two ends of the load bracket (7) are bent into two left and right fork arms (71) that are parallel to each other, and the left and right fork arms (71) are clamped on the outer sides of the bottom surfaces of the left moving wheel hub (6) and the right moving wheel hub (6'); The two ends of the main shaft (2) are respectively movably connected to the shaft sleeves (60) on the left moving wheel hub (6) and the right moving wheel hub (6'); the two free ends of the main shaft (2) extend outside the shaft sleeves (60) and are respectively fixedly connected to the ends of the left and right fork arms (71); The middle portion of the support plate (1) is bent along its axis to form a spindle cavity (10) with an arc-shaped cross section. Two collars (100) are fixedly arranged on the spindle cavity (10) along its length direction. Spindle sleeves (21) are arranged in the collars (100). The spindle (2) is movably connected to the collars (100) via the spindle sleeves (21). The posture adjustment gear (20) on the spindle (2) is arranged in the spindle cavity (10) between the two collars (100).

2. The posture adjustment device according to claim 1, characterized in that: A counterweight cavity (8) is connected below the support plate (1) and is clearance-matched with the inner cavity of the drum-shaped structure, and the counterweight is fixed in the counterweight cavity (8).

3. The posture adjustment device according to claim 1, characterized in that: The posture adjustment motor (4) is fixed above the support plate (1).

4. The posture adjustment device according to claim 1, characterized in that: The posture adjustment motor (4) is arranged below the support plate (1).

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