A balancing mechanism and its docking station device

Abstract

The present invention provides a balancing mechanism and an expansion dock device thereof, including a multi-legged expansion dock platform, a load-bearing frame being installed on the multi-legged expansion dock platform, a suspension opening running through the multi-legged expansion dock platform below the load-bearing frame being provided, a load-bearing opening being provided on the load-bearing frame above the suspension opening, the electric balancing gyroscope being driven by a gyro motor built into a counterweight block to rotate, an anti-swing suction cup being provided inside the load-bearing opening, the anti-swing suction cup being connected to an air pumping device, the present invention has various functions, the electric balancing gyroscope built into the counterweight block can assist in the posture control of the observation equipment mounting seat or the multi-legged expansion dock platform in different modes, in addition, the counterweight block can also perform unpowered suspension and leveling by extending its length, the corresponding mode can be selected according to different terrains and movement needs, so that the observation equipment mounting seat or the multi-legged expansion dock platform remains stable during the crawling process.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robot balancing devices, in particular to a balancing mechanism and an expansion dock device thereof. Background Art

[0002] The prior art discloses a multifunctional hexapod spider crawling robot with the publication number "CN208325454U", which includes: an actuator, including mechanical legs, a light connecting plate and a driving servo, the mechanical legs include six legs, which are divided into front and rear mechanical legs, the servo is fixed on the mechanical legs, each mechanical leg has two servos, and each mechanical leg is divided into an upper and lower part; a driving mechanism, including wireless transmission, an antenna, a control panel and a 12V lithium battery, the antenna is installed on the control panel, the wireless transmission sends a driving signal, the antenna receives the signal and transmits it to the control panel, thereby driving the actuator to move; a sensing mechanism, including a high-definition camera, a pressure sensor and a ranging sensor, the high-definition camera is installed at the front end of the robot body, the pressure sensor is installed at the bottom of the mechanical leg, and the ranging sensor is installed on the left and right sides of the high-definition camera. The above device not only has a fast crawling speed, but also has good stability, making the robot's running posture control simpler and more convenient.

[0003] However, the above-mentioned multifunctional six-legged spider crawling robot still has obvious defects during use: since the high-definition camera device of the above-mentioned device is directly connected to the crawling foot, the vibration will be directly transmitted to the high-definition camera during the walking of the bionic robot, which will cause the returned image to be bumpy, affecting the remote control of the bionic robot. At the same time, since the bionic robot will adjust its posture according to the terrain during walking, the above-mentioned device is also unable to perform corresponding posture control and has a relatively simple function. Summary of the Invention

[0004] The object of the present invention is to provide a balancing mechanism and a docking station device thereof to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A balancing mechanism includes a multi-legged docking platform, a load-bearing frame is installed on the multi-legged docking platform, a suspension opening running through the multi-legged docking platform below the load-bearing frame is provided, a load-bearing opening is provided on the load-bearing frame above the suspension opening, a balancing ball is movably installed on the load-bearing opening, a counterweight block is fixedly installed on the bottom of the balancing ball through a lifting connecting rod, the distance between the counterweight block and the balancing ball is changed by controlling the extension and contraction of the lifting connecting rod, an observation equipment mounting seat is installed on the end of the balancing ball away from the counterweight block, an electric balancing gyroscope is installed in the counterweight block, the electric balancing gyroscope is rotated by the drive of the built-in gyro motor of the counterweight block, and an anti-sway device is also provided inside the load-bearing opening. The movable suction cup, the anti-swing suction cup is connected to the air pump device, the anti-swing suction cup is against the outer surface of the balancing ball, and the air inside the anti-swing suction cup is pumped out to promote the close cooperation between the anti-swing suction cup and the balancing ball, thereby achieving the limitation of the balancing ball. A gyroscope sensor is also installed at the bottom of the counterweight block, and a positioning pin is also fixedly installed at the bottom of the carrier frame. The positioning pin is movably cooperated with the positioning hole opened on the counterweight block, and the positioning hole of the counterweight block cooperates with the positioning pin when it rises to the upper limit position. When the positioning pin cooperates with the positioning hole, the counterweight block and the carrier frame maintain a relatively static state. The different suspension heights of the counterweight block make the balancing mechanism in different working modes.

[0007] Preferably, when the counterweight is close to the bottom of the balancing ball and the positioning pin is inserted into the positioning hole, the multi-legged docking platform is in balancing mode:

[0008] In this mode, the gyro motor installed inside the counterweight block rotates to drive the electric balancing gyro to rotate. The fixed axis of the electric balancing gyro during the rotation process allows the carrier frame and multi-legged expansion dock platform connected to it to remain parallel to the ground.

[0009] Preferably, when the counterweight is close to the bottom of the balancing ball and the positioning pin is out of the positioning hole, it is in the electric gyroscope mode:

[0010] In this mode, the gyro motor installed inside the counterweight block rotates to drive the electric balancing gyro to rotate. The fixed axis of the electric balancing gyro during the rotation process ultimately enables the observation equipment mounting base connected to it to maintain the line of sight parallel to the ground when the multi-legged expansion dock platform is tilted.

[0011] Preferably, when the counterweight naturally droops away from the balancing ball, it is in the unpowered counterweight suspension mode:

[0012] In this mode, the weight of the counterweight and the contents causes the lifting link to be in a vertical downward position, thereby allowing the observation device mounting seat to maintain a line of sight parallel to the ground during the tilting of the multi-legged expansion docking platform. When the multi-legged expansion docking platform swings significantly, in order to avoid a pendulum effect on the counterweight, when the counterweight reaches the lowest point under the detection of the gyroscope sensor, the balancing ball is adsorbed by the anti-swing suction cup to suppress the reciprocating swing of the counterweight.

[0013] Preferably, a plurality of sliding balls are arranged in a circular array on one side of the bearing port and the balancing ball.

[0014] Preferably, the supporting frame includes a base fixedly connected to the multi-legged expansion dock platform on both sides, and a damping rod is fixedly installed on the base on both sides. The damping rod is fixedly connected to the balance frame at one end away from the base, and a shock-absorbing spring is also sleeved on the outside of the damping rod.

[0015] Preferably, the device for driving the counterweight block to move closer to or away from the balancing ball is a traction rope, which is symmetrically connected to both sides of the counterweight block. The traction rope is connected to the winding roller on the side away from the counterweight block, and the winding roller is fixedly connected to the drive shaft of the winding motor. The counterweight block is pulled up and down through the winding and unwinding operation of the winding roller.

[0016] Preferably, the lifting link is a multi-section telescopic sleeve, and an assembly block is fixedly installed on the outside of the sleeve above the lifting link. The counterweight block is provided with an assembly groove for the assembly block to be embedded. The assembly groove and the assembly block are both provided with connected pin shaft holes, and a pin is movably inserted in the pin shaft hole.

[0017] A docking station device adopts the above-mentioned balancing mechanism.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention has diverse functions. The electric balancing gyroscope built into the counterweight block can assist in the posture control of the observation equipment mounting seat or the multi-legged expansion docking platform in different modes. In addition, the counterweight block can also perform unpowered suspension leveling by extending its length. The corresponding mode can be selected according to different terrains and movement needs, so that the observation equipment mounting seat or the multi-legged expansion docking platform remains stable during the crawling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the present invention in electric gyroscope mode;

[0021] Figure 2 This is a schematic diagram of the present invention in an unpowered counterweight suspension mode;

[0022] Figure 3 This is a schematic diagram of the disassembly of the counterweight connection structure of the present invention;

[0023] Figure 4 A schematic cross-sectional view of the multi-legged docking station platform of the present invention in a balancing mode;

[0024] Figure 5 It is a cross-sectional schematic diagram of the present invention in the electric gyroscope mode;

[0025] Figure 6 It is a cross-sectional schematic diagram of the present invention in an unpowered counterweight suspension mode;

[0026] Figure 7 This is a disassembly diagram of the load port connection structure of the present invention.

[0027] In the figure: 1 multi-legged docking station platform, 2 load frame, 3 suspension port, 4 load port, 5 balancing ball, 6 lifting link, 7 counterweight, 8 observation equipment mounting seat, 9 electric balancing gyroscope, 10 anti-swing suction cup, 11 gyroscope sensor, 12 sliding ball, 13 base, 14 damping rod, 15 balancing frame body, 16 shock-absorbing spring, 17 traction rope, 18 winding roller, 19 winding motor, 20 assembly block, 21 assembly slot, 22 positioning pin, 23 positioning hole. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] See also Figure 1-7 , the present invention provides a technical solution:

[0030] Example 1:

[0031] A balancing mechanism includes a multi-legged docking platform 1, a carrier frame 2 is installed on the multi-legged docking platform 1, a suspension opening 3 running through the multi-legged docking platform 1 below the carrier frame 2 is provided, a bearing opening 4 is provided on the carrier frame 2 above the suspension opening 3, a balancing ball 5 is movably installed on the bearing opening 4, a counterweight block 7 is fixedly installed at the bottom of the balancing ball 5 through a lifting connecting rod 6, the spacing between the counterweight block 7 and the balancing ball 5 is changed by controlling the extension and contraction of the lifting connecting rod 6, an observation equipment mounting seat 8 is installed at the end of the balancing ball 5 away from the counterweight block 7, an electric balancing gyroscope 9 is installed in the counterweight block 7, and the electric balancing gyroscope 9 rotates under the drive of the built-in gyro motor of the counterweight block 7, and a balancing gyroscope 9 is also provided inside the bearing opening 4. The anti-swing suction cup 10 is connected to the air pump device, and the anti-swing suction cup 10 is in contact with the outer surface of the balancing ball 5. By pumping out the gas inside the anti-swing suction cup 10, the anti-swing suction cup 10 and the balancing ball 5 are closely matched, thereby achieving the limitation of the balancing ball 5. A gyroscope sensor 11 is also installed at the bottom of the counterweight 7. A positioning pin 22 is also fixedly installed at the bottom of the carrier 2. The positioning pin 22 is movably matched with the positioning hole 23 provided on the counterweight 7. The positioning hole 23 of the counterweight 7 is matched with the positioning pin 22 when it rises to the upper limit position. When the positioning pin 22 is matched with the positioning hole 23, the counterweight 7 and the carrier 2 maintain a relatively static state.

[0032] In this embodiment, the multi-legged expansion docking platform 1 serves as a supporting device of the overall structure. A plurality of mechanical foot installation positions are reserved around the multi-legged expansion docking platform 1. A supporting port 4 is provided on the supporting frame 2, and the supporting port 4 is used to place the balancing ball 5. An observation device mounting seat 8 is installed above the balancing ball 5, and a visual camera and other devices are installed on the observation device mounting seat 8. A counterweight block 7 is installed below the balancing ball 5 through a lifting connecting rod 6, and an electric balancing gyroscope 9 is arranged in the counterweight block 7. An anti-swing suction cup 10 for braking the rotation of the balancing ball 5 is also provided in the supporting port 4. The posture of the balancing ball 5 is detected by a gyroscope sensor 11 installed at the bottom of the counterweight block 7. At the same time, a positioning pin 22 is also installed at the bottom of the supporting frame 2, and a positioning hole 23 cooperating with the positioning pin 22 is provided on the balancing ball 5. At the same time, a plurality of sliding balls 12 are arranged in a ring array on one side of the supporting port 4 and the balancing ball 5. The sliding balls 12 reduce the friction of the balancing ball 5 during the deflection process.

[0033] According to the different suspension heights of the counterweight 7, the balancing mechanism is in the following three working modes:

[0034] Multi-legged docking platform balance mode:

[0035] In this mode, the counterweight 7 is placed near the bottom of the balancing ball 5. At this time, the positioning pin 22 enters the positioning hole 23, and the gyro motor installed inside the counterweight 7 rotates to drive the electric balancing gyro 9 to rotate. The fixed axis of the electric balancing gyro 9 during the rotation process allows the supporting frame 2 and the multi-legged docking platform 1 connected to it to remain parallel to the ground.

[0036] In this mode, the counterweight 7 and the carrier 2 are in a relatively static state. At this time, the high-speed rotation of the electric balancing gyroscope 9 makes the carrier 2 and the multi-legged docking platform 1 become the fixed axis body of the electric balancing gyroscope 9. In this state, the high-speed rotation of the electric balancing gyroscope 9 makes it difficult for the multi-legged docking platform 1 to tip over during walking, thereby maintaining the balance of the device body.

[0037] Motorized gyroscope mode:

[0038] In this mode, the counterweight 7 is placed close to the bottom of the balancing ball 5. At this time, the positioning pin 22 is disengaged from the positioning hole 23, and the gyro motor provided inside the counterweight 7 rotates to drive the electric balancing gyro 9 to rotate. The axial stability of the electric balancing gyro 9 during the rotation process ultimately enables the observation device mounting base 8 connected thereto to maintain the line of sight parallel to the ground during the tilting process of the multi-legged expansion docking platform 1.

[0039] In this mode, since the positioning pin 22 is disengaged from the positioning hole 23, when the electric balancing gyro 9 rotates at high speed, the balancing ball 5 and the observation device mounting base 8 connected thereto become the fixed axis body of the electric balancing gyro 9. In this state, the high-speed rotation of the electric balancing gyro 9 prevents the observation device mounting base 8 from deflecting as the supporting frame 2 and the multi-legged docking platform 1 tilt, thereby ensuring the balance of the observation device mounting base 8 during bumpy movement.

[0040] Unpowered counterweight suspension mode:

[0041] In this mode, the counterweight 7 is set away from the balancing ball 5. At this time, the lifting link 6 is in a vertical downward state under the action of the counterweight 7 and the gravity of the contents themselves, so that the observation device mounting seat 8 keeps the line of sight parallel to the ground during the tilting process of the multi-legged expansion docking platform 1. When the multi-legged expansion docking platform 1 swings significantly, in order to avoid the pendulum effect of the counterweight 7, when the counterweight 7 reaches the lowest point under the detection of the gyroscope sensor 11, the balancing ball 5 is adsorbed by the anti-swing suction cup 10 to suppress the reciprocating swing of the counterweight 7.

[0042] In this mode, the counterweight 7 and its contents are in a vertically downward position due to their own gravity. At this time, the observation equipment mounting seat 8 is kept in a balanced position by the gravity of the counterweight 7. This solution is an alternative to the electric gyroscope mode. Its leveling process does not require the electric balance gyroscope 9 to rotate at high speed all the time, thereby reducing the energy consumption of the device. However, there are certain disadvantages in this mode. When the multi-legged expansion dock platform 1 undergoes a large lateral displacement, the counterweight 7 will move in a pendulum-like state, thereby increasing the instability of the observation equipment mounting seat 8. In order to cope with this pendulum state, in this embodiment, the balancing ball 5 is braked by the anti-swing suction cup 10, so that the counterweight 7 stops moving quickly after reaching the lowest point, thereby solving the disadvantages of this unpowered method. The braking of the anti-swing suction cup 10 is performed through the gyroscope sensor 11 installed at the bottom of the counterweight 7 for posture detection, and the posture signal is transmitted to the PLC control module through the gyroscope sensor 11, and the braking instruction is sent to the anti-swing suction cup 10 through the PLC control module.

[0043] Example 2:

[0044] The supporting frame 2 includes a base 13 fixedly connected to the multi-legged expansion docking platform 1 on both sides, and a damping rod 14 is fixedly installed on the base 13 on both sides. The end of the damping rod 14 away from the base 13 is fixedly connected to the balance frame body 15, and a shock-absorbing spring 16 is also sleeved on the outside of the damping rod 14.

[0045] In this embodiment, the carrier frame 2 also provides a shock-absorbing mechanism in the up and down directions, specifically including a damping rod 14 and a shock-absorbing spring 16. During the up and down oscillation of the multi-legged expansion docking platform 1, the vibration of the balance frame 15 is reduced through the cooperation of the damping rod 14 and the shock-absorbing spring 16.

[0046] Embodiment 3;

[0047] The device for driving the counterweight 7 to move closer to or away from the balancing ball 5 is a traction rope 17. The traction rope 17 is symmetrically connected to both sides of the counterweight 7. The side of the traction rope 17 away from the counterweight 7 is connected to the winding roller 18. The winding roller 18 is fixedly connected to the drive shaft of the winding motor 19. The counterweight 7 is pulled up and down by the winding and unwinding operation of the winding roller 18.

[0048] The lifting link 6 is a multi-section telescopic sleeve. An assembly block 20 is fixedly installed on the outside of the sleeve above the lifting link 6. The counterweight block 7 is provided with an assembly groove 21 for the assembly block 20 to be embedded. The assembly groove 21 and the assembly block 20 are both provided with connected pin shaft holes, and a pin is movably inserted in the pin shaft hole.

[0049] In this embodiment, the device for driving the counterweight 7 to rise and fall is a traction rope 17, which is driven to reel in and out by the rotation of the winding roller 18, thereby realizing the lifting and lowering movement of the counterweight 7. When the traction rope 17 drives the counterweight 7 to reach the specified height, the traction rope 17 over-rotates so that the excess traction rope 17 is unwound, thereby providing a margin for the swing of the counterweight 7 and preventing the swing of the counterweight 7 from being restricted by the traction of the traction rope 17. At the same time, in order to achieve the cooperation between the assembly block 20 and the counterweight 7, the counterweight 7 is fixed at different heights of the lifting link 6 by the cooperation of the pin and the pin shaft hole.

[0050] A docking station device adopts the above-mentioned balancing mechanism.

[0051] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A balancing mechanism comprising a multi-legged docking platform, characterized in that: A load-bearing frame is installed on the multi-legged expansion docking platform, and a suspension opening running through the upper and lower parts is provided on the multi-legged expansion docking platform below the load-bearing frame, and a load-bearing opening is provided on the load-bearing frame above the suspension opening, and a balancing ball is movably installed on the load-bearing opening, and a counterweight block is fixedly installed on the bottom of the balancing ball through a lifting connecting rod, and the distance between the counterweight block and the balancing ball is changed by controlling the extension and contraction of the lifting connecting rod, and an observation equipment mounting seat is installed on the end of the balancing ball away from the counterweight block, and an electric balancing gyroscope is installed in the counterweight block, and the electric balancing gyroscope rotates under the drive of the built-in gyro motor of the counterweight block, and an anti-swing suction cup is also provided inside the load-bearing opening, and the anti-swing suction cup The suction cup is connected to the air pump device, and the anti-swing suction cup is against the outer surface of the balancing ball. By pumping out the gas inside the anti-swing suction cup, the anti-swing suction cup and the balancing ball are closely matched, thereby achieving the limitation of the balancing ball. A gyroscope sensor is also installed at the bottom of the counterweight block, and a positioning pin is also fixedly installed at the bottom of the carrier frame. The positioning pin is movably matched with the positioning hole opened on the counterweight block. The positioning hole of the counterweight block is matched with the positioning pin when it rises to the upper limit position. When the positioning pin is matched with the positioning hole, the counterweight block and the carrier frame maintain a relatively static state. The different suspension heights of the counterweight block make the balancing mechanism in different working modes.

2. A balancing mechanism according to claim 1, characterized in that: When the counterweight is close to the bottom of the balancing ball and the positioning pin is inserted into the positioning hole, it is in the multi-legged docking platform balancing mode: In this mode, the gyro motor installed inside the counterweight block rotates to drive the electric balancing gyro to rotate. The fixed axis of the electric balancing gyro during the rotation process allows the carrier frame and multi-legged expansion dock platform connected to it to remain parallel to the ground.

3. A balancing mechanism according to claim 1, characterized in that: When the counterweight is close to the bottom of the balancing ball and the positioning pin is out of the positioning hole, it is in the electric gyroscope mode: In this mode, the gyro motor installed inside the counterweight block rotates to drive the electric balancing gyro to rotate. The fixed axis of the electric balancing gyro during the rotation process ultimately enables the observation equipment mounting base connected to it to maintain the line of sight parallel to the ground when the multi-legged expansion dock platform is tilted.

4. A balancing mechanism according to claim 1, characterized in that: When the counterweight is away from the balance ball and naturally hangs down, it is in the unpowered counterweight suspension mode: In this mode, the weight of the counterweight and the contents causes the lifting link to be in a vertical downward position, thereby allowing the observation device mounting seat to maintain a line of sight parallel to the ground during the tilting of the multi-legged expansion docking platform. When the multi-legged expansion docking platform swings significantly, in order to avoid a pendulum effect on the counterweight, when the counterweight reaches the lowest point under the detection of the gyroscope sensor, the balancing ball is adsorbed by the anti-swing suction cup to suppress the reciprocating swing of the counterweight.

5. A balancing mechanism according to claim 1, characterized in that: A plurality of sliding balls are arranged in a circular array on one side of the bearing port and the balancing ball.

6. A balancing mechanism according to claim 1 or 5, characterized in that: The carrier frame includes bases fixedly connected to the multi-legged expansion dock platform on both sides, and damping rods are fixedly installed on the bases on both sides. The damping rods are fixedly connected to the balance frame at one end away from the base, and a shock-absorbing spring is also sleeved on the outside of the damping rods.

7. A balancing mechanism according to claim 6, characterized in that: The device for driving the counterweight block to move closer to or away from the balancing ball is a traction rope, which is symmetrically connected to both sides of the counterweight block. The side of the traction rope away from the counterweight block is connected to the winding roller, and the winding roller is fixedly connected to the drive shaft of the winding motor. The counterweight block is pulled up and down by the winding and unwinding operation of the winding roller.

8. A balancing mechanism according to claim 7, characterized in that: The lifting connecting rod is a multi-section telescopic sleeve, and an assembly block is fixedly installed on the outside of the sleeve above the lifting connecting rod. The counterweight block is provided with an assembly groove for the assembly block to be embedded. The assembly groove and the assembly block are both provided with connecting pin shaft holes, and a pin is movably inserted in the pin shaft hole.

9. A docking station device, characterized in that: The docking station device adopts the balancing mechanism described in any one of claims 1-8.

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