Self-balancing platform

Abstract

The invention provides a self-balancing platform which comprises a base, a test platform, a first balancing assembly and a second balancing assembly, the base comprises a mounting part and a protruding part, the mounting part is connected with the protruding part and located above the protruding part, and the side, away from the mounting part, of the protruding part is provided with a convex cambered surface protruding towards the direction away from the mounting part; the test platform is connected with the base and located above the base, the first balance assembly is connected with the test platform and located above the test platform, the extension direction of the center line of the first balance assembly coincides with the extension direction of the center line of the base, and the first balance assembly comprises a gyroscope and a detection piece. And the second balance assembly is connected with the mounting part and located between the mounting part and the test platform, the second balance assembly comprises a balancing piece, and the balancing piece can rotate around the center line of the base. The self-balancing platform has the advantages of being good in balance regulation and control performance and high in precision.

Description

Technical Field

[0001] The present invention relates to the field of self-balancing technology, in particular to a self-balancing platform. Background Art

[0002] Self-balancing platform technology has the advantages of stability, flexibility and versatility, and has shown wide application potential in many fields such as personal transportation, service robots, scientific research and education, and special purposes. With the self-balancing platform as the basic platform, different mobile devices are loaded on the outside of the platform to enable it to adapt to different application scenarios, and can form mobile bodies such as smart balance vehicles and unicycles.

[0003] In the related art, the method of controlling balance by inverted swinging measuring wheels or gyroscopes has been widely used in practice, but this control method is currently only applicable to some small robots, and is still insufficient for controlling excessive balance errors. In addition, it is expensive and difficult to be generally applied to large unstable machines. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a self-balancing platform, which has the advantages of good balance controllability and high precision.

[0005] The self-balancing platform of the embodiment of the present invention comprises:

[0006] A base, the base comprising a mounting portion and a raised portion, the mounting portion being connected to the raised portion and being located above the raised portion, and the raised portion having a convex arc surface protruding away from the mounting portion on a side thereof;

[0007] A test platform, the test platform is connected to the base and is located above the base, and the test platform is spaced apart from the base in a vertical direction;

[0008] A first balancing assembly, the first balancing assembly is connected to the test platform and is located above the test platform, the extension direction of the center line of the first balancing assembly coincides with the extension direction of the center line of the base, and the first balancing assembly includes a gyroscope and a detection member, so as to monitor and control the change of the center of gravity of the base;

[0009] The second balancing component is connected to the mounting portion and is located between the mounting portion and the test platform. The second balancing component includes a balancing member, and the balancing member is rotatable around the center line of the base.

[0010] The self-balancing platform of the embodiment of the present invention can regulate the entire platform through the first balancing component and the second balancing component, that is, by moving the balancing member of the second balancing component, it can achieve balancing in the front, back, left, and right directions (i.e., coarse balancing regulation); and by using the gyroscope of the first balancing component and detecting the change of the center of gravity through the detection member, it can perform subtle self-balancing regulation (i.e., fine balancing regulation). Therefore, the self-balancing platform of the embodiment of the present invention uses multiple balancing components to perform rapid active balancing, avoids using more energy consumption, and also makes the adjustment response faster, and can adapt to more environments (such as sea, land, and air environments) and external disturbances.

[0011] In some embodiments, the first balancing assembly includes a first extension member, a lower end of the first extension member is connected to the test platform, and an upper end of the first extension member is connected to the gyroscope.

[0012] In some embodiments, the second balancing assembly includes an annular track connected to the mounting portion and arranged around the center line of the base, the center line of the annular track coincides with the center line of the base, the balancing member is connected to the annular track, and the balancing member is movable along the extension direction of the annular track.

[0013] In some embodiments, there are multiple balancing members, and the multiple balancing members are arranged at intervals along the extension direction of the annular track.

[0014] In some embodiments, the trimming member includes a trimming body, a driving member and a moving wheel, the trimming body having a mating groove, the mating groove being adapted to the annular track, the moving wheel being connected to the trimming body and abutting against the mounting portion, and at least one of the moving wheel and the annular track being connected to the driving member so that the driving member drives the trimming body to move relative to the annular track.

[0015] In some embodiments, the self-balancing platform of the embodiment of the present invention further includes a jet assembly, wherein the jet assembly is connected to the protrusion, and the jet assembly includes a spray member, and the spray member is used to spray pressure material toward the outside of the protrusion.

[0016] In some embodiments, there are a plurality of injection members, and the plurality of injection members are arranged at intervals along the circumference of the center line of the base.

[0017] In some embodiments, the first balance assembly further includes a second extension member and a vertical extension member, the lower end of the second extension member is connected to the gyroscope, the upper end of the second extension member is connected to the upper end of the vertical extension member, the lower end of the vertical extension member is connected to the test platform, and there are multiple vertical extension members, which are arranged at circumferential intervals along the center line of the base.

[0018] In some embodiments, the first balancing assembly further includes a transverse extension member, which is an annular member connected to the plurality of vertical extension members, and a plane where a cross section of the transverse extension member lies is orthogonal to the up-down direction.

[0019] In some embodiments, in the up-down direction, the gyroscope is located at the midpoint of a line between an upper end of the second extension member and a lower end of the protrusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view of the self-balancing platform of an embodiment of the present invention.

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the self-balancing platform according to an embodiment of the present invention.

[0022] Figure 3 4 is a bottom view of the self-balancing platform according to an embodiment of the present invention.

[0023] Reference numerals:

[0024] 1. Base, 11. Mounting part, 12. Raised part,

[0025] 2. Test platform,

[0026] 3. First balancing component, 31. Gyroscope, 32. First extension member, 33. Second extension member, 34. Vertical extension member, 35. Horizontal extension member,

[0027] 4. Second balancing assembly, 41. Balancing member, 42. Annular track,

[0028] 5. Jet assembly. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0030] like Figure 1-Figure 3 As shown, the self-balancing platform of the embodiment of the present invention comprises: a base 1 , a test platform 2 , a first balancing component 3 and a second balancing component 4 .

[0031] The base 1 includes a mounting portion 11 and a raised portion 12. The mounting portion 11 is connected to the raised portion 12 and is located above the raised portion 12. The raised portion 12 has a convex arc surface protruding away from the mounting portion 11 on the side away from the mounting portion 11. The test platform 2 is connected to the base 1 and is located above the base 1. The test platform 2 is spaced apart from the base 1 in the up and down directions. The first balancing component 3 is connected to the test platform 2 and is located above the test platform 2. The extension direction of the center line of the first balancing component 3 coincides with the extension direction of the center line of the base 1. The first balancing component 3 includes a gyroscope 31 and a detection component to monitor and control the change of the center of gravity of the base 1. The second balancing component 4 is connected to the mounting portion 11 and is located between the mounting portion 11 and the test platform 2. The second balancing component 4 includes a balancing component 41. The balancing component 41 is rotatable around the center line of the base 1.

[0032] Specifically, Figure 1-Figure 3 As shown, the base 1 is generally hemispherical, and the base 1 can be made of a solid metal structure to ensure the weight of the base 1 itself, so that the base 1 forms a structure similar to a "tumbler base 1". The test platform 2 is used to place the balance test device, and the test platform 2 is connected to the mounting portion 11 through a support member, so that the test platform 2 and the mounting portion 11 are spaced apart. The gap between the test platform 2 and the mounting portion 11 is used to install the second balance component 4, that is, the balancing member 41 can move circumferentially around the center line of the base 1 at the gap between the test platform 2 and the mounting portion 11 to achieve a balance control function.

[0033] It is understandable that if Figure 1-Figure 3 As shown, the extension direction of the first balancing component 3 generally extends in the up-down direction. The first balancing component 3 is connected to the test platform 2. It is necessary to ensure that the center line of the first balancing component 3 coincides with the center line of the base 1, so that the center of gravity of the self-balancing platform is always located in the extension direction of the center line of the base 1. The first balancing component 3 has a driving device, which is connected to the gyroscope 31 to provide the gyroscope 31 with the driving force it needs.

[0034] When the base 1 is tilted during balance control, the detection member can be used to detect the center of gravity of the self-balancing platform, and the position of the trim member 41 can be adjusted according to the detection information, so that the self-balancing platform can be quickly leveled as a whole. In addition, during the adjustment process using the second balance component 4, the gyroscope 31 of the first balance component 3 can also be used for fine adjustment to improve the accuracy of balance control. The detection member can be a plurality of sensors to detect the degree of inclination of the gyroscope 31 and the base 1, and control the first balance component 3 and the second balance component 4 to perform balance adjustment according to the detection information.

[0035] That is to say, the self-balancing platform of the embodiment of the present invention is different from the equipment in the related art that only uses the gyroscope 31 for balance control. Generally, if the overall balance difference of the balance platform is too large, the momentum and rotation speed of the gyroscope 31 can only be increased, which will cause greater energy consumption and self-load. Therefore, the self-balancing platform of the embodiment of the present invention uses two balance control components for balance control at the same time, which avoids excessive energy consumption, simplifies the overall structure, and improves the control accuracy of the balance platform.

[0036] In other words, the self-balancing platform of the embodiment of the present invention can regulate the entire platform through the first balancing component 3 and the second balancing component 4, that is, by moving the balancing member 41 of the second balancing component 4, balancing in the front, back, left and right directions (i.e., coarse balancing regulation) can be achieved; and by utilizing the gyroscope 31 of the first balancing component 3 and detecting the change of the center of gravity through the detection member, subtle self-balancing regulation (i.e., fine balancing regulation) can be performed.

[0037] Therefore, the self-balancing platform of the embodiment of the present invention utilizes multiple balancing components to perform rapid active balancing, avoiding the use of more energy consumption and making the adjustment response faster, so as to adapt to more environments (such as sea, land, and air environments) and external disturbances.

[0038] In some embodiments, the first balancing assembly 3 includes a first extending member 32 , the lower end of the first extending member 32 is connected to the test platform 2 , and the upper end of the first extending member 32 is connected to the gyroscope 31 .

[0039] Specifically, Figure 1-Figure 3 As shown, the first extension member 32 extends in the up-down direction, and the center line of the first extension member 32 coincides with the center line of the base 1. The gyroscope 31 is connected to the upper end of the first extension member 32 in a hinged manner so that the gyroscope 31 can rotate relative to the first extension member 32. The gyroscope 31 is a two-axis controlled balance gyroscope 31, that is, it is composed of a gyroscope frame and a gyroscope rotor, and the gyroscope frame is hinged to the inner ring polar axis of the gyroscope 31.

[0040] It can be understood that the upper end of the first extension piece 32 is connected to the gyroscope 31, so that a certain distance is separated from the test platform 2. On the one hand, more test space can be provided for the test platform 2. On the other hand, the center of gravity position of the self-balancing platform itself can be adjusted according to the different lengths of the first extension piece 32 to facilitate adaptation to different environments, thereby ensuring the applicability of the self-balancing platform of the embodiment of the present invention in multiple environments.

[0041] In some embodiments, the second balancing component 4 also includes an annular track 42, which is connected to the mounting portion 11 and arranged around the center line of the base 1, the center line of the annular track 42 coincides with the center line of the base 1, and the balancing member 41 is connected to the annular track 42, and the balancing member 41 is movable along the extension direction of the annular track 42.

[0042] Specifically, as shown in the figure, the annular track 42 is arranged in the horizontal direction, the balancing member 41 is connected to the annular track 42, and the balancing member 41 is placed in the space surrounded by the annular track 42. The balancing member 41 is movable relative to the annular track 42 to achieve the balancing function.

[0043] Preferably, there are multiple balancing members 41, and the multiple balancing members 41 are arranged at intervals along the extension direction of the annular track 42. In other words, multiple balancing members 41 can be moved simultaneously during the balance adjustment process to improve the efficiency of balance adjustment.

[0044] In some embodiments, the trimming member 41 includes a trimming body, a driving member and a moving wheel. The trimming body has a mating groove that is adapted to the annular track 42. The moving wheel is connected to the trimming body and abuts against the mounting portion 11. At least one of the moving wheel and the annular track 42 is connected to the driving member so that the driving member drives the trimming body to move relative to the annular track 42.

[0045] It is understandable that if Figure 1-Figure 3 As shown, the driving member is used to drive the trim body or the moving wheel to move, so that the trim body can move on the annular track 42, thereby realizing the trim function. It should be noted that the trim body is connected to the annular track 42 through the matching groove, so that the trim body and the annular track 42 can form a linear sliding fit, that is, the matching groove of the trim body is in contact with the annular track 42 by setting a roller or a slider, and the trim body is moved along the annular track 42 by the driving action of the driving member (such as a motor, etc.). The driving member drives the moving wheel to rotate, so that the moving wheel can move on the surface of the mounting portion 11. Since the trim body is connected to the annular track 42, the movement of the moving wheel can drive the trim body to move along the annular track 42.

[0046] In other embodiments, the trim body can be a metal block or a power supply or a combination of the two. That is to say, according to different application environments, the structure, weight, etc. of the self-balancing platform can be changed accordingly. When the power supply is selected as the trim piece 41, it can not only provide the required electrical energy for the platform, but also participate in the balance adjustment, simplifying the overall structure of the self-balancing platform and reducing the overall weight. Similarly, if it is necessary to improve the quality of the counterweight, an appropriate metal block can be set on the trim body to improve the overall quality of the trim piece 41.

[0047] In some embodiments, the self-balancing platform of the present invention further includes a jet assembly 5 , which is connected to the protrusion 12 . The jet assembly 5 includes a spraying member, which is used to spray pressure material toward the outside of the protrusion 12 .

[0048] It is understandable that if Figure 1-Figure 3 As shown, the ejection member is disposed at the bottom of the protrusion 12, and the ejection member can eject high-pressure gas or high-pressure water toward the outside of the protrusion 12, so as to utilize the reaction force to brake the tilting tendency of the balancing platform. That is to say, when the self-balancing platform is combined with the mobile device for movement, when the center of gravity of the self-balancing platform suddenly changes and under the action of inertial acceleration, it will cause itself to lose its overall balance easily, and the jet assembly 5 is used to eject high-pressure gas or high-pressure liquid to give an impact force to the ground, and the reaction force of the ground and the change of the center of gravity as a whole compensate for the inertial acceleration caused by the movement, so that the self-balancing platform can achieve the front and rear balance.

[0049] Preferably, there are multiple injection members, which are arranged at intervals along the circumference of the center line of the base 1. The protrusion 12 is provided with an injection hole, and there is a certain angle between the extension direction of the injection hole and the extension direction of the center line of the base 1. The injection member is placed in the injection hole to facilitate the injection of high-pressure gas or high-pressure liquid to the ground. Among them, the equipment that generates or stores high-pressure liquid or high-pressure gas can be installed in the internal space of the base 1.

[0050] In some embodiments, the first balancing assembly 3 further includes a second extension member 33 and a vertical extension member 34, the lower end of the second extension member 33 is connected to the gyroscope 31, the upper end of the second extension member 33 is connected to the upper end of the vertical extension member 34, the lower end of the vertical extension member 34 is connected to the test platform 2, and there are multiple vertical extension members 34, which are arranged at circumferential intervals along the center line of the base 1.

[0051] It is understandable that if Figure 1-Figure 3 As shown, the vertical extension member 34 is an arc-shaped member so as to avoid the test space on the test platform 2. In addition, the plurality of vertical extension members 34 can also be used as guardrails and structural reinforcements of the self-balancing platform to avoid the self-balancing platform being able to use the plurality of vertical extension members 34 to provide a safe test space for the test equipment on the test platform 2 during use, and can also improve its own structural strength.

[0052] In some embodiments, the first balancing assembly 3 further includes a transverse extension member 35 , which is an annular member connected to the plurality of vertical extension members 34 , and a plane where a cross section of the transverse extension member 35 is located is orthogonal to the up and down direction.

[0053] It is understandable that if Figure 1-Figure 3As shown, the transverse extension member 35 is an arc-shaped member, and the transverse extension member 35 is arranged in the horizontal direction. The transverse extension member 35 is connected to a plurality of vertical extension members 34, further improving the overall structural strength. In addition, by installing the transverse extension member 35 and the vertical extension member 34 on the test platform 2, the height of the self-balancing platform is increased, and the center of gravity of the self-balancing platform can be changed, so as to avoid the center of gravity of the self-balancing platform from being biased toward the base 1, and reduce the difficulty of correction after the self-balancing platform is offset.

[0054] In some embodiments, in the up-down direction, the gyroscope 31 is located at the midpoint of a line connecting the upper end of the second extension member 33 and the lower end of the protrusion 12 .

[0055] That is to say, Figure 1-Figure 3 As shown, the installation position of the gyroscope 31 is substantially located at the center of the self-balancing platform so that the overall center of gravity of the self-balancing platform is closer to the gyroscope 31, making it more convenient to use the gyroscope 31 for fine balance control and improving the control accuracy.

[0056] In the description of the present invention, it is to 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”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0060] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0061] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A self-balancing platform, characterized in that: include: A base, the base comprising a mounting portion and a raised portion, the mounting portion being connected to the raised portion and being located above the raised portion, and the raised portion having a convex arc surface protruding away from the mounting portion on a side thereof; A test platform, the test platform is connected to the base and is located above the base, and the test platform is spaced apart from the base in a vertical direction; A first balancing assembly, the first balancing assembly is connected to the test platform and is located above the test platform, the extension direction of the center line of the first balancing assembly coincides with the extension direction of the center line of the base, and the first balancing assembly includes a gyroscope and a detection member, so as to monitor and control the change of the center of gravity of the base; The second balancing component is connected to the mounting portion and is located between the mounting portion and the test platform. The second balancing component includes a balancing member, and the balancing member is rotatable around the center line of the base.

2. The self-balancing platform according to claim 1, characterized in that: The first balancing component includes a first extension member, the lower end of the first extension member is connected to the test platform, and the upper end of the first extension member is connected to the gyroscope.

3. The self-balancing platform according to claim 1, characterized in that: The second balancing component includes a circular track, which is connected to the mounting portion and arranged around the center line of the base. The center line of the circular track coincides with the center line of the base. The balancing member is connected to the circular track and is movable along the extension direction of the circular track.

4. The self-balancing platform according to claim 3, characterized in that: There are a plurality of balancing members, and the plurality of balancing members are arranged at intervals along the extending direction of the annular track.

5. The self-balancing platform according to claim 4, characterized in that: The balancing member includes a balancing body, a driving member and a moving wheel, the balancing body has a matching groove, the matching groove is adapted to the annular track, the moving wheel is connected to the balancing body and abuts against the mounting portion, and at least one of the moving wheel and the annular track is connected to the driving member so that the driving member drives the balancing body to move relative to the annular track.

6. The self-balancing platform according to any one of claims 2 to 5, characterized in that: It also includes a jet component, which is connected to the protrusion. The jet component includes a spray piece, and the spray piece is used to spray pressure material toward the outside of the protrusion.

7. The self-balancing platform according to claim 6, characterized in that: There are a plurality of injection members, and the plurality of injection members are arranged at intervals along the circumferential direction of the center line of the base.

8. The self-balancing platform according to claim 7, characterized in that: The first balancing assembly also includes a second extension member and a vertical extension member, the lower end of the second extension member is connected to the gyroscope, the upper end of the second extension member is connected to the upper end of the vertical extension member, the lower end of the vertical extension member is connected to the test platform, and there are multiple vertical extension members, which are arranged at circumferential intervals along the center line of the base.

9. The self-balancing platform according to claim 8, characterized in that: The first balancing component further includes a transverse extension member, which is an annular member, connected to the plurality of vertical extension members, and a plane where a cross section of the transverse extension member is located is orthogonal to the up-down direction.

10. The self-balancing platform according to claim 9, characterized in that: In the up-down direction, the gyroscope is located at the midpoint of a line connecting the upper end of the second extension member and the lower end of the protruding portion.

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