A self-balancing platform

Abstract

The self-balancing platform comprises a base, a test platform, a first balancing assembly and a second balancing assembly, the base comprises a mounting portion and a protruding portion, the mounting portion is connected with the protruding portion and is located above the protruding portion, the protruding portion has a convex arc surface protruding away from the mounting portion on the side away from the mounting portion, the test platform is connected with the base and is located above the base, the first balancing assembly is connected with 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, the first balancing assembly comprises a gyroscope and a detection piece, so as to monitor and regulate the change of the center of gravity of the base, the second balancing assembly is connected with the mounting portion and is located between the mounting portion and the test platform, the second balancing assembly comprises a trimming piece, and the trimming piece is rotatable around the center line of the base. The self-balancing platform has the advantages of good balancing regulation, high precision and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-balancing, in particular to a self-balancing platform. BACKGROUND

[0002] The self-balancing platform technology has advantages of stability, flexibility and multifunctionality, and shows wide application potential in many fields such as personal transportation, service robots, scientific research and education, and special purposes. Taking the self-balancing platform as a basic platform, different mobile devices are loaded outside the platform, so that the platform can adapt to different application scenarios and can constitute a mobile body such as an intelligent balance car and a unicycle.

[0003] In the related art, the control balance method of the inverted pendulum flywheel or the gyroscope has been widely applied in practice, but the control method is currently only applicable to some small robots, and it is difficult to control the large balance error, and the cost is high, which is difficult to be universally applicable to large unstable machines. SUMMARY

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

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

[0006] A base, the base comprises a mounting portion and a protruding portion, the mounting portion is connected with the protruding portion and located above the protruding portion, and the protruding portion has a convex arc surface protruding away from the mounting portion on the side away from the mounting portion;

[0007] A test platform, the test platform is connected with the base and located above the base, and the test platform is spaced apart from the base in the up-down direction;

[0008] A first balancing assembly, the first balancing assembly is connected with the test platform and 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 comprises a gyroscope and a detection piece to monitor and control the change of the center of gravity of the base;

[0009] A second balancing assembly, the second balancing assembly is connected with the mounting portion and located between the mounting portion and the test platform, and the second balancing assembly comprises a trimming piece, the trimming piece is rotatable around the center line of the base.

[0010] The self-balancing platform of the embodiment of the present application can regulate the whole platform through the first balancing assembly and the second balancing assembly, that is, the second balancing assembly can be used to realize the balance in the front, back, left and right directions (i.e. coarse balance regulation) by moving the balancing member; and the first balancing assembly can be used to detect the change of the gravity center through the detecting member, so as to realize the fine self-balancing regulation (i.e. fine balance regulation). Thus, the self-balancing platform of the embodiment of the present application can realize the rapid active balance by using the multiple balancing assemblies, avoid using more energy consumption, make the adjustment response more rapid, and be suitable for more environments (such as sea, land and air environments) and external disturbances.

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

[0012] In some embodiments, the second balancing assembly comprises a ring-shaped track, the ring-shaped track being connected with the mounting portion and being arranged around the center line of the base, a center line of the ring-shaped track coinciding with the center line of the base, the balancing member being connected with the ring-shaped track, and the balancing member being movable along the extension direction of the ring-shaped track.

[0013] In some embodiments, the balancing member is multiple, and the multiple balancing members are arranged at intervals along the extension direction of the ring-shaped track.

[0014] In some embodiments, the balancing member comprises a balancing body, a driving member and a moving wheel, the balancing body having a matching groove, the matching groove being adapted to the ring-shaped track, the moving wheel being connected with the balancing body and abutting against the mounting portion, and at least one of the moving wheel and the ring-shaped track being connected with the driving member, so that the driving member drives the balancing body to move relative to the ring-shaped track.

[0015] In some embodiments, the self-balancing platform of the embodiment of the present application further comprises a jet flow assembly, the jet flow assembly being connected with the protruding portion, and the jet flow assembly comprising a jet member, the jet member being used to jet the pressure substance towards the outside of the protruding portion.

[0016] In some embodiments, the jet member is multiple, and the multiple jet members are arranged at intervals along the circumference of the center line of the base.

[0017] In some embodiments, the first balancing assembly further comprises a second extension member and a vertical extension member, a lower end of the second extension member being connected with the gyroscope, an upper end of the second extension member being connected with an upper end of the vertical extension member, a lower end of the vertical extension member being connected with the test platform, and the vertical extension member being multiple, and the multiple vertical extension members being arranged at intervals along the circumference of the center line of the base.

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

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

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

[0021] Figure 2 is a perspective structural schematic view of a self-balancing platform of an embodiment of the present application.

[0022] Figure 3 is a bottom view of a self-balancing platform of an embodiment of the present application.

[0023] REFERENCE NUMERALS:

[0024] 1, base, 11, mounting portion, 12, protrusion,

[0025] 2, test platform,

[0026] 3, first balancing assembly, 31, gyroscope, 32, first extension, 33, second extension, 34, vertical extension, 35, transverse extension,

[0027] 4, second balancing assembly, 41, counterbalance, 42, annular track,

[0028] 5, fluidic assembly. DETAILED DESCRIPTION

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

[0030] As Figures 1-3 shown, the self-balancing platform of an embodiment of the present application comprises a base 1, a test platform 2, a first balancing assembly 3, and a second balancing assembly 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 vertical direction. The first balancing assembly 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 assembly 3 coincides with the extension direction of the center line of the base 1. The first balancing assembly 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 assembly 4 is connected to the mounting portion 11 and is located between the mounting portion 11 and the test platform 2. The second balancing assembly 4 includes a balancing member 41. The balancing member 41 is rotatable around the center line of the base 1.

[0032] Specifically, if Figures 1-3 As shown, base 1 is generally hemispherical and can be made of a solid metal structure to ensure its own weight, resulting in a structure similar to a "tumbler base 1." Test platform 2 is used to place the balance test device. Test platform 2 is connected to mounting portion 11 via a support member, separating the two. The gap between test platform 2 and mounting portion 11 is used to install the second balancing assembly 4. Specifically, trim member 41 is located in the gap between test platform 2 and mounting portion 11 and can move circumferentially around the centerline of base 1 to achieve balance control.

[0033] It is understandable that if Figures 1-3 As shown, the first balancing assembly 3 extends generally in the vertical direction. The first balancing assembly 3 is connected to the test platform 2. It is necessary to ensure that the centerline of the first balancing assembly 3 coincides with the centerline of the base 1 so that the center of gravity of the self-balancing platform is always located in the extension direction of the centerline of the base 1. The first balancing assembly 3 has a drive device that is connected to the gyroscope 31 to provide the gyroscope 31 with the required driving force.

[0034] If the base 1 tilts during balance control, the detection component can first detect the center of gravity of the self-balancing platform. Based on the detection information, the position of the balancing component 41 can be adjusted to quickly level the entire self-balancing platform. In addition, during the adjustment process using the second balancing component 4, the gyroscope 31 of the first balancing component 3 can also be used for fine-tuning to improve the accuracy of balance control. The detection component can be a plurality of sensors that detect the gyroscope 31 and the tilt of the base 1, and control the first and second balancing components 3 and 4 to perform balance adjustment based on the detection information.

[0035] That is, the self-balancing platform of the embodiment of the present application is different from the device in the related art which only uses the gyroscope 31 to perform balance regulation and control. Generally, for the whole balance difference of the balance platform, only the momentum and the rotation speed of the gyroscope 31 can be increased, which further causes greater energy consumption and self-load. Therefore, the self-balancing platform of the embodiment of the present application simultaneously uses two balance regulation and control components to perform balance regulation and control, avoids excessive consumption of energy, simplifies the overall structure, and further improves the regulation and control precision of the balance platform.

[0036] In other words, the self-balancing platform of the embodiment of the present application can regulate and control the whole platform through the first balance component 3 and the second balance component 4, that is, the movement of the trimming member 41 of the second balance component 4 can realize trimming in the front, back, left and right directions (i.e., coarse balance regulation and control), and the gyroscope 31 of the first balance component 3 and the detection of the center of gravity change through the detection member can realize fine self-balancing regulation and control (i.e., fine balance regulation and control).

[0037] Therefore, the self-balancing platform of the embodiment of the present application uses multiple balance components to quickly and actively trim, avoids using more energy consumption, makes the adjustment response more rapid, and can adapt to more environments (such as sea, land, air and other environments) and external disturbances.

[0038] In some embodiments, the first balance component 3 includes a first extension member 32, the lower end of the first extension member 32 is connected with the test platform 2, and the upper end of the first extension member 32 is connected with the gyroscope 31.

[0039] Specifically, as shown in Figures 1-3 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 with 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 control balance gyroscope 31, which is composed of a gyroscope frame and a gyroscope rotor, and the gyroscope frame is hinged with the inner ring pole of the gyroscope 31.

[0040] It can be understood that the upper end of the first extension member 32 is connected with the gyroscope 31, so that the gyroscope 31 is spaced apart from the test platform 2 by a certain distance, which can provide more test space for the test platform 2 on the one hand, and adjust the position of the center of gravity of the self-balancing platform according to the length of the first extension member 32 on the other hand, so as to facilitate the applicability of the self-balancing platform of the embodiment of the present application in different environments and ensure the applicability of the self-balancing platform of the embodiment of the present application in multiple environments.

[0041] In some embodiments, the second balancing assembly 4 includes a circular 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 circular track 42 coincides with the center line of the base 1. The balancing member 41 is connected to the circular track 42, and the balancing member 41 is movable along the extension direction of the circular 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 spaced apart along the extension direction of the annular track 42. In other words, the multiple balancing members 41 can move simultaneously during the balancing process to improve the efficiency of the balancing 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 Figures 1-3 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 trimming function. It should be noted that the trim body is connected to the annular track 42 through a 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 contacts the annular track 42 by providing a roller or a slider, and the trim body is driven by the driving action of the driving member (such as a motor, etc.) to move along the annular track 42. 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 trimming body can be a metal block, a power supply, or a combination of the two. In other words, the structure and weight of the self-balancing platform can be modified accordingly based on the application environment. When the power supply is selected as the trimming element 41, it not only provides the required electrical energy for the platform but also participates in balance adjustment, simplifying the overall structure of the self-balancing platform and reducing its overall weight. Similarly, if the mass of the counterweight is desired, an appropriate metal block can be added to the trimming body to improve the overall quality of the trimming element 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 for spraying pressure material toward the outside of the protrusion 12 .

[0048] It is understandable that if Figures 1-3 As shown, the jet component is located at the bottom of the raised portion 12 and is capable of ejecting high-pressure gas or high-pressure water toward the outside of the raised portion 12, thereby utilizing the reaction force to brake the tilting tendency of the balancing platform. In other words, when the self-balancing platform is combined with the mobile device and moves, if the center of gravity of the self-balancing platform suddenly changes and the inertial acceleration acts, it may easily lose its overall balance. However, the jet component 5 ejects high-pressure gas or high-pressure liquid, which exerts an impact force on the ground. The reaction force of the ground and the change in the center of gravity compensate for the inertial acceleration caused by the movement, thereby enabling the self-balancing platform to achieve forward and backward balance.

[0049] Preferably, there are multiple injection elements, spaced circumferentially along the centerline of base 1. Raised portion 12 is provided with injection holes, with the direction of the injection holes extending at a predetermined angle to the direction of the centerline of base 1. The injection elements are positioned within the injection holes to facilitate the ejection of high-pressure gas or liquid onto the ground. Equipment for generating or storing high-pressure liquid or gas can be installed within the interior space of 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 Figures 1-3 As shown, the vertical extension members 34 are arc-shaped members so as to avoid the test space on the test platform 2. In addition, the multiple vertical extension members 34 can also be used as guardrails and structural reinforcements of the self-balancing platform to avoid the self-balancing platform from providing 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 the cross section of the transverse extension member 35 lies is orthogonal to the up and down direction.

[0053] It is understandable that if Figures 1-3As shown, the horizontal extension member 35 is an arc-shaped member and is arranged horizontally. The horizontal extension member 35 is connected to multiple vertical extension members 34, further enhancing the overall structural strength. Furthermore, installing the horizontal extension member 35 and vertical extension member 34 on the test platform 2 not only increases the overall height of the self-balancing platform, but also shifts the position of the platform's center of gravity, preventing it from shifting toward the base 1 and reducing the difficulty of correcting any deviations.

[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, if Figures 1-3 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 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", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations 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 should not be understood as limiting the present invention.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0058] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0059] In the present application, unless otherwise explicitly specified and limited, a first feature is "on" or "under" a second feature can 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, the first feature is "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature is "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0060] In the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that the particular feature, structure, material, or characteristic following the term is included in at least one embodiment or example of the present application. The illustrative appearances of the above terms in various places in the specification are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Also, the terms "first", "second", "third", etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.

[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 limiting the present application, and any changes, modifications, replacements, and variations of the above embodiments made by those skilled in the art are within the scope of the present application.

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 and located above the raised portion, the raised portion having a convex arc surface protruding away from the mounting portion on a side thereof away from the mounting portion; a test platform connected to the base and located above the base, the test platform being spaced apart from the base in a vertical direction; a first balancing assembly connected to the test platform and located above the test platform, wherein an extension direction of a centerline of the first balancing assembly coincides with an extension direction of a centerline of the base, and the first balancing assembly includes a gyroscope and a detection element for monitoring and regulating changes in the center of gravity of the base; a second balancing assembly connected to the mounting portion and located between the mounting portion and the test platform, the second balancing assembly comprising a balancing member rotatable about a centerline of the base; The first balancing assembly 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; 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, and the lower end of the vertical extension member is connected to the test platform. There are multiple vertical extension members, and the multiple vertical extension members are arranged at circumferential intervals along the center line of the base.

2. The self-balancing platform according to claim 1, characterized in that: The second balancing assembly includes an annular track, which is 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 is movable along the extension direction of the annular track.

3. The self-balancing platform according to claim 2, characterized in that: There are multiple balancing pieces, and the multiple balancing pieces are arranged at intervals along the extending direction of the annular track.

4. The self-balancing platform according to claim 3, characterized in that: The trimming member includes a trimming body, a driving member and a moving wheel, the trimming body has a matching groove, the matching groove is adapted to the annular track, the moving wheel is connected to the trimming 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 trimming body to move relative to the annular track.

5. The self-balancing platform according to any one of claims 1 to 4, characterized in that: It also includes a jet component connected to the protrusion, and the jet component includes a spraying member, and the spraying member is used to spray pressure material toward the outside of the protrusion.

6. The self-balancing platform according to claim 5, characterized in that: 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.

7. The self-balancing platform according to claim 6, characterized in that: 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.

8. The self-balancing platform according to claim 7, 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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