Balancing device self-adaptive to angle change

Abstract

The invention discloses a self-adaptive angle change balancing device, and belongs to the technical field of balancing devices.The self-adaptive angle change balancing device comprises a base structure, the base structure comprises a frame, a controller is installed at the bottom of the frame, a sensor structure is installed at the top of the frame, and the sensor structure comprises a bin body and an electronic gyroscope; the sensor structure is connected with the driving structure, and the driving structure comprises a push rod motor. The bin body is self-adaptively kept horizontal according to the change of a climbing angle, the bin body is automatically kept horizontal in a dynamic inclined environment such as climbing and bumping for the first time through linkage control of an electronic gyroscope matched with a push rod motor, meanwhile, the structure is simple and stable, the cost is low, the space utilization rate is high, and large-angle adjustment is achieved by adopting a short-stroke push rod motor; compared with a traditional balance mechanism, the balance mechanism has the advantages of being fast in response, low in energy consumption and compact in structure.

Description

Technical Field

[0001] The present invention relates to the technical field of balancing devices, in particular to a balancing device capable of adaptively changing angles. Background Art

[0002] A balancing device refers to a device that automatically adjusts the force, position or motion state of a system or object through mechanical, electronic or physical means to maintain its stability or offset external interference. Its core function is to reduce or eliminate imbalance factors and ensure that the system maintains the expected working state under dynamic or static conditions. The core role of a balancing device is to maintain the stability of an object or system, and to offset external interference such as vibration, tilt, acceleration, etc. through real-time detection and dynamic adjustment to ensure that it maintains the expected working state under static or dynamic conditions.

[0003] Upon investigation, a Chinese invention patent discloses a balancing vehicle (publication number: CN219257595U), which is roughly described as comprising a vehicle body, a saddle that can slide up and down on the vehicle body, and wheels respectively arranged on the left and right sides of the bottom of the vehicle body. The balancing vehicle also includes an auxiliary support assembly arranged in front and / or rear of the vehicle body to prevent the balancing vehicle from tipping over. The auxiliary support assembly includes a support rod and an auxiliary wheel arranged at the lower end of the support rod, and the upper end of the support rod is pivotally connected to the saddle. The balancing vehicle also includes a connecting rod, one end of the connecting rod is pivotally connected to the vehicle body, and the other end of the connecting rod is pivotally connected to the support rod. The balancing vehicle is provided with an auxiliary support assembly, which can support the vehicle body to prevent the balancing vehicle from tipping over forward and / or backward.

[0004] The above technical solution effectively solves the problem of easy tipping of traditional two-wheeled balancing vehicles through innovative auxiliary support components, and significantly improves stability, especially at low speed or stationary state. However, due to the limitations of the mechanical structure, the device cannot provide sufficient torque to maintain balance on steep slopes. The power and balance control are separated, and the motor drive and self-balancing system operate independently, resulting in leveling and travel being out of sync. The user needs to manually switch between "climbing mode" and "downhill mode", which affects the smoothness of operation and the working efficiency of the device.

[0005] Therefore, the present invention provides a balancing device with adaptive angle change to solve the above problems. Summary of the Invention

[0006] (1) Technical problems solved

[0007] The present invention provides a balancing device with adaptive angle change, aiming to solve the problems raised in the background technology.

[0008] (2) Technical solution

[0009] To achieve the above-mentioned objectives, the present invention provides the following technical solution: a balancing device with adaptive angle changes, comprising a base structure, the base structure comprising a frame, a controller mounted on the bottom of the frame, a sensor structure mounted on the top of the frame, the sensor structure comprising a chamber and an electronic gyroscope, the sensor structure being connected to a drive structure, and the drive structure comprising a push rod motor.

[0010] As a preferred technical solution of the present application, the frame adopts a high-strength aluminum alloy frame, and controllers are symmetrically installed on both sides of the bottom of the frame. The controller has a built-in STM32F4 series chip, and the controller is electrically connected to the sensor structure.

[0011] As a preferred technical solution of the present application, the base structure also includes an adjustable counterweight block, which is slidably mounted on a guide rail at the bottom of the frame and is movably mounted through a controller.

[0012] As a preferred technical solution of the present application, a sealed ABS plastic shell is provided on the outer surface of the warehouse body, buffer pads are movably installed around the inside of the warehouse body, an electronic gyroscope is electrically installed at the bottom of the warehouse body, the electronic gyroscope is movably installed with a fixed shaft at the bottom, a cavity is provided inside the fixed shaft, and a sensor cable is installed inside the cavity.

[0013] As a preferred technical solution of the present application, a round shaft is provided on the top of the push rod motor, and the top of the push rod motor is connected to the push rod motor bin body shaft, the push rod motor bin body shaft is triangular, and the outer surface of the push rod motor bin body shaft is symmetrically fixed with through holes, and a connecting shaft is movably installed on the inner wall of the through hole, and the connecting shaft is connected to the outer sleeve of the round shaft, and a push rod motor frame shaft is movably installed on the bottom of the push rod motor, and the bottom of the push rod motor frame shaft is clamped with the frame.

[0014] As a preferred technical solution of the present application, the controller controls the push rod motor based on the PID algorithm and integrates a wireless communication module for remote data transmission. The push rod motor is an electric linear push rod with a built-in encoder transmission. The built-in encoder and the electronic gyroscope form a dual closed-loop feedback.

[0015] (3) Beneficial effects

[0016] In this solution, for the first time, the warehouse body can adaptively maintain its levelness according to changes in climbing angle. Through the linkage control of the electronic gyroscope and the push rod motor, it is possible for the first time to automatically maintain the levelness of the warehouse body in a dynamic tilt environment, such as climbing and bumping. The electronic gyroscope monitors the tilt angle of the warehouse body in real time and feeds the data back to the controller. The controller calculates the extension and retraction amount of the push rod motor based on the PID algorithm, drives the push rod motor to make fine adjustments, so that the warehouse body always remains level.

[0017] In this solution, the warehouse body adaptively maintains its levelness, and the push rod motor adopts a small stroke and small swing adjustment. It only needs an extension of about 10cm and a swing of about 20° to achieve stable leveling of the warehouse body at the extreme slope of 45°.

[0018] In this solution, the structure is simple and stable, the cost is low, and the space utilization rate is high. A short-stroke push rod motor is used to achieve large-angle adjustment. Compared with the traditional balancing mechanism, it has the advantages of fast response, low energy consumption, and compact structure. The push rod motor bin shaft adopts a triangular structure to increase the torque arm, so that a small extension and retraction can produce a larger angle adjustment. The push rod motor frame shaft and the frame adopt a snap-on active connection, allowing free swing at a certain angle to reduce mechanical stress. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the whole machine of the present invention;

[0020] Figure 2 It is a schematic diagram of the push rod state of the present invention;

[0021] Figure 3 It is an overall exploded view of the present invention;

[0022] Figure 4 This is a schematic diagram of the climbing and leveling state of the present invention.

[0023] In the picture:

[0024] 1. Base structure; 101. Frame; 102. Controller; 2. Sensor structure; 201. Chamber; 202. Electronic gyroscope; 203. Fixed axis; 3. Drive structure; 301. Push rod motor; 302. Push rod motor chamber axis; 303. Push rod motor frame axis. DETAILED DESCRIPTION

[0025] 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.

[0026] The present invention provides a balancing device with adaptive angle change, such as Figure 1 and Figure 2 As shown, it includes a base structure 1, the base structure 1 includes a frame 101, a controller 102 is installed at the bottom of the frame 101, a sensor structure 2 is installed on the top of the frame 101, the sensor structure 2 includes a chamber 201 and an electronic gyroscope 202, the sensor structure 2 is connected to the drive structure 3, and the drive structure 3 includes a push rod motor 301.

[0027] The frame 101 is made of a high-strength aluminum alloy frame. Controllers 102 are symmetrically installed on both sides of the bottom of the frame 101. The controller 102 has a built-in STM32F4 series chip. The controller 102 is electrically connected to the sensor structure 2.

[0028] The base structure 1 also includes an adjustable counterweight block, which is slidably mounted on a guide rail at the bottom of the frame 101 and is movably mounted via the controller 102 .

[0029] When the device is in use, the electronic gyroscope 202 monitors the tilt angle and angular velocity of the frame 101 in real time through sensor detection, and the sensor data is fed back to the controller 102 to complete the signal transmission. The controller 102 controls the extension and retraction of the push rod motor 301 and adjusts the posture of the frame 101 to maintain balance. The controller 102 is electrically connected to the sensor, and an adjustable counterweight block is added to the base. The controller 102 slides and adjusts to achieve dynamic balancing during operation. The controller 102 moves the counterweight block according to the tilt direction to change the center of gravity position. At the same time, it works together with the push rod motor 301 to reduce motor energy consumption, reduce power load, extend battery life, and respond more smoothly when responding to large tilts.

[0030] Furthermore, in order to improve the stability of the device, Figure 3 and Figure 4 As shown, the outer surface of the warehouse body 201 is provided with a sealed ABS plastic shell, and cushion pads are movably installed around the inside of the warehouse body 201. An electronic gyroscope 202 is electrically installed at the bottom of the warehouse body 201. The electronic gyroscope 202 is movably installed with a fixed shaft 203 at the bottom. A cavity is provided inside the fixed shaft 203, and a sensor cable is installed inside the cavity.

[0031] A round shaft is provided on the top of the push rod motor 301, and a push rod motor bin body shaft 302 is connected to the top of the push rod motor 301. The push rod motor bin body shaft 302 is triangular in shape. A through hole is symmetrically fixed on the outer surface of the push rod motor bin body shaft 302. A connecting shaft is movably installed on the inner wall of the through hole. The connecting shaft is connected to the outer sleeve of the round shaft. A push rod motor frame shaft 303 is movably installed on the bottom of the push rod motor 301, and the bottom of the push rod motor frame shaft 303 is clamped with the frame 101.

[0032] The controller 102 controls the push rod motor 301 based on the PID algorithm and integrates a wireless communication module for remote data transmission. The push rod motor 301 is an electric linear push rod with a built-in encoder transmission. The built-in encoder and the electronic gyroscope 202 form a double closed-loop feedback.

[0033] When the device is in use, in order to achieve the adaptive leveling of the warehouse body 201 according to the change of climbing angle, the push rod motor 301 adopts a small stroke and small swing adjustment. It only needs to extend and retract by about 10 cm and swing by about 20° to achieve stable leveling of the warehouse body 201 at an extreme slope of 45°. The warehouse body 201 is sealed and dust-proof, and has a built-in buffer pad. The electronic gyroscope 202 is installed through the fixed shaft 203. The push rod motor 301 is connected through the triangular push rod motor warehouse body shaft 302 and the push rod motor frame shaft 303. The through-hole design enhances flexibility. The connecting shaft cooperates with the through-hole to allow the push rod motor 301 to swing at multiple angles. The controller 102 adopts PID algorithm and integrates wireless communication. The push rod motor 301 and the electronic gyroscope 202 form a double closed-loop feedback to improve dynamic balance accuracy and response speed.

[0034] Working principle: The balancing device realizes adaptive angle adjustment through a closed-loop control process of sensor detection, controller 102 processing, drive execution, and dynamic feedback. The electronic gyroscope 202 monitors the tilt angle and angular velocity of the frame 101 in real time and converts the data into electrical signals. The STM32F4 chip in the controller 102 receives the sensor signal, and the warehouse 201 adaptively maintains the level. The push rod motor 301 has a small stroke and a small swing amplitude to ensure that the warehouse 201 is leveled at a large angle, that is, climbing a 45° extreme slope. The push rod motor 301 can extend and retract about 10 cm and swing about 20°. The required adjustment amount is calculated by the PID control algorithm (quick response according to the current tilt angle, elimination of long-term static errors such as continuous slopes, suppression of oscillations, and improved stability. The push rod motor 301 extends and retracts according to the control command). The linear push rod accurately controls the stroke through the built-in encoder. The connection design of the push rod motor body shaft 302 and the push rod motor frame shaft 303 allows the push rod to apply force at multiple angles to avoid jamming and coordinated counterweight adjustment. The controller 102 slides the counterweight block on the guide rail to assist in adjusting the center of gravity position and reduce the motor load. The built-in encoder of the push rod motor 301 provides real-time feedback on the actual stroke to ensure execution accuracy. The electronic gyroscope 202 continuously monitors the adjusted posture to form a closed-loop control. The controller 102 uploads operating data such as tilt angle and motor status to the cloud through a wireless module to support remote monitoring or parameter optimization. The solution has a simple and stable structure, low cost, and high space utilization. It uses a short-stroke push rod motor 301 to achieve large-angle adjustment. Compared with traditional balancing mechanisms, it has the advantages of fast response, low energy consumption, and compact structure.

[0035] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A balancing device with adaptive angle change, characterized by: The invention comprises a base structure (1), wherein the base structure (1) comprises a vehicle frame (101), a controller (102) is installed at the bottom of the vehicle frame (101), a sensor structure (2) is installed at the top of the vehicle frame (101), the sensor structure (2) comprises a chamber (201) and an electronic gyroscope (202), the sensor structure (2) is connected to a drive structure (3), and the drive structure (3) comprises a push rod motor (301).

2. The balancing device with adaptive angle change according to claim 1, characterized in that: The vehicle frame (101) adopts a high-strength aluminum alloy frame. Controllers (102) are symmetrically installed on both sides of the bottom of the vehicle frame (101). The controller (102) has an STM32F4 series chip built in. The controller (102) is electrically connected to the sensor structure (2).

3. The balancing device with adaptive angle change according to claim 1, characterized in that: The base structure (1) also includes an adjustable counterweight block, which is slidably mounted on a guide rail at the bottom of the frame (101) and is movably mounted via a controller (102).

4. The balancing device with adaptive angle change according to claim 1, characterized in that: The outer surface of the warehouse body (201) is provided with a sealed ABS plastic shell, and cushion pads are movably installed around the interior of the warehouse body (201). An electronic gyroscope (202) is electrically installed at the bottom of the warehouse body (201), and the electronic gyroscope (202) is movably installed with a fixed shaft (203) at the bottom. A cavity is provided inside the fixed shaft (203), and a sensor cable is installed inside the cavity.

5. The balancing device with adaptive angle change according to claim 1, characterized in that: A circular shaft is provided on the top of the push rod motor (301), and a push rod motor housing shaft (302) is connected to the top of the push rod motor (301). The push rod motor housing shaft (302) is triangular in shape. A through hole is symmetrically fixedly provided on the outer surface of the push rod motor housing shaft (302). A connecting shaft is movably installed on the inner wall of the through hole. The connecting shaft is sleeved and connected to the outer side of the circular shaft. A push rod motor frame shaft (303) is movably installed on the bottom of the push rod motor (301), and the bottom of the push rod motor frame shaft (303) is clamped with the frame (101).

6. The balancing device with adaptive angle change according to claim 1, characterized in that: The controller (102) controls the push rod motor (301) based on a PID algorithm and integrates a wireless communication module for remote data transmission. The push rod motor (301) is an electric linear push rod with a built-in encoder transmission. The built-in encoder and the electronic gyroscope (202) form a double closed-loop feedback.

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