Posture adjustment device

Abstract

The utility model provides a kind of attitude adjusting device, it is related to the support that can multidirectional rotation, including at least two telescopic devices, base, platform, support piece and control unit;The top surface of base is hinged with the one end of at least two telescopic devices, and the bottom surface of platform is hinged with the other end;The top surface of base is fixed with the one end of support piece, and the bottom surface of platform is hinged with the other end;The hinge point of at least two telescopic devices with platform, and the hinge point of support piece with platform are not located on same straight line;And in the telescopic range of all telescopic devices, there is at least one to make the travel value combination of platform and the plane parallel of base;The posture control signal input end of each telescopic device is respectively electrically connected with the multiple posture control signal output ends of control unit.

Description

Technical Field

[0001] This utility model relates to a bracket that can rotate in multiple directions, and more particularly to a posture adjustment device. Background Technology

[0002] Existing technologies generally employ six-axis linkage systems (such as six-degree-of-freedom parallel mechanisms, six-axis robotic arms, etc.), which achieve position and attitude adjustment of the platform in space through the coordinated movement of six independent drive axes. However, six-axis linkage systems have high structural complexity and complex control algorithms. Furthermore, during multi-axis collaboration, the coupled motion between axes may cause response delays, affecting the dynamic performance and working efficiency of the overall system. Summary of the Invention

[0003] To address the technical problems existing in the prior art, the present invention aims to provide an attitude adjustment device that uses two linear telescopic devices to replace a six-axis system, effectively achieving attitude adjustment of the platform, simplifying the structure of the attitude adjustment system, reducing costs, and improving response speed.

[0004] To achieve the above-mentioned objectives, this utility model provides a posture adjustment device, including at least two telescopic devices, a base, a platform, a support member, and a control unit;

[0005] One end of each of the at least two telescopic devices is hinged to the top surface of the base, and the other end is hinged to the bottom surface of the platform.

[0006] One end of the support member is fixed to the top surface of the base, and the other end is hinged to the bottom surface of the platform.

[0007] The hinge points of the at least two telescopic devices and the platform, and the hinge points of the support member and the platform are not located on the same straight line; and within the telescopic range of all telescopic devices, there exists at least one combination of stroke values ​​that makes the platform parallel to the plane of the base.

[0008] The multiple attitude control signal output terminals of the control unit are electrically connected to the attitude control signal input terminals of each telescopic device.

[0009] According to one technical solution of this utility model, the number of telescopic devices is two;

[0010] The line connecting the hinge point of one telescopic device to the platform and the hinge point of the support member to the platform is perpendicular to the line connecting the hinge point of the other telescopic device to the platform and the hinge point of the support member to the platform.

[0011] According to one technical solution of this utility model, when the stroke value of all telescopic devices is a preset first stroke value, the platform and the base are parallel to each other.

[0012] According to one technical solution of this utility model, the telescopic device is hinged to the base via a single-axis hinge mechanism, and to the platform via a ball joint mechanism.

[0013] According to one technical solution of this utility model, the telescopic device is an electric cylinder.

[0014] According to one technical solution of this utility model, the support member includes a support rod, a ball head, and a ball socket;

[0015] One end of the support rod is fixed to the base, and the other end is fixed with a ball head;

[0016] The platform is fixed to the ball socket, and the ball head is embedded in the ball socket, so that the platform and the support are hinged.

[0017] According to one technical solution of this utility model, a fixing mechanism is provided on the platform;

[0018] The platform is fixed with a load by the fixing mechanism.

[0019] According to one technical solution of this utility model, the angle between the plane of the platform and the base is in the range of -10° to 10°.

[0020] Compared with the prior art, this utility model has the following advantages:

[0021] This invention provides a simplified attitude adjustment device compared to a six-axis linkage system, employing only two linear telescopic devices, thus reducing the number of drive units and significantly lowering component costs. Furthermore, the control logic is simple; through coordinated control of the strokes of the two telescopic devices, attitude adjustment is transformed into a coupled calculation of two-dimensional linear motion (such as angle calculation based on geometric relationships), reducing the complexity of the control algorithm and increasing the control response speed. Attached Figure Description

[0022] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0023] Fig. 1 This is a schematic diagram illustrating the structure of an attitude adjustment device according to one embodiment of the present invention (excluding the control unit);

[0024] Fig. 2 This schematic diagram illustrates the structure of a posture adjustment device according to another embodiment of the present invention (excluding the base and control unit). Detailed Implementation

[0025] The description of the embodiments in this specification should be taken in conjunction with the accompanying drawings, which should form part of the complete specification. In the drawings, the shape or thickness of the embodiments may be exaggerated and may be indicated in a simplified or convenient manner. Furthermore, parts of the various structures in the drawings will be described separately; it is worth noting that elements not shown in the figures or not described in words are in a form known to those skilled in the art.

[0026] The description of the embodiments herein, including any references to direction and orientation, is for ease of description only and should not be construed as limiting the scope of protection of this utility model. The following description of preferred embodiments involves combinations of features, which may exist independently or in combination; this utility model is not particularly limited to the preferred embodiments. The scope of this utility model is defined by the claims.

[0027] like Figs. 1-2 As shown, the posture adjustment device of this utility model includes at least two telescopic devices 1, a base 2, a platform 3, a support 4, and a control unit.

[0028] At least two telescopic devices 1 are hinged at one end to the top surface of the base 2 and at the other end to the bottom surface of the platform 3.

[0029] One end of the support member 4 is fixed to the top surface of the base 2, and the other end is hinged to the bottom surface of the platform 3;

[0030] At least two hinge points between the telescopic device 1 and the platform 3, and the hinge point between the support 4 and the platform 3 are not located on the same straight line; and within the telescopic range of all telescopic devices 1, there is at least one combination of stroke values ​​that makes the platform 3 parallel to the plane of the base 2.

[0031] The multiple attitude control signal output terminals of the control unit are electrically connected to the attitude control signal input terminals of each telescopic device 1.

[0032] In this embodiment, when the posture adjustment device is in use, the base 2 is placed on the ground, so the plane where the base 2 is located can be regarded as the ground. When the ground is parallel to the horizontal plane, the plane where the base 2 is located is the horizontal plane.

[0033] One end of the support member 4 is fixed to the base 2, and the other end is hinged to the platform 3. While providing main support for the platform 3, the hinged part of the support member 4 can also adapt to the angle changes when the platform 3 is adjusted.

[0034] The aforementioned platform 3 and support 4 can be hinged together using a ball joint, with the hinge point being the center of the ball. The telescopic device 1 and platform 3 can also be hinged together using a ball joint or similar method. All the aforementioned hinge points are located on a virtual plane parallel to the bottom surface of platform 3, and the three hinge points are not collinear, forming a triangle. Therefore, during attitude adjustment, this prevents the telescopic device 1 from losing its ability to adjust platform 3 in a certain direction.

[0035] The telescopic device 1 is a linear drive device that can provide auxiliary support for the platform 3. The telescopic device 1 can receive attitude adjustment signals from the control unit. The attitude signals are specifically a sequence of electrical signals containing the telescopic displacement, which are used to adjust the stroke value of the corresponding telescopic device 1.

[0036] The telescopic displacement in the control unit's attitude signal comes from the telescopic displacement of each telescopic device 1 directly input from the outside; or it receives the required attitude data of the platform 3 (including position coordinates, attitude angles, etc.) input from the outside. The control unit calculates the telescopic displacement corresponding to each telescopic device 1 based on a preset inverse kinematics algorithm and pre-stored travel limits (such as maximum / minimum travel), equipment parameters, position parameters (such as base point coordinates), and coordinate parameters (transformation matrix between the platform coordinate system and the global coordinate system) of the telescopic device 1 to obtain the attitude adjustment signal. In addition, the control unit can also collect the displacement signals fed back by each telescopic device 1 in real time and compare them with the input target travel value to ensure the consistency between the actual attitude of the platform 3 and the preset attitude through closed-loop control.

[0037] Multiple telescopic devices 1 can be distributed at the bottom of the platform 3 (such as at the four corners or edges). By changing the stroke of each of the multiple telescopic devices 1 and coordinating their strokes, the posture of the platform 3 can be adjusted to create a height difference, thereby changing the tilt angle of the platform 3. Furthermore, by progressively changing the stroke of multiple adjacent telescopic devices 1, the platform 3 can achieve the effect of rotating around the hinge point of the support member 4.

[0038] The specific working process of the attitude adjustment device in this embodiment is as follows:

[0039] After activating the telescopic device 1, first restore the platform 3 to its horizontal position (initial state). If the stroke of both telescopic devices 1 is 140mm, the platform 3 is in a horizontal position. Then, as needed, the control unit can send attitude control signals to raise or lower the stroke of both telescopic devices 1 to achieve up / down, left / right, and clockwise / counterclockwise rotation of the platform 3. For example, a single telescopic device 1 can extend / retract vertically (from 140mm zero to 300mm) to achieve a maximum tilt angle of 30° forward / backward or left / right. Simultaneously, two telescopic devices 1 can move continuously in opposite directions (using 140mm as a reference, simultaneously cycling through two sets of commands: one telescopic device with a stroke of 180mm and the other with a stroke of 100mm; and one telescopic device with a stroke of 100mm and the other with a stroke of 180mm), achieving a horizontal range of approximately 10° and a 360° centrifugal rotation around the ball head.

[0040] The initial state of the aforementioned attitude adjustment device is such that the platform 3 is parallel to the plane of the base 2, that is, when the plane of the base 2 is horizontal, the initial state of the platform 3 is horizontal.

[0041] In the attitude adjustment device, there are two telescopic devices 1;

[0042] The line connecting the hinge point of one telescopic device 1 and the platform 3, and the hinge point of the support member 4 and the platform 3, is perpendicular to the line connecting the hinge point of the other telescopic device 1 and the platform 3, and the hinge point of the support member 4 and the platform 3.

[0043] In this embodiment, the telescopic devices 1 are all of the same specification. For distinction, one can be called the first telescopic device, and the other the second telescopic device. The hinge point between the first telescopic device and the platform 3 is A, the hinge point between the second telescopic device and the platform 3 is B, and the hinge point between the support member 4 and the platform 3 is C. Therefore, AC⊥BC. Thus, the lines connecting the hinge points of the two telescopic devices 1 and the platform 3, and the hinge point between the support member 4 and the platform 3, are perpendicular, forming an orthogonal force transmission structure. When the telescopic devices 1 operate, the posture of the platform 3 can be independently adjusted in mutually perpendicular directions, achieving multi-dimensional precise adjustment.

[0044] Therefore, the two telescopic devices 1 mentioned above, along with their arrangement and operation, can replace the six-axis system, achieving stable support and a 360° follow-up effect.

[0045] In the attitude adjustment device, when the stroke values ​​of all telescopic devices 1 are the preset first stroke values, the platform 3 and the base 2 are parallel to each other.

[0046] If there are two telescopic devices 1, then within their own stroke range, there is a unique combination of stroke values ​​that makes the platform 3 and the base 2 parallel, namely the combination of the two first stroke values ​​(140mm, 140mm).

[0047] In the attitude adjustment device, the telescopic device 1 is hinged to the base 2 via a single-axis hinge mechanism, and to the platform 3 via a ball joint mechanism.

[0048] In this embodiment, since the three hinge points are not on the same straight line, if a single-axis hinge is used, when the platform 3 needs to rotate, the telescopic device 1 at different positions will generate "angular differences and displacement differences in three-dimensional space". The single-axis hinge cannot compensate for these deviations, resulting in structural jamming or uneven force distribution. Therefore, a ball joint mechanism is needed to provide a multi-degree-of-freedom hinge method to connect the telescopic device 1 and the platform 3, so as to achieve stable and controllable rotation of the platform 3 around the support member 4.

[0049] In the attitude adjustment device, the telescopic device 1 is an electric cylinder.

[0050] In this embodiment, the driving device for the electric cylinder is a stepper motor, and the drive signal input terminal of the stepper motor is also the input terminal of the corresponding attitude adjustment signal. By receiving the attitude adjustment signal, the stepper motor of each electric cylinder obtains the corresponding extension and retraction displacement.

[0051] Therefore, as needed, the control unit can send attitude control signals to cause the two electric cylinders to raise or lower their strokes to achieve the up-down, left-right, clockwise, or counterclockwise rotation of the platform 3. For example, a single electric cylinder can extend or retract (from 140mm zero position to 300mm) to achieve a maximum tilt angle of 30° in the front-back or left-right directions. When the two electric cylinders move continuously in opposite directions simultaneously (based on 140mm, two sets of commands are cyclically executed: one extension device travels 180mm, and the other travels 100mm; and one extension device travels 100mm, and the other travels 180mm), the platform 3 can achieve a horizontal range of about 10° and a centrifugal rotation of 360° around the ball head.

[0052] In the attitude adjustment device, the support member 4 includes a support rod 4-1, a ball head 4-3, and a ball socket 4-2;

[0053] One end of the support rod is fixed to the base 2, and the other end is fixed with a ball head;

[0054] The platform 3 is fixed to the ball socket, and the ball head is embedded in the ball socket, so that the platform 3 and the support member 4 are hinged.

[0055] In the attitude adjustment device, a fixing mechanism 5 is provided on the platform 3;

[0056] The platform 3 is fixed with a load by the fixing mechanism 5.

[0057] In this embodiment, the load is a device that requires posture adjustment via a posture adjustment device, such as a chair that can interact with the game screen. The fixing mechanism 6 may include a positioning pin 7 and a locking bolt 8. When fixing the load, the positioning pin 7 is embedded in the positioning hole of the platform 3 to achieve the initial positioning of the load, and the locking bolt assembly 8 passes through the mounting hole of the load and is threadedly connected to the platform 3 to complete the final fixing. Then, when the posture of the platform 3 is adjusted by the telescopic device 1, the angle and state of the load are changed.

[0058] In the attitude adjustment device, the angle between the plane of the platform 3 and the base 2 is in the range of -10° to 10°.

[0059] In this embodiment, the included angle range is obtained by changing the corresponding telescopic displacement of the telescopic device 1, and can be calculated using existing geometric knowledge (such as trigonometric functions).

[0060] This utility model provides a posture adjustment device, including at least two telescopic devices, a base, a platform, a support member, and a control unit; one end of each of the at least two telescopic devices is hinged to the top surface of the base, and the other end is hinged to the bottom surface of the platform; one end of the support member is fixed to the top surface of the base, and the other end is hinged to the bottom surface of the platform; the hinge points of the at least two telescopic devices and the platform, and the hinge points of the support member and the platform are not located on the same straight line; and within the telescopic range of all telescopic devices, there is at least one combination of stroke values ​​that makes the platform and the plane of the base parallel; multiple posture control signal output terminals of the control unit are electrically connected to the posture control signal input terminals of each telescopic device.

[0061] It should also be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0062] Finally, it should be noted that the above description represents the preferred embodiment of this utility model. It should be pointed out that although the preferred embodiment of this utility model has been described, those skilled in the art, once they understand the basic inventive concept of this utility model, can make various improvements and modifications without departing from the principles described herein. These improvements and modifications should also be considered within the scope of protection of this utility model. Therefore, the appended claims are intended to be interpreted as including the preferred embodiment as well as all changes and modifications falling within the scope of the embodiments of this utility model.

Claims

1. A posture adjustment device, characterized in that, It includes at least two telescopic devices (1), a base (2), a platform (3), a support (4), and a control unit; One end of each of the at least two telescopic devices (1) is hinged to the top surface of the base (2), and the other end is hinged to the bottom surface of the platform (3); One end of the support member (4) is fixed to the top surface of the base (2), and the other end is hinged to the bottom surface of the platform (3); The hinge points of the at least two telescopic devices (1) and the platform (3), and the hinge points of the support (4) and the platform (3) are not located on the same straight line; and within the telescopic range of all telescopic devices (1), there is at least one combination of stroke values ​​that makes the plane where the platform (3) and the base (2) are parallel. The multiple attitude control signal output terminals of the control unit are electrically connected to the attitude control signal input terminals of each telescopic device (1).

2. The attitude adjustment device according to claim 1, characterized in that, The telescopic device (1) has two components; The line connecting the hinge point of one telescopic device (1) to the platform (3) and the hinge point of the support member (4) to the platform (3) is perpendicular to the line connecting the hinge point of the other telescopic device (1) to the platform (3) and the hinge point of the support member (4) to the platform (3).

3. The attitude adjustment device according to claim 2, characterized in that, When the stroke values ​​of all telescopic devices (1) are the preset first stroke values, the platform (3) and the base (2) are parallel to each other.

4. The attitude adjustment device according to any one of claims 1 to 3, characterized in that, The telescopic device (1) is hinged to the base (2) via a single-axis hinge mechanism, and to the platform (3) via a ball joint mechanism.

5. The attitude adjustment device according to claim 4, characterized in that, The telescopic device (1) is an electric cylinder.

6. The attitude adjustment device according to any one of claims 1 to 3 and 5, characterized in that, The support member (4) includes a support rod, a ball head, and a ball socket; One end of the support rod is fixed to the base (2), and the other end is fixed with a ball head; The platform (3) is fixed to the ball socket, and the ball head is embedded in the ball socket, so that the platform (3) is hinged to the support member (4).

7. The attitude adjustment device according to claim 6, characterized in that, A fixing mechanism (5) is provided on the platform (3); The platform (3) is fixed with a load by the fixing mechanism (5).

8. The attitude adjustment device according to any one of claims 1 to 3, 5 and 7, characterized in that, The angle between the plane containing the platform (3) and the base (2) is -10° to 10°.

Images