The invention relates to a platform device capable of automatically adjusting balance. The platform device comprises an external connecting platform, adjusting mechanisms, an inclination angle sensorand leg supports. The two adjusting mechanisms are distributed at the top end of the external connecting platform in a crossed mode. The four leg supports are evenly arranged at the bottom end of theexternal connecting platform and comprise thighs and shanks, and thigh driving devices and shank driving devices for driving the thighs and the shanks to rotate are arranged on the thighs and the shanks respectively. The inclination angle sensor is connected with a controller. The inclination angle sensor is used for detecting the horizontal inclination angle change between the external connectingplatform and the ground, and carried out serial port communication with the controller. After the controller receives the inclination angle change information, a response is automatically made through a gravity center algorithm processing program and a control program to control a motor driving chip, so that the thigh and shank driving devices and a counterweight rotating block driving part are driven until the inclination angle sensor detects a horizontal or nearly horizontal state, and finally, a closed-loop control system is formed, and the platform tends to be horizontal and stable relative to the ground.

    本发明涉及一种可自行调节平衡的平台装置,包括:外部连接平台、调节机构、倾角传感器和腿支架;调节机构为两组,交叉分布在外部连接平台顶端;腿支架为四组,均匀设置在外部连接平台底端,腿支架包括大腿和小腿,大腿和小腿上分别设有驱动其各自旋转的大腿驱动装置和小腿驱动装置;倾角传感器连接控制器;利用倾角传感器检测外部连接平台与地面之间的水平倾角变化,与控制器之间进行串口通讯,控制器收到倾角变化信息后,通过重心算法处理程序与控制程序,自动做出回应去控制电机驱动芯片,从而驱动大小腿驱动装置与配重转块驱动部,直至倾角传感器检测出水平或近乎水平状态,最终形成一个闭环控制系统,使平台相对于地面趋于水平稳定。


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    Title :

    Platform device capable of automatically adjusting balance


    Additional title:

    一种可自行调节平衡的平台装置


    Contributors:
    ZHENG LIQIANG (author) / TAO FUBANG (author) / LU YIMING (author) / KOU JIANGWEI (author) / LIU CHAO (author) / WU NAN (author) / GUO XIN (author) / JIA HANYANG (author)

    Publication date :

    2020-04-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60N SEATS SPECIALLY ADAPTED FOR VEHICLES , Sitze besonders für Fahrzeuge ausgebildet / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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