The content of the invention
Based on this, it is necessary to for mobile device in the prior art it is mobile inconvenience, asking for out-of-flatness ground can not be adapted to
Topic, there is provided a kind of conveniently moving and the mobile device of adaptive adjustment balance.
A kind of mobile device, including:
Supporting plate, multiple first servomotors, first servomotor are arranged at intervals with the side of the supporting plate
Rotary shaft perpendicular to the supporting plate;
Connecting portion, the rotary shaft drive connection of the connecting portion and first servomotor, the connecting portion driving connect
Be connected to the second servomotor, the rotary shaft of second servomotor perpendicular to first servomotor rotary shaft, it is described
The 3rd servomotor is fixed with second servomotor, the rotary shaft of the 3rd servomotor is parallel to second servo electricity
The rotary shaft of machine;And
Holding dog, the holding dog and the rotary shaft drive connection of the 3rd servomotor;
Controller and gravity sensor are provided with the supporting plate, the controller is defeated according to the gravity sensor
The signal that goes out adjusts rotating speed and the corner of each servomotor to adjust the movement of holding dog.
In one of the embodiments, the supporting plate is provided with lowering or hoisting gear, and the lowering or hoisting gear includes:Chassis, two
Individual fork-shaped articulated elements, cylinder, foot stool,
The chassis is removably mounted in the supporting plate, and the both ends of each fork-shaped articulated elements are hingedly connected to described
On chassis and the foot stool, the other both ends of each fork-shaped articulated elements are slidably connected with the chassis and the foot stool respectively,
The cylinder drives two fork-shaped articulated elements to drive the foot stool to lift.
In one of the embodiments, connecting portion includes the first U-shaped part and the second U-shaped part;
The bottom of the first U-shaped part and the bottom of the second U-shaped part are fixedly installed, the side of the first U-shaped part
Wall to the direction of another side wall perpendicular to the second U-shaped part a side wall to the direction of another side wall;
One side wall of the first U-shaped part and the rotary shaft drive connection of first servomotor, its another side wall turn
It is dynamic to be arranged in the supporting plate;
One side wall of the second U-shaped part and the rotary shaft drive connection of second servomotor, its another side wall turn
It is dynamic to be arranged on second servomotor.
In one of the embodiments, in addition to pedal, the pedal are installed on the foot stool, the pedal
The upper surface away from the foot stool is provided with multiple anti-slip parts.
In one of the embodiments, the fork-shaped articulated elements includes the first bar and the second bar, the middle part of first bar
With being hinged in the middle part of second bar, one end of first bar and second bar is hingedly connected to the chassis and institute
State on foot stool, the other end of first bar and second bar is slidably connected with the chassis and the foot stool respectively;
The telescopic end of the cylinder is hinged with first bar or second bar, and the fixing end of the cylinder is articulated with institute
State on chassis.
Above-mentioned mobile device drives holding dog to move by the first servomotor, the second servomotor and the 3rd servomotor
It is dynamic, and the signal exported by the controller according to the gravity sensor being arranged in the supporting plate adjusts each servo
The rotating speed and corner of motor are to adjust the movement of holding dog so that mobile device conveniently moving and can adaptively adjust balance.Separately
Outside, supporting plate is designed using doubling plate, in the case where ensure that buckle resistance energy, significantly reduces support plate thickness.
Embodiment
Also referring to Fig. 1 and Fig. 2, its be respectively the mobile device 10 of a preferred embodiment of the present invention structure chart and
Mobile device 10 shown in Fig. 1 carries the side view of lowering or hoisting gear 20.
Mobile device 10 includes:Supporting plate 110, connecting portion 120 and holding dog 130.It is arranged at intervals on the side of supporting plate 110
There are six the first servomotors 140, the rotary shaft of the first servomotor 140 is perpendicular to supporting plate 110.Connecting portion 120 and first
The rotary shaft drive connection of servomotor 140, the drive connection of connecting portion 120 have the second servomotor 150, the second servomotor
150 rotary shaft 151 is fixed with the 3rd servo electricity on second servomotor 150 perpendicular to the rotary shaft of the first servomotor 140
Machine 160, the rotary shaft 151 of the rotary shaft 161 of the 3rd servomotor 160 parallel to the second servomotor 150.Holding dog 130 and
The drive connection of rotary shaft 161 of three servomotors 160.Controller and gravity sensor, controller are provided with supporting plate 110
The signal exported according to gravity sensor adjusts the first servomotor 140, the second servomotor 150 and the 3rd servomotor
160 rotating speed and corner are to adjust the movement of holding dog 130.
In order to mitigate the weight of supporting plate 110, it may insure that supporting plate 110 has preferable resistance to deformation intensity, such as Fig. 3 again
Shown, it is the structural representation of supporting plate 110 in mobile device 10 shown in Fig. 1, and supporting plate 110 includes the first supporting plate
111 and second supporting plate 112, the edge of the first supporting plate 111 and the second supporting plate 112 respectively extends six the first connection sheets
113 and second connection sheet 114, each first connection sheet 113 be intervally arranged in the edge of the first supporting plate 111, each second connection
Piece 114 is intervally arranged in six the first connection sheets 113 on the edge of the second supporting plate 112, the first supporting plate 111 and second
Six the second connection sheets 114 on fagging 112 are corresponded and are mutually aligned.First supporting plate 111 and the second supporting plate 112
Connected by multiple spaced dividing plates 114, so, cavity formed between the first supporting plate 111 and the second supporting plate 112,
Compared with integrally formed solid support plate, in the case where not reducing the thickness of supporting plate 110, supporting plate 110 is significantly reduced
Weight so that the conveniently moving of mobile device 10, small electric can consume.And for example, the first supporting plate 111 and the second supporting plate 112
On offer hole slot, so in the case where not influenceing bending resistance, mitigate the first supporting plate 111 and the second supporting plate 112
Weight, thus, the further weight for mitigating supporting plate 110.
Mounting hole site (figure is not marked), the first servomotor are offered in first connection sheet 113 and the second connection sheet 114
140 are fixedly installed between the first connection sheet 113 and the second connection sheet 114 being mutually aligned, the rotation of the first servomotor 140
Axle wears the mounting hole site in the first connection sheet 113.
Specifically, referring to 4, it is the structural representation of connecting portion 120 shown in Fig. 1, and connecting portion 120 includes the first U
The U-shaped part 122 of shape part 121 and second, the bottom 1211 of the first U-shaped part 121 and the bottom 1221 of the second U-shaped part 122 are fixedly installed,
One side wall 1212 of the first U-shaped part 121 to the direction of another side wall 1213 perpendicular to the second U-shaped part 122 a side wall 1222 to
The direction of another side wall 1223.Specifically, a side wall 1212 of the first U-shaped part 121 to another side wall 1213 is direction A1, second
One side wall 1222 of U-shaped part 122 to another side wall 1223 is direction A2, and direction A1 is perpendicular to direction A2.First U-shaped part 121
The rotary shaft drive connection of one side wall 1212 and the first servomotor 140, another side wall 1213 of the first U-shaped part 121, which rotates, to be set
It is placed in supporting plate 110.One side wall 1222 of the second U-shaped part 122 and the drive connection of rotary shaft 151 of the second servomotor 150,
The wall of opposite side 1223 of second U-shaped part 122 is rotated and is arranged on the second servomotor 150.
Please also refer to Fig. 5, it is the second servomotor 150, the 3rd servomotor 160 and holding dog 130 shown in Fig. 1
Between the side view that connects.The 3rd servomotor 160, the rotation of the 3rd servomotor 160 are fixed with second servomotor 150
Rotary shaft 151 of the axle 161 parallel to the second servomotor 150.Holding dog 130 and the rotary shaft 161 of the 3rd servomotor 160 drive
Connection.
Referring to Fig. 6, it is the top view of mobile device 10 shown in Fig. 1.It is steady during in order to keep mobile device 10 to move
It is qualitative, in the present embodiment, 112 rectangular shape of the first supporting plate 111 and the second supporting plate, enter by taking the first supporting plate 111 as an example
Row explanation, six the first connection sheets 113 are relatively long positioned at four right angles of the first rectangular-shaped supporting plate 111 and two respectively
The medium position on side, so, six the first connection sheets 113 are evenly and symmetrically distributed in the edge of the first supporting plate 111, add
Stability and balance when mobile device 10 moves.
Please also refer to Fig. 5 and Fig. 7, Fig. 7 is the structural representation of holding dog 130 shown in Fig. 1.Holding dog 130 includes two
The one end of the first side plate 131 and the second side plate 132 that parallel interval is set, the first side plate 131 and the second side plate 132 passes through
Head rod 133 is connected, and the other end of the first side plate 131 and the second side plate 132 is connected by chevron 134, close to the
The position of the other end of the side plate 132 of side plate 131 and second is connected with two the second connecting rods 135, and chevron 134 passes through Y
Shape part 136 is connected with two the second connecting rods 135, and the middle part of the first side plate 131 and the second side plate 132 passes through two the 3rd companies
Fitting 137 connects, and the drive connection of rotary shaft 161 of the 3rd servomotor 160 is in the connector 137 of head rod 133 and the 3rd
Between the first side plate 131 on.The design of the first side plate 131 and the second side plate 132 that are fixedly connected side by side, it is and integrally formed
Entity holding dog is compared, and in the case where not reducing the intensity of holding dog 130, significantly reduces the weight of holding dog 130 so that mobile device
10 conveniently movings, small electric can consume.
It is appreciated that to provide electric energy to each servomotor in mobile device 10, the first supporting plate 111 and second
Chargeable battery is installed in the cavity formed between fagging 112, or voltage conversion electricity is installed in the cavity
Road plate, and electric wire and plug are drawn from voltage conversion circuit plate, it is easy to plug being plugged on the socket of outside, is watched to be each
Take motor and electric energy is provided.
For the movement of Remote mobile device 10, wireless receiver, the control are additionally provided with mobile device 10
Device is electrically connected with each servomotor and the wireless receiver, and the wireless receiver receives external remote and sent
Wireless control signal and export to the controller, the controller responds the wireless control signal and controls each servo electricity
Machine rotate rotating speed and corner, for example, the wireless control signal can be make supporting plate 110 raise with dropping signal, move ahead
Signal, skidding signal etc., so as to realize the movement of Remote mobile device 10.
For the ease of using mobile device 10 at night, the edge of supporting plate 110 is provided with LED, and control
The controlling switch of LED light on and off, or LED is connected with the controller, the bright of LED is controlled by external remote
Go out.
In order to increase the ability of the adaptive adjustment of mobile device 10 balance, especially mobile device 10 is placed on out-of-flatness
Ground on when, supporting plate 110 is provided with gravity sensor, and gravity sensor is by perceiving the gradient of supporting plate 110, output
Feed back signal to the controller, controller holding dog 130 according to corresponding to adjusting the feedback signal, so that supporting plate 110
Tend to be horizontal.
Also referring to Fig. 8, it is the structural representation of lowering or hoisting gear 20 shown in Fig. 2.Wherein, lowering or hoisting gear 20 wraps
Include:Chassis 210, the first fork-shaped articulated elements 220, the second fork-shaped articulated elements 230, cylinder 240, foot stool 250 and pedal 260.
Chassis 210 is removably mounted in supporting plate 110, the first fork-shaped articulated elements 220 and the second fork-shaped articulated elements 230
Both ends be hingedly connected on chassis 210 and foot stool 250, the first fork-shaped articulated elements 220 and the second fork-shaped articulated elements 230 it is another
Outer both ends are slidably connected with chassis 210 and foot stool 250 respectively, and cylinder 240 drives the first fork-shaped articulated elements 220 and the second fork-shaped hinge
Fitting 230 is to drive foot stool 250 to lift.Pedal 260 is installed on foot stool 250, the table away from foot stool 250 on pedal 260
Face is provided with multiple anti-slip parts 261.Anti-slip part 261 be in decussate texture projection, and for example, 261 tapered structure of anti-slip part it is convex
Rise.
Specifically, the first fork-shaped articulated elements 220 includes the first bar 221 and the second bar 222, the middle part of the first bar 221 and the
The middle part of two bars 222 is hinged, and one end of the first bar 221 and the second bar 222 is hingedly connected on chassis 210 and foot stool 250,
The other end of first bar 221 and the second bar 222 is slidably connected with chassis 210 and foot stool 250 respectively;The telescopic end of cylinder 240
241 and first bar 221 or the second bar 222 it is be hinged, the fixing end 242 of cylinder 240 is articulated with chassis 210.
As a same reason, the second fork-shaped articulated elements 230 includes the first bar 231 and the second bar 232, the middle part of the first bar 231 with
The middle part of second bar 232 is hinged, and one end of the first bar 231 and the second bar 232 is hingedly connected to chassis 210 and foot stool 250
On, the other end of the first bar 231 and the second bar 232 is slidably connected with chassis 210 and foot stool 250 respectively;Cylinder 240 stretches
The bar 231 of end 241 and first or the second bar 232 are be hinged, and the fixing end 242 of cylinder 240 is articulated with chassis 210.
Lowering or hoisting gear 20 also includes pole 270, and the both ends of pole 270 are connected in the first fork-shaped articulated elements 220
In one bar 221 and the second fork-shaped articulated elements 230 on first bar 231;Or the both ends of pole 270 be connected to the first fork-shaped
In articulated elements 220 in second bar 222 and the second fork-shaped articulated elements 230 on second bar 232.The telescopic end 241 of cylinder 240 and branch
The middle part of bar 270 is hinged.
In order to which the personnel to stand in pedal 260 can conveniently control the rise and decline of lowering or hoisting gear 20, lowering or hoisting gear
Control unit and wireless transmitting unit, described control unit and the wireless transmitting unit and the electricity of cylinder 240 are provided with 20
Gas connects, and the wireless transmitting unit receives the wireless signal instruction that external remote is sent, and is sent to described control unit,
Described control unit responds the extension and shortening of the telescopic end 241 of the wireless signal instruction control cylinder 240, so as to realize control
The rise or decline of foot stool 250 and pedal 260 processed.
In order to ensure to stand, the personnel on lowering or hoisting gear 20 are dropped from pedal 260, and railing is provided with pedal 260,
And for example, handrail is installed, so, the personnel on pedal 260 that stand grip the railing or handrail, keep away on pedal 260
Exempt from the personnel caused by the rocking of lowering or hoisting gear 20 to drop from pedal 260.
Above-mentioned mobile device 10 passes through the first servomotor 140, the second servomotor 150 and the 3rd servomotor 160
Holding dog 130 is driven to move, and the letter exported by the controller according to the gravity sensor being arranged in supporting plate 110
Number the first servomotor 140 of adjustment, the rotating speed of the second servomotor 150 and the 3rd servomotor 160 and corner are to adjust branch
The movement of pawl 130 so that the conveniently moving of mobile device 10 and can adaptively adjust balance.In addition, supporting plate 110 is using double-deck
Plate designs, and in the case where ensure that buckle resistance energy, significantly reduces the thickness of supporting plate 110.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.