WO2021018022A1 - Spirit level, supporting tool, and method for adjusting the level of bearing surface of supporting tool - Google Patents

Spirit level, supporting tool, and method for adjusting the level of bearing surface of supporting tool Download PDF

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Publication number
WO2021018022A1
WO2021018022A1 PCT/CN2020/104058 CN2020104058W WO2021018022A1 WO 2021018022 A1 WO2021018022 A1 WO 2021018022A1 CN 2020104058 W CN2020104058 W CN 2020104058W WO 2021018022 A1 WO2021018022 A1 WO 2021018022A1
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WO
WIPO (PCT)
Prior art keywords
bearing surface
level
swing
horizontal plane
bearing
Prior art date
Application number
PCT/CN2020/104058
Other languages
French (fr)
Chinese (zh)
Inventor
王楚涵
王英浩
Original Assignee
王楚涵
王英浩
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910682148.0A external-priority patent/CN112306098A/en
Application filed by 王楚涵, 王英浩 filed Critical 王楚涵
Publication of WO2021018022A1 publication Critical patent/WO2021018022A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present invention relates to the field of supporting appliances, and in particular to a method for keeping the space positions of the supporting appliances, the spirit level and the bearing surfaces of the supporting appliances unchanged.
  • Supporting appliances such as stools, tables, etc., can form a bearing surface at a predetermined distance from the ground/floor, so that the supporting appliances can be used to support a supported body at a predetermined height from the ground/floor.
  • the supported body may be an article or a person.
  • the bearing surface formed by the supporting tool can be used to carry the user, so that the user can sit on the supporting tool stably. Under certain circumstances, it is very important that the bearing surface formed by the support tool remains level.
  • the ground/floor supporting the supporting device shakes, for example, when the ground/floor supporting the supporting device is a ship deck, the ground/floor supporting the supporting device will shake during the traveling of the ship, thereby causing the The supported body supported on the supporting appliance will be affected to a certain extent.
  • the supporting tool is implemented as a stool and used to support a user, if the supporting tool shakes violently, the user supported on the bearing surface may be dizzy.
  • the supporting tool when the supporting tool is implemented as a table and used to support a precision measuring instrument, if the bearing surface formed by the supporting tool is inclined, it is likely to cause the formation of the precision measuring instrument The measurement results produce large errors.
  • An object of the present invention is to provide a supporting tool, a spirit level and a method for keeping the space position of a supporting surface of the supporting tool unchanged, wherein the supporting tool includes a tool main body and a spirit level, wherein the tool main body forms a supporting surface and a supporting surface.
  • the bottom surface wherein when the bearing surface is inclined with respect to the horizontal direction, the level gauge is configured to automatically adjust the bearing surface formed by the supporting tool to be parallel to the horizontal plane.
  • Another object of the present invention is to provide a support tool, a spirit level and a method for maintaining the same spatial position of the bearing surface of the support tool, wherein the bearing surface formed by the support tool can be maintained in the vertical direction by the level meter. (Keep the absolute altitude of the bearing surface unchanged).
  • Another object of the present invention is to provide a support tool, a spirit level, and a method for keeping the space position of the bearing surface of the support tool unchanged, wherein the spirit level can eliminate the angle formed by the bearing surface relative to the horizontal plane by driving the slider to slide horizontally.
  • the present invention provides a level for keeping a bearing surface parallel to a horizontal plane, wherein the level includes:
  • a level adjustment component such as a sliding shaft pendulum component, and a monitoring component
  • the level adjustment component is configured to be able to adjust the plane inclination direction of the bearing surface.
  • the sliding shaft pendulum assembly includes a swing rod, at least one sliding block, at least one driving unit and a certain shaft member,
  • the swing rod and the fixed shaft member are designed such that a high end of the swing rod can be fixedly connected to a bearing seat through the fixed shaft member, wherein the top surface of the bearing seat is the bearing surface,
  • the swing lever has a low end, wherein the low end of the swing lever is swingably mounted on the surface of the slider,
  • the monitoring component includes a controller and a sensor, such as an angle sensor, wherein the sensor is configured to monitor whether the bearing surface is parallel to the horizontal plane,
  • the controller instructs the driving unit to drive the slider to slide, which drives the low end of the swing rod to slide, thereby causing the swing rod to swing, and the high end of the swing rod can drive the bearing surface to rotate An angle to keep the bearing surface parallel to the horizontal plane.
  • the sliding shaft pendulum assembly includes a first slider, a second slider, a first driving unit, and a second driving unit, wherein the first slider passes through the first
  • the driving unit is relatively slidably arranged in the base
  • the second sliding block is arranged between the first sliding block and the bottom plate of the base, and is relatively slidingly slidable by the second driving unit
  • the ground is set on the base.
  • the sliding directions of the first slider and the second slider are set to two non-collinear directions.
  • the sliding directions of the first slider and the second slider are perpendicular to each other.
  • the monitoring component includes a distance/height sensor
  • the level meter includes a lifting component, which can realize the up and down movement of the bearing surface of the bearing seat.
  • the fixed shaft member has at least a partial spherical surface.
  • the present invention provides a support appliance, wherein the support appliance includes:
  • An appliance body wherein the appliance body includes a base and a bearing seat, wherein the bearing seat forms a bearing surface;
  • a level as described above is used to keep the bearing surface parallel to the horizontal plane.
  • the present invention provides a method for adjusting the level of the bearing surface of a support tool, which includes the following steps:
  • Step one monitor whether the bearing surface is level
  • Step 2 When it is detected that the bearing surface is not parallel to the horizontal plane, drive a low end of the swing lever to slide to drive the swing lever to swing, thereby driving the bearing surface on the bearing seat to rotate by an angle, and adjust the bearing surface to return to the horizontal direction .
  • the method includes the step of driving two sliding blocks to realize the sliding of the lower end of the swing rod in two non-collinear directions.
  • the method further includes the steps of: monitoring whether the spatial height of the bearing surface changes; and when the spatial height of the bearing surface changes, driving the bearing seat up and down to make the bearing The face returns to its original height.
  • Figure 1 shows a perspective view of a supporting device of the present invention.
  • Figure 2 shows a disassembled view of a part of the structure of the supporting device of the present invention.
  • Figure 3 shows a left side view of the supporting device of the present invention.
  • Figure 4A shows a schematic structural view of the monitoring component of the supporting appliance of the present invention.
  • FIG. 4B shows a schematic structural diagram of a self-stabilizing platform in the present invention.
  • Fig. 5A shows a state diagram of the supporting device of the present invention when its base is inclined.
  • Fig. 5B shows another state diagram of the supporting device of the present invention when its base is inclined.
  • Fig. 5C shows a schematic diagram of a part of the structure of a certain embodiment of the supporting device of the present invention.
  • Fig. 5D shows a schematic diagram of a part of the structure of another embodiment of the supporting device of the present invention.
  • Fig. 6 shows a state diagram of the supporting device of the present invention when it is shaken up and down.
  • Fig. 7 shows a state diagram of the supporting tool of the present invention shaking up and down, and the supporting tool remains unchanged in height.
  • FIGS. 8A and 8B respectively show a perspective view of the armrest of the supporting device according to an embodiment of the present invention in different states.
  • Figure 9 shows a schematic structural diagram of the present invention using a chain elevator.
  • Fig. 10 shows a flow chart of a method for adjusting the spatial position of the bearing surface of a support appliance to remain unchanged according to the present invention.
  • a supporting device 100 according to an embodiment of the present invention will be described in detail below, wherein the supporting device 100 can be used to support at least one supported body.
  • the supporting appliance 100 in the present invention includes an appliance body 10 and a spirit level 20.
  • the appliance body 10 forms a bearing surface 101 at a predetermined height for supporting the supported body at the predetermined height.
  • the level 20 is configured to monitor the spatial position of the carrying surface 101, and can automatically adjust the spatial position of the carrying surface 101 formed by the appliance body 10 according to the monitoring result, so that the appliance body 10
  • the formed bearing surface 101 is kept parallel to the horizontal plane.
  • the appliance body 10 of the supporting appliance 100 includes a base 11 and a bearing seat 12.
  • the base 11 has a curved upper panel portion 1102 and a flat lower bottom panel portion 1101, as shown in FIG. 2.
  • the base 11 has a bottom surface 1101 that is used to support the supporting device 100 on a flat surface, such as a ship deck, such as the ground/floor.
  • the upper surface of the supporting base 12 forms a supporting surface 101 for supporting the supported body.
  • the supported body may be some articles or a person.
  • the appliance body 10 further includes a bracket 13, wherein the bracket 13 is fixed to one side of the supporting base 12, and the bracket 13 forms a high end 131 relative to the supporting base 12.
  • a bracket 13 is fixed to one side of the supporting base 12, and the bracket 13 forms a high end 131 relative to the supporting base 12.
  • the appliance body 10 further includes a pair of armrests 14, wherein the pair of armrests 14 are respectively arranged on both sides of the bracket 13, so that the supporting appliance 100 is Implemented as a stool or chair or sofa.
  • the armrest 14 is rotatably arranged on both sides of the bracket 13, so that when the user needs to use the armrest 14, by rotating the armrest 14, the armrest 14 can be kept in a different position. position.
  • the level 20 includes a level adjustment component, such as a sliding shaft pendulum component 21, and a monitoring component 22.
  • the so-called sliding and swinging assembly includes at least one sliding mechanism and at least one swinging mechanism, and is particularly capable of connecting sliding and swinging, for example, converting a sliding motion into a swinging motion.
  • the bearing base 12 is swingably supported on the base 11 via the sliding shaft pendulum assembly 21.
  • the monitoring component 22 is configured to monitor whether the spatial position of the bearing surface 101 changes, for example, to monitor whether the spatial position relative to a certain point changes, for example, to monitor whether the bearing surface 101 is parallel to a horizontal plane.
  • the monitoring component 22 controls the sliding and pivoting component 21 to keep the bearing surface 101 parallel to the horizontal plane.
  • the sliding shaft pendulum assembly 21 includes a swing rod 211, at least one sliding block 212, at least one driving unit 213 and at least a certain shaft 214.
  • the swing lever 211 has a high end 21101 and a low end 21102 opposite to the high end 21101.
  • the fixed shaft member can provide a relatively fixed fulcrum, so that the swing rod 211 can swing around the fulcrum.
  • the fixed shaft member 214 has at least a partial spherical surface.
  • the fixed shaft member 214 includes a sphere.
  • the center of the sphere becomes the fulcrum for the swing of the swing lever 211.
  • the position of the center relative to the bearing seat is also constant, that is, a relatively fixed fulcrum.
  • the upper surface of the base 11 is a circular arc surface 1102, and a mounting hole 1103 is provided in the center of the circular arc surface 1102.
  • the diameter of the ball of the fixed shaft member 214 is larger than the diameter of the mounting hole 1103.
  • the bottom of the bearing seat 12 is fixed to the upper end of the fixed shaft member 214, and the lower end of the fixed shaft member 214 is fixedly connected to the high end 21101 of the swing rod 211. Therefore, during the swing process, the position of the bottom surface of the bearing seat 12 relative to the high end 21101 of the swing rod It is unchanged.
  • the bottom surface of the bearing base 12 and the longitudinal axis of the swing lever 211 are always at a fixed angle, such as 90 degrees.
  • the lower end 21102 of the swing lever 211 is swingably mounted somewhere on the surface of the slider 212. During the swing process, the angle between the surface of the slider 212 and the longitudinal axis of the swing lever 211 changes.
  • the lower end 21102 of the swing lever is connected to the fixing member 21104 through a hinge 21103, and the fixing member 21104 is fixed on the surface of the slider 212 somewhere.
  • the lower end 21102 of the swing lever can therefore rotate around the rotation axis of the hinge 21103.
  • the lower end 21102 of the swing lever is installed somewhere on the surface of the slider 212 through a double hinge structure.
  • double hinge structure two hinges in different directions (such as orthogonal directions) are provided. Therefore, the lower end 21102 of the swing lever can move flexibly in a two-dimensional plane without damaging the overall connection structure.
  • the present invention is not limited to the structure of the embodiment of FIG. 5C, and other universal couplings, fisheye connectors, joint bearings, etc. Achieve similar functions.
  • the swing rod 211 has an adjustable length structure, such as a freely retractable sleeve rod structure shown in FIG. 5D.
  • the swing rod 211 has an inner rod 21105 and an outer tube 21106, one end of the inner rod 21105 is sleeved in the outer tube 21106, and then connected to the slider 212 through a universal joint 21107.
  • the universal joint 21107 lower end 21102 of the swing lever
  • its distance from the mounting hole 1103 may change, especially when the tilt angle that needs to be adjusted is relatively large. The difference will be more obvious.
  • the length of the swing lever 211 can be changed, the lower end 21102 of the swing lever can move a greater distance with the slider 212, so that a larger range of tilt angle can be adjusted.
  • the lower end 21102 of the swing rod 211 When the sliding block 212 is driven by the driving unit 213 to slide relative to the base 11, the lower end 21102 of the swing rod 211 will be driven to slide together, thereby driving the swing rod 211 to swing around the fixed shaft 214.
  • the upper end 21101 of the swing lever drives the bearing base 12 to rotate through the fixed shaft member 214, so that the tilt direction of the bearing base 12 is adjusted.
  • the fixed shaft member provides a fulcrum like a seesaw. One end is connected to the lower end 21102 of the swing lever, and the other end is connected to the bearing seat 12. When one end rotates, it will drive the other end to rotate.
  • the sliding shaft pendulum assembly 21 includes a first slider 212a, a second slider 212b, a first driving unit 213a, and a second driving unit 213b.
  • the first sliding block 212a is relatively slidably disposed on the base 11 through the first driving unit 213a.
  • the second sliding block 212b is disposed between the first sliding block 212a and the base 11, and is slidably disposed on the base 11 by the second driving unit 213b. That is, when the first slider 212a is driven by the first driving unit 213a to slide, the first slider 212a slides relative to the second slider 212b.
  • the second slider 212b is driven by the second driving unit 213b to slide, the second slider 212b slides together with the first slider 212a.
  • first slider 212a and the second slider 212b when the first slider 212a and the second slider 212b are driven to slide, they slide in two non-collinear directions, respectively.
  • the sliding directions of the first slider 212a and the second slider 212b are implemented in two orthogonal directions. Therefore, the position of the lower end 21102 of the swing lever can be quickly moved in a two-dimensional plane by sliding the sliders 212a and 212b. In this way, the angle of the bearing surface 101 of the bearing seat 12 relative to the horizontal direction can be quickly adjusted.
  • the first drive unit 213a and the second drive unit 213b can be implemented as a servo motor, a hydraulic drive device, etc.
  • the present invention is not subject to this aspect. limit.
  • the movement of the sliding shaft pendulum assembly 21 is controlled by the monitoring assembly 22.
  • the driving unit 213 of the sliding shaft pendulum assembly 21 is controlled by the monitoring assembly 22.
  • the monitoring component 22 is configured to be able to detect the angle between the bearing surface 101 of the bearing base 12 relative to the horizontal direction, and when the bearing surface 101 of the bearing base 12 is inclined relative to the horizontal plane, the The monitoring component 22 automatically calculates and drives the sliding shaft pendulum component 21 to swing by a range, and then adjusts the inclination angle of the bearing surface 101 on the bearing seat 12, so as to keep the bearing surface 101 parallel to the horizontal plane .
  • the monitoring component 22 includes a controller 221 and an angle sensor 222.
  • the controller 221 and the angle sensor 222 may be electrically connected, or may be wireless signal transmission.
  • the angle sensor 222 is configured to be able to detect the angle at which the carrier 12 is inclined relative to the horizontal plane.
  • the angle sensor 222 can be implemented as an electromagnetic sensor, an optical sensor, or the like.
  • the controller 221 can control the driving unit 213 to drive the slider 212 to slide.
  • the angle sensor 222 and/or the controller 221 are arranged on the appliance body 10.
  • it can be arranged in a sensor box 223 of the support 13, and the sensor box 223 can be located at a height of the support 13 or in the support 13.
  • the sensor box 223 may also be placed in the bearing base 12, for example, arranged below the bearing surface 101.
  • a positioning point (facet) 220 that can keep its position (horizontal tilt angle and/or height (especially absolute altitude)) immobile is provided, and the angle sensor 222 uses the positioning point (facet) ) Is used as a reference point to determine whether the bearing surface is inclined relative to the horizontal plane.
  • a circle of sensor rings surrounding the positioning point 220 may be arranged near the positioning point 220, and there may be one circle/multiple sensors on the sensor ring, and the angle sensor 222 is arranged on this sensor ring.
  • the positioning point 220 may be provided by an automated space stabilization system, such as a self-stabilizing pan/tilt.
  • the self-stabilizing pan/tilt is now mostly used for camera and video camera shooting anti-shake, such as the handheld shooting of the camera.
  • Some self-stabilizing gimbals obtain angular velocity and acceleration data through IMU (Inertial Measurement Unit), and then reversely adjust the corresponding angle of the motor to stabilize the position of the items on the gimbal.
  • IMU Inertial Measurement Unit
  • FIG. 4B shows a self-stabilizing head 220 of the present invention, which has three sets of acceleration sensors 2201, three sets of motors 2203, and three sets of adjusting screws 2202.
  • the upper end and/or lower end of the self-stabilizing gimbal 220 are fixed on a plane P1 or P3.
  • P1 and/or P3 can be a plane in the bracket 13 or the bearing seat 12, and P1 and/or P3 will follow the bearing seat 12 ( That is, the bearing surface 101) is inclined and inclined.
  • the three suspended acceleration sensors 2201 detect the acceleration in the vertical direction (z direction).
  • the three motors 2203 adjust the length of the screw 2202 respectively, so that the three The acceleration sensor 2201 returns to its original position (such as the z direction).
  • the three sets of motors are independent, and the adjustment directions and amplitudes of the respective screws are calculated according to the respective acceleration data. But the calculation procedures of the controllers of the three sets of motors can be the same, that is, the calculation methods and procedures from acceleration data to screw adjustment can be the same.
  • the acceleration data measured by the three sets of acceleration sensors 2201 may be different.
  • the three sets of motors 2203 adjust their respective screws according to their respective acceleration measurement results, so that their respective acceleration sensors 2201 return To the original position, a self-stabilizing immobile plane P2 is thus realized.
  • the monitoring component 22 is implemented to include an aircraft.
  • the aircraft has a hovering function, so that it can also achieve a positioning point that can maintain its position (horizontal tilt angle, altitude (absolute altitude), etc.).
  • the implementation of the present invention does not use a pan/tilt/positioning point, but adopts acceleration data through a number of inertial sensors (acceleration sensors) fixed in the support 13 or the bearing base 12, and integrates the acceleration data of all sensors.
  • the inclination angle to be adjusted in the present invention, and the direction and displacement of the sliding block 212 driven by the controller 221 are calculated.
  • the sensor structure of this method is simpler, but the calculation program is more complicated, and the calculated inclination data of the overall plane is not as accurate as the inclination data measured by the angle sensor of the positioning point in the previous embodiment.
  • FIG. 5A The working process of the monitoring component 22 of the present invention is shown in Figures 5 and 6.
  • the base 11 When the bottom surface of the supporting device is tilted, such as when the ship's deck tilts and shakes, the base 11 will tilt accordingly, which will also cause the bearing seat 12. And the inclination of the bearing surface 101, as shown in FIG. 5A.
  • the angle sensor 222 will detect that the bearing surface 101 of the bearing seat 12 is inclined with respect to the horizontal plane, and report the result of the inclination to the controller 221, which automatically calculates and controls the driving unit 213
  • the slider 212 is driven to slide.
  • FIG. 5A The working process of the monitoring component 22 of the present invention is shown in Figures 5 and 6.
  • the slider 212 is driven to slide in the direction of the arrow (the right side of the paper) for a displacement, thereby driving the lower end 21102 of the swing lever 211 to also slide in this direction, thereby reaching the state of FIG. 5B.
  • the lower end 21102 of the swing rod 211 has moved a certain distance along the slider 212.
  • the swing rod 211 is no longer 90 degrees perpendicular to the surface of the slider, but forms a tilt angle, that is, the swing rod 211 surrounds the fixed axis.
  • Piece 214 oscillated.
  • the fixed shaft member 214 provides a fulcrum like a seesaw.
  • the upper end of the fixed shaft member 214 drives the bearing base 12 to rotate by a corresponding angle, thereby compensating for the tilt of the bottom surface 1101 and adjusting the bearing surface 101 Return to the horizontal direction, that is, keep the bearing surface 101 parallel to the horizontal plane, as shown in the state shown in FIGS. 5B and 6.
  • the controller 221 can control the first driving unit 213a and the second driving unit 213b to drive the first sliding block 212a and the second sliding block 212b respectively in a non-collinear position.
  • the low end 21102 of the swing lever 211 can therefore slide along with the sliding of the first slider 212a and the second slider 212b, such as in the x and y directions. Therefore, the bearing surface 101 is relative to the horizontal plane.
  • the inclination in both directions (x and y directions) can be adjusted, that is, any inclination of the bearing surface 101 relative to the horizontal plane can be adjusted.
  • the sliding block 212 slides to drive the swing rod 211 to swing, thereby adjusting the bearing surface 101 back to the horizontal direction.
  • the bearing surface level protection mechanism 20 includes a lifting assembly 23,
  • the lifting assembly 23 includes a bottom plate 231 and a telescopic member 232, and the supporting base 12 is mounted on the bottom plate 231 in a liftable manner through the telescopic member 232.
  • the telescopic member 232 is implemented to include at least three telescopic cylinders 2321, a height adjuster 2322, and at least one lifting driver 2323.
  • the three telescopic cylinders 2321 are arranged between the bottom surface of the supporting base 12 and the top surface of the bottom plate 231.
  • the height adjuster 2322 is also installed between the bottom surface of the supporting base 12 and the top surface of the bottom plate 231.
  • the height adjuster 2322 has a top end 232201 and a bottom end 232202.
  • the bottom plate 231 is installed on the bottom end 232202 of the height adjuster, and the supporting base 12 is installed on the top end 232201 of the height adjuster.
  • the height adjuster 2322 also has two horizontal compression ends 232203 and 232204, and the lifting driver 2323 can drive the distance change between the horizontal compression ends 232203 and 232204 of the height adjuster 2322 (that is, the horizontal compression and extension ), so as to realize the change of the distance between the top end 232201 and the bottom end 232202 of the height adjuster (ie, the height change).
  • the lift assembly 23 is a chain lift.
  • the chain elevator is set on the support 13 and has a first gear 1301, which is a certain pulley, such as a hoist/reverse chain, fixed on the upper end of the support; it has a second gear 1302, which is a movable pulley,
  • the bearing seat 12 is connected to drive the bearing seat 12 to rise and fall together; there is also a third gear 1303, whose clockwise/counterclockwise rotation drives the chain to pull.
  • a lifting driver 2323 controls and drives the rotation of the third gear 1303, so as to realize the lifting adjustment of the bearing base 12.
  • the monitoring component 22 further includes a distance/height sensor.
  • the distance/height sensor can detect that the bearing surface 101 of the bearing base 12 deviates from the original spatial height.
  • the controller 221 will automatically control and drive the lifting driver 2323 to work according to the detection result of the distance/height sensor, so that the bearing surface 101 returns to the original spatial height, as shown in FIG. 7.
  • the "spatial height" in the present invention refers to the "absolute altitude" of the object, and refers to the vertical height above the average sea level, that is, the "absolute altitude”.
  • the distance/height sensor can be implemented as an acoustic wave sensor, a light sensor, an electromagnetic sensor, or the like.
  • a positioning point 220 that can keep its own height (especially absolute altitude) constant is provided, and the distance/height sensor uses the positioning point 220 as a reference point to determine whether the bearing surface 101 Altitude (especially absolute altitude) has changed.
  • a circle of sensor rings surrounding the positioning point 220 can be arranged near the positioning point 220, and there can be one circle/multiple sensors on the sensor ring, and the distance/height sensor is arranged on this sensor ring.
  • the distance/height sensor is an electromagnetic sensor, and the data of the relative displacement (height change) between the positioning point 220 and the sensor is obtained by magnetic line cutting.
  • the positioning point is provided by an automated space stabilization system, such as a self-stabilizing pan/tilt.
  • the self-stabilizing pan/tilt is now mostly used for camera and video camera shooting anti-shake, such as the handheld shooting of the camera.
  • Some self-stabilizing gimbals obtain acceleration data through IMU (Inertial Measurement Unit), and then reversely adjust the corresponding height of the motor to stabilize the position of the items on the gimbal.
  • IMU Inertial Measurement Unit
  • a self-stabilizing platform 220 shown in FIG. 4B has three sets of acceleration sensors 2201, three sets of motors 2203, and three sets of adjusting screws 2202.
  • the three sets of motors 2203 adjust their respective screws according to their respective acceleration measurement results, so that the respective acceleration sensors 2201 return to the original position (such as the z direction), thereby realizing a self-stabilizing immobile plane P2. Therefore, while adjusting P2 to maintain the level, the absolute altitude of P2 can also be maintained unchanged.
  • the monitoring component 22 is implemented to include an aircraft.
  • the aircraft has a hovering function, so that it can also achieve a positioning point that can maintain its own altitude (especially the absolute altitude).
  • the implementation of the present invention does not use a pan/tilt/positioning point, but adopts acceleration data through a number of inertial sensors (acceleration sensors) fixed in the support 13 or the bearing base 12, and integrates the acceleration data of all sensors.
  • the inclination angle and height that the present invention needs to be adjusted are calculated.
  • the sensor structure in this way is simpler, but the calculation program is more complicated, and the accuracy of the calculated adjustment data is not as accurate as the adjustment data obtained by the sensor measurement of the positioning point in the previous embodiment.
  • the inclination and height adjustment systems are separate, so it is more reliable to use the data measured by the angle sensor and height sensor to adjust.
  • the monitoring component 22 of the present invention is implemented to include an aircraft, wherein the angle sensor 222 and the distance/height sensor are both provided on the aircraft, so as to be opposite to each other through the aircraft.
  • a change in the spatial position of the bearing surface 101 detects that the bearing surface 101 deviates from its original height and detects the angle of the bearing surface 101 that is inclined relative to the horizontal plane.
  • the height and the angle relative to the horizontal direction of the carrying surface 101 formed by the appliance body 10 of the present invention can be automatically
  • the ground is adjusted so that the bearing surface 101 formed by the appliance body 10 remains horizontal, and the spatial height (absolute altitude) remains constant.
  • the supporting device 100 of the present invention is implemented as a seat on a ship, the load-bearing surface of the seat is automatically adjusted to a constant level and height (absolute altitude), so as to prevent shaking and shaking caused by the turbulence of the ship sailing on the sea. Passenger's seasickness etc.
  • a method for adjusting the level of the bearing surface of a support tool includes the following steps:
  • the controller drives the sliding shaft pendulum assembly 211 to swing by a certain range, and then adjusts the inclination angle of the bearing surface 101 on the bearing seat 12 to maintain the bearing The plane 101 is parallel to the horizontal plane.
  • a lower end 21102 of the swing lever 211 of the drive sliding shaft pendulum assembly 21 slides relative to the base 11, driving the swing lever 211 to swing, thereby driving the bearing base 12 to rotate. Angle, adjust the bearing surface 101 back to the horizontal direction.
  • the method for adjusting the level of the bearing surface of the support appliance includes the steps:
  • the low end 21101 of the swing rod 211 of the drive sliding shaft pendulum assembly 21 slides in two non-collinear directions.
  • the method for adjusting the level of the bearing surface of the support appliance includes the following steps:
  • the bearing seat 12 is driven up and down to return the bearing surface to its original spatial height (absolute altitude).
  • the controller first corrects the inclination angle of the bearing surface 101, and then corrects the height of the bearing surface 101.

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Abstract

A supporting tool (100), a spirit level (20), and a method for maintaining the spatial position of the bearing surface (101) of the supporting tool (100) unchanged. The supporting tool (100) comprises a tool body (10) and a spirit level (20). The tool body (10) forms a bearing surface (101) and a bottom surface (1101). When the bearing surface (101) is inclined with respect to a horizontal direction, the spirit level (20) is configured to automatically adjust the bearing surface (101) formed by the supporting tool (100) so that the bearing surface (101) is parallel to the horizontal plane, and by means of the spirit level (20), the bearing surface (101) formed by the supporting tool (100) can maintain a predetermined height in a vertical direction, i.e., maintain the absolute elevation of the bearing surface (101) unchanged. When the supporting tool (100) is used on a ship, the shaking caused by the turbulence of the ship sailing on the sea surface and the seasickness of passengers can be can prevented.

Description

[根据细则26改正20.08.2020]　水平仪、支撑用具和调节支撑用具的承载面水平的方法[Correct 20.08.2020 in accordance with Rule 26] 　Spirit, support equipment and method of adjusting the bearing surface level of support equipment 技术领域Technical field
本发明涉及一支撑用具领域，尤其涉及一支撑用具、水平仪和支撑用具的承载面空间位置保持不变的方法。The present invention relates to the field of supporting appliances, and in particular to a method for keeping the space positions of the supporting appliances, the spirit level and the bearing surfaces of the supporting appliances unchanged.
背景技术Background technique
支撑用具如凳子桌子等，由于其能够在距离地面/地板预定距离形成一承载面，从而使得所述支撑用具能够被用以将一被支撑体支撑于距离地面/地板预先高度。Supporting appliances, such as stools, tables, etc., can form a bearing surface at a predetermined distance from the ground/floor, so that the supporting appliances can be used to support a supported body at a predetermined height from the ground/floor.
所述被支撑体可以是物品，也可以是人。当所述支撑用具被实施为一凳子时，所述支撑用具形成的所述承载面能够被用于承载用户，从而使得用户能够平稳地坐立于所述支撑用具上。在某些环境下，所述支撑用具形成的所述承载面保持水平十分重要。The supported body may be an article or a person. When the supporting tool is implemented as a stool, the bearing surface formed by the supporting tool can be used to carry the user, so that the user can sit on the supporting tool stably. Under certain circumstances, it is very important that the bearing surface formed by the support tool remains level.
而当支撑所述支撑用具的地面/地板摇晃，比如支撑所述支撑用具的地面/地板为船甲板时，由于支撑所述支撑用具的地面/地板在船行驶的过程中会晃动，从而使得被支撑于所述支撑用具上的所述被支撑体会受到一定程度的影响。例如，当所述支撑用具被实施为一凳子，并被用以支撑用户时，如果所述支撑用具剧烈的摇晃，则可能会导致被支撑于所述承载面的用户晕眩。However, when the ground/floor supporting the supporting device shakes, for example, when the ground/floor supporting the supporting device is a ship deck, the ground/floor supporting the supporting device will shake during the traveling of the ship, thereby causing the The supported body supported on the supporting appliance will be affected to a certain extent. For example, when the supporting tool is implemented as a stool and used to support a user, if the supporting tool shakes violently, the user supported on the bearing surface may be dizzy.
再比如，当所述支撑用具被实施为桌子，且被用以支撑精密测量仪器时，如果所述支撑用具形成的所述承载面发生倾斜，则很有可能会导致所述精密测量仪器形成的测量结果产生较大的误差。For another example, when the supporting tool is implemented as a table and used to support a precision measuring instrument, if the bearing surface formed by the supporting tool is inclined, it is likely to cause the formation of the precision measuring instrument The measurement results produce large errors.
而之所以存在以上诸多问题，其根本原因在于，现有技术中的所述支撑用具形成的所述承载面相对于地面/地板的角度通常是固定的，在所述承载面倾斜时，无法自动地调整所述承载面的位置而使由所述支撑用具形成的所述承载面保持水平。The fundamental reason for the above problems is that the angle of the bearing surface formed by the supporting tool in the prior art relative to the ground/floor is usually fixed. When the bearing surface is inclined, it cannot be automatically The position of the bearing surface is adjusted to keep the bearing surface formed by the supporting tool horizontal.
发明内容Summary of the invention
本发明的一个目的在于提供一支撑用具、水平仪和支撑用具的承载面空间位置保持不变的方法，其中所述支撑用具包括一用具主体和一水平仪，其中所述用具主体形成一承载面和一底面，其中在所述承载面相对于水平方向倾斜时，所述水平仪被设置能够自动地调整所述支撑用具形成的所述承载面相对于水平面平行。An object of the present invention is to provide a supporting tool, a spirit level and a method for keeping the space position of a supporting surface of the supporting tool unchanged, wherein the supporting tool includes a tool main body and a spirit level, wherein the tool main body forms a supporting surface and a supporting surface. The bottom surface, wherein when the bearing surface is inclined with respect to the horizontal direction, the level gauge is configured to automatically adjust the bearing surface formed by the supporting tool to be parallel to the horizontal plane.
本发明的另一个目的在于提供一支撑用具、水平仪和支撑用具的承载面空间位置保持不变的方法，其中通过所述水平仪，所述支撑用具形成的所述承载面能够在竖直方向保持预先的高度(保持承载面的绝对海拔高度不变)。Another object of the present invention is to provide a support tool, a spirit level and a method for maintaining the same spatial position of the bearing surface of the support tool, wherein the bearing surface formed by the support tool can be maintained in the vertical direction by the level meter. (Keep the absolute altitude of the bearing surface unchanged).
本发明的另一个目的在于提供一支撑用具、水平仪和支撑用具的承载面空间位置保持不变的方法，其中所述水平仪能够通过驱动滑块的水平滑动消除所述承载面相对于水平面形成的角度。Another object of the present invention is to provide a support tool, a spirit level, and a method for keeping the space position of the bearing surface of the support tool unchanged, wherein the spirit level can eliminate the angle formed by the bearing surface relative to the horizontal plane by driving the slider to slide horizontally.
为实现上述至少一个目的，本发明提供一水平仪，用于保持一承载面相对于水平面平行，其中所述 水平仪包括：In order to achieve at least one of the above objectives, the present invention provides a level for keeping a bearing surface parallel to a horizontal plane, wherein the level includes:
一水平调节组件，如一滑动轴摆组件，和一监控组件，A level adjustment component, such as a sliding shaft pendulum component, and a monitoring component,
该水平调节组件被设置为能够调节承载面的平面倾斜方向。The level adjustment component is configured to be able to adjust the plane inclination direction of the bearing surface.
其中所述滑动轴摆组件包括一摆动杆、至少一滑块、至少一驱动单元以及一定轴件，Wherein the sliding shaft pendulum assembly includes a swing rod, at least one sliding block, at least one driving unit and a certain shaft member,
摆动杆和定轴件被如此设计以致于其中所述摆动杆的一高端能够通过定轴件固定连接一承载座，其中所述承载座的顶面为该承载面，The swing rod and the fixed shaft member are designed such that a high end of the swing rod can be fixedly connected to a bearing seat through the fixed shaft member, wherein the top surface of the bearing seat is the bearing surface,
所述摆动杆具有一低端，其中所述摆动杆的所述低端被可摆动地安装在滑块表面，The swing lever has a low end, wherein the low end of the swing lever is swingably mounted on the surface of the slider,
其中所述监控组件包括一控制器和一传感器，如角度传感器，其中所述传感器被设置为能够监测该承载面与水平面之间是否平行，The monitoring component includes a controller and a sensor, such as an angle sensor, wherein the sensor is configured to monitor whether the bearing surface is parallel to the horizontal plane,
当监控组件监测到该承载面与水平面不平行时，控制器指令驱动单位驱动所述滑块滑动，带动摆动杆的低端滑动，从而引起摆动杆的摆动，摆动杆的高端能够带动承载面转动一角度，从而保持所述承载面相对水平面平行。When the monitoring component detects that the bearing surface is not parallel to the horizontal plane, the controller instructs the driving unit to drive the slider to slide, which drives the low end of the swing rod to slide, thereby causing the swing rod to swing, and the high end of the swing rod can drive the bearing surface to rotate An angle to keep the bearing surface parallel to the horizontal plane.
根据本发明一实施例，所述滑动轴摆组件包括一第一滑块、一第二滑块、一第一驱动单元和一第二驱动单元，其中所述第一滑块通过所述第一驱动单元被可相对滑动地设置于该基座内，所述第二滑块被设置于所述第一滑块和该基座的底板之间，并通过所述第二驱动单元被可相对滑动地设置于该基座。According to an embodiment of the present invention, the sliding shaft pendulum assembly includes a first slider, a second slider, a first driving unit, and a second driving unit, wherein the first slider passes through the first The driving unit is relatively slidably arranged in the base, the second sliding block is arranged between the first sliding block and the bottom plate of the base, and is relatively slidingly slidable by the second driving unit The ground is set on the base.
根据本发明一实施例，所述第一滑块和所述第二滑块滑动的方向被设置为不共线的两个方向。According to an embodiment of the present invention, the sliding directions of the first slider and the second slider are set to two non-collinear directions.
根据本发明一实施例，所述第一滑块和所述第二滑块滑动的方向相互垂直。According to an embodiment of the present invention, the sliding directions of the first slider and the second slider are perpendicular to each other.
根据本发明一实施例，所述监控组件包括一距离/高度传感器，其中所述水平仪包括一升降组件，能够实现承载座的承载面的上下移动。According to an embodiment of the present invention, the monitoring component includes a distance/height sensor, and the level meter includes a lifting component, which can realize the up and down movement of the bearing surface of the bearing seat.
根据本发明一实施例，所述定轴件至少具有部分球面。According to an embodiment of the present invention, the fixed shaft member has at least a partial spherical surface.
为实现上述至少一个目的，本发明提供一支撑用具，其中所述支撑用具包括：In order to achieve at least one of the above objects, the present invention provides a support appliance, wherein the support appliance includes:
一用具本体，其中所述用具本体包括一基座和一承载座，其中所述承载座形成一承载面；和An appliance body, wherein the appliance body includes a base and a bearing seat, wherein the bearing seat forms a bearing surface; and
一如上所述的水平仪，用于保持所述承载面相对于水平面平行。A level as described above is used to keep the bearing surface parallel to the horizontal plane.
为实现上述至少一个目的，本发明提供一种调节支撑用具的承载面水平的方法，包括以下步骤：In order to achieve at least one of the above objectives, the present invention provides a method for adjusting the level of the bearing surface of a support tool, which includes the following steps:
步骤一,监测所述承载面是否水平；和Step one: monitor whether the bearing surface is level; and
步骤二，在监测到所述承载面与水平面不平行时，驱动摆动杆的一低端滑动，带动摆动杆摆动，从而带动承载座上的承载面转动一角度，调整承载面重新回到水平方向。Step 2: When it is detected that the bearing surface is not parallel to the horizontal plane, drive a low end of the swing lever to slide to drive the swing lever to swing, thereby driving the bearing surface on the bearing seat to rotate by an angle, and adjust the bearing surface to return to the horizontal direction .
可选地，该方法包括步骤：通过驱动两个滑块实现所述摆动杆的低端沿两个不共线的方向滑动。Optionally, the method includes the step of driving two sliding blocks to realize the sliding of the lower end of the swing rod in two non-collinear directions.
可选地，该方法还包括步骤：监测所述承载面的空间高度是否发生变化；和在所述承载面的空间高度发生变化时，以驱动所述承载座的升降的方式，使所述承载面回到原来的高度。Optionally, the method further includes the steps of: monitoring whether the spatial height of the bearing surface changes; and when the spatial height of the bearing surface changes, driving the bearing seat up and down to make the bearing The face returns to its original height.
通过对随后的描述和附图的理解，本发明进一步的目的和优势将得以充分体现。Through the understanding of the following description and the drawings, the further objectives and advantages of the present invention will be fully embodied.
本发明的这些和其它目的、特点和优势，通过下述的详细说明，附图和权利要求得以充分体现。These and other objectives, features and advantages of the present invention are fully embodied by the following detailed description, drawings and claims.
附图说明Description of the drawings
图1示出了本发明一支撑用具的立体图。Figure 1 shows a perspective view of a supporting device of the present invention.
图2示出了本发明所述支撑用具的部分结构拆卸图。Figure 2 shows a disassembled view of a part of the structure of the supporting device of the present invention.
图3示出了本发明所述支撑用具的左视图。Figure 3 shows a left side view of the supporting device of the present invention.
图4A示出了本发明所述支撑用具的监控组件的结构示意图。Figure 4A shows a schematic structural view of the monitoring component of the supporting appliance of the present invention.
图4B示出了本发明中的一自稳云台的结构示意图。FIG. 4B shows a schematic structural diagram of a self-stabilizing platform in the present invention.
图5A示出了本发明所述支撑用具在其基座倾斜时的一个状态图。Fig. 5A shows a state diagram of the supporting device of the present invention when its base is inclined.
图5B示出了本发明所述支撑用具在其基座倾斜时的另一个状态图。Fig. 5B shows another state diagram of the supporting device of the present invention when its base is inclined.
图5C示出了本发明所述支撑用具的某一实施例的部分结构的示意图。Fig. 5C shows a schematic diagram of a part of the structure of a certain embodiment of the supporting device of the present invention.
图5D示出了本发明所述支撑用具的另一实施例的部分结构的示意图。Fig. 5D shows a schematic diagram of a part of the structure of another embodiment of the supporting device of the present invention.
图6示出了本发明所述支撑用具在上下晃动时的状态图。Fig. 6 shows a state diagram of the supporting device of the present invention when it is shaken up and down.
图7示出了本发明所述支撑用具发生上下晃动，所述支撑用具保持高度不变的状态图。Fig. 7 shows a state diagram of the supporting tool of the present invention shaking up and down, and the supporting tool remains unchanged in height.
图8A和图8B分别示出了本发明某一实施例的所述支撑用具的扶手在不同状态下的立体图。8A and 8B respectively show a perspective view of the armrest of the supporting device according to an embodiment of the present invention in different states.
图9示出了本发明使用链条式升降机的结构示意图。Figure 9 shows a schematic structural diagram of the present invention using a chain elevator.
图10示出了本发明一调节支撑用具的承载面空间位置保持不变的方法的流程图。Fig. 10 shows a flow chart of a method for adjusting the spatial position of the bearing surface of a support appliance to remain unchanged according to the present invention.
具体实施方式Detailed ways
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention And to simplify 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, so the above terms should not be understood as limiting the present invention.
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in other embodiments, The number can be multiple, and the term "one" cannot be understood as a restriction on the number.
参考图1至图8B，依本发明一实施例的一支撑用具100将在以下被详细阐述，其中所述支撑用具100能够被用以支撑至少一被支撑体。1 to 8B, a supporting device 100 according to an embodiment of the present invention will be described in detail below, wherein the supporting device 100 can be used to support at least one supported body.
参考图1和图2，本发明中所述支撑用具100包括一用具本体10和一水平仪20。所述用具本体10在一预先高度形成一承载面101，供将所述被支撑体支撑于所述预先高度。所述水平仪20被设置为能够监测所述承载面101的空间位置，并能够根据监测结果，自动地调整所述用具本体10形成的所述承载面101的空间位置，从而使得所述用具本体10形成的所述承载面101保持相对于水平面平行。1 and 2, the supporting appliance 100 in the present invention includes an appliance body 10 and a spirit level 20. The appliance body 10 forms a bearing surface 101 at a predetermined height for supporting the supported body at the predetermined height. The level 20 is configured to monitor the spatial position of the carrying surface 101, and can automatically adjust the spatial position of the carrying surface 101 formed by the appliance body 10 according to the monitoring result, so that the appliance body 10 The formed bearing surface 101 is kept parallel to the horizontal plane.
具体地，所述支撑用具100的所述用具本体10包括一基座11和一承载座12。Specifically, the appliance body 10 of the supporting appliance 100 includes a base 11 and a bearing seat 12.
在某一实施例中，该基座11具有一弧面的上面板部分1102，和一平面的下底板部分1101，见图2。In an embodiment, the base 11 has a curved upper panel portion 1102 and a flat lower bottom panel portion 1101, as shown in FIG. 2.
所述基座11具有一底面1101，被用以将所述支撑用具100支撑在一平面上，如船甲板上，如地面/地板上。The base 11 has a bottom surface 1101 that is used to support the supporting device 100 on a flat surface, such as a ship deck, such as the ground/floor.
所述承载座12的上表面形成一承载面101，供承载所述被支撑体。本领域技术人员能够理解的是，所述被支撑体可以是一些物品，也可以是人。The upper surface of the supporting base 12 forms a supporting surface 101 for supporting the supported body. Those skilled in the art can understand that the supported body may be some articles or a person.
可选地，所述用具本体10还包括一支架13，其中所述支架13被固定于所述承载座12的一侧，并且所述支架13相对于所述承载座12形成一高端部131，如椅子/沙发的靠背。Optionally, the appliance body 10 further includes a bracket 13, wherein the bracket 13 is fixed to one side of the supporting base 12, and the bracket 13 forms a high end 131 relative to the supporting base 12. Such as the backrest of a chair/sofa.
可选地，参考图8A和图8B，所述用具本体10还包括一对扶手14，其中一对所述扶手14分别被设置于所述支架13的两侧，从而使得所述支撑用具100被实施为一凳子或椅子或沙发。可选地，所述扶手14被可转动地设置于所述支架13的两侧，从而当用户需要使用所述扶手14时，通过转动所述扶手14，能够使所述扶手14保持在不同的位置。Optionally, referring to Figures 8A and 8B, the appliance body 10 further includes a pair of armrests 14, wherein the pair of armrests 14 are respectively arranged on both sides of the bracket 13, so that the supporting appliance 100 is Implemented as a stool or chair or sofa. Optionally, the armrest 14 is rotatably arranged on both sides of the bracket 13, so that when the user needs to use the armrest 14, by rotating the armrest 14, the armrest 14 can be kept in a different position. position.
如图2和图3，所述水平仪20包括一水平调节组件，如滑动轴摆组件21，和一监控组件22。As shown in FIG. 2 and FIG. 3, the level 20 includes a level adjustment component, such as a sliding shaft pendulum component 21, and a monitoring component 22.
所谓的滑动摆动组件包括至少一个滑动机构和至少一个摆动机构，尤其是能够将滑动与摆动相连接，例如，将一滑动运动转换为一摆动运动。The so-called sliding and swinging assembly includes at least one sliding mechanism and at least one swinging mechanism, and is particularly capable of connecting sliding and swinging, for example, converting a sliding motion into a swinging motion.
所述承载座12通过所述滑动轴摆组件21被可摆动地支撑于所述基座11。所述监测组件22被设置于能够监测所述承载面101的空间位置是否发生变化，比如监测其相对于某一位点的空间位置是否发生变化，比如监测承载面101是否相对水平面平行。在监测到所述基座11的所述底面1101相对于水平面倾斜时，监测组件22通过控制所述滑动轴转组件21使得所述承载面101得以保持相对于水平面平行。The bearing base 12 is swingably supported on the base 11 via the sliding shaft pendulum assembly 21. The monitoring component 22 is configured to monitor whether the spatial position of the bearing surface 101 changes, for example, to monitor whether the spatial position relative to a certain point changes, for example, to monitor whether the bearing surface 101 is parallel to a horizontal plane. When it is detected that the bottom surface 1101 of the base 11 is inclined with respect to the horizontal plane, the monitoring component 22 controls the sliding and pivoting component 21 to keep the bearing surface 101 parallel to the horizontal plane.
参考图1至图3，所述滑动轴摆组件21包括一摆动杆211、至少一滑块212、至少一驱动单元213以及至少一定轴件214。所述摆动杆211具有一高端21101和相对于所述高端21101的一低端21102。Referring to FIGS. 1 to 3, the sliding shaft pendulum assembly 21 includes a swing rod 211, at least one sliding block 212, at least one driving unit 213 and at least a certain shaft 214. The swing lever 211 has a high end 21101 and a low end 21102 opposite to the high end 21101.
所述定轴件能够提供一个相对固定的支点，使得摆动杆211能够绕着这个支点摆动。可选地，所述定轴件214至少具有部分球面。在某一个实施例中，如图5A所示，定轴件214含有一球体。在一个实施例中，该球体的球心就成为了摆动杆211摆动的支点，在摆动杆摆动的过程中，该球体的球心相对于基座11的位置是不变的，该球体的球心相对于承载座的位置也是不变的，即为一个相对固定的支点。The fixed shaft member can provide a relatively fixed fulcrum, so that the swing rod 211 can swing around the fulcrum. Optionally, the fixed shaft member 214 has at least a partial spherical surface. In one embodiment, as shown in FIG. 5A, the fixed shaft member 214 includes a sphere. In one embodiment, the center of the sphere becomes the fulcrum for the swing of the swing lever 211. During the swing of the swing lever, the position of the center of the sphere relative to the base 11 is unchanged. The position of the center relative to the bearing seat is also constant, that is, a relatively fixed fulcrum.
在一实施例中，如图2所示，所述底座11的上表面为圆弧面1102，在圆弧面1102的正中设有一 安装孔1103。如图5所示，定轴件214的球体直径大于安装孔1103的直径。安装时，将定轴件214的球体从上往下放入安装孔1103内，并卡在1103处，从而能够非常牢固地支撑上部结构。In one embodiment, as shown in FIG. 2, the upper surface of the base 11 is a circular arc surface 1102, and a mounting hole 1103 is provided in the center of the circular arc surface 1102. As shown in FIG. 5, the diameter of the ball of the fixed shaft member 214 is larger than the diameter of the mounting hole 1103. During installation, the ball of the fixed shaft 214 is put into the installation hole 1103 from top to bottom, and is clamped at 1103, so that the upper structure can be supported very firmly.
承载座12的底部被固定在定轴件214的上端，定轴件214的下端则固定连接摆动杆211的高端21101，因此在摆动过程中，承载座12的底面相对于摆动杆高端21101的位置是不变的，承载座12的底面与摆动杆211的纵轴之间一直为一固定角度，如90度。The bottom of the bearing seat 12 is fixed to the upper end of the fixed shaft member 214, and the lower end of the fixed shaft member 214 is fixedly connected to the high end 21101 of the swing rod 211. Therefore, during the swing process, the position of the bottom surface of the bearing seat 12 relative to the high end 21101 of the swing rod It is unchanged. The bottom surface of the bearing base 12 and the longitudinal axis of the swing lever 211 are always at a fixed angle, such as 90 degrees.
摆动杆211的低端21102被可摆动地安装在滑块212表面的某处。在摆动过程中，滑块212表面与摆动杆211的纵轴之间的夹角会发生变化。The lower end 21102 of the swing lever 211 is swingably mounted somewhere on the surface of the slider 212. During the swing process, the angle between the surface of the slider 212 and the longitudinal axis of the swing lever 211 changes.
在某一实施例中，如图5C，摆动杆的低端21102通过铰链21103连接到固定件21104上，而固定件21104被固定在滑块212表面的某处。摆动杆的低端21102因此能够绕着铰链21103的转动轴转动。In an embodiment, as shown in FIG. 5C, the lower end 21102 of the swing lever is connected to the fixing member 21104 through a hinge 21103, and the fixing member 21104 is fixed on the surface of the slider 212 somewhere. The lower end 21102 of the swing lever can therefore rotate around the rotation axis of the hinge 21103.
在另一实施例中，摆动杆的低端21102通过双铰链结构安装在滑块212表面的某处。在双铰链结构中，设有不同方向(如正交方向)的两个铰链，因此，摆动杆的低端21102能够在二维平面灵活移动，而不破坏整体连接结构。In another embodiment, the lower end 21102 of the swing lever is installed somewhere on the surface of the slider 212 through a double hinge structure. In the double hinge structure, two hinges in different directions (such as orthogonal directions) are provided. Therefore, the lower end 21102 of the swing lever can move flexibly in a two-dimensional plane without damaging the overall connection structure.
关于摆动杆211的低端21102相对于滑块212表面可摆动地安装，本发明并不局限于图5C的实施例的结构，其他万向联轴器、鱼眼连接器、关节轴承等也能够实现类似的功能。Regarding the low end 21102 of the swing lever 211 being swingably mounted relative to the surface of the slider 212, the present invention is not limited to the structure of the embodiment of FIG. 5C, and other universal couplings, fisheye connectors, joint bearings, etc. Achieve similar functions.
另外，可选地，摆动杆211具有长度可调的结构，例如图5D所示的可自由伸缩的套杆结构。例如，摆动杆211具有内杆21105和外管21106，内杆21105的一端套在外管21106内，然后通过万向联轴器21107连接到滑块212上。当万向联轴器21107(摆动杆的低端21102)随着滑块212移动时，它距离安装孔1103的距离可能发生一些变化，尤其是当需要调整的倾斜角比较大的时候，这个距离差就会比较明显。当摆动杆211的长度是可以变化时，摆动杆的低端21102能够随着滑块212移动更远的距离，从而能够调节更大范围的倾斜角。In addition, optionally, the swing rod 211 has an adjustable length structure, such as a freely retractable sleeve rod structure shown in FIG. 5D. For example, the swing rod 211 has an inner rod 21105 and an outer tube 21106, one end of the inner rod 21105 is sleeved in the outer tube 21106, and then connected to the slider 212 through a universal joint 21107. When the universal joint 21107 (low end 21102 of the swing lever) moves with the slider 212, its distance from the mounting hole 1103 may change, especially when the tilt angle that needs to be adjusted is relatively large. The difference will be more obvious. When the length of the swing lever 211 can be changed, the lower end 21102 of the swing lever can move a greater distance with the slider 212, so that a larger range of tilt angle can be adjusted.
当所述滑块212被所述驱动单元213驱动而相对于所述基座11滑动时，会带动摆动杆211的低端21102一起滑动，从而带动摆动杆211围绕定轴件214的摆动。当摆动杆211发生摆动时，摆动杆上端21101通过定轴件214带动承载座12转动，从而调整承载座12的倾斜方向。定轴件提供了一个像跷跷板的支点，一头接着摆动杆的低端21102，另一头连着承载座12，当一头发生转动时，就会带动另一头转动。When the sliding block 212 is driven by the driving unit 213 to slide relative to the base 11, the lower end 21102 of the swing rod 211 will be driven to slide together, thereby driving the swing rod 211 to swing around the fixed shaft 214. When the swing lever 211 swings, the upper end 21101 of the swing lever drives the bearing base 12 to rotate through the fixed shaft member 214, so that the tilt direction of the bearing base 12 is adjusted. The fixed shaft member provides a fulcrum like a seesaw. One end is connected to the lower end 21102 of the swing lever, and the other end is connected to the bearing seat 12. When one end rotates, it will drive the other end to rotate.
可选地，在本发明中，所述滑动轴摆组件21包括一第一滑块212a、一第二滑块212b、一第一驱动单元213a和一第二驱动单元213b。所述第一滑块212a通过所述第一驱动单元213a被可相对滑动地设置于所述基座11。所述第二滑块212b被设置于所述第一滑块212a和所述基座11之间，并通过所述第二驱动单元213b被可滑动地设置于所述基座11。也就是说，所述第一滑块212a被所述第一驱动单元213a驱动而滑动时，所述第一滑块212a相对于所述第二滑块212b滑动的。而所述第二滑块212b被所 述第二驱动单元213b驱动而滑动时，所述第二滑块212b带着所述第一滑块212a一起滑动。Optionally, in the present invention, the sliding shaft pendulum assembly 21 includes a first slider 212a, a second slider 212b, a first driving unit 213a, and a second driving unit 213b. The first sliding block 212a is relatively slidably disposed on the base 11 through the first driving unit 213a. The second sliding block 212b is disposed between the first sliding block 212a and the base 11, and is slidably disposed on the base 11 by the second driving unit 213b. That is, when the first slider 212a is driven by the first driving unit 213a to slide, the first slider 212a slides relative to the second slider 212b. When the second slider 212b is driven by the second driving unit 213b to slide, the second slider 212b slides together with the first slider 212a.
可选地，所述第一滑块212a和所述第二滑块212b被驱动滑动时，分别沿不共线的两个方向滑动。可选地，在本发明中，所述第一滑块212a和所述第二滑块212b滑动的方向被实施为两个正交方向上。因此，能够通过滑动滑块212a和212b，使得摆动杆低端21102的位置在二维平面内快速移动。通过这样的方式，从而使得所述承载座12的所述承载面101相对于水平方向的角度得以被快速地调整。Optionally, when the first slider 212a and the second slider 212b are driven to slide, they slide in two non-collinear directions, respectively. Optionally, in the present invention, the sliding directions of the first slider 212a and the second slider 212b are implemented in two orthogonal directions. Therefore, the position of the lower end 21102 of the swing lever can be quickly moved in a two-dimensional plane by sliding the sliders 212a and 212b. In this way, the angle of the bearing surface 101 of the bearing seat 12 relative to the horizontal direction can be quickly adjusted.
本领域技术人员能够理解的是，在本发明中，所述第一驱动单元213a和所述第二驱动单元213b可以被实施为一伺服电机、一液压驱动装置等，本发明不受此方面的限制。Those skilled in the art can understand that, in the present invention, the first drive unit 213a and the second drive unit 213b can be implemented as a servo motor, a hydraulic drive device, etc. The present invention is not subject to this aspect. limit.
进一步地，在本发明中，所述滑动轴摆组件21的运动受监控组件22的控制。具体地，所述滑动轴摆组件21的所述驱动单元213受所述监控组件22的控制。所述监控组件22被设置为能够检测所述承载座12的所述承载面101相对于水平方向之间的角度，并当所述承载座12的所述承载面101相对于水平面倾斜时，所述监控组件22自动计算并驱动所述滑动轴摆组件21进行一幅度的摆动，进而调整所述承载座12上的所述承载面101的倾斜角度，从而保持该承载面101相对于水平面的平行。Further, in the present invention, the movement of the sliding shaft pendulum assembly 21 is controlled by the monitoring assembly 22. Specifically, the driving unit 213 of the sliding shaft pendulum assembly 21 is controlled by the monitoring assembly 22. The monitoring component 22 is configured to be able to detect the angle between the bearing surface 101 of the bearing base 12 relative to the horizontal direction, and when the bearing surface 101 of the bearing base 12 is inclined relative to the horizontal plane, the The monitoring component 22 automatically calculates and drives the sliding shaft pendulum component 21 to swing by a range, and then adjusts the inclination angle of the bearing surface 101 on the bearing seat 12, so as to keep the bearing surface 101 parallel to the horizontal plane .
参考图1至图4，比如，所述监控组件22包括一控制器221和一角度传感器222。控制器221和角度传感器222之间可以是电连接，也可以是无线信号传输。Referring to FIGS. 1 to 4, for example, the monitoring component 22 includes a controller 221 and an angle sensor 222. The controller 221 and the angle sensor 222 may be electrically connected, or may be wireless signal transmission.
所述角度传感器222被设置为能够检测到所述承载座12相对水平面倾斜的角度。所述角度传感器222可以被实施为一电磁传感器、光传感器等。The angle sensor 222 is configured to be able to detect the angle at which the carrier 12 is inclined relative to the horizontal plane. The angle sensor 222 can be implemented as an electromagnetic sensor, an optical sensor, or the like.
所述控制器221则能够控制所述驱动单元213驱动所述滑块212滑动。The controller 221 can control the driving unit 213 to drive the slider 212 to slide.
在某一实施例中，所述角度传感器222和/或所述控制器221被设置在所述用具本体10上。例如，可以设置在支架13的一个感应器盒223中，感应器盒223可以位于支架13的高处，也可以位于支架13内。另外，感应器盒223也可以放在承载座12中，比如设置在承载面101的下方。In an embodiment, the angle sensor 222 and/or the controller 221 are arranged on the appliance body 10. For example, it can be arranged in a sensor box 223 of the support 13, and the sensor box 223 can be located at a height of the support 13 or in the support 13. In addition, the sensor box 223 may also be placed in the bearing base 12, for example, arranged below the bearing surface 101.
可选地，提供一能保持自身的位置(水平倾斜角和/或高度(尤其是绝对海拔高度))不动的定位点(小平面)220，所述角度传感器222以该定位点(小平面)作为参照点，判断承载面是否相对水平面倾斜。如图4A所示，定位点220的附近可以设置一圈环绕着定位点220的传感器环，传感器环上可以有一圈/多个传感器，角度传感器222就被设置在这个传感器环上。Optionally, a positioning point (facet) 220 that can keep its position (horizontal tilt angle and/or height (especially absolute altitude)) immobile is provided, and the angle sensor 222 uses the positioning point (facet) ) Is used as a reference point to determine whether the bearing surface is inclined relative to the horizontal plane. As shown in FIG. 4A, a circle of sensor rings surrounding the positioning point 220 may be arranged near the positioning point 220, and there may be one circle/multiple sensors on the sensor ring, and the angle sensor 222 is arranged on this sensor ring.
在一实施例中，该定位点220可以由一自动化空间稳定***，如自稳云台，提供。自稳云台现在多被用于照相机和摄像机的拍摄防抖，如摄像机的手持拍摄。一些自稳云台通过IMU(惯性测量单元)获取角速度和加速度的数据，然后反向调节电机相应的角度，从而实现云台上物品的位置稳定。In an embodiment, the positioning point 220 may be provided by an automated space stabilization system, such as a self-stabilizing pan/tilt. The self-stabilizing pan/tilt is now mostly used for camera and video camera shooting anti-shake, such as the handheld shooting of the camera. Some self-stabilizing gimbals obtain angular velocity and acceleration data through IMU (Inertial Measurement Unit), and then reversely adjust the corresponding angle of the motor to stabilize the position of the items on the gimbal.
图4B展示了本发明的一自稳云台220，其具有三套加速度传感器2201，三套电机2203，三套调节螺杆2202。自稳云台220的上端和/或下端固定在一平面P1或P3上，P1和/或P3可以为支架13或者承载座12中的一个平面，P1和/或P3会随着承载座12(即承载面101)的倾斜而倾斜。当P1和/或P3 相对于水平面倾斜时，三个悬挂的加速度传感器2201检测到竖直方向(z方向)的加速度，根据测量得到的加速度，三个电机2203分别调节螺杆2202的长度，使得三个加速度传感器2201重新回到原来的位置(如z方向)。FIG. 4B shows a self-stabilizing head 220 of the present invention, which has three sets of acceleration sensors 2201, three sets of motors 2203, and three sets of adjusting screws 2202. The upper end and/or lower end of the self-stabilizing gimbal 220 are fixed on a plane P1 or P3. P1 and/or P3 can be a plane in the bracket 13 or the bearing seat 12, and P1 and/or P3 will follow the bearing seat 12 ( That is, the bearing surface 101) is inclined and inclined. When P1 and/or P3 are inclined relative to the horizontal plane, the three suspended acceleration sensors 2201 detect the acceleration in the vertical direction (z direction). According to the measured acceleration, the three motors 2203 adjust the length of the screw 2202 respectively, so that the three The acceleration sensor 2201 returns to its original position (such as the z direction).
在一个实施例中，三套电机之间是独立的，分别根据各自的加速度数据计算出对各自的螺杆的调节方向和幅度。但是三套电机的控制器的计算程序可以是相同的，即从加速度数据到螺杆调节的计算方法和程序可以是一样的。当P1和/或P3相对于水平面倾斜时，三套加速度传感器2201测量得到的加速度数据可能是不同的，三套电机2203分别根据各自的加速度测量结果调节各自的螺杆，使得各自的加速度传感器2201回到原始位置，从而实现了一个自稳定的不动平面P2。In one embodiment, the three sets of motors are independent, and the adjustment directions and amplitudes of the respective screws are calculated according to the respective acceleration data. But the calculation procedures of the controllers of the three sets of motors can be the same, that is, the calculation methods and procedures from acceleration data to screw adjustment can be the same. When P1 and/or P3 are inclined relative to the horizontal plane, the acceleration data measured by the three sets of acceleration sensors 2201 may be different. The three sets of motors 2203 adjust their respective screws according to their respective acceleration measurement results, so that their respective acceleration sensors 2201 return To the original position, a self-stabilizing immobile plane P2 is thus realized.
在这样一个实施例中，因为只使用了一个方向(z方向)的加速度数据和螺杆调节，所以计算程序简单，调节响应快。In such an embodiment, because only one direction (z direction) acceleration data and screw adjustment are used, the calculation procedure is simple and the adjustment response is fast.
在另一实施例中，所述监控组件22被实施为包括一飞行器。该飞行器具有悬停功能，从而也能够实现一个能保持自身的位置(水平倾斜角、高度(绝对海拔高度)等)不动的定位点。In another embodiment, the monitoring component 22 is implemented to include an aircraft. The aircraft has a hovering function, so that it can also achieve a positioning point that can maintain its position (horizontal tilt angle, altitude (absolute altitude), etc.).
在另一实施例中，本发明的实现没有使用云台/定位点，而是通过若干固定在支架13或者承载座12中惯性传感器(加速度传感器)采取加速度数据，综合所有传感器的加速度数据，综合计算得到本发明需要调整的倾角，以及控制器221驱动滑块212滑动的方向和位移。这种方式的传感器结构更简单，但是计算程序更复杂，计算得到的整体平面的倾角数据也不如前一实施例中根据定位点的角度传感器测量得到的倾角数据准确。In another embodiment, the implementation of the present invention does not use a pan/tilt/positioning point, but adopts acceleration data through a number of inertial sensors (acceleration sensors) fixed in the support 13 or the bearing base 12, and integrates the acceleration data of all sensors. The inclination angle to be adjusted in the present invention, and the direction and displacement of the sliding block 212 driven by the controller 221 are calculated. The sensor structure of this method is simpler, but the calculation program is more complicated, and the calculated inclination data of the overall plane is not as accurate as the inclination data measured by the angle sensor of the positioning point in the previous embodiment.
本发明的监控组件22的工作过程如图5和图6所示，当支撑用具所在的底面发生倾斜，如当船甲板倾斜晃动时，基座11是随之倾斜的，也会导致承载座12和承载面101的倾斜，如图5A所示。此时，角度传感器222会检测到承载座12的承载面101相对于水平面发生了倾斜，并将倾斜的结果汇报给所述控制器221，所述控制器221自动计算并控制所述驱动单元213驱动所述滑块212滑动。在图5A中，滑块212被驱动着向箭头方向(纸面的右侧方向)滑动一位移，进而带动摆动杆211的低端21102也向该方向滑动一位移，从而到达图5B的状态。在图5B中，摆动杆211的低端21102沿着滑块212移动了一段距离，摆动杆211与滑块表面不再是90度垂直，而是形成一倾斜角，即摆动杆211围绕定轴件214发生了摆动。定轴件214提供了一个像跷跷板的支点，当摆动杆211发生了一角度的摆动时，定轴件214上端带动承载座12也转动相应角度，从而补偿底面1101发生的倾斜，调整承载面101重新回到水平方向，即保持承载面101与水平面平行，如图5B和图6所示的状态。The working process of the monitoring component 22 of the present invention is shown in Figures 5 and 6. When the bottom surface of the supporting device is tilted, such as when the ship's deck tilts and shakes, the base 11 will tilt accordingly, which will also cause the bearing seat 12. And the inclination of the bearing surface 101, as shown in FIG. 5A. At this time, the angle sensor 222 will detect that the bearing surface 101 of the bearing seat 12 is inclined with respect to the horizontal plane, and report the result of the inclination to the controller 221, which automatically calculates and controls the driving unit 213 The slider 212 is driven to slide. In FIG. 5A, the slider 212 is driven to slide in the direction of the arrow (the right side of the paper) for a displacement, thereby driving the lower end 21102 of the swing lever 211 to also slide in this direction, thereby reaching the state of FIG. 5B. In FIG. 5B, the lower end 21102 of the swing rod 211 has moved a certain distance along the slider 212. The swing rod 211 is no longer 90 degrees perpendicular to the surface of the slider, but forms a tilt angle, that is, the swing rod 211 surrounds the fixed axis. Piece 214 oscillated. The fixed shaft member 214 provides a fulcrum like a seesaw. When the swing rod 211 swings at an angle, the upper end of the fixed shaft member 214 drives the bearing base 12 to rotate by a corresponding angle, thereby compensating for the tilt of the bottom surface 1101 and adjusting the bearing surface 101 Return to the horizontal direction, that is, keep the bearing surface 101 parallel to the horizontal plane, as shown in the state shown in FIGS. 5B and 6.
在某一实施例中，所述控制器221能够控制所述第一驱动单元213a和所述第二驱动单元213b分别驱动所述第一滑块212a和所述第二滑块212b在不共线的两个方向上滑动，如x和y两个方向。所述摆动杆211的所述低端21102因此能够伴随所述第一滑块212a和所述第二滑块212b的滑动而滑动，如x 和y两个方向，因此承载面101相对于水平面的两个方向(x和y方向)的倾斜都可以被调节，即承载面101相对于水平面的任何一种倾斜都可以被调节。滑块212滑动，带动摆动杆211摆动，从而调节承载面101回到水平方向。In an embodiment, the controller 221 can control the first driving unit 213a and the second driving unit 213b to drive the first sliding block 212a and the second sliding block 212b respectively in a non-collinear position. Slide in two directions, such as x and y. The low end 21102 of the swing lever 211 can therefore slide along with the sliding of the first slider 212a and the second slider 212b, such as in the x and y directions. Therefore, the bearing surface 101 is relative to the horizontal plane. The inclination in both directions (x and y directions) can be adjusted, that is, any inclination of the bearing surface 101 relative to the horizontal plane can be adjusted. The sliding block 212 slides to drive the swing rod 211 to swing, thereby adjusting the bearing surface 101 back to the horizontal direction.
可选地，参考图1至图3，所述承载面水平保护机构20包括一升降组件23，Optionally, referring to FIGS. 1 to 3, the bearing surface level protection mechanism 20 includes a lifting assembly 23,
在一实施例中，所述升降组件23包括一底板231和一伸缩构件232，所述承载座12被通过所述伸缩构件232被可升降地安装于底板231上。参考图3，可选地，所述伸缩构件232被实施为包括至少三个伸缩油缸2321、一高度调整器2322和至少一升降驱动器2323。三个所述伸缩油缸2321被设置于所述承载座12的底面和所述底板231的顶面之间。所述高度调整器2322也被安装于所述承载座12的底面和所述底板231的顶面之间。In an embodiment, the lifting assembly 23 includes a bottom plate 231 and a telescopic member 232, and the supporting base 12 is mounted on the bottom plate 231 in a liftable manner through the telescopic member 232. Referring to FIG. 3, optionally, the telescopic member 232 is implemented to include at least three telescopic cylinders 2321, a height adjuster 2322, and at least one lifting driver 2323. The three telescopic cylinders 2321 are arranged between the bottom surface of the supporting base 12 and the top surface of the bottom plate 231. The height adjuster 2322 is also installed between the bottom surface of the supporting base 12 and the top surface of the bottom plate 231.
可选地，所述高度调整器2322具有一顶端232201和一底端232202。所述底板231被安装于所述高度调整器的底端232202，所述承载座12被安装于所述高度调整器的顶端232201。所述高度调整器2322还具有两个水平压缩端232203和232204，升降驱动器2323可以驱动所述高度调整器2322的所述水平压缩端232203和232204之间的距离变化(即水平方向的压缩和伸长)，从而实现高度调整器的顶端232201和底端232202之间的距离变化(即高度变化)。Optionally, the height adjuster 2322 has a top end 232201 and a bottom end 232202. The bottom plate 231 is installed on the bottom end 232202 of the height adjuster, and the supporting base 12 is installed on the top end 232201 of the height adjuster. The height adjuster 2322 also has two horizontal compression ends 232203 and 232204, and the lifting driver 2323 can drive the distance change between the horizontal compression ends 232203 and 232204 of the height adjuster 2322 (that is, the horizontal compression and extension ), so as to realize the change of the distance between the top end 232201 and the bottom end 232202 of the height adjuster (ie, the height change).
在另一个实施例中，所述升降组件23为一链条式升降机。例如图9所示，该链条式升降机设置在支架13上，具有第一齿轮1301，其为一定滑轮，如一拉葫芦/倒链，固定在支架上端；具有第二齿轮1302，其为一动滑轮，连接承载座12，带动承载座12一起升降；还有第三齿轮1303，它的顺时针/逆时针的旋转，带动链条拉动。在某一实施例中，当齿轮1303顺时针转动的时候，更多的链条被收起缠绕在轴上，拉动动滑轮1302和承载座12向上提升。一升降驱动器2323控制和驱动第三齿轮1303的旋转，从而实现承载座12的升降调节。In another embodiment, the lift assembly 23 is a chain lift. For example, as shown in Figure 9, the chain elevator is set on the support 13 and has a first gear 1301, which is a certain pulley, such as a hoist/reverse chain, fixed on the upper end of the support; it has a second gear 1302, which is a movable pulley, The bearing seat 12 is connected to drive the bearing seat 12 to rise and fall together; there is also a third gear 1303, whose clockwise/counterclockwise rotation drives the chain to pull. In an embodiment, when the gear 1303 rotates clockwise, more chains are retracted and wound on the shaft, pulling the pulley 1302 and the bearing base 12 upwards. A lifting driver 2323 controls and drives the rotation of the third gear 1303, so as to realize the lifting adjustment of the bearing base 12.
在一实施例中，所述监控组件22还包括一距离/高度传感器。In one embodiment, the monitoring component 22 further includes a distance/height sensor.
所述控制器221与所述距离/高度传感器之间具有电连接或者是无线信号通讯。There is an electrical connection or wireless signal communication between the controller 221 and the distance/height sensor.
比如，当所述承载座12向上或向下晃动时，所述距离/高度传感器能够检测到所述承载座12的承载面101偏离了原来的空间高度。相应地，所述控制器221根据所述距离/高度传感器检测的结果，将自动地控制和驱动所述升降驱动器2323工作，使得承载面101回到原来的空间高度，如图7所示。本发明中所说的“空间高度”指的是该物体的“绝对海拔高度”，指的是高出平均海平面的垂直高度，即“绝对高度”。For example, when the bearing base 12 sways upward or downward, the distance/height sensor can detect that the bearing surface 101 of the bearing base 12 deviates from the original spatial height. Correspondingly, the controller 221 will automatically control and drive the lifting driver 2323 to work according to the detection result of the distance/height sensor, so that the bearing surface 101 returns to the original spatial height, as shown in FIG. 7. The "spatial height" in the present invention refers to the "absolute altitude" of the object, and refers to the vertical height above the average sea level, that is, the "absolute altitude".
本领域技术人员可以理解的是，所述距离/高度传感器可以被实施为一声波传感器、光传感器、电磁传感器等。Those skilled in the art can understand that the distance/height sensor can be implemented as an acoustic wave sensor, a light sensor, an electromagnetic sensor, or the like.
可选地，如图4A所示，提供一能保持自身的高度(尤其是绝对海拔高度)不变的定位点220，所 述距离/高度传感器以该定位点220作为参照点判断承载面101是否发生了高度(尤其是绝对海拔高度)的变化。如图4A所示，定位点220的附近可以设置一圈环绕着定位点220的传感器环，传感器环上可以有一圈/多个传感器，距离/高度传感器就被设置在这个传感器环上。在某一实施例中，该距离/高度传感器为电磁传感器，通过磁力线切割获取定位点220与传感器之间相对位移(高度变化)的数据。Optionally, as shown in FIG. 4A, a positioning point 220 that can keep its own height (especially absolute altitude) constant is provided, and the distance/height sensor uses the positioning point 220 as a reference point to determine whether the bearing surface 101 Altitude (especially absolute altitude) has changed. As shown in FIG. 4A, a circle of sensor rings surrounding the positioning point 220 can be arranged near the positioning point 220, and there can be one circle/multiple sensors on the sensor ring, and the distance/height sensor is arranged on this sensor ring. In an embodiment, the distance/height sensor is an electromagnetic sensor, and the data of the relative displacement (height change) between the positioning point 220 and the sensor is obtained by magnetic line cutting.
在一实施例中，该定位点由一自动化空间稳定***，如自稳云台，提供。自稳云台现在多被用于照相机和摄像机的拍摄防抖，如摄像机的手持拍摄。一些自稳云台通过IMU(惯性测量单元)获取加速度的数据，然后反向调节电机相应的高度，从而实现云台上物品的位置稳定。In one embodiment, the positioning point is provided by an automated space stabilization system, such as a self-stabilizing pan/tilt. The self-stabilizing pan/tilt is now mostly used for camera and video camera shooting anti-shake, such as the handheld shooting of the camera. Some self-stabilizing gimbals obtain acceleration data through IMU (Inertial Measurement Unit), and then reversely adjust the corresponding height of the motor to stabilize the position of the items on the gimbal.
比如图4B所示的一自稳云台220，其具有三套加速度传感器2201，三套电机2203，三套调节螺杆2202。三套电机2203分别根据各自的加速度测量结果调节各自的螺杆，使得各自的加速度传感器2201回到原始位置(如z方向)，从而实现了一个自稳定的不动平面P2。因此在调节P2保持水平的同时，也能保持P2的绝对海拔高度不变。For example, a self-stabilizing platform 220 shown in FIG. 4B has three sets of acceleration sensors 2201, three sets of motors 2203, and three sets of adjusting screws 2202. The three sets of motors 2203 adjust their respective screws according to their respective acceleration measurement results, so that the respective acceleration sensors 2201 return to the original position (such as the z direction), thereby realizing a self-stabilizing immobile plane P2. Therefore, while adjusting P2 to maintain the level, the absolute altitude of P2 can also be maintained unchanged.
在另一实施例中，所述监控组件22被实施为包括一飞行器。该飞行器具有悬停功能，从而也能够实现一个能保持自身的高度(尤其是绝对海拔高度)不动的定位点。In another embodiment, the monitoring component 22 is implemented to include an aircraft. The aircraft has a hovering function, so that it can also achieve a positioning point that can maintain its own altitude (especially the absolute altitude).
在另一实施例中，本发明的实现没有使用云台/定位点，而是通过若干固定在支架13或者承载座12中惯性传感器(加速度传感器)采取加速度数据，综合所有传感器的加速度数据，综合计算得到本发明需要调整的倾角和高度。这种方式的传感器结构更简单，但是计算程序更复杂，计算得到的调节数据的准确度也不如前一实施例中根据定位点的传感器测量得到的调节数据准确。在我们的***中，倾角和高度的调节***是分开的，因此使用分别的角度传感器和高度传感器测量得到的数据进行调节会更可靠。In another embodiment, the implementation of the present invention does not use a pan/tilt/positioning point, but adopts acceleration data through a number of inertial sensors (acceleration sensors) fixed in the support 13 or the bearing base 12, and integrates the acceleration data of all sensors. The inclination angle and height that the present invention needs to be adjusted are calculated. The sensor structure in this way is simpler, but the calculation program is more complicated, and the accuracy of the calculated adjustment data is not as accurate as the adjustment data obtained by the sensor measurement of the positioning point in the previous embodiment. In our system, the inclination and height adjustment systems are separate, so it is more reliable to use the data measured by the angle sensor and height sensor to adjust.
在另一实施例中，本发明的所述监控组件22被实施为包括一飞行器，其中所述角度传感器222和所述距离/高度传感器均被设置于所述飞行器上，以通过所述飞行器相对于所述承载面101的空间位置变化检测所述承载面101偏离了原来的高度和检测所述承载面101相对水平面倾斜的角度。In another embodiment, the monitoring component 22 of the present invention is implemented to include an aircraft, wherein the angle sensor 222 and the distance/height sensor are both provided on the aircraft, so as to be opposite to each other through the aircraft. A change in the spatial position of the bearing surface 101 detects that the bearing surface 101 deviates from its original height and detects the angle of the bearing surface 101 that is inclined relative to the horizontal plane.
通过上述阐述，本领域技术人员能够理解的是，当所述支撑用具100发生剧烈摇晃时，本发明所述用具本体10形成的所述承载面101的高度和相对于水平方向的角度都能够自动地被调整，进而使得所述用具本体10形成的承载面101保持水平，而且空间高度(绝对海拔高度)保持恒定。当本发明的支撑用具100被实施为船上的一个座椅时，该座椅的承载面被自动调节为水平和高度(绝对海拔高度)恒定，从而能够防止船在海面航行的颠簸造成的晃动和乘客的晕船等。Through the above explanation, those skilled in the art can understand that when the supporting appliance 100 shakes violently, the height and the angle relative to the horizontal direction of the carrying surface 101 formed by the appliance body 10 of the present invention can be automatically The ground is adjusted so that the bearing surface 101 formed by the appliance body 10 remains horizontal, and the spatial height (absolute altitude) remains constant. When the supporting device 100 of the present invention is implemented as a seat on a ship, the load-bearing surface of the seat is automatically adjusted to a constant level and height (absolute altitude), so as to prevent shaking and shaking caused by the turbulence of the ship sailing on the sea. Passenger's seasickness etc.
参考图9，根据本发明的另一个方面，一调节支撑用具的承载面水平的方法将在以下被详细阐述，具体地，所述调节支撑用具的承载面水平的方法包括以下步骤：Referring to Fig. 9, according to another aspect of the present invention, a method for adjusting the level of the bearing surface of a support tool will be described in detail below. Specifically, the method of adjusting the level of the bearing surface of a support tool includes the following steps:
9001，监测所述承载面101是否平行；和9001, monitoring whether the bearing surface 101 is parallel; and
9002，在监测到所述承载面101与水平面不平行时，控制器驱动滑动轴摆组件211进行一幅度的摆 动，进而调整承载座12上的所述承载面101的倾斜角度，从而保持该承载面101相对于水平面的平行。9002, when it is detected that the bearing surface 101 is not parallel to the horizontal plane, the controller drives the sliding shaft pendulum assembly 211 to swing by a certain range, and then adjusts the inclination angle of the bearing surface 101 on the bearing seat 12 to maintain the bearing The plane 101 is parallel to the horizontal plane.
可选地，在所述承载面101与水平面不平行时，驱动滑动轴摆组件21的摆动杆211的一低端21102相对基座11滑动，带动摆动杆211摆动，从而带动承载座12转动一角度，调整承载面101重新回到水平方向。Optionally, when the bearing surface 101 is not parallel to the horizontal plane, a lower end 21102 of the swing lever 211 of the drive sliding shaft pendulum assembly 21 slides relative to the base 11, driving the swing lever 211 to swing, thereby driving the bearing base 12 to rotate. Angle, adjust the bearing surface 101 back to the horizontal direction.
进一步可选地，该调节支撑用具的承载面水平的方法包括步骤：Further optionally, the method for adjusting the level of the bearing surface of the support appliance includes the steps:
驱动滑动轴摆组件21的摆动杆211的所述低端21101沿两个不共线的方向滑动。The low end 21101 of the swing rod 211 of the drive sliding shaft pendulum assembly 21 slides in two non-collinear directions.
进一步可选地，所述调节支撑用具的承载面水平的方法包括以下步骤：Further optionally, the method for adjusting the level of the bearing surface of the support appliance includes the following steps:
监测所述承载面101的空间高度是否发生变化，即其绝对海拔高度是否变化；和Monitor whether the spatial height of the bearing surface 101 changes, that is, whether its absolute altitude changes; and
在所述承载面101的空间高度发生变化时，以驱动所述承载座12升降的方式，使所述承载面回到原来的空间高度(绝对海拔高度)。When the spatial height of the bearing surface 101 changes, the bearing seat 12 is driven up and down to return the bearing surface to its original spatial height (absolute altitude).
可选的，控制器先校正承载面101的倾斜角度，再校正承载面101的高度。Optionally, the controller first corrects the inclination angle of the bearing surface 101, and then corrects the height of the bearing surface 101.
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。Those skilled in the art should understand that the above description and the embodiments of the present invention shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may have any deformation or modification.

Claims (9)

  1. 一水平仪，用于调节一承载面相对于水平面平行，其特征在于，其中所述水平仪包括：一监控组件，一水平调节组件，和一升降组件；A level for adjusting a bearing surface to be parallel to a horizontal plane, wherein the level includes: a monitoring component, a level adjustment component, and a lifting component;
    该监控组件具有一控制器和一传感器；该传感器具有一角度传感器，还具有一距离/高度传感器；The monitoring component has a controller and a sensor; the sensor has an angle sensor and a distance/height sensor;
    其中所述角度传感器被设置为能够监测该承载面与水平面之间是否平行，Wherein the angle sensor is set to be able to monitor whether the bearing surface is parallel to the horizontal plane,
    所述距离/高度传感器被设置为能够监测到该承载面是否偏离了原来的空间高度，即是否偏离了原来的绝对海拔高度，The distance/height sensor is configured to detect whether the bearing surface deviates from the original spatial height, that is, whether it deviates from the original absolute altitude,
    当所述角度传感器监测到该承载面与水平面不平行时，该控制器指令调节所述水平调节组件，使得所述承载面重新平行于水平面，When the angle sensor detects that the bearing surface is not parallel to the horizontal plane, the controller instructs to adjust the horizontal adjustment component so that the bearing surface is parallel to the horizontal plane again,
    当所述距离/高度传感器监测到所述承载面的绝对海拔高度发生变化时，该控制器指令驱动所述升降组件，使所述承载面回到原来的绝对海拔高度。When the distance/height sensor detects that the absolute altitude of the bearing surface changes, the controller instructs to drive the lifting assembly to return the bearing surface to the original absolute altitude.
  2. 根据权利要求1所述水平仪，其中所述水平调节组件为一滑动轴摆组件，其包括一摆动杆、至少一滑块、至少一驱动单元以及一定轴件，The level instrument according to claim 1, wherein the level adjustment component is a sliding shaft pendulum component, which includes a swing rod, at least one sliding block, at least one driving unit and a certain shaft member,
    所述定轴件能够提供一个相对固定的支点，使得摆动杆能够围绕该支点摆动，The fixed shaft member can provide a relatively fixed fulcrum, so that the swing rod can swing around the fulcrum,
    所述摆动杆的一高端通过定轴件固定连接一承载座，其中所述承载座的顶面为该承载面，A high end of the swing rod is fixedly connected to a bearing seat through a fixed shaft member, wherein the top surface of the bearing seat is the bearing surface,
    所述摆动杆具有一低端，其中所述摆动杆的所述低端被可摆动地安装在滑块上，The swing lever has a low end, wherein the low end of the swing lever is swingably mounted on a slider,
    当监控组件监测到该承载面与水平面不平行时，控制器指令驱动单位驱动所述滑块滑动，带动摆动杆的低端滑动，从而引起摆动杆的摆动，摆动杆的高端能够带动承载面转动一角度，从而使得所述承载面重新平行于水平面。When the monitoring component detects that the bearing surface is not parallel to the horizontal plane, the controller instructs the driving unit to drive the slider to slide, which drives the low end of the swing rod to slide, thereby causing the swing rod to swing, and the high end of the swing rod can drive the bearing surface to rotate An angle so that the bearing surface is parallel to the horizontal plane again.
  3. 根据权利要求2所述水平仪，其中所述滑动轴摆组件包括第一滑块、第二滑块、第一驱动单元和第二驱动单元，其中所述第一滑块通过所述第一驱动单元被可相对滑动地设置于一基座内，所述第二滑块被设置于所述第一滑块和该基座的底板之间，并通过所述第二驱动单元被可相对滑动地设置于该基座内；而且所述第一滑块和所述第二滑块滑动的方向被设置为不共线的两个方向。The spirit level according to claim 2, wherein the sliding shaft pendulum assembly includes a first sliding block, a second sliding block, a first driving unit, and a second driving unit, wherein the first sliding block passes through the first driving unit Is relatively slidably arranged in a base, and the second sliding block is arranged between the first sliding block and the bottom plate of the base, and is relatively slidably arranged by the second driving unit In the base; and the sliding directions of the first slider and the second slider are set to two non-collinear directions.
  4. 根据权利要求1至3中任一所述水平仪，其中所述监控组件提供一能保持自身的水平倾斜角和/或绝对海拔高度不动的定位点/平面，所述角度传感器以该定位点/平面作为参照，判断承载面是否相对水平面倾斜；所述距离/高度传感器以该定位定位点/平面作为参照，判断承载面是否发生了绝对海拔高度的变化。The level gauge according to any one of claims 1 to 3, wherein the monitoring component provides a positioning point/plane that can maintain its own horizontal tilt angle and/or absolute altitude, and the angle sensor uses the positioning point/plane The plane is used as a reference to determine whether the bearing surface is inclined relative to the horizontal plane; the distance/height sensor uses the positioning point/plane as a reference to determine whether the bearing surface has changed in absolute altitude.
  5. 根据权利要求4中任一所述水平仪，其中所述定位点/平面该定位点由一自动化空间稳定***，如自稳云台，提供。The level gauge according to claim 4, wherein the positioning point/plane and the positioning point are provided by an automated space stabilization system, such as a self-stabilizing head.
  6. 根据权利要求2到5任一所述水平仪，其中所述定轴件至少具有部分球面。The spirit level according to any one of claims 2 to 5, wherein the fixed shaft member has at least a partial spherical surface.
  7. 根据权利要求6所述水平仪，其中所述定轴件的球心成为摆动杆摆动的支点，在摆动杆摆动的过程中，该球体的球心相对于一基座的位置是不变的，该球体的球心相对于承载座的位置也是不变的，从而成为一个相对固定的支点。The spirit level according to claim 6, wherein the center of the fixed shaft member becomes the pivot point for the swing of the swing lever. During the swing of the swing lever, the position of the center of the sphere relative to a base remains unchanged. The position of the center of the sphere relative to the bearing seat is also constant, thus becoming a relatively fixed fulcrum.
  8. 一支撑用具，其特征在于，其中所述支撑用具包括：A supporting appliance, characterized in that, the supporting appliance comprises:
    一用具本体，其中所述用具本体包括一基座和一承载座，其中所述承载座形成一承载面；和An appliance body, wherein the appliance body includes a base and a bearing seat, wherein the bearing seat forms a bearing surface; and
    如权利要求1至7中任一所述水平仪，用于保持所述承载面相对于水平面平行。The level gauge according to any one of claims 1 to 7, which is used to keep the bearing surface parallel to the horizontal plane.
  9. 一种调节支撑用具的承载面的方法，其特征在于，包括以下步骤：A method for adjusting the bearing surface of a supporting appliance, characterized in that it comprises the following steps:
    步骤一,监测所述承载面是否水平，监测所述承载面的绝对海拔高度是否发生变化；Step 1: Monitoring whether the bearing surface is level, and monitoring whether the absolute altitude of the bearing surface changes;
    步骤二，当监测到所述承载面与水平面不平行时，驱动一水平调节组件，调整承载面重新回到水平方向；当监测到在所述承载面的绝对海拔高度发生变化时，驱动一升降组件，使所述承载面回到原来的绝对海拔高度。Step 2: When it is detected that the bearing surface is not parallel to the horizontal plane, drive a horizontal adjustment component to adjust the bearing surface to return to the horizontal direction; when it is monitored that the absolute altitude of the bearing surface changes, drive a lift Component to return the bearing surface to its original absolute altitude.
PCT/CN2020/104058 2019-07-26 2020-07-24 Spirit level, supporting tool, and method for adjusting the level of bearing surface of supporting tool WO2021018022A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201910682148.0A CN112306098A (en) 2019-07-26 2019-07-26 Level gauge, supporting tool and method for adjusting level of bearing surface of supporting tool surface
CN201910682148.0 2019-07-26
US16/550,862 US11204296B2 (en) 2019-07-26 2019-08-26 Horizontal instrument, a supporting device and a method for adjusting the bearing surface of the supporting device to be horizontal
US16/550,862 2019-08-26

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0761380A (en) * 1993-08-27 1995-03-07 Sato Seisakusho:Kk Self-running high altitude working vehicle
CN203743748U (en) * 2014-02-26 2014-07-30 王梦知 Automatically horizontal device
CN104215428A (en) * 2013-05-29 2014-12-17 鸿富锦精密工业（深圳）有限公司 Bearing device
CN205664812U (en) * 2016-05-31 2016-10-26 南京江源测绘有限公司 Theodolite support frame
WO2016180829A1 (en) * 2015-05-11 2016-11-17 Velvet.Invest Device for horizontal positioning
CN208281712U (en) * 2018-05-04 2018-12-25 上海联影医疗科技有限公司 Levelling device and Medical Devices
CN210072420U (en) * 2019-07-26 2020-02-14 王楚涵 Spirit level and support tool

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0761380A (en) * 1993-08-27 1995-03-07 Sato Seisakusho:Kk Self-running high altitude working vehicle
CN104215428A (en) * 2013-05-29 2014-12-17 鸿富锦精密工业（深圳）有限公司 Bearing device
CN203743748U (en) * 2014-02-26 2014-07-30 王梦知 Automatically horizontal device
WO2016180829A1 (en) * 2015-05-11 2016-11-17 Velvet.Invest Device for horizontal positioning
CN205664812U (en) * 2016-05-31 2016-10-26 南京江源测绘有限公司 Theodolite support frame
CN208281712U (en) * 2018-05-04 2018-12-25 上海联影医疗科技有限公司 Levelling device and Medical Devices
CN210072420U (en) * 2019-07-26 2020-02-14 王楚涵 Spirit level and support tool

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