阅读说明：本技术 一种自动平衡的绝缘凳 (Automatic balanced insulating bench ) 是由 黎昌醒 戴军明 刘回 尤德柱 梁少文 张博文 叶宇堃 范梓麒 于 2021-08-09 设计创作，主要内容包括：本申请公开了一种自动平衡的绝缘凳,包括：至少三个电动推杆、带有绝缘层的铝合金钢板、伺服电机、陀螺仪倾斜角传感器、微处理器；各电动推杆分别固定于铝合金钢板的第一面上的第1点至第n点。其中,陀螺仪倾斜角传感器用于：获取当前第1点至第n点的角度数据并将各角度数据发送至微处理器；微处理器用于：根据各角度数据生成控制指令,根据控制指令控制伺服电机驱动各电动推杆进行伸缩调整,使得铝合金钢板达到水平状态。本申请的绝缘凳面采用铝合金钢板,牢固且轻便；而且采用伺服电机驱动电动推杆进行伸缩调整,伺服电机有自锁功能,有利于保障平衡稳定,从而解决现有绝缘凳不能根据地面形状进行自适应调整平衡的技术问题。(The application discloses automatic balanced insulating bench includes: the device comprises at least three electric push rods, an aluminum alloy steel plate with an insulating layer, a servo motor, a gyroscope inclination angle sensor and a microprocessor; and each electric push rod is respectively fixed on the 1 st point to the nth point on the first surface of the aluminum alloy steel plate. Wherein the gyroscope tilt angle sensor is configured to: acquiring angle data from a current point 1 to a current point n and sending the angle data to a microprocessor; the microprocessor is used for: and generating a control instruction according to the angle data, and controlling the servo motor to drive each electric push rod to stretch and retract according to the control instruction so as to enable the aluminum alloy steel plate to reach a horizontal state. The insulating stool surface adopts the aluminum alloy steel plate, so that the stool is firm and light; and adopt servo motor drive electric putter to stretch out and draw back the adjustment, servo motor has the self-locking function, is favorable to guaranteeing balanced stable to solve current insulating bench and can not carry out the technical problem of self-adaptation leveling balance according to the ground shape.)

1. An automatic balanced insulating bench, characterized in that includes: the device comprises at least three electric push rods, an aluminum alloy steel plate with an insulating layer, a servo motor, a gyroscope inclination angle sensor, a microprocessor and a battery;

each electric push rod is respectively fixed on the 1 st point to the nth point on the first surface of the aluminum alloy steel plate, wherein n is the number of the electric push rods, and n is a positive integer;

each electric push rod is electrically connected with a first end of the servo motor, a second end of the servo motor is electrically connected with a first end of the microprocessor, and a second end of the microprocessor is electrically connected with the gyroscope inclination angle sensor;

the battery is used for providing power for the servo motor, the gyroscope inclination angle sensor and the microprocessor;

the gyroscope inclination angle sensor is used for acquiring the current angle data from the 1 st point to the nth point and sending each angle data to the microprocessor;

and the microprocessor is used for generating control instructions according to the angle data, and controlling the servo motor to drive the electric push rods to stretch and retract according to the control instructions, so that the aluminum alloy steel plate reaches a horizontal state.

2. The automatically balancing insulating stool of claim 1, wherein the microprocessor is specifically configured to:

and generating a control instruction according to the angle data, and controlling the servo motor to drive each electric push rod to stretch and retract according to the control instruction based on a PID algorithm so as to enable the aluminum alloy steel plate to reach a horizontal state.

3. The automatically balancing insulating stool of claim 1, further comprising: the controller is electrically connected with the third end of the microprocessor;

the controller is used for receiving a user instruction and sending the user instruction to the microprocessor, so that the microprocessor controls the servo motor to drive each electric push rod to stretch and retract according to the user instruction.

4. The insulating stool of claim 1, wherein the non-telescopic section of each of the electric push rods is provided with a connecting device, and the connecting device of each of the electric push rods is fixedly connected through a connecting rod.

5. The self-balancing insulating stool of claim 1, wherein the number of the power pushers is 3.

6. The automatically balancing insulating stool of claim 1, wherein the servo motor is model L298N.

7. The insulating stool of claim 1, wherein the bottom of each electric push rod is provided with an insulating sleeve with anti-slip lines.

Technical Field

The application relates to the technical field of electric power, especially, relate to an automatic balanced insulating bench.

Background

In the urban resident and rural power grid power supply system of low pressure three-phase four-wire system, because the power consumption is many, each region all can be equipped with the high-voltage board station of transmitting electricity on the spot, but this type of high-voltage board station construction point position ground all can have certain sloping or unevenness etc. and this kind of unevenness or sloping state irregularity, and inconvenient use tools such as straight ladder or herringbone ladder among the maintenance process, often use the operation appurtenance similar to high bench, but because ground unevenness or there is the sloping, it has the danger that the operation process just also can have to topple over to lead to ordinary high bench.

Disclosure of Invention

The application aims to provide an automatic balanced insulating bench for solve the technical problem that current insulating bench can not carry out self-adaptation flattening balance according to the shape of ground.

In view of this, the present application provides an insulating stool that automatically balances, including: the device comprises at least three electric push rods, an aluminum alloy steel plate with an insulating layer, a servo motor, a gyroscope inclination angle sensor, a microprocessor and a battery;

each electric push rod is respectively fixed on the 1 st point to the nth point on the first surface of the aluminum alloy steel plate, wherein n is the number of the electric push rods, and n is a positive integer;

Each electric push rod is electrically connected with a first end of the servo motor, a second end of the servo motor is electrically connected with a first end of the microprocessor, and a second end of the microprocessor is electrically connected with the gyroscope inclination angle sensor;

the battery is used for providing power for the servo motor, the gyroscope inclination angle sensor and the microprocessor;

the gyroscope inclination angle sensor is used for acquiring the current angle data from the 1 st point to the nth point and sending each angle data to the microprocessor;

and the microprocessor is used for generating control instructions according to the angle data, and controlling the servo motor to drive the electric push rods to stretch and retract according to the control instructions, so that the aluminum alloy steel plate reaches a horizontal state.

Optionally, the microprocessor is specifically configured to:

and generating a control instruction according to the angle data, and controlling the servo motor to drive each electric push rod to stretch and retract according to the control instruction based on a PID algorithm so as to enable the aluminum alloy steel plate to reach a horizontal state.

Optionally, the method further comprises: the controller is electrically connected with the third end of the microprocessor;

The controller is used for receiving a user instruction and sending the user instruction to the microprocessor, so that the microprocessor controls the servo motor to drive each electric push rod to stretch and retract according to the user instruction.

Optionally, a non-telescopic section of each electric push rod is provided with a connecting device, and the connecting device of each electric push rod is connected and fixed through a connecting rod.

Optionally, the number of the electric push rods is 3.

Optionally, the servomotor is model L298N.

Optionally, an insulating sleeve with anti-slip lines is arranged at the bottom of each electric push rod.

Compared with the prior art, the embodiment of the application has the advantages that:

in the embodiment of this application, provide an automatic balanced insulating bench, include: the device comprises at least three electric push rods, an aluminum alloy steel plate with an insulating layer, a servo motor, a gyroscope inclination angle sensor, a microprocessor and a battery; each electric push rod is respectively fixed on the 1 st point to the nth point on the first surface of the aluminum alloy steel plate; each electric push rod is electrically connected with the first end of the servo motor, the second end of the servo motor is electrically connected with the first end of the microprocessor, and the second end of the microprocessor is electrically connected with the gyroscope inclination angle sensor; the battery is used for providing power for the servo motor, the gyroscope inclination angle sensor and the microprocessor; the gyroscope inclination angle sensor is used for acquiring the current angle data from the 1 st point to the nth point and sending the angle data to the microprocessor; and the microprocessor is used for generating control instructions according to the angle data and controlling the servo motor to drive each electric push rod to stretch and retract according to the control instructions so that the aluminum alloy steel plate reaches a horizontal state.

The application provides an automatic balanced insulating bench, place in ground and when being in the on-state when insulating bench, acquire the angle data of each electric putter fixed point on the aluminum alloy steel sheet (acquire the attitude information of bench face promptly) through gyroscope inclination angle sensor, microprocessor generates control command according to each angle data to each electric putter of control command drive adjusts that stretches out and draws back, makes the aluminum alloy steel sheet reach the horizontality. Therefore, the insulating stool can adaptively adjust the stool surface to reach the horizontal state according to the ground state, and the safety of a user when the insulating stool is used is ensured. The insulating stool surface adopts the aluminum alloy steel plate, so that the stool is firm and light; and adopt servo motor drive electric putter to stretch out and draw back the adjustment, servo motor has the self-locking function, is favorable to guaranteeing balanced stable to solve current insulating bench and can not carry out the technical problem of self-adaptation leveling balance according to the ground shape.

Drawings

In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of an insulating stool for automatic balancing according to an embodiment of the present disclosure;

FIG. 2 is a side view of an automatically balancing insulating stool provided in accordance with an embodiment of the present application;

fig. 3 is a top view of an insulating stool for automatic balancing according to an embodiment of the present disclosure.

Detailed Description

The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1, 2 and 3, an insulation stool with automatic balancing provided in an embodiment of the present application includes: the device comprises at least three electric push rods, an aluminum alloy steel plate with an insulating layer, a servo motor, a gyroscope inclination angle sensor, a microprocessor and a battery. Each electric push rod is respectively fixed on the 1 st point to the nth point on the first surface of the aluminum alloy steel plate, wherein n is the number of the electric push rods, and n is a positive integer. Each electric push rod is electrically connected with the first end of the servo motor, the second end of the servo motor is electrically connected with the first end of the microprocessor, and the second end of the microprocessor is electrically connected with the gyroscope inclination angle sensor.

It should be noted that, at least 3 electric push rods are required to be used as the stool legs of the insulating stool, in this embodiment, in order to reduce the weight of the insulating stool, 3 electric push rods are used, and the length of each electric push rod in the non-telescopic state is 450mm as shown in fig. 2, which can be selected by those skilled in the art according to actual situations, and is not limited herein. The firm and light aluminum alloy steel plate is used as the stool surface of the insulating stool and is provided with an insulating layer. The shape and size of the aluminum alloy steel plate can be set according to actual conditions, and are not particularly limited, the shape of the aluminum alloy steel plate provided by the embodiment of the application is shown in fig. 3, the size of the aluminum alloy steel plate is shown in fig. 2, and the size unit on the drawing is mm.

It should be noted that the servo motor model of the embodiment of the present application is L298N, and the speed regulation is adjusted by PWM signals input from EN1, EN2, and EN 3. L298N is a motor driver that receives high voltage and can be driven by both dc motors and stepper motors. A driving chip can simultaneously control two direct current speed reducing motors to do different actions, provides 2 amperes of current within the voltage range of 6V to 46V, and has the functions of overheating self-breaking and feedback detection. The L298N can directly control the motor, and the control level of the motor is set through the I/O input of the main control chip, so that the motor can be driven in forward rotation and reverse rotation, the operation is simple, the stability is good, and the large-current driving condition of the direct current motor can be met.

The battery is used for providing power for the servo motor, the gyroscope inclination angle sensor and the microprocessor.

In the present embodiment, a 12V/24V battery is used to supply power to the servo motor, the gyro tilt angle sensor, and the microprocessor.

And the gyroscope inclination angle sensor is used for acquiring the current angle data from the 1 st point to the nth point and sending the angle data to the microprocessor.

It should be noted that, in the present embodiment, angle data is acquired by a TWI (two-wire serial bus) and each angle data is transmitted to the microprocessor.

And the microprocessor is used for generating control instructions according to the angle data and controlling the servo motor to drive each electric push rod to stretch and retract according to the control instructions so that the aluminum alloy steel plate reaches a horizontal state.

It should be noted that the model 89C51 of the microprocessor of this embodiment and 89C51 of this embodiment are low-voltage, high-performance CMOS8 bit microprocessors.

The application provides an automatic balanced insulating bench, place in ground and when being in the on-state when insulating bench, acquire the angle data of each electric putter fixed point on the aluminum alloy steel sheet (acquire the attitude information of bench face promptly) through gyroscope inclination angle sensor, microprocessor generates control command according to each angle data to each electric putter of control command drive adjusts that stretches out and draws back, makes the aluminum alloy steel sheet reach the horizontality. Therefore, the insulating stool can adaptively adjust the stool surface to reach the horizontal state according to the ground state, and the safety of a user when the insulating stool is used is ensured. The insulating stool surface adopts the aluminum alloy steel plate, so that the stool is firm and light; and adopt servo motor drive, servo motor has the self-locking function, is favorable to guaranteeing balanced stable to solve current insulating bench and can not carry out the technical problem of self-adaptation flattening balance according to the ground shape.

Further, in an optional embodiment, the microprocessor of the self-balancing insulating stool is specifically configured to: and generating a control instruction according to the angle data, and controlling the servo motor to drive each electric push rod to perform telescopic adjustment according to the control instruction based on a PID algorithm so that the aluminum alloy steel plate reaches a horizontal state.

It should be noted that the self-east balance of the insulating stool in this embodiment is achieved by obtaining angle information through the gyroscope tilt angle sensor and adjusting the stroke of the electric push rod driven by the servo motor through closed-loop control of the PID algorithm. Therefore, the PID control is the core, in this embodiment, the current speed is obtained each time, and then in order to prevent the jitter from causing the imbalance of the stool body, the speed complementary filtering is used to prevent the jitter. The PID control input speed, angle and angular speed are adjusted through the actual motion of the stool body, and the stable purpose is achieved by obtaining a stable pulse width output offset to set 3 electric push rod strokes.

Further, in an optional embodiment, the self-balancing insulating stool of the present application further comprises: the controller is electrically connected with the third end of the microprocessor; the controller is used for receiving the user instruction and sending the user instruction to the microprocessor, so that the microprocessor controls the servo motor to drive each electric push rod to stretch and retract according to the user instruction.

It should be noted that, the insulating stool in the embodiment of the present application may not only automatically adjust the posture of the insulating stool surface, but also be provided with a controller, the controller is connected with the microprocessor in a wired or wireless manner, and the controller is used for receiving a user instruction, so as to control each electric push rod to extend and retract according to the user instruction, thereby adjusting the height of the insulating stool surface, and providing more use modes for the user in actual use.

Further, in an optional embodiment, the non-telescopic section of each electric push rod of the self-balancing insulating stool of the application is provided with a connecting device, and the connecting device of each electric push rod is fixedly connected through a connecting rod.

The electric push rod includes: flexible section and non-flexible section, non-flexible section also be electric putter's first half, and this section does not stretch out and draw back, and each electric putter's non-flexible section length is the same, can know through figure 2 and figure 3, is equipped with connecting device in each electric putter's non-flexible section, couples together each electric putter through the connecting rod to form a firm structure, guaranteed the steady of insulating bench.

Further, in an optional embodiment, the bottom of each electric push rod of the present application is provided with an insulating sleeve with anti-skid lines.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.