CN105460130B - a balance car - Google Patents

Abstract

The invention relates to a balance car which comprises a first wheel, a second wheel, a connecting shaft, a first pedal mechanism, a second pedal mechanism, an angular motion detection mechanism and a control mechanism, wherein the first wheel and the second wheel are respectively and independently and rotatably arranged on the connecting shaft, the first pedal mechanism and the second pedal mechanism are respectively and rotatably arranged on the connecting shaft, the first pedal mechanism is matched and connected with the first wheel, the second pedal mechanism is matched and connected with the second wheel, the angular motion detection mechanism is respectively arranged on the first pedal mechanism and the second pedal mechanism, and the control mechanism is in communication connection with the angular motion detection mechanism. The balance car has the advantages of convenience in control, easiness in popularization, high safety and small size.

Description

a balance car

technical field

The invention relates to electric vehicle technology, in particular to a balance vehicle.

Background technique

Balance car, also known as somatosensory car, thinking car or camera car. There are mainly two types of single wheel and double wheel on the market. Its operating principle is mainly based on a basic principle called "Dynamic Stabilization", which uses the gyroscope and acceleration sensor inside the car body to detect the change of the car body attitude, and uses the servo control system to The precise drive motors are adjusted accordingly to keep the system balanced.

Recently, a relatively small two-wheel balance vehicle has appeared. For example, the Chinese utility model patent No. 201320128469.4 discloses a two-wheel electric vehicle, which consists of the following components: the first wheel and the second wheel, which are basically parallel to each other. Left and right, without a common axle, can rotate independently; the tread plate is composed of the first tread plate and the second tread plate, the first tread plate is matched with the first wheel, and the second tread plate is connected with the second wheel Matched, the first pedal and the second pedal are rotatably connected to each other, and they can be independently tilted forward or backward. The upper surfaces of the first pedal and the second pedal are respectively provided for driving. The person stands with two feet left and right, and the first wheel and the second wheel are positioned at the left and right sides of the pedal; the first electric motor and the second electric motor, the first electric motor drives the first wheel, the second electric motor drives the second wheel, and the first electric motor and the second electric motor drive the second wheel. The second electric motor is controlled by at least one set of electronic system. The electronic control system controls the rotation speed of the wheels so that the pedals maintain a horizontal balance in the front and rear directions for the driver to control the forward, backward and steering of the two-wheeled electric vehicle.

The structure of the two-wheeled self-balancing electric vehicles disclosed in the above-mentioned patents is similar to that of a torsion vehicle, that is, the two wheels are respectively connected with shafts, and two different shafts are connected in the middle, and there are fixed pedal positions on the shafts. The pedal (that is, the entire axis) is used to control the balance car to move forward, backward and turn, and it is necessary to control two rotating pedals at the same time. Therefore, this type of balance car requires the user to have better coordination of hands and feet to control it well. It is not easy to control, and it is easy to cause safety problems caused by inconvenient operation and control. In addition, it also has a narrow application range.

Contents of the invention

The technical problem to be solved by the present invention is to provide a balance car that is easy to control and popularize.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

The invention provides a balance car, comprising a first wheel, a second wheel, a connecting shaft, a first pedal mechanism, a second pedal mechanism, an angular motion detection mechanism and a control mechanism, the first wheel and the second wheel are independently and rotatably arranged on the connecting shaft, the first pedal mechanism and the second pedal mechanism are respectively rotatably arranged on the connecting shaft, the first pedal mechanism and the first wheel Matching, the second pedal mechanism is matched with the second wheel, the angular motion detection mechanism is respectively arranged on the first pedal mechanism and the second pedal mechanism, the control mechanism and the angular motion detection mechanism communication connection.

The beneficial effects of the present invention are:

(1) The balancing car of the present invention is designed with the first wheel, the second wheel and the connecting shaft, and the first wheel and the second wheel are designed to be arranged on the common connecting shaft, so that the balancing car with the above-mentioned structure does not need to be very large The body of the balance car can effectively realize the balance control requirements when the balance car is working, and provide a basis for reducing the volume of the balance car; at the same time, the design of a connecting shaft makes the balance car have a more stable driving performance during work;

(2) The first wheel and the second wheel of the balance car of the present invention are arranged on a common connecting shaft, which can effectively reduce unnecessary parts on the one hand, and on the other hand, set the first wheel that can rotate back and forth, left and right, on the connecting shaft. The pedal mechanism and the second pedal mechanism, the first pedal mechanism and the second pedal mechanism are connected to the angular motion detection mechanism that controls the rotational speed and direction of the first wheel and the second wheel, and the angular motion detection mechanism is connected to the control mechanism by communication , thus, when the first foot-operated mechanism and the second foot-operated mechanism rotate respectively, the angular motion detection mechanism arranged thereon will change its posture, thereby changing the position of the first wheel and the second wheel controlled by the angular motion detection mechanism. Speed and direction, when the two wheels are rotating forward, the balance car moves forward (the first pedal mechanism and the second pedal mechanism are tilted forward, the wheels are turning forward), and when the two wheels are reversed, the balance car moves backward (the second pedal mechanism When the first pedal mechanism and the second pedal mechanism are tilted backward, the wheels are reversed), and when the two wheels rotate forward and the other rotates reversely, the balance car turns, so as to realize the simple and flexible control of the first wheel and the second wheel , the operator can conveniently and flexibly control the forward, backward and steering operations of the balance car without the need for the operator to have high control skills, and it is not easy to cause safety problems caused by inconvenient control; it has the advantages of convenient control, easy promotion and safety The advantages of high sex;

(3) The balance car is controlled by the first pedal mechanism and the second pedal mechanism to work, which can liberate the hands of the operator and has the advantage of simple operation compared with the method of holding the control lever by hand in the prior art.

Description of drawings

Fig. 1 is the front view of the balance car of Embodiment 1 of the present invention;

Fig. 2 is a three-dimensional structure diagram of a balance car according to Embodiment 1 of the present invention;

Fig. 3 is the front view of the balance car of the second embodiment of the present invention;

Fig. 4 is a three-dimensional structure diagram of a balance car according to Embodiment 2 of the present invention;

Fig. 5 is the front view of the balance car of the third embodiment of the present invention;

Fig. 6 is a three-dimensional structure diagram of a balance car according to Embodiment 3 of the present invention;

Fig. 7 is the front view of the balance car of Embodiment 4 of the present invention;

Fig. 8 is a three-dimensional structure diagram of a balance car according to Embodiment 4 of the present invention;

Fig. 9 is a front view when the lengths of the first pedal mechanism and the second pedal mechanism of the balance car according to Embodiment 4 of the present invention are greater than the length of the car body;

Fig. 10 is a front view of the balance car according to Embodiment 5 of the present invention;

Fig. 11 is a three-dimensional structure diagram of a balance car according to Embodiment 5 of the present invention;

Fig. 12 is a front view of a balance car according to Embodiment 6 of the present invention.

Label description:

11. The first wheel; 12. The second wheel; 2. The connecting shaft; 21. The first connecting shaft; 22. The second connecting shaft; 31. The first pedal mechanism; 32. The second pedal mechanism; 4. Angle 5. Control mechanism; 6. Limiting part; 61. Limiting part; 62. Elastic part; 7. Vehicle body.

Detailed ways

In order to describe the technical content, achieved goals and effects of the present invention in detail, the following descriptions will be made in conjunction with the embodiments and accompanying drawings.

The most critical idea of the present invention is to arrange the first wheel and the second wheel on a common connecting shaft, simplify the structure of the self-balancing vehicle, and provide a structural basis for reducing the volume of the self-balancing vehicle.

Please refer to Fig. 1 to Fig. 12, the present invention discloses a balance car, including a first wheel 11, a second wheel 12, a connecting shaft 2, a first pedal mechanism 31, a second pedal mechanism 32, and an angular motion detection mechanism 4 and the control mechanism 5, the first wheel 11 and the second wheel 12 are independently and rotatably arranged on the connecting shaft 2, and the first pedal mechanism 31 and the second pedal mechanism 32 are respectively rotatable is arranged on the connecting shaft 2, the first pedal mechanism 31 is matched with the first wheel 11, the second pedal mechanism 32 is matched with the second wheel 12, and the angular motion detection mechanism 4 is respectively It is arranged on the first pedal mechanism 31 and the second pedal mechanism 32 , and the control mechanism 5 communicates with the angular motion detection mechanism 4 .

It is worth noting that:

1. The "setting" in the above "the first pedal mechanism and the second pedal mechanism are respectively rotatably arranged on the connecting shaft" includes that the first pedal mechanism and the second pedal mechanism are respectively directly arranged The specific arrangement on the connecting shaft also includes the specific arrangement in which the first pedal mechanism and the second pedal mechanism are indirectly arranged on the connecting shaft, for example, the first pedal mechanism and the second pedal mechanism are respectively arranged Based on an intermediate part, the intermediate part is arranged on the connecting shaft.

2. The "matching" in the above "the first pedal mechanism is matched with the first wheel, and the second pedal mechanism is matched with the second wheel" includes all the functions that can realize the first pedal mechanism and the second wheel. The first wheel, and the second pedal mechanism are connected with the second wheel, and all cooperative connection modes that make the first pedal mechanism and the first wheel, and the second pedal mechanism and the second wheel can rotate in cooperation.

As can be seen from the foregoing description, the beneficial effects of the present invention are:

(1) The design of the balance car of the present invention includes the first wheel, the second wheel and the connecting shaft, and the first wheel and the second wheel are designed to be arranged on the common connecting shaft, so that the balance car with the above structure does not need to be very large The body of the balance car can effectively realize the balance control requirements when the balance car is working, and provide a basis for reducing the volume of the balance car; at the same time, the design of a connecting shaft makes the balance car have a more stable driving performance during work;

(2) The first wheel and the second wheel of the balance car of the present invention are arranged on a common connecting shaft, which can effectively reduce unnecessary parts on the one hand, and on the other hand, set the first wheel that can rotate back and forth, left and right, on the connecting shaft. The pedal mechanism and the second pedal mechanism, the first pedal mechanism and the second pedal mechanism are connected to the angular motion detection mechanism that controls the rotational speed and direction of the first wheel and the second wheel, and the angular motion detection mechanism is connected to the control mechanism by communication , thus, when the first foot-operated mechanism and the second foot-operated mechanism rotate respectively, the angular motion detection mechanism arranged thereon will change its posture, thereby changing the position of the first wheel and the second wheel controlled by the angular motion detection mechanism. Speed and direction, when the two wheels are rotating forward, the balance car moves forward (the first pedal mechanism and the second pedal mechanism are tilted forward, the wheels are turning forward), and when the two wheels are reversed, the balance car moves backward (the second pedal mechanism When the first pedal mechanism and the second pedal mechanism are tilted backward, the wheels are reversed), and when the two wheels rotate forward and the other rotates reversely, the balance car turns, so as to realize the simple and flexible control of the first wheel and the second wheel , the operator can conveniently and flexibly control the forward, backward and steering operations of the balance car without the need for the operator to have high control skills, and it is not easy to cause safety problems caused by inconvenient control; it has the advantages of convenient control, easy promotion and safety The advantages of high sex;

(3) The balance car is controlled by the first pedal mechanism and the second pedal mechanism to work, which can liberate the hands of the operator and has the advantage of simple operation compared with the method of holding the control lever by hand in the prior art.

Further, the first pedal mechanism 31 and the second pedal mechanism 32 are respectively arranged between the first wheel 11 and the second wheel 12 .

It can be seen from the above description that the first pedal mechanism and the second pedal mechanism can be arranged between the first wheel and the second wheel, more preferably, the first pedal mechanism is arranged close to the first wheel, and the second pedal mechanism is close to Second wheel setup.

Further, a driving mechanism is also included, and the driving mechanism is electrically connected with the control mechanism 5 .

It can be seen from the above description that the angular motion detection mechanism is electrically connected to the control mechanism, and the driving mechanism is electrically connected to the control mechanism, so that the control mechanism controls the work of the driving mechanism, and at the same time, the control mechanism controls the rotational speed and direction of the two wheels through the angular motion detection mechanism , in order to realize the electric control of the balance car.

Further, it also includes a limiter 6, the limiter 6 is arranged on the connecting shaft 2, and the limiter 6 is respectively set corresponding to the first pedal mechanism 31 and the second pedal mechanism 32 and respectively set by the first pedal mechanism 31 and the second pedal mechanism 32 respectively. A pedal mechanism 31 and a second pedal mechanism 32 are fully or partially covered.

It can be seen from the above description that the setting of the limiting member can limit the rotation range of the first pedal mechanism and the second pedal mechanism, further ensuring the safety of the balance bike.

Further, the limiting member 6 includes a limiting part 61 and an elastic part 62, the limiting part 61 is arranged on the connecting shaft 2, and the first pedal mechanism 31 and the second pedal mechanism 32 respectively pass through the The elastic portion 62 is connected to the limiting portion 61 so as to be rotatably disposed on the connecting shaft 2 . The first pedal mechanism 31 and the second pedal mechanism 32 are respectively connected to the connecting shaft.

It can be seen from the above description that in the structural design of the above-mentioned limiting member, the first pedal mechanism and the second pedal mechanism may be directly connected to the connecting shaft, or may not be directly connected to the connecting shaft, but are connected to the connecting shaft through the elastic part. The limit part on the shaft is connected, so that the first pedal mechanism and the second pedal mechanism are rotatably arranged on the connecting shaft. The elastic part has a certain deformation limit, thereby playing a position-limiting role, and has the advantages of compact structure, good position-limiting effect and easy control.

Further, the connecting shaft 2 includes a first connecting shaft 21 and a second connecting shaft 22, the first wheel 11 and the first pedal mechanism 31 are respectively arranged on the first connecting shaft 21, and the second wheel 12 The first connecting shaft 21 and the second connecting shaft 22 are respectively arranged on the second connecting shaft 22 . The first connecting shaft 21 and the second connecting shaft 22 are connected by a limiting portion 61 .

It can be seen from the above description that a connecting shaft including a first connecting shaft and a second connecting shaft can be provided, and at the same time, the first connecting shaft and the second connecting shaft are connected by a limiting part. On the connecting shaft, on the other hand, realize the position-limiting effect of the first pedal mechanism and the second pedal mechanism. It is a specific limit method with good limit effect and easy control.

Further, it also includes a vehicle body 7, the vehicle body 7 is arranged on the connecting shaft 2, the first pedal mechanism 31 and the second pedal mechanism 32 are respectively arranged on the vehicle body 7 and pass through the vehicle body The body 7 is rotatably arranged on the connecting shaft 2 . The lengths of the first pedal mechanism 31 and the second pedal mechanism 32 along the radial direction of the connecting shaft 2 are longer than the length of the vehicle body 7 along the radial direction of the connecting shaft 2 .

As can be seen from the above description, the vehicle body can be arranged on the connecting shaft, the first pedal mechanism and the second pedal mechanism may not be directly connected to the connecting shaft, and the first pedal mechanism and the second pedal mechanism are arranged on the vehicle through the rotating shaft structure. On the body, so that it can be rotatable relative to the connecting shaft. The vehicle body of the self-balancing car of the present invention only needs to be provided with a small volume so that the self-balancing car can achieve the purpose of easy balance control, so that the overall volume of the self-balancing car is small and can be applied in a narrow environment. Preferably, the lengths of the first pedal mechanism and the second pedal mechanism along the radial direction of the connecting shaft are greater than the length of the vehicle body along the radial direction of the connecting shaft, that is, the first pedal mechanism and the second pedal mechanism can be set to It is wider than the vehicle body, so that the edge of the vehicle body can play a role in limiting the rotation range of the first pedal mechanism and the second pedal mechanism.

Please refer to Fig. 1 and Fig. 2, embodiment one of the present invention is:

The balance vehicle of the present embodiment includes a first wheel 11, a second wheel 12, a connecting shaft 2, a first pedal mechanism 31, a second pedal mechanism 32, an angular motion detection mechanism 4 and a control mechanism 5, the first The wheels 11 and the second wheels 12 are respectively independently and rotatably arranged on the connecting shaft 2, and the first pedal mechanism 31 and the second pedal mechanism 32 are respectively rotatably arranged on the connecting shaft 2, The first pedal mechanism 31 is matched with the first wheel 11, the second pedal mechanism 32 is matched with the second wheel 12, and the angular motion detection mechanism 4 is respectively arranged on the first pedal mechanism 31 and the second wheel 12. On the second pedal mechanism 32 , the control mechanism 5 is electrically connected to the angular motion detection mechanism 4 . The first pedal mechanism 31 and the second pedal mechanism 32 are sequentially arranged between the first wheel 11 and the second wheel 12 respectively. The drive mechanism is in communication connection with the control mechanism 5 .

The first pedal mechanism and the second pedal mechanism can be simple pedal structures, the angular motion detection mechanism can be a gyroscope, and the control mechanism can be a simple control circuit. Two angular motion detection mechanisms (gyroscopes) can be provided corresponding to the first pedal mechanism and the second pedal mechanism respectively, and the rotational motions of the first pedal mechanism and the second pedal mechanism are respectively sensed and controlled. It is also possible to set two or more control mechanisms to control the angular motion detection mechanism.

Referring to Fig. 1-2, the first pedal mechanism 31 and the second pedal mechanism 32 of the balancing car in this embodiment are directly connected to the connecting shaft 2, and the gyroscope and the control circuit are fixedly connected at the bottom of the pedal.

Please refer to Fig. 3 and Fig. 4, embodiment two of the present invention is:

The balance car in this embodiment is the same as the balance car in Embodiment 1, the difference is:

Also includes a limiter 6, the limiter 6 is arranged on the connecting shaft 2, the limiter 6 is respectively corresponding to the first pedal mechanism 31 and the second pedal mechanism 32 and is respectively set by the first pedal mechanism The mechanism 31 and the second pedal mechanism 32 are fully or partially covered.

The limiting member 6 includes a limiting portion 61 and an elastic portion 62, the limiting portion 61 is arranged on the connecting shaft 2, and the first pedal mechanism 31 and the second pedal mechanism 32 pass through the elastic portion respectively. 62 is connected to the limiting portion 61 so as to be rotatably disposed on the connecting shaft 2 . The first pedal mechanism 31 and the second pedal mechanism 32 are respectively connected to the connecting shaft 2 .

Referring to Fig. 3-4, the limiting part 61 is connected with the connecting shaft 2, the first pedal mechanism 31 and the second pedal mechanism 32 are arranged on the limiting part 61, and the first pedal mechanism 31 and the second pedal mechanism 32 are connected with the connecting shaft 2. The connecting shaft 2 is also directly connected, and at the same time, the first pedal mechanism 31 and the second pedal mechanism 32 are connected to the limiting part 61 through the elastic part 62 . The limiting part 61 can be a simple limiting plate structure, or some other mechanical structures that can play a limiting role. The elastic part 62 can be a spring, or other components with elastic functions.

Please refer to Fig. 5 and 6, embodiment three of the present invention is:

The balance car in this embodiment is the same as the balance car in Embodiment 2, the difference is:

The limiting part 61 is connected with the connecting shaft 2, the first pedal mechanism 31 and the second pedal mechanism 32 are arranged on the limiting part 61, and the first pedal mechanism 31 and the second pedal mechanism 32 are not directly connected with the connecting shaft 2 , the first pedal mechanism 31 and the second pedal mechanism 32 are connected to the limiting portion 61 through an elastic portion 62 (such as an elastic connecting post), and a spring can be further sleeved on the elastic connecting post.

Please refer to Fig. 7 and 8, embodiment four of the present invention is:

The balance car in this embodiment is the same as the balance car in Embodiment 1, the difference is:

Also includes a car body 7, the car body 7 is arranged on the connecting shaft 2, the first pedal mechanism 31 and the second pedal mechanism 32 are respectively arranged on the car body 7 and can be passed through the car body 7 It is rotatably arranged on the connecting shaft 2 . The lengths of the first pedal mechanism 31 and the second pedal mechanism 32 along the radial direction of the connecting shaft 2 are longer than the length of the vehicle body 7 along the radial direction of the connecting shaft 2 .

Referring to Fig. 7-8, namely: car body 7 is set on connecting shaft 2, and car body 7 is arranged between first wheel 11 and second wheel 12, and first pedal mechanism 31 and second pedal mechanism 32 are connected with The shafts 2 are not directly connected, and the first pedal mechanism 31 and the second pedal mechanism 32 are arranged on the vehicle body 7 through a rotating shaft structure. The first pedal mechanism 31 and the second pedal mechanism 32 can be set wider than the vehicle body 7, so that the edge of the vehicle body 7 can play a position-limiting role.

Please refer to Fig. 9 and 10, embodiment five of the present invention is:

The balance car in this embodiment is the same as the balance car in Embodiment 1, the difference is:

Also includes a limiter 6, the limiter 6 is arranged on the connecting shaft 2, the limiter 6 is respectively corresponding to the first pedal mechanism 31 and the second pedal mechanism 32 and is respectively set by the first pedal mechanism The mechanism 31 and the second pedal mechanism 32 are fully or partially covered.

Referring to Figures 9-10, the limiting member 6 is a simple limiting plate structure, that is, a limiting plate connected to the connecting shaft 2 is provided under the first pedal mechanism 31 and the second pedal mechanism 32 to play a limiting role. role.

Please refer to Fig. 11, embodiment six of the present invention is:

The balance car in this embodiment is the same as the balance car in Embodiment 2, the difference is:

The connecting shaft 2 includes a first connecting shaft 21 and a second connecting shaft 22, the first wheel 11 and the first pedal mechanism 31 are respectively arranged on the first connecting shaft 21, the second wheel 12 and the second The pedal mechanisms 32 are respectively disposed on the second connecting shafts 22 , and the first connecting shaft 21 and the second connecting shaft 22 are connected by a limiting portion 61 .

Referring to Fig. 11, the connecting shaft 2 is truncated, and the truncated connecting shaft 2 forms the first connecting shaft 21 and the second connecting shaft 22, which are connected through the connected limiting part 61, the first pedal mechanism 31 and the second foot The pedal mechanism 32 is connected to the limiting portion 61 through the elastic portion 62 .

In summary, the balance car provided by the present invention has the advantages of convenient control, easy popularization, high safety and small volume.

The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent transformations made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in related technical fields, are all included in the same principle. Within the scope of patent protection of the present invention.

Claims (4)

1. a kind of balance car, which is characterized in that including the first wheel, the second wheel, connecting shaft, the first footstep mechanism, crus secunda Step on mechanism, angular movement testing agency and control mechanism, first wheel and the second wheel independently and are rotatably arranged In in the common connecting shaft, first footstep mechanism and the second footstep mechanism are respectively rotatably set to the connection On axis, the first footstep mechanism and the second footstep mechanism can front and back rotation, first footstep mechanism and the mating of the first wheel, institute It states the second footstep mechanism and the second wheel is coupled, the angular movement testing agency is respectively arranged at the first footstep mechanism and crus secunda It steps in mechanism, the control mechanism and the angular movement testing agency communicate to connect；

Further include locating part, the locating part is set in connecting shaft, the locating part respectively with the first footstep mechanism and second Footstep mechanism is correspondingly arranged and is completely or partially covered by the first footstep mechanism and the second footstep mechanism respectively；

The locating part includes limiting section and elastic portion, and the limiting section is set in connecting shaft, first footstep mechanism and Second footstep mechanism is connect by the elastic portion with limiting section respectively, to be rotationally arranged in the connecting shaft.

2. balance car according to claim 1, which is characterized in that first footstep mechanism and the second footstep mechanism difference It is set between the first wheel and the second wheel.

3. balance car according to claim 1, which is characterized in that it further include driving mechanism, the driving mechanism and control Mechanism electrical connection.

4. balance car according to claim 1, which is characterized in that first footstep mechanism and the second footstep mechanism difference With connect axis connection.