CN105691504B - Electrodynamic balance car and its rotating direction control method - Google Patents
Electrodynamic balance car and its rotating direction control method Download PDFInfo
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- CN105691504B CN105691504B CN201610025527.9A CN201610025527A CN105691504B CN 105691504 B CN105691504 B CN 105691504B CN 201610025527 A CN201610025527 A CN 201610025527A CN 105691504 B CN105691504 B CN 105691504B
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- nacelle
- balance car
- electrodynamic balance
- control system
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- 230000005520 electrodynamics Effects 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 description 7
- 230000005484 gravity Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of electrodynamic balance car, including nacelle, two wheels being connected to by wheel shaft in nacelle, the first pedal rotatable with respect to nacelle, the second pedal fixed with respect to nacelle, to detect the sensor of the first pedal rotation information, the control system and power supply being arranged in nacelle, nacelle is rotatably set with respect to wheel shaft, sensor is connected to transmit the rotation information of the first pedal with control system signal, the steering of electrodynamic balance car is controlled according to the rotation information of the first pedal, set-up of control system in nacelle can with nacelle relative to wheel shaft rotate.The electrodynamic balance car provided by the invention no longer needs to set handle to be used for the steering for controlling electrodynamic balance car, pedal need to only be made by foot forward or rotated backwards, the steering of electrodynamic balance car can be achieved, not only liberated the both hands of user, while electrodynamic balance car is easy to carry.
Description
Technical field
The present invention relates to a kind of walking-replacing tool, more particularly to a kind of electrodynamic balance car and its rotating direction control method.
Background technology
With expanding economy, generally etc. many societies are asked for energy scarcity, vehicle emission pollution getting worse, city traffic congestion
Topic increasingly shows.In recent years, the easily vehicles of the electric car as a new generation, are increasingly welcome by consumer.And
Electrodynamic balance car is more that of obtaining the favor of consumer as a kind of emerging walking-replacing tool.Patent No. 201420526748.0
Patent document in disclose a kind of electrodynamic balance car, as shown in figure 1, the electrodynamic balance car include base 300, be arranged at bottom
Control system in seat 300 and the wheels 200 of the both sides of base 300 is arranged at, is additionally provided with base 300 for being used for what is trampled
Pedal.In order to control the turning of vehicle, leader 100 is also provided with base 300.The process of electrodynamic balance car operation
In, for subscriber station, it is necessary to which user needs swing handle when turning on base 300, control system can be according to the handle detected
Rotation information control vehicle makes corresponding steering.Due to being provided with handle, make the product increase of electrodynamic balance car body, be unfavorable for carrying.
In addition, the steering of electrodynamic balance car also be unable to do without the operation of user's both hands, the both hands of user can not be liberated.
Therefore it is necessory to be improved to existing electrodynamic balance car.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of both hands that can liberate user, the electrodynamic balance being convenient for carrying
Car.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of electrodynamic balance car, including it is nacelle, logical
Third wheel axis connection is ridden in two wheels in nacelle, with respect to rotatable first pedal of nacelle, relative nacelle are fixed second
Plate, to detect the sensor of the first pedal rotation information, the control system being arranged in nacelle and power supply, nacelle is with respect to car
Wheel is rotatable to be set, and sensor is connected to transmit the rotation information of the first pedal, control system root with control system signal
The steering of electrodynamic balance car is controlled according to the rotation information of the first pedal, control system includes body-sensing balance system, and body-sensing is put down
Balance system, which is arranged in nacelle, to be rotated with nacelle relative wheel.
Further, the rotating shaft that the first pedal is arranged at by one in nacelle is installed in nacelle, and nacelle offers
The first opening through outside, the first pedal are trampled by the first opening for user.
Further, nacelle is fixedly installed a connecting seat, and rotating shaft is installed on the connecting seat.
Further, two that are located at rotating shaft both sides respectively of the first pedal are respectively arranged between end and connecting seat
Dynamic clamping head and quiet clamping head.
Further, dynamic clamping head and quiet clamping head is cylindrical rubber part, cylindrical rubber part be connected with the end of the first pedal one
End offers a groove, and the end of the first pedal is provided with a projection coordinated with groove, be provided with connecting seat one it is hollow
Groove is used for another end for accommodating cylindrical rubber part.
Further, dynamic clamping head and quiet clamping head is spring pressuring plate, and one end of spring pressuring plate is fixed on connecting seat, spring pressuring plate
The other end is free end, and free end is to the end abutment with the first pedal.
Further, dynamic clamping head and quiet clamping head is spring or extension spring.
Further, sensor is Hall sensor.
The present invention also provides a kind of rotating direction control method of electrodynamic balance car, and electrodynamic balance car includes control system, relative
The second pedal that rotatable first pedal of nacelle, relative nacelle are fixed, detecting the first pedal rotation information
Sensor, rotating direction control method comprise the following steps：Trampling the first pedal rotates the first pedal；Sensor detection first
The rotation information of pedal；The rotation information control electrodynamic balance car for the first pedal that control system detects according to sensor
Turn to.
Further, when sensor detects that the first pedal rotates forward, it is transferred to control system left/right transfering the letter
Breath, when sensor detects that the first pedal rotates backwards, it is transferred to control system right/left transfering the letter breath.
Pass through the present invention, there is provided a kind of new electrodynamic balance car, the electrodynamic balance car no longer need to set handle
For controlling the steering of electrodynamic balance car, the first pedal need to be only made by foot forward or is rotated backwards, can both have been realized electronic
The steering of balance car, the both hands of user are liberated, while electrodynamic balance car is easy to carry.
Brief description of the drawings
Fig. 1 is electrodynamic balance car schematic perspective view in the prior art；
Fig. 2 is the schematic perspective view of electrodynamic balance car of the present invention；
Fig. 3 is that electrodynamic balance car wheel shown in Fig. 2 splits schematic diagram with nacelle；
Fig. 4 is electrodynamic balance bassinet structure partial resolution schematic diagram shown in Fig. 2；
Fig. 5 is the first pedal and connecting seat connection structure diagram；
Fig. 6 is that the first pedal splits schematic diagram with connecting seat attachment structure in Fig. 4；
Fig. 7 is the second anti-avulsion part structural representation；
Fig. 8 is that first pedal splits schematic diagram with connecting seat attachment structure in embodiment five；
Fig. 9 is spring tabletting structure schematic diagram in Fig. 8.
Embodiment
Illustrated in greater detail embodiments of the present invention below in conjunction with the accompanying drawings, embodiments of the invention are in order to the present invention
Further explain, rather than protection scope of the present invention is limited.
Embodiment one
Refer to shown in Fig. 2, Fig. 3 and Fig. 4, electrodynamic balance car of the invention includes nacelle 10 and positioned at nacelle two
Two wheels 11 of side；The power supply for being internally provided with control system and the energy being provided for wheel of the nacelle 10.Wherein, institute
Stating control system includes body-sensing balance system.Axis hole 101 was offered in the nacelle, the wheel shaft 111 of the wheel 11 passes through
The axis hole 101 of crossing is fixedly installed on inside the nacelle 10.The electrodynamic balance car also includes being used to step on for the both feet of user
The first pedal 12 and the second pedal 13 stepped on, i.e., when subscriber station is stood on the electrodynamic balance car, its both feet is stepped on respectively
Step on the pedal 13 of the first pedal 12 and second.The nacelle 10 is opened up through the first outside opening 102, described
First pedal 12 is trampled for users by the first opening 102, second pedal 13 be integrally formed with the nacelle 10 or
Person is fixed in the nacelle 10 by mechanically connecting.The top of the pedal 13 of first pedal 12 and second is also set respectively
Pedal pad 14 is equipped with, the pedal pad 14 is elastic rubber, is provided with detection below and is used to detect whether user's both feet are stepped on
The detection means on first pedal 12 and on the second pedal 13 is stepped on, the detection means is believed with the control system
Number connection.When the both feet of user trample both feet when on first pedal 12 and second pedal 13 can jam on it is described
Pedal pad 14, the detection means positioned at the lower section of pedal pad 14, which can detect, jams on signal, and this signal is transferred into control system,
Control system then controls electrodynamic balance car startup optimization.In the present embodiment, the detection means is optoelectronic switch, in addition
It can be pressure switch either pressure sensor or be as long as that other can realize sensor of the invention.The body-sensing balance
System includes a gyro sensor, and electrodynamic balance car perceives user and an entirety of car body composition by gyro sensor
Center of gravity fore-and-aft direction on skew control electrodynamic balance car acceleration and deceleration.Such as user's body on electrodynamic balance car of standing
During bench over, user and the center of gravity of an entirety of car body composition move forward, and the nacelle 10 can phase with the reach of overall center of gravity
Wheel 11 is rotated forward, be now placed in body-sensing balance system in the nacelle 10 also can with the relative wheel 11 of nacelle 10 to
Preceding rotation, the gyro sensor in the body-sensing balance system detect center of gravity biased forwards, and transmit a signal to control system
System, control system can control electrodynamic balance car to be accelerated forwardly to maintain the balance of electrodynamic balance car；Conversely, as user and car body group
Into an entirety center of gravity after move, the nacelle 10 with overall center of gravity rear shifting can relative wheel 11 rotate backward, now
Body-sensing balance system in the nacelle 10 can also rotate backward with the relative wheel 11 of nacelle 10, in body-sensing balance system
Gyro sensor can detect that center of gravity is offset backward, and transmit a signal to control system, control system can control electronic flat
Weighing apparatus car slows down to maintain the balance of electrodynamic balance car backward.
As shown in Figure 4, Figure 5 and Figure 6, first pedal 12 is installed on inside the nacelle 10 by a rotating shaft 15,
A connecting seat 16 is fixedly installed inside the nacelle 10, the connecting seat 16 is bolted part and is fixed on the nacelle 10
On internal bottom surface or in internal side wall, in the present embodiment, the connecting seat 16 is bolted part and is fixedly installed on
On bottom surface inside the nacelle 10.The rotating shaft 15 is installed on the connecting seat 16.First pedal 12 can lead to
Cross the rotating shaft 15 to rotate or rotate backward forward, the biography of the detection rotation information of the first pedal 12 is installed in the rotating shaft 15
Sensor 17.The control system controls the steering of electrodynamic balance car according to the rotation information of the first pedal 12 detected.Such as
Shown in Fig. 6, two extensions 121 are provided with first pedal 12, in order to ensure that extension 121 is foot-operated with described first
Connection between plate 12 is more fastened, and described two extensions 121 are integrally formed with first pedal 12, described two extensions
Portion 121 is oppositely arranged along two long sides of first pedal 12 respectively, and it is logical that first is offered in two extensions 121
Hole 1211.A projection 161 is provided with the connecting seat 16, the second through hole 1611 is offered on the convex portion 161.The rotating shaft
15 successively pass through the first through hole 1211 of two extensions 121 and described raised 161 the second through hole 1611, and the projection
161 wear and are connected between two extensions 121, so as to which the first pedal 12 is installed in rotation on inside the nacelle 10.
As shown in fig. 6, in order to prevent the rotating shaft 15 from being skidded off between described two extensions 121 and described raised 161,
Anti-avulsion part is provided with the rotating shaft 15, the anti-avulsion part is two, respectively the first anti-avulsion part 151 and the second anti-avulsion part 152.
Preferably, the first anti-avulsion part 151 is sheet, is fixedly installed in the rotating shaft 15, and its fixed position is close to rotating shaft 15
Upper one of end.The second anti-avulsion part 152 be fixed in rotating shaft 15 away from the first anti-avulsion part 151 end, and with
The rotating shaft 15 is detachably connected.As shown in fig. 6, the second anti-avulsion part 152 includes bolt 1521 and pad 1522, to ensure
Anti-avulsion can be played a part of, the diameter of the pad 1522 is more than the diameter of second through hole 1611.The rotating shaft 15 is remote
From the first anti-avulsion part 151 end face be provided with bolt 1521 coordinate screw thread.Away from first anti-avulsion in the rotating shaft 15
The end of part 151 successively passes through the first through hole 1211 and described raised 161 the second through hole 1611 of two extensions 121, and
Described raised 161 are worn after being connected between the extension 121, bolt 1521 and remote first anti-avulsion part 151 in rotating shaft 15
Screw thread on end face coordinates so as to which pad 1522 is fixed on into the end away from the first anti-avulsion part 151 in the rotating shaft 15,
Prevent that the end away from the first anti-avulsion part 151 is deviate from from the through hole 1611 of first through hole 1211 and second in rotating shaft 15.
As described in Figure 6, in the present embodiment, the sensor 17 is fixed in rotating shaft 15 close to first by bolt part 18
The end of anti-avulsion part 151.Preferably described sensor 17 is Hall sensor.Herein it should be noted that can be by described
One anti-avulsion part 151 is bolted part and is fixedly connected with the extension 121 of its nearest neighbours, i.e., by rotating shaft 15 and first pin
Pedal 12 is fixed together, and now the first anti-avulsion part 151 can not only prevent the rotating shaft 15 from the first through hole
Skidded off between 1211 and second through hole 1611, can also be further ensured that rotating shaft 15 can the first pedal 12 relative to
As synchronous axial system occurs for the first pedal 12 when connecting seat 16 rotates forward or backwards, that is, ensure the sensor 17 with the
Synchronous axial system occurs for one pedal 12, in order to which the sensor 17 can accurately detect the rotation letter of a pedal 12
Breath.
As further preferred embodiment, can also not have to by the first anti-avulsion part 151 be bolted part with from
Its nearest extension 121 is fixedly connected, and only needs the edge of the pad 1522 of the second anti-avulsion part 152 to open up screwed hole, in institute
State pad 1522 to be fixed in the rotating shaft 15 behind the end away from the first anti-avulsion part 151, then pad 1522 is most connect with it
Near extension 121 is fixedly connected, to ensure that with the first pedal 12 synchronous axial system can occur for rotating shaft 15；Or both will
First anti-avulsion part 151 is bolted part and is fixedly connected with the extension 121 of its nearest neighbours, and in the second anti-avulsion part
152 pad 1522 be fixed in the rotating shaft 15 away from the first anti-avulsion part 151 end after, then by pad 1522 and its most
Close extension 121 is fixedly connected, and to ensure that with the first pedal 12 synchronous axial system can occur for rotating shaft 15, that is, is ensured
With the first pedal 12 synchronous axial system occurs for the sensor 17, in order to the sensor 17 can accurately detect it is described
The rotation information of first pedal 12.
In addition, the sensor 17 may be also secured in the extension 121, it is arranged such, just need not be again by described in
The pad 1522 of first anti-avulsion part 151 or the second anti-avulsion part 152 is fixedly connected with its immediate extension 121 respectively, institute
Sensor 17 is stated to have been able to that synchronous axial system occurs with first pedal 12.
When driving electrodynamic balance car, the both feet of user are trampled in the pedal 13 of the first pedal 12 and second respectively
On.When needing to turn to, the pin that user tramples in the first pedal 12 is applied to the front end or rear end that only need the first pedal 12
Plus-pressure, the first pedal 12 is set to be rotated forward or backwards by rotating shaft 15, the rotating shaft 15 is sent out with the first pedal 12
Raw to rotate, the sensor 17 being fixedly installed in rotating shaft 15 is used for the rotation direction and angle for detecting rotating shaft 15, and by this
Signal feeds back to control system, controls electrodynamic balance car to turn to by control system.Such as according to electrodynamic balance car inner setting journey
Sequence, the first pedal 12 rotates forward as to be turned to the right, and the first pedal 12 rotates backwards to be turned to as to the left, when user needs
When turning to the right, the pin that only need to make to trample on the first pedal 12 makes the first pin to the anterior applying power of the first pedal 12
Pedal 12 rotates forward, and rotating shaft 15 can also rotate forward with the first pedal 12, and the sensor 17 detects rotating shaft
Control system can be fed back signal to after rotating forward at once, control system can then control electrodynamic balance car to realize and turn to the right.
Program setting also can be that the first pedal 12 rotates as turn to the left forward by certain electrodynamic balance car, the first pedal 12 to
After rotate and turned to as to the right.
In addition, in order to ensure that the first pedal 12 can preferably reset after rotating forward or backwards, described first
Pedal 12 is respectively arranged with dynamic clamping head and quiet clamping head between two ends of the both sides of rotating shaft 15 and connecting seat 16 respectively.It is described
One end of dynamic clamping head and quiet clamping head is connected to the end of first pedal 12, and the other end connects the connecting seat 16.Such as Fig. 6 institutes
Show, in the present embodiment, the dynamic clamping head and quiet clamping head is cylindrical rubber part 20, the pedal 12 of cylindrical rubber part 20 and first
One end of end connection opens up fluted 201, and it is convex with the groove 201 cooperation that the end of first pedal 12 is provided with one
Post 122, a groove 162 is provided with the connecting seat 16, for accommodating another end of the cylindrical rubber part 20.
In the present embodiment, the groove 162 protrudes from the top of connecting seat 16 and set, and in other preferred embodiments, also may be used
Directly to offer groove 162 on connecting seat 16.When electrodynamic balance car turns to, user to the front end of the first pedal 12 or
When rear end applying power makes first pedal 12 forward or rotated backwards, the cylindrical rubber part 20 is compressed, and completes to turn to
Afterwards, the power revocation that user adds to the front end of the first pedal 12 or backend infrastructure, first pedal 12 is in cylindrical rubber part 20
Elastic restoring force under reset.
It should be noted that "front", "rear", "left", "right" are when user's both feet are trampled described respectively in the present invention
"front", "rear", the "left", "right" of user when on the first pedal 12 and the second pedal 13, i.e., only when user's both feet are stood
When on the first pedal 12 and the second pedal 13, "front", "rear", "left", "right" are just significant, therefore are not to be construed as pair
The restriction of the present invention.
The invention provides a kind of new electrodynamic balance car, the first pedal can be under the driving of foot forward or court
After rotate, the steering of the rotation information of the pedal that control system detects according to sensor control electrodynamic balance car.So set
Put, the electrodynamic balance car no longer needs to set handle to be used for the steering for controlling electrodynamic balance car, only need to make first by foot
Pedal is facing forward or rotates backwards, can both realize the steering of electrodynamic balance car, liberate the both hands of user, while also makes electronic flat
Weighing apparatus car is easy to carry.
Embodiment two
It is that the extension 121 sets one, and in order that the first pedal 12 with the difference of embodiment one
With more preferable stability, the extension 121 is arranged at the position among first pedal 12, and positioned at described first
The lower section of pedal 12, setting is integrally formed with first pedal 12.The rotating shaft 15 is fixedly installed the first anti-avulsion part
151, and the first anti-avulsion part 151 is close to an end of the rotating shaft 15, end of the rotating shaft 15 away from the first anti-avulsion part
After portion successively passes through the first through hole 1211 of the extension 121 and described raised 161 the second through hole 1611, or successively pass through
After described raised 161 the second through hole 1611 and the first through hole 1211 of the extension 121, the second anti-avulsion part 152 is installed
The end away from the first anti-avulsion part 151 in rotating shaft 15, the second anti-avulsion part 152 is in rotating shaft 15 away from described first
The mounting means of the end of anti-avulsion part 151 is identical with embodiment one, and here is omitted.
Embodiment three
It is with the difference of embodiment one, the connecting seat 16 can also be fixedly installed on the top of the nacelle 10,
And the outside of nacelle 10 is placed in, other settings are identical with embodiment one, do not repeating herein.In this way, the first pedal 12
Also the outside of nacelle 10 can be located at, and certain distance be present apart from the top of nacelle 10, therefore to ensure first pedal
12 and second pedal 13 apart from the top sustained height of nacelle 10, the second pedal 13 protrudes from the top of nacelle 10 and set
Put, and its distance apart from the top of nacelle 10 will ensure that the distance with the first pedal 12 at the top of nacelle 10 is suitable.So
First pedal 12 and the second pedal 13 are placed in the outside of nacelle 10, the volume of the nacelle 10 can be reduced,
Example IV
The present embodiment is no longer to set connecting seat 16 with the difference of embodiment one, directly set described raised 161
In side wall on the bottom surface inside nacelle 10 or inside nacelle, for accommodating the sky of another end of cylindrical rubber part 20
Heart groove 162 is also set directly on the bottom surface inside the nacelle 10, and other settings are identical with embodiment one.In this way, need not
Connecting seat 16 is set again, simplifies structure, also saves cost.
Embodiment five
The present embodiment is that the dynamic clamping head and quiet clamping head is spring pressuring plate 21 with the difference of embodiment one, such as Fig. 8 and Fig. 9 institutes
Show, an end 212 of the spring pressuring plate 21 is provided with screwed hole 2121, and bolt connection piece 22 is by bolt part 22 by spring pressure
One end 212 of piece 21 is fixed on the connecting seat 16, and the other end 211 of the spring pressuring plate 21 is free end, and institute
State the end that free end 211 is connected to first pedal 12.When electrodynamic balance car turns to, the court of the first pedal 12
Preceding or when rotating backwards, the spring pressuring plate 21 is compressed, and is completed after turning to, is trampled the pin on the first pedal 12 to first
The power revocation that the front end of pedal 12 or backend infrastructure add, first pedal 12 are multiple under the elastic restoring force of spring pressuring plate 21
Position.
As further preferred embodiment, the dynamic clamping head and quiet clamping head can also be spring or extension spring.
Certainly, described above is the preferred embodiment of the present invention, it is noted that for the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
It is considered as protection scope of the present invention.
Claims (10)
- A kind of 1. electrodynamic balance car, it is characterised in that：Two wheels in nacelle, relative cabin are connected to including nacelle, by wheel shaft The second pedal that the first pedal that body can rotate, relative nacelle are fixed, detecting the first pedal rotation information Sensor, the control system being arranged in nacelle and power supply, the nacelle relative wheel can rotate setting, the sensor with The connection of control system signal is to transmit the rotation information of the first pedal, and the control system is according to the rotation of the first pedal Information controls the steering of electrodynamic balance car, and the control system includes body-sensing balance system, and the body-sensing balance system is set In can be rotated in nacelle with nacelle relative wheel.
- 2. electrodynamic balance car according to claim 1, it is characterised in that:First pedal is arranged in nacelle by one Rotating shaft be installed in nacelle, and nacelle is offered through the first outside opening, the first pedal by the first opening for Trample at family.
- 3. electrodynamic balance car according to claim 2, it is characterised in that：The nacelle is fixedly installed a connecting seat, institute Rotating shaft is stated to be installed on the connecting seat.
- 4. electrodynamic balance car according to claim 3, it is characterised in that：First pedal is located at rotating shaft two respectively Two of side are respectively arranged with dynamic clamping head and quiet clamping head between end and connecting seat.
- 5. electrodynamic balance car according to claim 4, it is characterised in that：The dynamic clamping head and quiet clamping head is cylindrical rubber part, institute State cylindrical rubber part and offer a groove, the end of first pedal with one end that the end of first pedal is connected Provided with a projection coordinated with the groove, a groove is provided with the connecting seat and is used to accommodate the cylindrical rubber part End.
- 6. electrodynamic balance car according to claim 4, it is characterised in that：The dynamic clamping head and quiet clamping head is spring pressuring plate, described One end of spring pressuring plate is fixed on the connecting seat, and the other end of the spring pressuring plate is free end, and the free end is used With the end abutment with first pedal.
- 7. electrodynamic balance car according to claim 4, it is characterised in that：The dynamic clamping head and quiet clamping head is spring or extension spring.
- 8. electrodynamic balance car according to any one of claim 1 to 7, it is characterised in that：The sensor passes for Hall Sensor.
- 9. a kind of rotating direction control method of electrodynamic balance car, the electrodynamic balance car includes control system, relative nacelle can turn The second pedal that dynamic the first pedal, relative nacelle are fixed, detecting the sensor of the first pedal rotation information, institute Rotating direction control method is stated to comprise the following steps：Trampling the first pedal rotates the first pedal；The sensor detects the rotation information of first pedal；The rotation information control electrodynamic balance car for the first pedal that control system detects according to sensor turns to.
- 10. the rotating direction control method of electrodynamic balance car according to claim 9, it is characterised in that：WhenWhen sensor detects that first pedal rotates forward, control system left/right transfering the letter breath is transferred to, when sensor is examined When measuring first pedal and rotating backwards, control system right/left transfering the letter breath is transferred to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610025527.9A CN105691504B (en) | 2016-01-14 | 2016-01-14 | Electrodynamic balance car and its rotating direction control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610025527.9A CN105691504B (en) | 2016-01-14 | 2016-01-14 | Electrodynamic balance car and its rotating direction control method |
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| Publication Number | Publication Date |
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| CN105691504A CN105691504A (en) | 2016-06-22 |
| CN105691504B true CN105691504B (en) | 2018-02-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106184511B (en) * | 2016-08-09 | 2019-11-22 | 尚艳燕 | A kind of electrodynamic balance vehicle and its pedal assembly |
| CN106184510A (en) * | 2016-08-09 | 2016-12-07 | 尚艳燕 | A kind of electrodynamic balance car and pedal assembly thereof |
| CN106184533B (en) * | 2016-09-30 | 2019-04-19 | 深圳市瑞能德电子有限公司 | A kind of electrodynamic balance vehicle |
| WO2018107477A1 (en) * | 2016-12-16 | 2018-06-21 | 浙江瑞萌威电子科技有限公司 | Self-balancing scooter |
| CN108438128B (en) * | 2018-02-09 | 2021-12-17 | 纳恩博（北京）科技有限公司 | Vehicle, control method and device thereof, and storage medium |
| CN108382513A (en) * | 2018-04-11 | 2018-08-10 | 浙江阿尔郎科技有限公司 | balance car |
| CN110550132A (en) * | 2019-08-27 | 2019-12-10 | 陈聪 | Elastic reset device of balance car |
| CN112960058B (en) * | 2021-04-22 | 2022-08-26 | 浙江普瑞圣工贸有限公司 | Turntable control type balance car |
| CN113771996A (en) * | 2021-09-07 | 2021-12-10 | 深圳市动平衡科技有限公司 | Vehicle body |
| CN116062076A (en) * | 2021-11-04 | 2023-05-05 | 浙江群英车业有限公司 | Balance car |
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