CN106143742B - A kind of universal balance wheelbarrow - Google Patents
A kind of universal balance wheelbarrow Download PDFInfo
- Publication number
- CN106143742B CN106143742B CN201610630808.7A CN201610630808A CN106143742B CN 106143742 B CN106143742 B CN 106143742B CN 201610630808 A CN201610630808 A CN 201610630808A CN 106143742 B CN106143742 B CN 106143742B
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- balance
- flywheel
- motor
- wheelbarrow
- universal
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- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005303 weighing Methods 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
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
-
- 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
- B62K2202/00—Motorised scooters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
Abstract
The present invention relates to balance car technical fields, refer in particular to a kind of universal balance wheelbarrow, including body, battery pack and foldable pedal positioned at two side lower part of body, body is installed with main wheel, balance detection instrument, controller and the main motor for driving main wheel to rotate, the top of the body is installed with flywheel group and the auxiliary-motor for driving flywheel group to rotate, and the Pivot axle of the Pivot axle of the flywheel group and the main wheel is mutually perpendicular to arrange.When wheelbarrow simultaneously in left and right directions with shifting on front-rear direction when, main motor and auxiliary-motor are performed simultaneously corresponding front and back driving and acceleration-deceleration movement, making wheelbarrow in all directions can accomplish that angle corrects its universal balance function of realization, it is particularly suitable for most of beginners of left-right balance difference, and beginner is helped quickly to grasp the using skill of electric unicycle, practicability is stronger.
Description
Technical field
The present invention relates to balance car technical fields, refer in particular to a kind of universal balance wheelbarrow.
Background technique
In today of society's rapid development, traffic congestion in many big and medium-sized cities at universal phenomenon, environment instantly in addition
Pollution is got worse, and electric unicycle gradual popular as a kind of novel environment friendly, energy conservation, portable walking-replacing tool
Come.
Existing electric unicycle carries out front and back using gyroscope and stablizes.Work as forward lean, electric unicycle can perceive
Movement is accelerated；When leaning back, electric unicycle can also control decelerating through motor to maintain the balance of driver and car body.
The working principle of existing single wheel balance car is to judge posture state locating for vehicle body with built-in sophisticated sensor,
By central microprocessor and control system, driving motor rotation realizes moving forward and backward for car, and keep car forward and backward
The equilibrium state in direction；And the left-right balance of car and steering are then completely by the bodies strength such as body twisting and leg, arm
Coordinated control is completed；Left-right balance and steering are more difficult to control under configuration state at present, ride laborious, bicyclist is not easy to control.
Especially most of beginner's left-right balances are poor, it is difficult to the driving skill of effective Fast Learning electric unicycle
Ingeniously, it certainly will influence and restrict electric unicycle market widespread development.For this reason, it is necessary to design a kind of with left and right Self-balancing
Electric unicycle.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of structures simply, all around puts down convenient for control single wheel balance car
The universal balance wheelbarrow of weighing apparatus.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme:
A kind of universal balance wheelbarrow, including body, battery pack and foldable pedal positioned at two side lower part of body, body dress
Equipped with main wheel, balance detection instrument, controller and for drive main wheel rotate main motor, the top of the body is installed with flywheel
Group and for drive flywheel group rotate auxiliary-motor, the Pivot axle of the flywheel group and the Pivot axle of the main wheel are mutual
It is arranged vertically, the fuselage of main motor is fixedly connected with body.
Preferably, the top of the body is installed with horizontally disposed rotatable installation axle, and the flywheel group is fixed on
The installation axle, installation axle are installed with the accelerometer for detecting flywheel group revolving speed.
Preferably, the flywheel group includes the first flywheel and the second flywheel, and first flywheel and the second flywheel are located at
The front and rear of installation axle, the auxiliary-motor are located at the middle part of installation axle.
Preferably, the diameter of first flywheel and the second flywheel is gradually reduced from outer end to inner end.
Preferably, the balance detection instrument includes the first gyroscope for detecting body anterior-posterior balance and for detection machine
Second gyroscope of body left-right balance, the first gyroscope and the second gyroscope are electrically connected with the controller.
Preferably, the balance detection instrument is universal gyroscope, which is electrically connected with the controller.
Preferably, the main motor and auxiliary-motor are brushless motor.
Preferably, the battery pack includes two pieces of battery packs, which is fixed on the inside of the body and divides
Not Wei Yu main wheel two sides.
The beneficial effects of the present invention are:
The present invention provides a kind of universal balance wheelbarrow, balance detection instrument is used to detect the location status of wheelbarrow, when
When wheelbarrow turns forward, main wheel moves forward under the driving effect of main motor, and when wheelbarrow tilts backwards, main wheel is in master
It is moved backward under the driving effect of motor, to realize the anterior-posterior balance function of wheelbarrow；Universal balance wheelbarrow of the invention
It is additionally provided with flywheel group, under normal traveling or resting state, flywheel group keeps the at the uniform velocity rotation of high speed in auxiliary-motor, when only
When taking turns vehicle banking, flywheel group accelerates rotation, and the process of the acceleration rotation by flywheel group under the action of auxiliary-motor
Middle generation reaction force makes auxiliary-motor generate counter-rotational torque, which is transferred to body by auxiliary-motor itself, thus
Correct the angle of body or so offset；When wheelbarrow is tilted to another side, flywheel group is rotated in deceleration under the action of auxiliary-motor,
And so that auxiliary-motor is generated the torque rotated forward by generating inertia force during being rotated in deceleration of flywheel group, which passes through
Auxiliary-motor itself is transferred to body, to correct the angle of body or so offset again, and then realizes the left-right balance of wheelbarrow
Function.When wheelbarrow simultaneously in left and right directions with shifting on front-rear direction when, main motor and auxiliary-motor are performed simultaneously phase
The front and back driving and acceleration-deceleration movement answered, making wheelbarrow in all directions can accomplish that angle corrects its universal balance of realization
Function, is particularly suitable for most of beginners of left-right balance difference, and beginner is helped quickly to grasp making for electric unicycle
With skill, practicability is stronger.
Detailed description of the invention
Fig. 1 is the schematic perspective view of universal balance wheelbarrow of the present invention.
Fig. 2 is the stereochemical structure decomposing schematic representation of universal balance wheelbarrow of the present invention.
Fig. 3 is the schematic diagram of the section structure of universal balance wheelbarrow of the present invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
As shown in Figure 1 to Figure 3, a kind of universal balance wheelbarrow, including body 1, battery pack and be located at 1 liang of side lower part of body
Foldable pedal 2, body 1 be installed with main wheel 3, balance detection instrument, controller and for drive main wheel 3 rotate main motor 4, institute
State body 1 top be installed with flywheel group and for drive flywheel group rotate auxiliary-motor 5, the Pivot axle of the flywheel group with
The Pivot axle of the main wheel 3 is mutually perpendicular to arrange, the fuselage of main motor 4 is fixedly connected with body 1.
In practical applications, balance detection instrument is used to detect the position shape of wheelbarrow to universal balance wheelbarrow of the invention
State, when wheelbarrow turns forward, main wheel 3 moves forward under the driving effect of main motor 4, when wheelbarrow tilts backwards,
Main wheel 3 moves backward under the driving effect of main motor 4, to realize the anterior-posterior balance function of wheelbarrow；Of the invention is universal
Balance wheelbarrow is additionally provided with flywheel group, and under normal traveling or resting state, flywheel group keeps the even of high speed in auxiliary-motor 5
Speed rotation, when wheelbarrow banking when, flywheel group accelerates under the action of auxiliary-motor 5 rotation, and by flywheel group adding
Generating reaction force during speed rotation makes auxiliary-motor 5 generate counter-rotational torque, which is passed by auxiliary-motor 5 itself
It is handed to body 1, to correct the angle of the offset of body 1 or so；When wheelbarrow is tilted to another side, flywheel group is in auxiliary-motor 5
Under the action of be rotated in deceleration, and so that auxiliary-motor 5 is generated positive turn by generating inertia force during being rotated in deceleration of flywheel group
Dynamic torque, the torque are transferred to body 1 by auxiliary-motor 5 in itself, so that the angle that body 1 or so deviates is corrected again, into
And realize the function of the left-right balance of wheelbarrow.
When wheelbarrow simultaneously in left and right directions with shifting on front-rear direction when, main motor 4 and auxiliary-motor 5 are performed simultaneously
Front and back driving accordingly and acceleration-deceleration movement, making wheelbarrow in all directions can accomplish that angle correction realizes that its is universal flat
Weigh function, is particularly suitable for most of beginners of left-right balance difference, and beginner is helped quickly to grasp electric unicycle
Using skill, practicability are stronger.
In the present embodiment, the top of the body 1 is installed with horizontally disposed rotatable installation axle 6, the flywheel group
It is fixed on the installation axle 6, installation axle 6 is installed with the accelerometer for detecting flywheel group revolving speed.Specifically, the flywheel group packet
The first flywheel 7 and the second flywheel 8 are included, first flywheel 7 and the second flywheel 8 are located at the front and rear of installation axle 6, described
Auxiliary-motor 5 is located at the middle part of installation axle 6.
By the structure design of two flywheels, the angular momentum balance and significantly of identical mass flywheel group can be improved
The internal structure compactedness of universal balance wheelbarrow is improved, the outer dimension of wheelbarrow remains wheelbarrow without excessively increasing
Small and exquisite and the advantages of be convenient for carrying, practicability is stronger.
Relative to the scheme of a flywheel module, when two flywheels work, when controller controls the rotation side of two flywheels
To it is opposite when, effect reaction force on the car body is cancelled out each other.Ensure that car body keeps balance and stablizes；When controller controls
When two flywheel direction of rotation are identical, the reaction force of effect on the car body can be increased, to make wheelbarrow rotation, improves single wheel
The function and experience property of vehicle.
In the present embodiment, the diameter of first flywheel 7 and the second flywheel 8 is gradually reduced from outer end to inner end, is not being increased
Under the premise of adding the distance between the Pivot axle of flywheel group and the Pivot axle of the main wheel 3, further improve winged
The sole mass of wheel group, then revolving speed it is identical under the premise of improve flywheel group storage angular momentum, carry out wheelbarrow left and right
During correction, correction torque is bigger, and angle regulated efficiency is higher, and balance and stability are more preferably.
In the present embodiment, the balance detection instrument includes the first gyroscope for detecting 1 anterior-posterior balance of body and is used for
The second gyroscope of 1 left-right balance of body is detected, the first gyroscope and the second gyroscope are electrically connected with the controller.Two gyros
Instrument is shared out the work and helped one another, and the corresponding speed of the detection efficiency of balance detection instrument can be effectively improved, and safety is higher.
Certainly, the balance detection instrument can also be universal gyroscope, which is electrically connected with the controller, internal
Structure is more simple and compact, and integrated level is higher, and assembling is more convenient, to reduce the processing and assembling cost of wheelbarrow, cost performance
It is higher.
In the present embodiment, the main motor 4 and auxiliary-motor 5 are brushless motor, with small in size, light-weight, torque is special
The excellent advantage of property, and it is able to achieve stepless speed regulation, speed adjustable range is wide, and overload capacity is strong, is able to achieve soft start and soft stop, and braking characteristic is more
It is good.
In the present embodiment, the battery pack includes two pieces of battery packs 9, which is fixed on the interior of the body 1
Side and the two sides for being located at main wheel 3.Double cell design combines the control of more reliable battery and administrative skill and PID genetic algorithm complete
Beauty combines, reliable to realize zero power-off, avoids wheelbarrow in the danger of traveling process interrupt electricity bring disabler, safety
It is greatly improved, practicability is stronger.
One embodiment of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (4)
1. a kind of universal balance wheelbarrow, including body (1), battery pack and the foldable pedal for being located at (1) two side lower part of body
(2), body (1) is installed with main wheel (3), balance detection instrument, controller and the main motor (4) for driving main wheel (3) to rotate,
Be characterized in that: the top of the body (1) is installed with flywheel group and the auxiliary-motor (5) for driving flywheel group to rotate, the flywheel
The Pivot axle and the Pivot axle of the main wheel (3) of group be mutually perpendicular to arrange, the fuselage of main motor (4) and body (1)
It is fixedly connected, the top of the body (1) is installed with horizontally disposed rotatable installation axle (6), and the flywheel group is fixed on
The installation axle (6), installation axle (6) are installed with the accelerometer for detecting flywheel group revolving speed, and the flywheel group includes first winged
(7) and the second flywheel (8) are taken turns, first flywheel (7) and the second flywheel (8) are located at the front and rear of installation axle (6), institute
State the middle part that auxiliary-motor (5) is located at installation axle (6), the diameter of first flywheel (7) and the second flywheel (8) is from outer end to inner end
It is gradually reduced, the balance detection instrument includes the first gyroscope for detecting body (1) anterior-posterior balance and for detecting body
(1) the second gyroscope of left-right balance, the first gyroscope and the second gyroscope are electrically connected with the controller.
2. universal balance wheelbarrow according to claim 1, it is characterised in that: the balance detection instrument is universal gyro
Instrument, the universal gyroscope are electrically connected with the controller.
3. universal balance wheelbarrow according to claim 1, it is characterised in that: the main motor (4) is brushless motor, secondary
Motor (5) is the brushless motor of adjustable output torque size and steering.
4. universal balance wheelbarrow according to claim 1, it is characterised in that: the battery pack includes two pieces of battery packs
(9), which is fixed on the inside of the body (1) and is located at the two sides of main wheel (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610630808.7A CN106143742B (en) | 2016-08-01 | 2016-08-01 | A kind of universal balance wheelbarrow |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610630808.7A CN106143742B (en) | 2016-08-01 | 2016-08-01 | A kind of universal balance wheelbarrow |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106143742A CN106143742A (en) | 2016-11-23 |
| CN106143742B true CN106143742B (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610630808.7A Expired - Fee Related CN106143742B (en) | 2016-08-01 | 2016-08-01 | A kind of universal balance wheelbarrow |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108298001B (en) * | 2018-03-23 | 2024-01-09 | 中山华粹智能装备有限公司 | Self-balancing single-wheel movement mechanism |
| CN111332400A (en) * | 2020-05-08 | 2020-06-26 | 深圳市熙龙玩具有限公司 | Monocycle device and control implementation method thereof |
| CN113562109B (en) * | 2021-09-09 | 2022-09-30 | 山东农业大学 | A one-wheel dual-axle self-balancing vehicle |
| CN116553450A (en) * | 2023-07-11 | 2023-08-08 | 江苏亚雄减速机械有限公司 | Anti-eccentric load device for intelligent adjustable tilting hydraulic lift |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895770A (en) * | 2014-04-15 | 2014-07-02 | 上海万硅电子有限公司 | All-around self-balancing electric monocycle |
| CN104773239A (en) * | 2015-04-09 | 2015-07-15 | 李威 | Left-and-right self-balancing electric wheelbarrow |
| CN205872285U (en) * | 2016-08-01 | 2017-01-11 | 广东奥星智能科技有限公司 | A left and right balance device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011083400A (en) * | 2009-10-15 | 2011-04-28 | Tamaden Kogyo Kk | Unmanned unicycle |
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2016
- 2016-08-01 CN CN201610630808.7A patent/CN106143742B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895770A (en) * | 2014-04-15 | 2014-07-02 | 上海万硅电子有限公司 | All-around self-balancing electric monocycle |
| CN104773239A (en) * | 2015-04-09 | 2015-07-15 | 李威 | Left-and-right self-balancing electric wheelbarrow |
| CN205872285U (en) * | 2016-08-01 | 2017-01-11 | 广东奥星智能科技有限公司 | A left and right balance device |
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| Publication number | Publication date |
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| CN106143742A (en) | 2016-11-23 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20170921 Address after: 337000 Jiangxi city of Pingxiang province Luxi County Nan Keng Shan Tamura Yamada No. 49 Applicant after: Yuan Xia Address before: 2, 18 layer 01-04 units, 523000 Star Plaza, Heng village, Changping Town, Dongguan, Guangdong, Jiangxia Applicant before: GUANGDONG OLYSTA INTELLIGENT TECHNOLOGY CO., LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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