CN205186322U - Electrodynamic balance car - Google Patents

Abstract

The utility model provides an electric balance car, which comprises a body, a plurality of wheels and a control mechanism; The wheels are arranged in a triangular or polygonal arrangement, and the bottom surfaces of the multiple wheels are located in the same plane, and the plane where the bottom surfaces of the multiple wheels are located is parallel to the pedals; the multiple wheels include two driving wheels symmetrically arranged at the front end or the rear end of the vehicle body. The control mechanism includes a driving motor and a differential, the driving motor is connected to the two driving wheels through the differential, and the driving motor outputs the corresponding driving force to the two driving wheels through the differential to drive the two driving wheels to rotate . The above-mentioned electric balance car has a compact structure because the body of the main component is flat, and is easy to carry and store. Since this electric balance car has three or four wheels, its balance is relatively good compared to other two-wheeled scooter. high.

Description

electric balance car

technical field

The utility model belongs to the technical field of machinery and relates to an electric balance car.

Background technique

Two-wheeled scooters are built on a fundamental principle known as "dynamic stability," the ability of the vehicle itself to balance itself. The built-in precision solid-state gyroscope is used to judge the posture state of the car body, and the precise and high-speed central microprocessor calculates the appropriate command, and then drives the motor to achieve the balance effect.

Suppose we take the vertical axis of the overall center of gravity of the driver standing on the car and the vehicle as the reference line. When this axis tilts forward, the built-in electric motor in the body will generate forward force, on the one hand, it will balance the torque of people and the car falling forward, and on the other hand, it will generate the acceleration that makes the vehicle move forward. On the contrary, when the gyroscope finds When the driver's center of gravity tilts backward, it will also generate a backward force to achieve a balance effect. Therefore, as long as the driver changes the angle of his body to lean forward or backward, he will move forward or backward according to the direction of inclination, and the speed is proportional to the degree of inclination of the driver's body. In principle, as long as the power is turned on correctly and enough power can be maintained, the people in the car don't have to worry about the possibility of falling, which is very different from vehicles such as scooters that generally need to be balanced by the driver himself.

But the existing two-wheeled scooter changes the direction of travel mainly by twisting the handle. It can be seen that setting the handle on the two-wheeled scooter leads to its complicated structure and increased cost.

For this reason, people have designed the two-wheeled scooter without handle, and this scooter mainly is made up of two relative movable supports, and a corresponding wheel is connected on each support. Although this scooter omits the handle, due to the small size of the bracket, the balance is not easy to grasp when using this scooter.

Its publication number CN203958471U of Chinese patent provides " a kind of split rotating self-balancing two-wheeled vehicle ", and it comprises car body main frame, and car body main frame both sides is provided with wheels, and car body main frame is provided with motor and controllable The gyroscope of the motor speed, the main frame of the car body includes two split frames separated from each other, a connecting shaft is arranged in the middle of the two split frames, and the two split frames take the connecting shaft as the rotation center Rotation, each split frame is equipped with a gyroscope and a motor separately. The split frame includes an upper cover pedal and a lower shell. The gyroscope is fixed at the bottom of the upper cover pedal. The gyroscope is connected to the circuit board, and the circuit board is connected to the motor. , the motor drives the wheels.

The two-wheeled vehicle in the above-mentioned patent can realize the functions of acceleration, deceleration and turning with the feet, and has a simple structure. However, it is mainly composed of two relatively movable supports, and its balance is not easy to control during use. And, because it takes up space, it is not very convenient to carry.

Utility model content

The utility model proposes an electric balance car in order to overcome the prior art.

In order to achieve the above purpose, the utility model provides an electric balance car, which includes a body, a plurality of wheels and a control mechanism; the body includes a flat pedal and a supporting frame arranged at the lower part of the pedal; The multiple wheels are connected to the support frame, the multiple wheels are arranged in a triangular or polygonal shape, and the bottom surfaces of the multiple wheels are located in the same plane, and the plane where the bottom surfaces of the multiple wheels are located is the same as The pedals are parallel; the multiple wheels include two drive wheels symmetrically arranged at the front end or the rear end of the vehicle body, and the control mechanism includes a drive motor and a differential, and the drive motor passes through the differential The drive motor is connected to the two drive wheels, and the drive motor outputs corresponding drive force to the two drive wheels through the differential to drive the two drive wheels to rotate.

Further, the number of the multiple wheels is four, the multiple wheels include two steering wheels, the two steering wheels and the two driving wheels are arranged in a rectangle, and the two steering wheels Set opposite to the two driving wheels.

Further, the number of the multiple wheels is three, and the multiple wheels also include a steering wheel, the steering wheel and the two driving wheels are arranged in a triangle, and when the two driving wheels are arranged When at the rear end of the vehicle body, the steering wheels are arranged in the middle of the front end of the vehicle body; when the two driving wheels are arranged at the front end of the vehicle body, the steering wheels are arranged at the rear end of the vehicle body middle part.

Further, the electric balance car also includes a position sensing device, which is interposed between the pedal and the support frame and used to sense the position information of the center of gravity of the user on the pedal, so The control mechanism also includes a controller connected with the driving motor and used to control the driving force output by the driving motor, the controller is connected with the position sensing device, and the controller senses The center of gravity position information of the user determines the position of the center of gravity of the user, and the differential distributes the driving force output by the drive motor to the two drive wheels according to the position of the center of gravity of the user to drive the The two drive wheels turn.

Further, the upper part of the support frame has a recessed installation cavity, the pedal covers the installation cavity, the position sensing device is located in the installation cavity and respectively abuts against the bottom wall of the installation cavity and the bottom of the pedals.

Further, an induction switch is provided on the pedal, the induction switch is connected between the control mechanism and the power supply device, and the induction switch is used to control the control mechanism by sensing whether there is a user on the vehicle power-on and power-off.

Further, the front part of the footboard protrudes downwards to protect the wheels at the front part of the vehicle body.

Due to the application of the above-mentioned technical solution, the utility model has the following advantages:

Because the car body of the main component of the electric balance car of the present utility model is flat, it has a compact structure and is easy to carry and store. At the same time, since the electric balance car has three or four wheels, it has a higher balance than other two-wheeled scooters, and it is easier for the user to control the balance when standing on the electric balance car.

Description of drawings

Fig. 1 is a schematic structural view of an electric balancing vehicle according to the first embodiment of the present invention.

Fig. 2 is a schematic cross-sectional view of the electric balancing vehicle shown in Fig. 1 .

Fig. 3 is a side view of the electric balancing vehicle shown in Fig. 1 .

Fig. 4 is a bottom view of the electric balancing vehicle shown in Fig. 1 .

Fig. 5 is a schematic structural view of an electric balancing vehicle according to a second embodiment of the present invention.

FIG. 6 is a schematic cross-sectional view of the electric balancing vehicle shown in FIG. 5 .

Fig. 7 is a schematic structural view of an electric balancing vehicle according to a third embodiment of the present invention.

Fig. 8 is a schematic cross-sectional view of the electric balance car shown in Fig. 7 .

Fig. 9 is a schematic structural view of an electric balancing vehicle according to a fourth embodiment of the present invention.

Fig. 10 is a schematic cross-sectional view of the electric balance car shown in Fig. 9 .

Fig. 11 is a bottom view of an electric balancing vehicle according to another embodiment of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the utility model clearer, the following will further describe the implementation of the utility model in conjunction with the accompanying drawings.

Embodiment one

Referring to Figures 1-4, the electric balance car provided by the embodiment of the present invention includes a vehicle body 1, a plurality of wheels 2, a position sensing device and a control mechanism. Wherein, the plurality of wheels 2 are connected with the vehicle body 1, the plurality of wheels 2 are arranged in a triangle or a polygon, and the bottom surfaces of the plurality of wheels 2 are located in the same plane.

The position sensing device is used for sensing the center of gravity position information of the user on the vehicle body 1 .

The control mechanism is connected with the position sensing device, and the control mechanism controls the movement of the plurality of wheels 2 according to the position information of the user's center of gravity sensed by the position sensing device.

The vehicle body 1 includes a plate-shaped footboard 11 and a support frame 13 arranged at the bottom of the footboard 11. The plane where the bottom surfaces of the plurality of wheels 2 is located is parallel to the footboard 11. The position sensing device is interposed between the footrest 11 and the support frame 13 and is used for sensing the position information of the user's center of gravity on the footrest 11 . Specifically, in this embodiment, the position sensing device is a gravity sensor 101, and the gravity sensor 101 is used for the position information of the center of gravity of the user on the pedal 11. The position information of the center of gravity controls the movement of the plurality of wheels 2 .

Specifically, in this embodiment, two symmetrically arranged footrest areas 110 are formed on the footboard 11, and the footrest areas 110 are in contact with the position sensing device, so that when the user stands on the footrest area 110, the position sensing The device can accurately sense the change of the user's center of gravity position. The upper part of the support frame 13 has a concave installation cavity 130, the pedal 11 covers the installation cavity 130, the pedal area 110 protrudes into the installation cavity 130, and the position sensing device is located in the installation cavity 130 and respectively abuts against the installation cavity The bottom wall of 130 and the bottom of footrest area 110. Both the pedal 11 and the support frame 13 can be in the shape of a rectangular plate. Such a structure makes the entire electric balance car be in the shape of a long plate, which is comparable in shape and size to a laptop computer. Moreover, the thickness of the electric balance car is also comparable to that of a laptop.

It can be understood that when there is a user standing on the pedal 11, the gravity sensor 101 can sense the position information of the user's center of gravity, and when the gravity sensor 101 senses that the user's center of gravity is tilted to the front or the rear, the control The mechanism controls the plurality of wheels 2 to move forward or backward; when the gravity sensor 101 senses that the user's center of gravity is inclined to the left front or right front, the control mechanism controls the plurality of wheels 2 to the left front or right front Forward; when the gravity sensor 101 senses that the user's center of gravity is inclined to the left rear front or right rear, the control mechanism controls the plurality of wheels 2 to move backward to the left rear or right rear.

The number of the plurality of wheels 2 is four and arranged in a rectangle. In the forward direction of the electric balance vehicle, the plurality of wheels 2 include two driving wheels symmetrically arranged at the front end or the rear end of the vehicle body 1 And the two steering wheels opposite to the two driving wheels, in the present embodiment, the driving wheels are symmetrically arranged on the rear end of the vehicle body 1, and the steering wheels can be symmetrically arranged on the front end of the vehicle body 1, that is, in this embodiment, the rear wheel drive is adopted. mode to drive, of course, two driving wheels are symmetrically arranged at the front end of the vehicle body 1, and two steering wheels are symmetrically arranged at the rear end of the vehicle body 1, that is, the front-wheel drive mode can be adopted; in other embodiments, as shown in Figure 11 As shown, the number of the plurality of wheels 2 is three, and the plurality of wheels 2 include a steering wheel located at the front end of the vehicle body 1 and two driving wheels located at the rear end of the vehicle body 1, and the steering wheel and the two driving wheels are arranged in a triangle It can be understood that, in order to ensure the balance of the electric balance car, the steering wheel is arranged in the middle of the front end of the body 1. Of course, the two driving wheels can also be arranged at the front end of the body, and the steering wheel can also be arranged at the rear end of the body 1. middle position. It should be noted that, in the above embodiments, all steering wheels may be universal wheels.

The control mechanism includes a driving motor and a controller connected to the driving motor and used to control the driving force output by the driving motor, the position sensing device is connected to the controller, and the driving motor is used to drive the two driving wheels to rotate. The controller determines the position of the user's center of gravity according to the position information of the user's center of gravity sensed by the position sensing device (gravity sensor 101), and the drive motor controls and outputs a corresponding driving force to the position of the user's center of gravity according to the position of the user's center of gravity. The two drive wheels are used to drive the two drive wheels to rotate. It can be understood that when the self-balancing car is moving straight ahead or right behind, the driving force output by the driving motor makes the two driving wheels rotate at the same speed, and when the self-balancing car needs to turn, the driving force output by the driving motor makes the two driving wheels have A certain speed difference.

Specifically, in this embodiment, the number of driving motors is two, and the two driving motors respectively drive two driving wheels to rotate. After the controller determines the position of the center of gravity of the user, the controller controls The two driving motors output corresponding driving force to the two driving wheels to drive the two driving wheels to rotate. More specifically, when the controller judges that the user's center of gravity is leaning forward according to the position information of the user's center of gravity sensed by the position sensing device, the controller controls the two driving motors to output the same and forward driving force to two. One drive wheel makes the two drive wheels move forward; when the controller judges that the user's center of gravity is tilted backward according to the position information of the user's center of gravity sensed by the position sensing device, the controller controls the output of the two drive motors to be the same and The driving force of the backward drive is sent to the two driving wheels so that the two driving wheels move backward; when the controller judges that the user's center of gravity is tilted to one side according to the position information of the user's center of gravity sensed by the position sensing device, that is When the self-balancing car needs to turn, the controller controls the two driving motors to output different driving forces to the two driving wheels so that there is a certain speed difference between the two driving wheels, so that the self-balancing car can turn.

In other embodiments, the number of the driving motor is one, and the control mechanism further includes a differential, and the driving motor is connected to the two driving wheels through the differential. It can be understood that when the controller judges that the user's center of gravity is leaning forward according to the position information of the user's center of gravity sensed by the position sensing device, the drive motor outputs the same and forward driving force through the differential to control multiple The wheels 2 move forward; when the controller senses the center of gravity of the user tilted backwards according to the position sensing device, the drive motor outputs the same and backward driving force through the differential to control multiple wheels 2 to move backward; the controller According to the position information of the user's center of gravity sensed by the position sensing device, it is judged that the user's center of gravity is tilted to one side, that is, the self-balancing vehicle needs to turn at this time, and the driving motor outputs different driving forces to the left and right sides through the differential. The wheels cause the drive wheels to have different speeds, allowing the self-balancing vehicle to turn.

Specifically, the differential is a geared differential, including a casing with a cavity inside and a planetary gear, a planetary carrier, a left side gear, a right side gear, a left side shaft and a The right half shaft, the planetary gear is mounted in the casing, the planetary gear is connected to the planetary gear carrier, and the input end of the planetary gear carrier (that is, the driving gear on the planetary gear carrier) is connected to the transmission shaft of the drive motor. The left half shaft gear and the right half shaft gear are connected with the planetary gear, the left half shaft and the right half shaft are fixedly connected with the left half shaft gear and the right half shaft gear respectively, and the two driving wheels are connected with the left half shaft and the right half shaft . The power enters the differential through the transmission shaft, directly drives the planetary wheel carrier, and then the planetary wheel drives the left and right half shafts to drive the left and right wheels respectively. The design requirements of the differential meet: (rotational speed of the left semi-shaft)+(rotational speed of the right semi-shaft)=2(rotational speed of the planetary wheel carrier). When the electric balance car goes straight, the speeds of the left and right wheels and the planetary wheel carrier are in a balanced state, but when the electric balance car turns, the balance of the three is destroyed, resulting in a decrease in the speed of the inner wheel and an increase in the speed of the outer wheel.

In other embodiments, the number of the plurality of wheels 2 is four and arranged in a rectangle, the four wheels 2 are universal wheels, the number of the driving motors is four, and each driving motor drives One wheel 2 rotates, and the controller controls the four drive motors to output corresponding driving force to drive the corresponding wheel 2 to rotate according to the position information of the center of gravity of the standing person, so that the motion directions of the four wheels 2 synthesize the required motion trajectory. When the controller judges that the user's center of gravity is leaning forward according to the position information of the user's center of gravity sensed by the position sensing device, the controller controls the four driving motors to output corresponding driving force to the four driving wheels so that the four driving wheels drive The balance car moves forward; when the controller judges that the user's center of gravity is tilted backward according to the position information of the user's center of gravity sensed by the position sensing device, the controller controls the four driving motors to output the corresponding driving force to the four driving wheels The four driving wheels drive the balance car to move backward; when the controller judges that the user's center of gravity is tilted to one side according to the position information of the user's center of gravity sensed by the position sensing device, that is, the balance car needs to turn at this time, the controller Control the four driving motors to output corresponding driving force to the four driving wheels so that the four driving wheels drive the balance car to turn. It should be noted that when the controller judges that the user's center of gravity shifts to the right or left according to the position information of the user's center of gravity sensed by the position sensing device, the controller can control the driving force output by the four driving motors Then control the rotating speed and the direction of rotation of the four wheels 2 to make the balance vehicle shift to the right left or right.

In other embodiments, the number of the plurality of wheels 2 is four and arranged in a rectangle, the four wheels 2 are all driving wheels, the number of the driving motors is four, and each driving motor drives one The wheels 2 rotate, and the controller controls the four drive motors to output corresponding driving force to drive the corresponding wheels 2 to rotate according to the position information of the standing person, so that the motion directions of the four wheels 2 synthesize the required motion trajectory. Specifically, when the controller judges that the user's center of gravity is leaning forward according to the position information of the user's center of gravity sensed by the position sensing device, the controller controls the four drive motors to output two groups of driving forces that are the same in size and drive forward to The two driving wheels at the front end and the two driving wheels at the rear end make the four driving wheels move forward; when the controller judges that the user's center of gravity is tilted backward according to the position information of the user's center of gravity sensed by the position sensing device, the control The controller controls the four driving motors to output two groups of the same size and drive backwards to the two driving wheels at the rear end and the two driving wheels at the front end so that the four driving wheels move backward; when the controller senses according to the position sensing device When the user's center of gravity position information determines that the user's center of gravity is tilted to one side, that is, the balance car needs to turn at this time, the controller controls the four driving motors to output driving forces of different sizes to the four driving wheels so that the four driving wheels There is a certain speed difference, so that the balance car can turn. It should be noted that two sets of driving forces having the same magnitude mean that the two driving forces transmitted to the two front-end driving wheels have the same magnitude, and the two driving forces transmitted to the two rear-end driving wheels have the same magnitude.

In other embodiments, the number of the plurality of wheels 2 is four and arranged in a rectangle, the four wheels 2 are all driving wheels, the number of the driving motor is one, and the control mechanism also includes two A differential, the drive motor is connected with the four drive wheels through two differentials, specifically, the drive motor is connected with the two front drive wheels through one of the differentials, and the drive motor is also connected through the other The differential is connected to the two drive wheels at the rear. It can be understood that when the controller judges that the user's center of gravity is leaning forward according to the position information of the user's center of gravity sensed by the position sensing device, the drive motor outputs two sets of forward-driving wheels with the same size through the two differentials. The driving force is sent to the two driving wheels at the front and the two driving wheels at the rear to make the multiple wheels 2 move forward; when the controller judges that the user's center of gravity is tilted backward according to the position information of the user's center of gravity sensed by the position sensing device At this time, the driving motor outputs the same and backward driving force to the multiple wheels 2 through the two differentials to make the multiple wheels 2 move backward; when the controller judges the When the user's center of gravity tilts to one side, that is, the self-balancing vehicle needs to turn at this time, the drive motor outputs driving force of different sizes to the multiple wheels 2 through the two differentials so that the multiple wheels 2 can turn, so that the self-balancing vehicle can turn. It should be noted that two sets of driving forces having the same magnitude mean that the two driving forces transmitted to the two front-end driving wheels have the same magnitude, and the two driving forces transmitted to the two rear-end driving wheels have the same magnitude.

In this embodiment, in order to realize the automatic power-on and power-off of the self-balancing car, an induction switch 10 is provided on the pedal 11, and the induction switch 10 is connected between the control mechanism and the power supply device, and the induction switch 10 passes through Whether there is a user on the sensing vehicle to control the power-on and power-off of the control mechanism. Preferably, the inductive switch 10 is, for example, a pressure switch. When the user stands on the vehicle body 1 , the inductive switch 10 is turned on, and the power supply device inside the vehicle body 1 starts to supply power to the electrical components of the vehicle body 1 . Preferably, the power supply device is, for example, a storage battery.

A support step 132 is provided at the port of the installation cavity 130 , and the foot pedal 11 abuts against the support step 132 after covering the installation cavity 130 to prevent the foot pedal 11 from entering the installation cavity 130 .

In this embodiment, the front part of the footboard 11 protrudes downwards and is provided with a protective edge 112 for protecting the wheels located at the front part of the vehicle body 1 . To prolong the service life of the electric balance car.

In this embodiment, the utility model is that the electric balance car also includes components such as a power supply device, a balance mechanism (acceleration sensor, Hall sensor, etc.) that constitute the electric balance car, and these electronic components can be installed in the installation cavity 130 , the functions of these elements will not be repeated here.

Example 2

Please refer to Figure 5-6 together,

The structure and principle of the electric balance car of the second embodiment of the utility model are basically the same as the structure and principle of the electric balance car of the first embodiment of the utility model respectively, the difference is that the position sensing device includes four displacement sensors 102 and four An elastic element 104. The two ends of the four elastic elements 104 are respectively connected with the pedal 11 and the support frame 13 and arranged in a rectangular shape, and the four displacement sensors 102 correspond to the four elastic elements 104 and are used together For sensing the deformation of the four elastic elements 104 , the four displacement sensors 102 and the four elastic elements 104 form a four-quadrant displacement sensing system, and are used to sense the center of gravity position information of the user on the pedal 11 .

It can be understood that when the user stands on the footboard 11, the elastic elements 104 are compressed by the user, and when the user's center of gravity shifts, the deformation of each elastic element 104 must change, so that the displacement sensor 102 The displacement variation of the corresponding elastic element 104 can be collected, and the control mechanism can judge the displacement information of the user's center of gravity by collecting the deformation amount of the corresponding elastic element 104 through the displacement sensor 102, thereby controlling the movement of the plurality of wheels 2 (details see below).

The pedal 11 is provided with four pedal regions 111, and the four pedal regions 111 can extend and move up and down in the vertical direction. In other words, the body of the four pedal regions 111 and the pedal 11 is Split structure, for example, four openings can be provided on the body of pedal 11, and pedals are respectively installed in the four openings to form a pedal area. It can be understood that the pedals are convex, and the top of the opening is provided with a limited flange to prevent the pedal from coming out of the opening. More specifically, the four elastic elements 104 are located in the installation cavity 130 and are respectively connected to the bottom wall of the installation cavity 130 and the bottoms of the four pedal areas 111, and the four displacement sensors 102 are arranged on the bottom wall of the cavity 130 and are connected to the bottom wall of the installation cavity 130. The four elastic elements 104 are in one-to-one correspondence.

The specific principle of collecting displacement information by the four-quadrant displacement sensing system in the electric balance car of the utility model is as follows: the front part of the left foot, the left heel part, the front part of the right foot and the right heel part corresponding to the four elastic elements 4 respectively, when the user When standing on the pedal 11, if the center of gravity does not shift, the forces on the front of the left foot, the left heel, the front of the right foot and the stepping on the right heel are basically the same, that is, the balance bike is in balance at this time. state, when the user's center of gravity shifts, the force on the front of the left foot, the left heel, the front of the right foot and the right heel will change. The deformation amount of the elastic element 4 corresponding to the foot and the right heel will be different, and the four displacement sensors 3 can collect the deformation amount information of the corresponding elastic element 4, that is, the user's center of gravity position information is obtained. At this time, the control mechanism according to the four The position information of the user's center of gravity (the deformation of the four elastic elements 4 ) acquired by the displacement sensors 3 can determine the position of the user's center of gravity.

Specifically, the four displacement sensors are respectively an upper left quadrant displacement sensor, an upper right quadrant displacement sensor, a lower left quadrant displacement sensor, and a lower right quadrant displacement sensor. When the displacement collected by the upper left quadrant displacement sensor and the upper right quadrant displacement sensor received by the control mechanism are the same, the displacements collected by the lower left quadrant displacement sensor and the lower right quadrant displacement sensor are the same, but the displacement collected by the upper left quadrant displacement sensor and the upper right quadrant displacement sensor The displacement is greater than the displacement collected by the lower left quadrant displacement sensor and the lower right quadrant displacement sensor. At this time, the control mechanism judges that the center of gravity of the standing person is inclined to the front, and the control mechanism controls multiple wheels 2 to move forward. On the contrary, the control mechanism judges that the standing person The center of gravity of the person tilts to the rear, and the control mechanism controls a plurality of wheels 2 to move backward.

When the displacement collected by the upper left quadrant displacement sensor and the lower left quadrant displacement sensor received by the control mechanism are the same, the displacements collected by the upper right quadrant displacement sensor and the lower right quadrant displacement sensor are the same, but the displacement collected by the upper left quadrant displacement sensor and the lower left quadrant displacement sensor are the same. The displacement is greater than the displacement collected by the upper right quadrant displacement sensor and the lower right quadrant displacement sensor. At this time, the control mechanism judges that when the standing person's center of gravity is tilted to the positive left, on the contrary, it is tilted to the right. Certainly, in this case, if the control mechanism can control a plurality of wheels 2 to move to the left or right (in this case, the plurality of wheels 2 are universal wheels), the control mechanism controls the plurality of wheels 2 Move right or left.

Certainly, when the displacement value of any quadrant displacement sensor received by the control mechanism is the largest, it can be judged that the center of gravity of the standing person is located in the quadrant, and the control mechanism can control multiple wheels 2 to make corresponding actions. For example, when the control mechanism receives that the displacement value of the upper left quadrant displacement sensor is too large, the control mechanism can judge that the center of gravity of the standing person is located in the upper left quadrant. At this time, the control mechanism controls multiple wheels 2 to turn left.

Please refer to Figure 7-8,

The structure and principle of the electric balance car of the third embodiment of the utility model are basically the same as those of the electric balance car of the first embodiment of the utility model, the difference is that the position sensing device includes four pressure sensors 105, so The four pressure sensors 105 are sandwiched between the pedal 11 and the support frame 13 and arranged in a rectangular shape. The four pressure sensors 105 form a four-quadrant pressure sensing system and are used for sensing the pedals. 11 on the user's center of gravity position information. The concrete principle of the pressure sensing system of the four-quadrant pressure sensing system in the electric balance car of the utility model is as follows: the four pressure sensors 3 respectively correspond to the front part of the left foot, the left heel part, the front part of the right foot and the right heel part, when the user stands When on the pedal 11, if the center of gravity does not shift, the forces on the front of the left foot, the front of the left heel, the front of the right foot and the stepping on the right heel are basically the same, that is, the balance bike is in a balanced state at this time , when the user's center of gravity shifts, the force on the front of the left foot, the front of the left heel, the front of the right foot, and the front of the right heel will change. The pressure collected by the pressure sensor 3 corresponding to the right heel portion will change, that is, the center of gravity position information of the user has been obtained. At this time, the control mechanism obtained the user's center of gravity position information (four pressure The pressure information collected by the sensor 3) can determine the position of the center of gravity of the user.

The pedal 11 is provided with four pedal regions 113, and the four pedal regions 113 can extend and move up and down in the vertical direction. In other words, the body of the four pedal regions 113 and the pedal 11 is Split structure, for example, four openings can be provided on the body of pedal 11, and pedals are respectively installed in the four openings to form a pedal area. It can be understood that the pedals are convex, and the top of the opening is provided with a limited flange to prevent the pedal from coming out of the opening. More specifically, the four pressure sensors 105 are located in the installation cavity 130 and abut against the bottom wall of the installation cavity 130 and the bottoms of the four footrest areas 113 respectively.

It can be understood that the four pressure sensors are respectively the upper left quadrant pressure sensor, the upper right quadrant pressure sensor, the lower left quadrant pressure sensor and the lower right quadrant pressure sensor. When the control mechanism receives the same pressure collected by the upper left quadrant pressure sensor and the upper right quadrant pressure sensor, the pressure collected by the lower left quadrant pressure sensor and the lower right quadrant pressure sensor is the same, but the pressure collected by the upper left quadrant pressure sensor and the upper right quadrant pressure sensor The pressure is greater than the pressure collected by the lower left quadrant pressure sensor and the lower right quadrant pressure sensor, and the pressure component in the forward direction is greater than the pressure component in the backward direction. At this time, the control mechanism judges that the center of gravity of the standing person is tilted forward, and the control mechanism controls multiple wheels. 2 moves forward, otherwise the control mechanism judges that the center of gravity of the standing person is inclined to the rear, and the control mechanism controls a plurality of wheels 2 to move backward.

When the control mechanism receives the same pressure collected by the upper left quadrant pressure sensor and the lower left quadrant pressure sensor, the pressure collected by the upper right quadrant pressure sensor and the lower right quadrant pressure sensor is the same, but the pressure collected by the upper left quadrant pressure sensor and the lower left quadrant pressure sensor The pressure is greater than the pressure collected by the upper right quadrant pressure sensor and the lower right quadrant pressure sensor. Specifically, the pressure component on the right side is greater than the pressure component on the right side. It is tilted to the right. Certainly, in this case, if the control mechanism can control a plurality of wheels 2 to move to the left or right (in this case, the plurality of wheels 2 are universal wheels), the control mechanism controls the plurality of wheels 2 Move right or left.

Of course, it can be understood that when the pressure value of any quadrant pressure sensor received by the controller is too large, it can be judged that the center of gravity of the standing person is located in the quadrant, and the control mechanism can control multiple wheels 2 to make corresponding action. For example, when the control mechanism receives the maximum pressure value from the upper left quadrant pressure sensor, the control mechanism can determine that the center of gravity of the standing person is located in the upper left quadrant. At this time, the control mechanism controls the plurality of wheels 2 to turn left.

See Figure 9-10

The structure and principle of the electric balance car of the fourth embodiment of the utility model are basically the same as that of the electric balance car of the first embodiment of the utility model, the difference is that the position sensing device includes a photoelectric sensor 106 and four The elastic supporting element 107 is connected between the pedal 11 and the support frame 13 through the elastic supporting element 107. The photoelectric sensor 106 is used to sense the rotation angle of the pedal 11 relative to the motion plane to obtain the position information of the user. Specifically, when the user stands on the footboard 11, the elastic support element 107 will be compressed, and when the user's center of gravity shifts, the footboard 11 will tilt, and the inclination of the footboard 11 collected by the photoelectric sensor 106 The angle is the information about the position of the user's center of gravity. It can be understood that when a user is standing on the pedal 11, the position sensing device can sense the position information of the user's center of gravity. The control mechanism controls the multiple wheels 2 to move forward to the left front or the right front; when the position sensing device senses that the user's center of gravity tilts to the left rear front or the right rear, the control mechanism controls the multiple wheels 2 to move backward to the left rear or right rear .

In the present embodiment, the angle of inclination of the pedal 11 is between 10 degrees and 30 degrees. Controlling the angle of inclination of the pedal 11 between 10 degrees and 30 degrees can stabilize the inclination of the pedal 11. It can ensure the stability of the entire electric balance car.

In this embodiment, the vehicle body 1 also includes a connecting column 15, the connecting column 15 is arranged between the pedal 11 and the support frame 13 and the circumferential surface of the connecting column 15 and the bottom surface of the pedal 11 and the bottom wall of the installation cavity 130 contact so that the pedal 11 is inclined. Specifically, the bottom surface of pedal 11 is provided with upper positioning groove 115, and the bottom wall of mounting cavity 130 is provided with lower positioning groove 135, and the upper and lower parts of the circumferential surface of connecting column 15 are positioned in upper positioning groove 115 and lower positioning groove respectively. Within 135.

It should be noted that, in this embodiment, no supporting step 132 is provided on the top of the installation cavity 130 , which facilitates the movement of the pedal 11 .

To sum up, the electric balance vehicle of the present invention has a compact structure and is easy to carry and store because the body 1 of the main component is flat. At the same time, since the electric balance car has three or four wheels 2, it has a relatively high balance compared with other two-wheeled scooter, and it is easier for the user to control the balance when standing on the electric balance car. .

Although the utility model has been disclosed above by the preferred embodiments, it is not intended to limit the utility model, and any skilled person can make some changes and modifications without departing from the spirit and scope of the utility model, so The protection scope of the present utility model should be as the criterion according to the protection scope required by the claims.

Claims (7)

1. an electrodynamic balance car, is characterized in that, comprises vehicle body, multiple wheel and control mechanism; Described vehicle body comprises in flat stretcher and is arranged at the support frame of described stretcher bottom; Described multiple wheel is connected with described support frame, and described multiple wheel is triangle arrangement or polygonal array, and the bottom surface of described multiple wheel is positioned at same plane, and the plane at the place, bottom surface of described multiple wheel is parallel with described stretcher; Described multiple wheel comprises two drive wheels being arranged at body structure or rear end symmetrically, described control mechanism comprises a drive motor and a diff, described drive motor is connected with described two drive wheels by described diff, and described drive motor exports corresponding propulsive effort by described diff and rotates to drive described two drive wheels to described two drive wheels.

2. electrodynamic balance car according to claim 1, it is characterized in that, the quantity of described multiple wheel is four, described multiple wheel comprises two wheel flutters, described two wheel flutters and described two rectangular arrangements of drive wheel, and described two wheel flutters and described two drive wheels are oppositely arranged.

3. electrodynamic balance car according to claim 1, it is characterized in that, the quantity of described multiple wheel is three, described multiple wheel also comprises a wheel flutter, described wheel flutter and described two drive wheels are that triangle is arranged, and when described two drive wheels are arranged on the rear end of described vehicle body, described wheel flutter is arranged on the front center of described vehicle body; When described two drive wheels are arranged on the front end of described vehicle body, described wheel flutter is arranged in the middle part of the rear end of described vehicle body.

4. electrodynamic balance car according to claim 1, it is characterized in that, described electrodynamic balance car also comprises position induction device, described position induction device to be folded between described stretcher and described support frame and center-of-gravity position information for responding to the user on stretcher, described control mechanism also comprises and to be connected with described drive motor and controller for controlling the propulsive effort that described drive motor exports, described controller is connected with described position induction device, the center-of-gravity position information of the user that described controller senses according to described position induction device judges the center-of-gravity position of described user, described drive motor output drive strength is dispensed to described two drive wheels according to the center-of-gravity position of described user and rotates to drive described two drive wheels by described diff.

5. electrodynamic balance car according to claim 4, it is characterized in that, described support frame top has recessed installation cavity, and described stretcher covers installation cavity, and described position induction device is positioned at described installation cavity also respectively against the diapire of described installation cavity and the bottom of described stretcher.

6. electrodynamic balance car according to claim 1, it is characterized in that, described stretcher is provided with inductive switch, described inductive switch is connected between described control mechanism and electric supply installation, and whether described inductive switch is for having user to control powering on of described control mechanism and power-off by responding on car.

7. electrodynamic balance car according to claim 1, is characterized in that, described stretcher front portion is convexly equipped with downwards protects edge for the protection of the wheel being positioned at body forward structure.