CN104494749A - Electric self-balancing two-wheeled vehicle - Google Patents
Electric self-balancing two-wheeled vehicle Download PDFInfo
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- CN104494749A CN104494749A CN201410826174.3A CN201410826174A CN104494749A CN 104494749 A CN104494749 A CN 104494749A CN 201410826174 A CN201410826174 A CN 201410826174A CN 104494749 A CN104494749 A CN 104494749A
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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
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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
- B62K15/00—Collapsible or foldable cycles
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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
- B62K2204/00—Adaptations for driving cycles by electric motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an electric self-balancing two-wheeled vehicle which comprises two wheels, wherein moment motors are arranged at the inner peripheries of the wheels; one side of an inner stator of each moment motor is fixedly connected with a mounting seat; a pedal is connected with one side, far away from each wheel, of each mounting seat; connecting seats are rotationally connected with the mounting seats below the mounting seats and are connected mutually via an electric push rod; the two ends of the electric push rod are articulated with the two connecting seats; an angle sensor is mounted in an articulation position between one end of the electric push rod and one connecting seat; the angle sensor is connected with a signal input end of a controller; the controller limits running speeds of the wheels correspondingly according to angles measured by the angle sensor; the set speeds are increased when the angle sensor detects that included angles between the electric push rod and the surfaces of the wheels are decreased. The two-wheeled vehicle is convenient to use and facilitates safety when running at a higher speed.
Description
Technical field
The invention belongs to electric automobiles, be specifically related to the two-wheel car field with Self-balancing.
Background technology
Electrodynamic balance car, is again body sense car, thinking car etc.Its operation principles is mainly based upon one and is called as in the groundwork of " dynamic stability " (Dynamic Stabilization), utilize gyroscope and the acceleration pick-up of vehicle body, detect the change of vehicle body attitude, and utilize servo control unit, accurately drive motor adjusts accordingly, with the balance of keeping system.Common are the self-balancing wheelbarrow of single wheel at present, and the two-wheel car that two, left and right wheel is arranged side by side.Wherein self-balancing wheelbarrow is balanced by control system automatically at fore-and-aft direction, left and right directions still will balance by user, produce in the longitudinal direction to prevent single wheel and topple over and cause danger, its moving velocity is limited in reduced levels, and the speed limit of 14 cun of common on the market at present wheelbarrows is 16km/h.Two-wheel car due to by handle controlling party to and speed, and two, left and right wheel, do not need human body to control the balance of left and right, therefore its speed limit can reach 30-40km/h, right current this two-wheel car needs manually to control, not as wheelbarrow controls conveniently by health completely.
Summary of the invention
Technical matters to be solved by this invention is: the deficiency existed for prior art, provide a kind of drive simple, speed and be beneficial to health and keep balance, comfortable Self-balancing electronic two-wheel car of riding.
For realizing the object of the present invention, be achieved by the following technical solutions: a kind of electronic self-balancing type two-wheel car, include two wheels, wheel inner circumferential is torque motor, torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end; The internal stator side of torque motor is fixedly connected on a mount pad, side away from wheel on mount pad is connected with pedal, mount pad is positioned at pedal rotated down and is connected with Connection Block, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel; Connected by two electric pushrods of be arrangeding in parallel between Connection Block described in two, and two electric pushrod two ends and two Connection Blocks all hinged; Electric pushrod described at least one and be provided with in articulated position the stepping motor controlling electric pushrod length direction and Connection Block corner dimension between Connection Block, stepping motor, two electric pushrods are electrically connected with the mouth of controller respectively; When two-wheel car moving velocity is less than the first setting speed, controller control step motor action, make two electric pushrod length directions and two Connection Blocks perpendicular; When two-wheel car moving velocity is greater than the first setting speed, controller controls electric pushrod and extends, with Time Controller control step motor action, the angle between electric pushrod length direction and a Connection Block is made to become acute angle, and along with the increase of two-wheel car moving velocity, described sharp angle successively decreases, and when two-wheel car moving velocity reaches maximum setting speed, the angle of acute angle is 30-45 °.
Preferably: the first described setting speed is 10-15km/h; Described maximum setting speed is 30-40km/h.
Preferably: described mount pad is fixedly connected with the housing covering wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing.
Preferably: when described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, described at least one, pedal upper surface is provided with inductive switch, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.
Preferably: be provided with storage battery in described housing, storage battery is electrically connected with controller.
Preferably: described pedal is rotatably connected to a screw mandrel, be provided with a motor in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller, when two-wheel car speed is lower than the first command speed, motor driving screw mandrel rotates forward and pedal is moved to two-wheel car direct of travel front, when two-wheel car speed is higher than the second command speed, motor driving screw mandrel rotates backward and pedal is moved to the rear of two-wheel car direct of travel, and described second command speed is greater than the first command speed.
Preferably: the first described command speed is 10km/h, the second described command speed is 30km/h, and the forward and backward mobile range of described pedal is 20-50mm.
Preferably: the top of two described pedals is separately installed with pressure sensor, two pressure sensors are electrically connected with the input end of controller respectively; The difference of pressure recorded when two pressure sensors is less than turning setting value, two controllers control two wheel constant speed and advance, the difference of pressure recorded when two pressure sensors is greater than turning setting value, and the force value that two pressure sensors record is when being greater than zero, the wheel velocity of the larger side of controller control presssure is accelerated to realize turning.
Compared with prior art, the invention has the beneficial effects as follows: two-wheel car of the present invention automatically can adjust two wheels in left and right and pull open a segment distance in the longitudinal direction when moving velocity is higher, even if a wheel breaks down instantaneously like this, car load can not produce in the longitudinal direction topples over, and ensure that the safety of user; Simultaneously when two-wheel car higher speed travels, the double-legged front and back position that user steps down on two pedals also pulls open a segment distance, is more conducive to like this keep the stable of health.The present invention with by compared with hand-guided two-wheel balance truck, do not need hand to go control, turn up that rear volume is little to be easy to carry; Compared with single wheel balance truck, then there is higher stability and speed faster.
Accompanying drawing explanation
Structural representation when Fig. 1 is low-speed running state of the present invention.
Structural representation when Fig. 2 is high-speed travel state of the present invention.
Fig. 3 is the structural representation at another visual angle of the present invention.
Fig. 4 is the structural representation of pedal part.
Fig. 5 is the another kind of structural representation of pedal part.
1, wheel; 11, housing; 12, mount pad; 13, Connection Block; 2, pedal; 20, inductive switch; 21, motor; 22, screw mandrel; 23, linear reciprocating motor; 24, adapter shaft; 3, electric pushrod; 4, stepping motor.
Detailed description of the invention
With reference to the accompanying drawings the specific embodiment of the present invention is made a detailed explanation below.
embodiment 1
According to Fig. 1, Fig. 2 and Fig. 3, the electronic self-balancing type two-wheel car of one described in the present embodiment, include two wheels 1, wheel inner circumferential is torque motor, torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end; The internal stator side of torque motor is fixedly connected on a mount pad 12, mount pad is connected with pedal 2 away from the side of wheel, mount pad is positioned at pedal rotated down and is connected with Connection Block 13, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel; Connected by two electric pushrods be arranged in parallel 3 between Connection Block described in two, and two electric pushrod two ends and two Connection Blocks all hinged; Electric pushrod described at least one and be provided with in articulated position the stepping motor 4 controlling electric pushrod length direction and Connection Block corner dimension between Connection Block, stepping motor, two electric pushrods are electrically connected with the mouth of controller respectively; When two-wheel car moving velocity is less than 15km/h, controller control step motor action, make two electric pushrod length directions and two Connection Blocks perpendicular; When two-wheel car moving velocity is greater than 15km/h, controller controls electric pushrod and extends, with Time Controller control step motor action, the angle between electric pushrod length direction and a Connection Block is made to become acute angle, and along with the increase of two-wheel car moving velocity, described sharp angle successively decreases, and when two-wheel car moving velocity reaches 40km/h, the angle of acute angle is 45 °; Simultaneously along with the increase of speed, controller controls electric pushrod and extends gradually, and when electric pushrod extends, user also can judge the moving velocity of two-wheel car intuitively.
Described mount pad is fixedly connected with the housing 11 covering wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing.
When described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, pedal upper surface described at least one is provided with inductive switch 20, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.When emergency situation, user jumps off from pedal like this, and inductive switch loss signal thus controller control wheel reversing immediately and realize braking.Described inductive switch is push type contact switch or switching regulator pressure sensor.
Be provided with storage battery in described housing, form the installation cavity holding storage battery in housing away from the side inwall of mount pad, storage battery is electrically connected with controller.Storage battery can form battery pack by 16 joint 18650 serial battery, two above-mentioned battery pack parallel connections can be used to use in order to increase flying power.
Described mount pad forms the joint pin be rotationally connected with Connection Block, torsion spring or elastic-like part is also installed between Connection Block and joint pin, torsion spring in the raw time, Connection Block and mount pad perpendicular.Such two wheels have certain rotational freedom, are beneficial to the speed that bipod controls two wheels respectively and realize keeping straight on or turning.When a wheel occurs to skid, because Connection Block and mount pad relatively rotate the restriction of angle and the existence of torsion spring, two-wheel car still can continue normal traveling under the driving of another wheel.As shown in Figure 2, on mount pad, the upper position of joint pin forms one in order to limit the retaining wall of Connection Block slewing area.
Often organize described sensor and include gyro sensor and acceleration pick-up, gyro sensor controller is controlled state of equilibrium that wheel fore-and-aft direction is in level, when body gravity deflection front or rear, controller is control torque motor forward or reverse correspondingly, when the amplitude of user's body forward, rear-inclined is larger, the side-play amount that acceleration pick-up detects is larger, then controller correspondingly control torque motor rotating speed increase.
The using method of this two-wheel car is similar to self-balancing wheelbarrow, and the center of gravity relying on user's health to act on wheel carrys out control rate.Before riding, because the inductive switch on pedal does not have signal, two-wheel car is standby, and after on user's both feet step on two pedals respectively, two-wheel car is just in by manipulation state, and then namely the center of gravity of adjustable health drives two-wheel car to move ahead.Two wheels are directly manipulated by bipod respectively, and alerting ability is strong, can realize flipper turn, and the technology that is suitable for good car fan use.
embodiment 2
The present embodiment, compared with embodiment 1, also comprises following characteristics:
Shown in composition graphs 4, described pedal is rotatably connected to a screw mandrel 22, be provided with a motor 21 in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller, when two-wheel car moving velocity is lower than 10km/h, motor driving screw mandrel rotates forward and pedal is moved to two-wheel car working direction front, when two-wheel car moving velocity is higher than 30km/h, motor driving screw mandrel rotates backward and pedal is moved to the rear of two-wheel car direct of travel.
When needing brake like this in higher speed driving process, because pedal is automatically moved to wheel rear positions, as long as user's health is swung back a little, center of gravity at once moves to wheel rear portion, can realize braking in time and ensure that user's amplitude of leaning back can not be excessive and cause falling down; When comparatively low speed driving, pedal is automatically moved to wheel forward position, and such user health that do not need to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively; The difference of pressure recorded when two pressure sensors is less than 100N, two controllers control two wheel constant speed and advance, the difference of pressure recorded when two pressure sensors is greater than 100N, and the force value that two pressure sensors record is when being greater than zero, the wheel velocity of the larger side of controller control presssure is accelerated to realize turning.
The technical characteristic that the relative embodiment 1 of the present embodiment increases, make two-wheel car can conveniently keep keeping straight in ride, need the center of gravity shifting health significantly to drive during turning, applicable new hand or safety performance require that high user uses.
embodiment 3
The present embodiment, compared with embodiment 1, also comprises following characteristics:
Shown in composition graphs 5, described pedal is rotatably connected to an adapter shaft 24, the middle part of adapter shaft is passed mount pad and is fixedly connected on erection column by screw, pedal one end is installed with linear reciprocating motor 23, the output shaft of linear reciprocating motor is coaxially connected with adapter shaft, described linear reciprocating motor is electrically connected with controller, when two-wheel car speed is lower than 10km/h, linear reciprocating motor drives pedal to move to two-wheel car direct of travel front, when two-wheel car speed is higher than 30km/h, linear reciprocating motor drives pedal to move to the rear of two-wheel car direct of travel.
Specifically, described linear reciprocating motor can select publication number linear reciprocating motor disclosed in CN103715858A, is adjusted the relative position of pedal and adapter shaft by linear reciprocating motor, thus the position of the relative car body of adjustment pedal.
When needing brake like this in higher speed driving process, because pedal is automatically moved to wheel rear positions, as long as user's health is swung back a little, center of gravity at once moves to wheel rear portion, can realize braking in time and ensure that user's amplitude of leaning back can not be excessive and cause falling down; When comparatively low speed driving, pedal is automatically moved to wheel forward position, and such user health that do not need to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively; The difference of pressure recorded when two pressure sensors is less than 100N, two controllers control two wheel constant speed and advance, the difference of pressure recorded when two pressure sensors is greater than 100N, and the force value that two pressure sensors record is when being greater than zero, the wheel velocity of the larger side of controller control presssure is accelerated to realize turning.
The technical characteristic that the relative embodiment 1 of the present embodiment increases, make two-wheel car can conveniently keep keeping straight in ride, need the center of gravity shifting health significantly to drive during turning, applicable new hand or safety performance require that high user uses.
Claims (8)
1. an electronic self-balancing type two-wheel car, it is characterized in that: include two wheels, wheel inner circumferential is torque motor, and torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end; The internal stator side of torque motor is fixedly connected on a mount pad, side away from wheel on mount pad is connected with pedal, mount pad is positioned at pedal rotated down and is connected with Connection Block, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel; Connected by two electric pushrods of be arrangeding in parallel between Connection Block described in two, and two electric pushrod two ends and two Connection Blocks all hinged; Electric pushrod described at least one and be provided with in articulated position the stepping motor controlling electric pushrod length direction and Connection Block corner dimension between Connection Block, stepping motor, two electric pushrods are electrically connected with the mouth of controller respectively; When two-wheel car moving velocity is less than the first setting speed, controller control step motor action, make two electric pushrod length directions and two Connection Blocks perpendicular; When two-wheel car moving velocity is greater than the first setting speed, controller controls electric pushrod and extends, with Time Controller control step motor action, the angle between electric pushrod length direction and a Connection Block is made to become acute angle, and along with the increase of two-wheel car moving velocity, described sharp angle successively decreases, and when two-wheel car moving velocity reaches maximum setting speed, the angle of acute angle is 30-45 °.
2. the electronic self-balancing type two-wheel car of one according to claim 1, is characterized in that: the first described setting speed is 10-15km/h; Described maximum setting speed is 30-40km/h.
3. the electronic self-balancing type two-wheel car of one according to claim 1, is characterized in that: the housing described mount pad being fixedly connected with cover wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing.
4. the electronic self-balancing type two-wheel car of one according to claim 1, it is characterized in that: when described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, described at least one, pedal upper surface is provided with inductive switch, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.
5. the electronic self-balancing type two-wheel car of one according to claim 1 or 2 or 4, is characterized in that: be provided with storage battery in described housing, storage battery is electrically connected with controller.
6. the electronic self-balancing type two-wheel car of one according to claim 1 and 2, it is characterized in that: described pedal is rotatably connected to a screw mandrel, be provided with a motor in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller, when two-wheel car speed is lower than the first command speed, motor driving screw mandrel rotates forward and pedal is moved to two-wheel car direct of travel front, when two-wheel car speed is higher than the second command speed, motor driving screw mandrel rotates backward and pedal is moved to the rear of two-wheel car direct of travel, and described second command speed is greater than the first command speed.
7. the electronic self-balancing type two-wheel car of one according to claim 6, it is characterized in that: the first described command speed is 10km/h, the second described command speed is 30km/h, and the forward and backward mobile range of described pedal is 20-50mm.
8. the electronic self-balancing type two-wheel car of one according to claim 7, is characterized in that: the top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively; The difference of pressure recorded when two pressure sensors is less than turning setting value, two controllers control two wheel constant speed and advance, the difference of pressure recorded when two pressure sensors is greater than turning setting value, and the force value that two pressure sensors record is when being greater than zero, the wheel velocity of the larger side of controller control presssure is accelerated to realize turning.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610451178.7A CN105857468A (en) | 2014-12-25 | 2014-12-25 | Electric self-balance type two-wheeled vehicle |
| CN201610451175.3A CN106005150A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing type double-wheel vehicle |
| CN201610453309.5A CN105947052A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201410826174.3A CN104494749B (en) | 2014-12-25 | 2014-12-25 | A kind of electronic self-balancing type two-wheel car |
| CN201610458585.0A CN105947055A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826174.3A CN104494749B (en) | 2014-12-25 | 2014-12-25 | A kind of electronic self-balancing type two-wheel car |
Related Child Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610458585.0A Division CN105947055A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201610451175.3A Division CN106005150A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing type double-wheel vehicle |
| CN201610453309.5A Division CN105947052A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201610451178.7A Division CN105857468A (en) | 2014-12-25 | 2014-12-25 | Electric self-balance type two-wheeled vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104494749A true CN104494749A (en) | 2015-04-08 |
| CN104494749B CN104494749B (en) | 2016-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410826174.3A Active CN104494749B (en) | 2014-12-25 | 2014-12-25 | A kind of electronic self-balancing type two-wheel car |
| CN201610458585.0A Pending CN105947055A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201610453309.5A Pending CN105947052A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201610451178.7A Pending CN105857468A (en) | 2014-12-25 | 2014-12-25 | Electric self-balance type two-wheeled vehicle |
| CN201610451175.3A Pending CN106005150A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing type double-wheel vehicle |
Family Applications After (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610458585.0A Pending CN105947055A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201610453309.5A Pending CN105947052A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201610451178.7A Pending CN105857468A (en) | 2014-12-25 | 2014-12-25 | Electric self-balance type two-wheeled vehicle |
| CN201610451175.3A Pending CN106005150A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing type double-wheel vehicle |
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- 2014-12-25 CN CN201610453309.5A patent/CN105947052A/en active Pending
- 2014-12-25 CN CN201610451178.7A patent/CN105857468A/en active Pending
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106005150A (en) | 2016-10-12 |
| CN105947055A (en) | 2016-09-21 |
| CN105857468A (en) | 2016-08-17 |
| CN104494749B (en) | 2016-09-21 |
| CN105947052A (en) | 2016-09-21 |
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