CN110481690A - Electrodynamic balance vehicle - Google Patents
Electrodynamic balance vehicle Download PDFInfo
- Publication number
- CN110481690A CN110481690A CN201910849699.1A CN201910849699A CN110481690A CN 110481690 A CN110481690 A CN 110481690A CN 201910849699 A CN201910849699 A CN 201910849699A CN 110481690 A CN110481690 A CN 110481690A
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- wheel
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- pedal
- lateral connection
- connection parts
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- 230000005520 electrodynamics Effects 0.000 title claims abstract description 24
- 230000008901 benefit Effects 0.000 abstract description 2
- 102100023170 Nuclear receptor subfamily 1 group D member 1 Human genes 0.000 description 17
- 238000010586 diagram Methods 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 10
- 230000035945 sensitivity Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 210000005069 ears Anatomy 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000010392 Bone Fractures Diseases 0.000 description 1
- 206010017076 Fracture Diseases 0.000 description 1
- 101100460844 Mus musculus Nr2f6 gene Proteins 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
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- 230000004927 fusion Effects 0.000 description 1
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- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
-
- 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
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- 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)
- Mechanical Control Devices (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention provides a kind of electrodynamic balance vehicles, including translator wheel, two pedal parts that can be tilted forward and back, the lateral connection parts for limiting two wheel spacing and the sensor that the first pedal parts gradient can be perceived, the wheel shaft of first wheel is fixedly connected with the first pedal parts, and the wheel shaft of the first wheel is turnably connect with one end of lateral connection parts；The wheel shaft of second wheel is fixedly connected with the other end of lateral connection parts, and the second pedal parts are arranged in the lateral connection parts, and sensor receives the first pedal parts inclination information, and controller drives corresponding vehicle wheel rotation according to the inclination information.The invention has the advantages that control is sensitive, movable transverse direction connection part control each pedal parts can respectively, such as two pedal parts forward/rear-inclined jointly, then car body is just to front/rear rotation；If wherein a pedal parts are forward, another pedal parts are motionless, and two wheels generate speed difference and realize course changing control.
Description
Technical field
The present invention relates to a kind of electric vehicle more particularly to a kind of electrodynamic balance vehicles driven by servo motor.
Background technique
Electrodynamic balance vehicle is gyroscope and acceleration transducer using vehicle body, to detect the variation of vehicle body attitude,
And servo-control system is utilized, accurately driving motor is adjusted correspondingly, to keep the balance of car body and system.It is electronic flat
The vehicle that weighs is that modern is used as walking-replacing tool and amusement and recreation instrument.
Application publication number is the electrodynamic balance swing car of CN104029769A, including the two sets of foot-operated moulds that can be twisted in left and right
Block is ridden and is coupled between module by shaft；The balance swing car of such structure, flexibility and it is handling relatively preferably, still
Since split type rotation couples, central structure intensity is inadequate, and accident collision is easy to cause failure, or even the risk of fracture occurs.
Authorization Notice No. is the balance car of CN205469471U, and two wheels independently and are rotationally arranged at connection
On axis, two footstep mechanisms are respectively rotatably set in connecting shaft, and respective footstep mechanism is docked with respective wheel, angle fortune
Dynamic testing agency is respectively arranged on respective footstep mechanism, the balance car being an integral structure.
Application publication number is the human-computer interaction body-sensing vehicle of CN106560384A comprising on an integrated support skeleton, wheel
Wheel shaft be fixedly connected with support frame, device with pedal turnably is connected on support frame, and foot pedal apparatus is equipped with slow
Elastic device is rushed, when device with pedal rotates, position sensor senses inclination information of the device with pedal relative to support frame,
Then drive wheel mobile or rotation by control device.The support frame of integral type improves in the intensity of complete machine.
The wheel shaft of the wheel of human body interaction body-sensing vehicle is directly fixedly connected with support frame, and device with pedal axis, which connects, to be supported
On skeleton, and it is reset to equilibrium state by the spring being set to below device with pedal, controller is by judging foot pedal apparatus
Wheel is driven relative to the gradient with support frame.It is in the presence of in place of can improveing；On the one hand, the wheel of device with pedal and wheel
Axis is indirectly connected with, and spring is easy deformation or failure, and influence device with pedal is reset to the equilbrium position initially set up.Above-mentioned reason
Influence whether car body sensitivity of control system.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of electrodynamic balance vehicles for improving sensitivity, pass through pedal parts
It is directly fixedly connected with the wheel shaft of wheel, the mode that lateral connection parts and wheel hub are actively coupled, Lai Tigao electrodynamic balance
The sensitivity of vehicle.
Realize the technical scheme adopted by the invention is as follows: a kind of electrodynamic balance vehicle is built-in with electricity including two pulley shafts
The wheel of machine, two pedal parts that can be tilted forward and back, the lateral connection parts for limiting two wheel spacing and it can perceive first
The sensor of pedal parts gradient, the wheel shaft of the first wheel are fixedly connected with the first pedal parts, the wheel shaft of the first wheel with
One end of lateral connection parts turnably connects；The wheel shaft of second wheel is fixedly connected with the other end of lateral connection parts,
Second pedal parts are arranged in the lateral connection parts, and sensor receives the first pedal parts inclination information, control
Device processed drives corresponding vehicle wheel rotation according to the inclination information.
The further preferred embodiment of the present invention are as follows: second pedal parts are described independently or to be integrally arranged in
Lateral connection parts on.
The further preferred embodiment of the present invention are as follows: first pedal parts are socketed and are fixed on first wheel
Wheel shaft or first pedal parts wheel shaft of first wheel is fixed on grafting or snap fit.
The further preferred embodiment of the present invention are as follows: the wheel shaft of first wheel runs through the entire width of the first pedal parts
Degree；Or the wheel shaft of first wheel is fixed on one end of the first pedal parts, the other end of the first pedal parts and laterally connection
Relay part axis connects.
The further preferred embodiment of the present invention are as follows: one end pivot bush unit or axis of the lateral connection parts connect or hingedly
On the wheel shaft of the first wheel.
The further preferred embodiment of the present invention are as follows: second pedal parts are to rotate or fixedly set on the cross
To in connection parts；Reset spring is equipped between second pedal parts of rotary type and lateral connection parts.
The further preferred embodiment of the present invention are as follows: the sensor is set on first pedal parts.
The further preferred embodiment of the present invention are as follows: the sensor and controller collection is on circuit boards, the electricity
Road plate is arranged on the pedal parts.
The further preferred embodiment of the present invention are as follows: pedal parts include being connected in the pedal base of the wheel shaft of the first wheel and stepping on
Plate lid, in the cavity that the circuit board layout is formed in the pedal base and foot pedal cover.
The further preferred embodiment of the present invention are as follows: the sensor is angular transducer, acceleration transducer or gyro
Instrument.
The further preferred embodiment of the present invention are as follows: lateral connection parts are plate structure, the lateral connection part of plate structure
Cavity is equipped in the middle part of part, rechargeable battery is located in the cavity；Or the lateral connection parts are shaft-like or column knot
Structure, rechargeable battery are arranged in the outside portion of lateral connection parts.
The further preferred embodiment of the present invention are as follows: the motor be servo motor, receive controller treated inclination
Degree information simultaneously drives vehicle wheel rotation.
The further preferred embodiment of the present invention are as follows: the transverse direction connection parts, which are equipped with, can perceive lateral connection parts inclination
The sensor of degree or second pedal parts are equipped with the sensor that can perceive lateral connection parts gradient, and sensor connects
Lateral connection parts inclination information is received, controller drives corresponding vehicle wheel rotation according to the inclination information.
The prior art is compared, it is an advantage of the invention that the wheel shaft of the pedal parts and single wheel that are equipped with sensor is fixed
Connection, lateral connection part are fixedly connected with the wheel shaft of other side wheel；Motor servo system in wheel directly controls pedal
The gradient of the state of component, pedal parts and lateral connection part is fed directly to motor servo system to drive wheel, can mention
The control sensitivity of high car body and reliability.Pedal parts and lateral connection part can be controlled respectively, such as pedal parts and transverse direction
Connection part forward/rear-inclined jointly, then car body is just to front/rear rotation；If wherein pedal parts are forward, another transverse direction connection part
Motionless, two wheels generate speed difference and realize course changing control.
Detailed description of the invention
The present invention is explained in further detail below with reference to attached drawing and preferred embodiment, but art technology
Personnel it will be appreciated that, these attached drawings be only for illustrate background technique and explain preferred embodiment purpose and draw, and
And it therefore should not be taken as limitation of the scope of the invention.In addition, unless otherwise indicated, attached drawing is only shown in and conceptually indicates
The composition or construction of described object may simultaneously be shown comprising expansiveness, and attached drawing is also not necessarily drawn to scale.
Fig. 1 is the monnolithic case structure of first state and the distribution map of pedal parts；
Fig. 2 is equilibrium state schematic diagram；
Fig. 3 is the rotation schematic diagram of lateral connection parts；
Fig. 4 is that the connection structure of pedal parts, lateral connection parts and wheel shaft is illustrated；
Fig. 5 is pedal parts and wheel shaft combination schematic diagram；
Fig. 6 is pedal parts and wheel shaft connecting inner relation schematic diagram；
Fig. 7 is pedal parts and wheel shaft decomposition diagram；
Fig. 8 is that lateral connection parts and wheel shaft are rotatablely connected schematic diagram；
Fig. 9 is circuit board, battery installation position sets schematic diagram；
Figure 10 is the attachment structure schematic diagram of the pedal parts of the second state, lateral connection parts；
Figure 11 is third state pedal parts, lateral connection parts, the attachment structure schematic diagram of wheel shaft three；
Figure 12 is third state wheel shaft grafting schematic diagram；
Figure 13 is the distribution map of the 4th state monnolithic case structure and pedal parts；
Figure 14 is the 4th state pedal parts, lateral connection parts, the attachment structure schematic diagram of wheel shaft three.
In figure, 1 left wheel；The left side 1-1 wheel shaft；1-2 interlude；2 left-hand tread plate components；2-1 pedal base；2-2 foot pedal cover；3
Lateral connection parts；4 right-hand tread plate components；5 right wheels；Wheel shaft on the right of 5-1；6 anchor ears two；7 anchor ears one；8 run through slot；9 circuit boards；
10 rechargeable batteries；11 hinges；12 reinforced shafts.
Specific embodiment
Carry out detailed description of the present invention preferred embodiment below with reference to attached drawing.What those of skill in the art will be appreciated that
It is that these descriptions are only descriptive, illustrative, and should not be interpreted as limiting protection scope of the present invention.
It should also be noted that similar label indicates similar terms in following attached drawing, therefore, once a certain Xiang Yi attached drawing
In be defined, then may no longer it further be defined and be explained in subsequent attached drawing.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term "inner", "outside" is base
In orientation or positional relationship shown in the drawings or the invention product using when the orientation or positional relationship usually put, only
It is that for the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specifically
Orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " the
Two " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
As shown in Figure 1, electrodynamic balance vehicle include the left wheel 1 as the first wheel, the right wheel 5 as the second wheel,
It is connected between two wheels for limiting the lateral connection parts 3, pedal parts and controller of two wheel spacing.Specifically
Ground, left wheel 1 and 5 pulley shaft of right wheel and it is built-in with motor.More specifically, there is wheel shaft 1-1 in the left side on left wheel 1, it is right
Having the right wheel shaft 5-1, left side wheel shaft 1-1 and the right wheel shaft 5-1 on wheel 5 is all motor shaft.Outside left wheel 1 and right wheel 5
Circle is equipped with colloid wheel rim, there is motor in wheel rim, and the shell of motor can be used as wheel hub use, and motor can use existing servo
Motor, and equipped with the code-disc and encoder rotated with motor coaxle.
Pedal parts include the left-hand tread plate component 2 as the first pedal parts and the right-hand tread plate portion as the second pedal parts
Part 4, left-hand tread plate component 2 and right-hand tread plate component 4 can tilt, and the inside of left-hand tread plate component 2 is equipped with for perceiving its gradient
Sensor.
Left side wheel shaft 1-1 is fixedly connected with left-hand tread plate component 2, and the left end of lateral connection parts 3 and left side wheel shaft 1-1 are rotated
Formula connection.The right wheel shaft 5-1 is fixedly connected with lateral 3 right-hand end of connection parts, and right-hand tread plate component 4 is arranged in lateral connection parts
On 3.
Specifically, sensor receives 2 inclination information of left-hand tread plate component, sends it to controller, and motor receives control
Device processed treated inclination information simultaneously drives vehicle wheel rotation.More specifically, in left-hand tread plate component 2 sensor perceive its lean forward or
After reclined by angle, data information is sent to controller, controller can control left wheel 1 and right wheel 5 while forward rotation or
It rotates backward.If wherein left-hand tread plate component 2 is forward, another transverse direction connection part 3 is not moved, and two wheels can also generate speed difference realization
Course changing control.
Preferably, sensor is set in left-hand tread plate component 2, is also provided with sensing in right-hand tread plate component 4 or lateral connection parts 3
Device.Specifically, the inclination information of 2 inner sensor of left-hand tread plate component perception, 2 position of left-hand tread plate component, is sent to control for data information
Device processed；Sensor in right-hand tread plate component 4 or lateral connection parts 3 perceives the inclination information of lateral connection parts 3, and data are believed
Breath is sent to controller.The information of the sensor feedback on every one side individually controls left wheel 1 or right wheel 5, makes left wheel 1 or the right side
Wheel 5 can move ahead simultaneously.Or since left-hand tread plate component 2 is different with lateral 3 tilt angle of connection parts, and control left wheel 1
Rotational speed difference is generated with right wheel 5, is turned to so as to directly control.
As shown in Fig. 2-Fig. 3, more specifically, left side wheel shaft 1-1 is protected with left-hand tread plate component 2 when under energization original state
Water holding is flat, and the right wheel shaft 5-1 keeps horizontal with lateral connection parts 3.Right-hand tread plate component 4 is only and then horizontal as trample part
It is rotated to connection parts 3.
There is a adjusting force that wheel shaft is made to may remain in certain level angle always under normal circumstances motionless.When left-hand tread plate component
2 and lateral connection parts 3 when leaning forward or swing back, controller obtains two wheel rims of feedback control of sensor while forward and backward rolling；
When left-hand tread plate component 2 and the lateral one of component of connection parts 3 lean forward or swing back, when another component keeps horizontal, control
Unilateral turning function is realized in the corresponding wheel rim rotation of feedback control that device processed obtains sensor.
Here, lateral connection parts 3 are among two wheels for determining that spacing is roof beam structure, while guaranteeing lateral connection
Component 3 can be relatively rotated with left-hand tread plate component 2, the rotation for wheel shaft 5-1 on the right of independent control.
Lateral connection parts 3 and right-hand tread plate component 4 rotate simultaneously, can control right wheel 5 and rotate, and left-hand tread plate component 2
Balance guarantees that left wheel 1 is motionless, to realize unilateral rotation.
It is connected if lateral connection parts 3 are opposite with left side wheel shaft 1-1, left-hand tread plate component 2 and lateral connection parts 3
It can only lean forward and swing back simultaneously, can not achieve the purpose that unilateral control turns to.
In first state, left-hand tread plate component 2 be socketed and be fixed on the wheel shaft 1-1 of the left side or left-hand tread plate component 2 with grafting or
Snap fit is fixed on the wheel shaft 1-1 of the left side, and left side wheel shaft 1-1 runs through the entire width of left-hand tread plate component 2.Lateral connection parts
3 one end pivot bush unit or axis is connect or is hinged on the wheel shaft 1-1 of the left side.
When for example, by using being sleeved and fixed, left-hand tread plate component 2 and left side wheel shaft 1-1 fixed connection relationship such as Fig. 4-Fig. 7 institute
Show: left side wheel shaft 1-1 is laterally penetrated in the pedal base 2-1 of left-hand tread plate component 2, is pressed in left side wheel shaft 1-1 equipped with two panels anchor ear 1
On, anchor ear 1 is fixed after holding left side wheel shaft 1-1 tightly with bolt and pedal base 2-1.In order to limit rotation, set on the wheel shaft 1-1 of the left side
There is one of pingbian, anchor ear 1 is also plane, and the plane of anchor ear 1 is just pressed in wheel shaft pingbian.Left-hand tread plate component 2 utilizes wheel
The principle that axis balances always solves the problems, such as that pedal parts balance resets, keeps its connection relationship most simple, realizes that purpose is most smart
It is quasi-.
In another example the jack of polygon, left side wheel shaft 1-1 can be opened up on left-hand tread plate component 2 when using being plugged and fixed
Multi-panel pingbian can be set, rotary stopper in left side wheel shaft 1-1 insertion left-hand tread plate component 2 is made.
In another example card slot is arranged on left-hand tread plate component 2 when using connecting and fixing, left side wheel shaft 1-1, which is caught in card slot, to be limited
System rotation.
Lateral connection parts 3 are all that can be rotated relative to left side wheel shaft 1-1 using socket and articulation pattern, are laterally joined
Relay part 3 and left side wheel shaft 1-1 realizes that the connection relationship of rotation is as shown in Figure 8: left side wheel shaft 1-1 is long axis, is embraced equipped with two panels
It binds round 26 to be pressed on the wheel shaft 1-1 of the left side, 26 inner ring of anchor ear is circular arc, and left side wheel shaft 1-1 can be rotated in anchor ear 26.Pedal
The seat bottom 2-1, which is equipped with, runs through slot 8, and one of anchor ear 26, which passes through, runs through slot 8, basic through 8 width of slot and 26 width of anchor ear
Unanimously, this is designed to limit anchor ear 26 and left side wheel shaft 1-1.It is anchor ear 2 6-that left side wheel shaft 1-1, which penetrates sequence,
One 7-anchor ear of anchor ear, 2 6-anchor ear 1.Long axis is expressed as having continuous interlude 1-2, left side wheel shaft 1-1 to step on through a left side
The entire width of plate component 2 can increase connection rigidity.Left side wheel shaft 1-1 is inserted from the side pedal base 2-1 of left-hand tread plate component 2
Enter but do not expose shaft end from the other side of pedal base 2-1 again, add not only beautiful after foot pedal cover 2-2 but also rainwater can be reduced from side
Into.
In second state, left side wheel shaft 1-1 is fixed on one end of left-hand tread plate component 2, the other end and cross of left-hand tread plate component 2
It is connect to 3 axis of connection parts.
As shown in Figure 10, specifically, wheel shaft 1-1 in the left side is short axle, the centre of short axle being expressed as in no first state
Section 1-2.
More specifically, the connection relationship of left-hand tread plate component 2, lateral connection parts 3 and left side wheel shaft 1-1: left side wheel shaft 1-1
It is inserted into from 2 side of left-hand tread plate component, is pressed on the wheel shaft 1-1 of the left side equipped with a piece of anchor ear 1, anchor ear 1 holds left side wheel shaft 1-1 tightly
It is fixed afterwards with bolt and pedal base 2-1.In order to limit rotation, left side wheel shaft 1-1 is equipped with one of pingbian, and anchor ear 1 is also flat
Face, the plane of anchor ear 1 are just pressed in the wheel shaft 1-1 pingbian of the left side.
More specifically, the connection relationship of lateral connection parts 3 and left side wheel shaft 1-1: being pressed in the left side equipped with a piece of anchor ear 26
On wheel shaft 1-1,26 inner ring of anchor ear is circular arc, and left side wheel shaft 1-1 can be rotated in anchor ear 26.
More specifically, the connection relationship of 2 other side of left-hand tread plate component and lateral connection parts 3: being equipped with and add in pedal base 2-1
Strong axis 12, pedal base 2-1 are equipped with another pressure of anchor ear 1 and connect with the clamping of reinforced shaft 12.The bottom pedal base 2-1, which is equipped with, to be run through
Slot 8 passes through equipped with another anchor ear 26 and runs through slot 8, almost the same through 8 width of slot and 26 width of anchor ear, anchor ear 26 and cross
It is connected to connection parts 3, while anchor ear 26 also clamps reinforced shaft 12
Shown in Figure 11-Figure 14, in the third state, the 4th state, left side wheel shaft 1-1 is fixed on one end of left-hand tread plate component 2, and a left side is stepped on
The other end of plate component 2 is connect with lateral connection parts 3 with hinge 11.Specifically, wheel shaft 1-1 in the left side is inserted in left side pedal parts
2 side, by anchor ear 1 and screw connection, anchor ear 1 clamps left-hand tread plate component 2, lateral connection parts 3 and left-hand tread plate portion
Part 2 can relatively rotate.Lateral connection parts 3 are connect with left-hand tread plate component 2 with hinge 11.
Right-hand tread plate component 4 is arranged in a standalone fashion in lateral connection parts 3.
As shown in figure 4, specifically, 4 integral type of right-hand tread plate component and lateral connection parts 3 are fixed.Specifically, the right wheel shaft
5-1 is long axis, is pressed on the wheel shaft 5-1 of the right equipped with two panels anchor ear 1, and in order to limit rotation, the right wheel shaft 5-1 is equipped with together
Pingbian, anchor ear 1 are also plane, and the plane of anchor ear 1 is just pressed in wheel shaft pingbian, therefore realize rotary stopper.Right-hand tread plate
Component 4 is pressed on the wheel shaft 5-1 of the right by two panels anchor ear 1 and is fixed, and anchor ear 1 uses bolt and pedal after clamping the right wheel shaft 5-1
Seat 2-1 is fixed, and realizes rotary stopper.Or right-hand tread plate component 4 is directly connected with lateral 3 screw of connection parts.
In another example 4 integral type of right-hand tread plate component and lateral connection parts 3, right-hand tread plate component 4 is independent with lateral connection parts
When 3 connection, right-hand tread plate component 4 is set in lateral connection parts 3 with rotation formula, right-hand tread plate component 4 and lateral connection parts 3 it
Between be equipped with reset spring.Lateral connection parts 3 are fixed with the right wheel shaft 5-1, and right-hand tread plate component 4 and lateral connection parts 3 are hinged,
Reset spring of the front-rear position setting for leveling between right-hand tread plate component 4 and lateral connection parts 3, passes through reset spring
Keep 4 holding of right-hand tread plate component horizontal, being also prevented from the relatively transverse connection parts 3 of right-hand tread plate component 4 has excessive swing.
Shown in Figure 12, it is preferable that right-hand tread plate component 4 is to be integrally arranged in lateral connection parts 3.Right-hand tread plate component
When 4 integral types and fixed lateral connection parts 3, the welding of right-hand tread plate component 4 or directly screw are fixed in lateral connection parts 3.
Shown in Figure 14, it is highly preferred that the ontology of lateral connection parts 3 is equipped with a region as right-hand tread plate component 4.
Shown in electronic component Fig. 9, it is preferable that sensor and controller are integrated on circuit board 9, left-hand tread plate component
2 include pedal base 2-1 and foot pedal cover 2-2, and circuit board 9 is arranged in the cavity formed in pedal base 2-1 and foot pedal cover 2-2.Electricity
Three groups of wiring of machine stretch out connection on the controller from the center of axle.
Lateral connection parts 3 or right-hand tread plate component 4 also are provided with circuit board 9.
Sensor and controller are illustrated using existing structure as case: sensor includes angular transducer, acceleration
Sensor or gyroscope, acceleration transducer can measure the acceleration as caused by terrestrial gravitation effect or object of which movement.
It only needs to measure the acceleration value on one of direction, so that it may calculate vehicle inclination angle.For example use the acceleration on X axis
Signal, when Che Zhili, fixed accelerometer is in X-axis horizontal direction, and output signal is zero bias signal at this time.When vehicle inclines
When oblique, gravity acceleration g will form component of acceleration in X-direction, so as to cause the variation of the axis output signal.Gyroscope
The angular velocity of rotation of object can be used to measure, the inclined angular speed of vehicle can be measured, angular velocity signal is subjected to Integral Processing
It can obtain the inclination angle of vehicle.Two kinds of sensors all individually obtain current intelligence under accurate, stable posture, but both
Sensor has complementarity, it may be assumed that using effect can be better under quiescent conditions for acceleration transducer, and gyroscope is in current intelligence
Lower use, effect can be better.At this time, it is necessary to a kind of algorithm: the Variable Fuzzy Kalman filtering algorithm with compensation, Lai Shixian
The fusion of attitude data, to obtain the stable and accurate posture information under high dynamic environment.
Controller can be photoelectric encoder, and for example, by using existing incremental encoder, main operational principle is also
Photoelectric conversion, but its output is tri- groups of square-wave pulses of A, B, Z, and wherein two pulse phase difference phase margin of A, B is to judge motor
Direction of rotation, Z pulse is the positioning of every turn of pulse in order to datum mark.
Shown in Fig. 9, lateral connection parts 3 are plate structure, are equipped with cavity in the middle part of the lateral connection parts 3 of plate structure,
Rechargeable battery 10 is located in cavity.Lateral connection parts 3 are equipped with upper cover, and lateral connection parts 3 are closed by upper cover, make rechargeable battery
10 are hidden in inside lateral connection parts 3.
In another example lateral connection parts are shaft-like or column structure, it is also possible to the intermediate of portion's transverse direction connection parts 3 and reduces
Shaft-like is formed, right-hand tread plate component 4 and left-hand tread plate component 2 is made to form more apparent provincial characteristics.Rechargeable battery is arranged in cross
To the outside of connection parts.
Electrodynamic balance vehicle provided by the present invention is described in detail above, specific case used herein is to this
The principle and embodiment of invention is expounded, and the present invention that the above embodiments are only used to help understand and core are thought
Think.It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, may be used also
With several improvements and modifications are made to the present invention, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Claims (13)
1. electrodynamic balance vehicle, feature includes the wheel for being built-in with motor of two pulley shafts, two pedals that can be tilted forward and back
Component, the lateral connection parts for limiting two wheel spacing and the sensor that the first pedal parts gradient can be perceived, the first vehicle
The wheel shaft of wheel is fixedly connected with the first pedal parts, and the wheel shaft of the first wheel and one end of lateral connection parts turnably connect
It connects；The wheel shaft of second wheel is fixedly connected with the other end of lateral connection parts, and the second pedal parts are arranged in the transverse direction
In connection parts, sensor receives the first pedal parts inclination information, and controller drives according to the inclination information and corresponds to
Vehicle wheel rotation.
2. electrodynamic balance vehicle according to claim 1, it is characterised in that second pedal parts are with independent or one
It is arranged in the lateral connection parts likes.
3. electrodynamic balance vehicle according to claim 1, it is characterised in that first pedal parts are socketed and are fixed on
The wheel shaft of first wheel or first pedal parts are fixed on first wheel with grafting or snap fit
Wheel shaft.
4. electrodynamic balance vehicle according to claim 1, it is characterised in that the wheel shaft of first wheel is stepped on through first
The entire width of plate component；Or the wheel shaft of first wheel is fixed on one end of the first pedal parts, the first pedal parts
The other end connects with lateral connection parts axis.
5. electrodynamic balance vehicle according to claim 1, it is characterised in that one end movable sleeve of the lateral connection parts
It connects or axis is connect or is hinged on the wheel shaft of the first wheel.
6. electrodynamic balance vehicle according to claim 1, it is characterised in that second pedal parts are to rotate or fix
Ground is set in the lateral connection parts；It is equipped between second pedal parts of rotary type and lateral connection parts and resets bullet
Spring.
7. electrodynamic balance vehicle according to claim 1, it is characterised in that the sensor is set to first pedal
On component.
8. electrodynamic balance vehicle according to claim 1, it is characterised in that the sensor and controller is integrated in circuit
On plate, the circuit board layout is on the pedal parts.
9. electrodynamic balance vehicle according to claim 7, it is characterised in that pedal parts include the wheel for being connected in the first wheel
The pedal base and foot pedal cover of axis, in the cavity that the circuit board layout is formed in the pedal base and foot pedal cover.
10. electrodynamic balance vehicle according to claim 1, it is characterised in that the sensor is angular transducer, accelerates
Spend sensor or gyroscope.
11. electrodynamic balance vehicle according to claim 1, it is characterised in that lateral connection parts are plate structure, plate knot
Cavity is equipped in the middle part of the lateral connection parts of structure, rechargeable battery is located in the cavity；Or the lateral connection parts
For shaft-like or column structure, rechargeable battery is arranged in the outside portion of lateral connection parts.
12. electrodynamic balance vehicle according to claim 1, it is characterised in that the motor is servo motor, receives control
Device treated inclination information simultaneously drives vehicle wheel rotation.
13. electrodynamic balance vehicle according to claim 1, it is characterised in that the transverse direction connection parts, which are equipped with, can perceive cross
The biography that can perceive lateral connection parts gradient is equipped with to the sensor of connection parts gradient or second pedal parts
Sensor, sensor receive lateral connection parts inclination information, and controller drives corresponding wheel according to the inclination information
Rotation.
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910405142 | 2019-05-07 | ||
| CN2019104051429 | 2019-05-07 | ||
| CN201920687620 | 2019-05-07 | ||
| CN2019206876205 | 2019-05-07 | ||
| CN201921013294 | 2019-06-24 | ||
| CN201921013295 | 2019-06-24 | ||
| CN2019210132946 | 2019-06-24 | ||
| CN2019210132950 | 2019-06-24 |
Publications (1)
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| CN110481690A true CN110481690A (en) | 2019-11-22 |
Family
ID=68557000
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| CN201921494968.9U Active CN210793471U (en) | 2019-05-07 | 2019-09-10 | Electric balance car |
| CN201921494826.2U Active CN211223720U (en) | 2019-05-07 | 2019-09-10 | Wheel and pedal part linkage mechanism of electric balance car and electric balance car |
| CN201910849564.5A Pending CN110481688A (en) | 2019-05-07 | 2019-09-10 | The linkage mechanism of electrodynamic balance vehicle and wheel and pedal parts |
| CN201921505437.5U Active CN210503014U (en) | 2019-05-07 | 2019-09-10 | Electric balance car |
| CN201910849559.4A Pending CN110562372A (en) | 2019-05-07 | 2019-09-10 | Pedal component, driving system and electric balance car |
| CN201921497029.XU Active CN210793472U (en) | 2019-05-07 | 2019-09-10 | Pedal component, driving system and electric balance car |
| CN201910849682.6A Pending CN110481689A (en) | 2019-05-07 | 2019-09-10 | Electrodynamic balance vehicle |
| CN201910849699.1A Pending CN110481690A (en) | 2019-05-07 | 2019-09-10 | Electrodynamic balance vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921494968.9U Active CN210793471U (en) | 2019-05-07 | 2019-09-10 | Electric balance car |
| CN201921494826.2U Active CN211223720U (en) | 2019-05-07 | 2019-09-10 | Wheel and pedal part linkage mechanism of electric balance car and electric balance car |
| CN201910849564.5A Pending CN110481688A (en) | 2019-05-07 | 2019-09-10 | The linkage mechanism of electrodynamic balance vehicle and wheel and pedal parts |
| CN201921505437.5U Active CN210503014U (en) | 2019-05-07 | 2019-09-10 | Electric balance car |
| CN201910849559.4A Pending CN110562372A (en) | 2019-05-07 | 2019-09-10 | Pedal component, driving system and electric balance car |
| CN201921497029.XU Active CN210793472U (en) | 2019-05-07 | 2019-09-10 | Pedal component, driving system and electric balance car |
| CN201910849682.6A Pending CN110481689A (en) | 2019-05-07 | 2019-09-10 | Electrodynamic balance vehicle |
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| CN (8) | CN210793471U (en) |
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| CN112660282B (en) * | 2020-10-10 | 2022-11-15 | 聂爱琴 | Steering mechanism of balance car and balance car |
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Also Published As
| Publication number | Publication date |
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| CN210793471U (en) | 2020-06-19 |
| CN110481689A (en) | 2019-11-22 |
| CN110481688A (en) | 2019-11-22 |
| CN211223720U (en) | 2020-08-11 |
| CN110562372A (en) | 2019-12-13 |
| CN210503014U (en) | 2020-05-12 |
| CN210793472U (en) | 2020-06-19 |
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