CN102826121A - Steering apparatus of translational self-balanced two-wheel vehicle - Google Patents
Steering apparatus of translational self-balanced two-wheel vehicle Download PDFInfo
- Publication number
- CN102826121A CN102826121A CN201210326124XA CN201210326124A CN102826121A CN 102826121 A CN102826121 A CN 102826121A CN 201210326124X A CN201210326124X A CN 201210326124XA CN 201210326124 A CN201210326124 A CN 201210326124A CN 102826121 A CN102826121 A CN 102826121A
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- balanced car
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- 230000011664 signaling Effects 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 17
- 230000001141 propulsive effect Effects 0.000 claims description 20
- 238000011084 recovery Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000030214 innervation Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a steering apparatus of a translational self-balanced two-wheel vehicle. The steering apparatus comprises a bracket arranged on the vehicle body of the self-balanced two-wheel vehicle, a translation component which is arranged on the bracket and can horizontally move under the action of drive force, a displacement sensing component, and a steering control system; the translation component comprises a bearing component capable of horizontally moving and an elastic resetting component for restoring the bearing component to an initial position when the drive force disappears; the displacement sensing component comprises a signal transmitting part and a signal receiving part; and the steering control system is used for receiving the position signal, and controlling the steering of the self-balanced two-wheel vehicle according to the change of the position signal. The steering apparatus of the translational self-balanced two-wheel vehicle is convenient to operate, high in security, and compact and simple in design, and reflects the characteristics of small volume and flexibility of the self-balanced two-wheel vehicle, and the entertainment and the driving experience are also improved.
Description
Technical field
The present invention relates to a kind of steering hardware that is used for balanced car with two wheels.
Background technology
Balanced car with two wheels be a kind of about each wheel, and the novel car body of individual drive.It adopts accurate gyroscope and acceleration pick-up to answer the small center of gravity of human body to change from innervation, comes controlled motion and balance, the purpose that reaches cast and advance.As a kind of emerging roadster, balanced car with two wheels becomes the light people carrier that use in places such as amusement, square, scenic spot gradually.Therefore, also increasingly high to balanced car with two wheels portability and recreational requirement.
Granted publication number discloses a kind of steering hardware that is used for balanced car with two wheels for the Chinese utility model patent of CN201597703U; Comprise the horizontal rotating shaft of base plate that is fixed on the car body middle part to captive joint with this base plate through bracing frame; One end of horizontal rotating shaft is fixedly connected with control lever; The other end of horizontal rotating shaft is provided with potential device, be fixed with on the horizontal rotating shaft along axis symmetry, vertical bearing bracket with control lever, the bearing bracket down either side or above elastic body is installed.In use, the operator can rotate along axis direction through utilizing the both hands control lever that swings in the controlling level rotating shaft; The size of horizontal rotating shaft rotational angle; Can become instruction through potential device, thereby turning to and speed output of control motor reaches the purpose that the control two-wheel car turns to.
Granted publication number discloses a kind of double-wheel self-balancing battery-driven car for the Chinese utility model patent of CN201610202U; Its steering hardware comprises direction control handle and steering controller; Steering controller is arranged at the human body support bottom; Operator's direction of passage control handle is the rotating shaft control direction that swings with the steering controller.
Granted publication number discloses a kind of left and right sides double-wheel self-balancing battery-driven car for the Chinese invention patent of CN 100506632C; This two-wheel car comprises a compartment; A vertical rod is risen at the center compartment place; Handle assembly inserts in the vertical rod, turns to control mechanism about the end of handle assembly is provided with, about being installed in respectively on the transverse tube.Because the effect of retracing spring and banking stop, handle can only can automatically restore to reference position by folk prescription after rotating to certain angle, loosing one's grip.In rotary course, the Hall plate on the handle can be sensed the variation of permanent magnet field intensity, causes its voltage to change, thereby controls turning to of balanced car with two wheels.This balanced car with two wheels also comprises a central processing circuit, and this central processing circuit can receive parameters such as turn sign, and calculates the horsepower output of electrical motor, is transferred to left and right sides motor drive circuit, again and then driving motor motion, thereby realizes turning to.
Summary of the invention
The object of the invention is to propose a kind of means that turn to of handling good, safe innovation, and a kind of later-model parallel-moving type balanced car with two wheels steering hardware is provided thus.
Parallel-moving type balanced car with two wheels steering hardware of the present invention comprises:
Be arranged on the support on the car body of this balanced car with two wheels;
But be arranged on this support and under the propulsive effort effect translation assembly of parallel motion, but this translation assembly comprises the load bearing component of a parallel motion and be used for when propulsive effort disappears, making this load bearing component to restore the elastic recovery parts to initial position;
The displacement sensing assembly; This displacement sensing assembly comprises a signaling component and a signal receiving part; Wherein, This signaling component is fixedly set on this load bearing component, and this signal receiving part is fixedly set on this support, and the position signal of relative position information between this signaling component and this signal receiving part is represented in output;
Steering control system is used to receive this position signal, and according to the variation of this position signal, controls turning to of this balanced car with two wheels.
Preferably, said load bearing component both sides are respectively arranged with and are used to supply grasping the contact mat that the person applies propulsive effort.
Preferably, said load bearing component is a horizontally disposed movable push bar, and said elastic recovery parts comprise first spring and second spring, and the two ends of this first spring and second spring are connected with said support with said movable push bar respectively.
Preferably, the midway location of said movable push bar is a jut, and said signaling component is arranged on this jut, and the both sides of this jut are connected with second spring with this first spring respectively.
Preferably, said support is a foot control handle, and said contact mat is the foot control back cushion, and operator's shank capable of using applies propulsive effort to this foot control back cushion.
Preferably, said foot control handle and said car body pivotal joint.
Preferably, said support is a manual handle, and said contact mat is manual back cushion, and operator's both hands capable of using apply propulsive effort to this manual control back cushion.
Preferably, said displacement sensor component is a Hall element, and said signaling component is a magnet steel, and said signal receiving part is a Hall element.
Parallel-moving type balanced car with two wheels steering hardware of the present invention is convenient to control, and is safe, compact to design simple, embodies the small and exquisite flexible characteristic of balanced car with two wheels, and improved recreational and driving experience.
Description of drawings
Fig. 1 is the schematic perspective view of balanced car with two wheels when being in open mode with steering hardware of the present invention;
Fig. 2 is the cutaway view of steering hardware of the present invention in the balanced car with two wheels;
Fig. 3 is the enlarged diagram of steering hardware of the present invention among Fig. 2;
Fig. 4 is that the balanced car with two wheels with steering hardware of the present invention is being in the schematic perspective view of collapsed state;
Fig. 5 is the scheme drawing of the another kind of embodiment of steering hardware of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the composition and the principle of work of parallel-moving type balanced car with two wheels steering hardware of the present invention is elaborated, be outstanding characteristics of the present invention, identical with prior art in the present invention parts are only done briefly to describe or omit.
As shown in Figure 1, be the scheme drawing of balanced car with two wheels 10 with steering hardware 100 of the present invention.This steering hardware 100 comprises a support 110, and this support can rotate through the car body 11 of a pivot 111 with respect to balanced car with two wheels 10, takes in and open mode to be in respectively.Show the situation when support 110 is in open mode (being mode of operation) among Fig. 1, showed the situation when support 110 is in receiving state among Fig. 4.And support 110 also is provided with stop gear and fixed mechanism, be respectively applied for to the anglec of rotation of support 110 carry out spacing and to support work and reception position fix.After support 110 is opened, be in control position and fixing after, the operator can step down on the pedal 12,13 and carry out driver behavior.In Fig. 1, the embodiment shown in 4, this support 110 is foot control handles, and the driver applies horizontal actuator force through shank touching contact mat, to carry out steering operation.
More specifically, with reference to figure 2,3, but steering hardware of the present invention 100 comprises and is arranged on the support 110 and the translation assembly 120 of parallel motion under the propulsive effort effect.But translation assembly 120 comprises the load bearing component 121 of a parallel motion and be used for when propulsive effort disappears, making this load bearing component 121 to restore the elastic recovery parts 122 to initial position.Like Fig. 2, shown in 3; Load bearing component 120 can be located on the support 110 through perforate movably; And the elastic reaction through elastic recovery parts 122, when applying propulsive effort, can oppress this elastic recovery parts 122; And when propulsive effort disappeared, the elastic force of elastic recovery parts 122 storages made load bearing component 121 return back to initial position.
Like Fig. 2, shown in 3, in the illustrated embodiment, load bearing component 121 is a horizontally disposed movable push bar.Elastic recovery parts 122 comprise that the two ends of first spring 1221 and second spring, 1222, the first springs 1221 and second spring 1222 are connected with support 110 with movable push bar 121 respectively.Understand easily, load bearing component 121 also can be other forms outside the push rod, for example one can horizontal motion slide block etc.In addition, elastic recovery parts 122 also can adopt other elastic means outside the spring.
As shown in Figure 3; Steering hardware 100 also comprises displacement sensing assembly 130; Displacement sensing assembly 130 comprises a signaling component 131 and a signal receiving part 132, and wherein, signaling component 131 is fixedly set on the load bearing component 121; Signal receiving part 132 is fixedly set on the support 110, and exports the position signal of relative position information between representation signal transmit block 131 and this signal receiving part 132.
Especially; With reference to figure 3; Midway location as the movable push bar 121 of load bearing component is a jut 1211, and signaling component 131 is arranged on the jut 1211, and the both sides of jut 1211 are connected with second spring 1222 with first spring 1221 respectively.And for ease of applying horizontal actuator force, load bearing component 121 (also being the movable push bar in this embodiment) both sides are respectively arranged with and are used to supply grasping the contact mat 123,124 that the person applies propulsive effort.Thus, in conjunction with accompanying drawing, when not being applied in the application force on the horizontal direction on the contact mat 123,124, first spring 1221 and second spring 1222 are in state of equilibrium, and the signaling component 131 on the jut 1211 is in initial position at this moment.When applying the application force of water direction through contact mat 123,124; Under the effect of first spring 1221 and second spring 1222; Signaling component 131 on the jut 1211 will depart from initial position; And the horizontal applied force that applies is big more, and the distance that signaling component 131 departs from initial position is far away more.After the application force on the horizontal direction that imposes on contact mat disappeared, signaling component 131 came back to initial position under the effect of first spring 1221 and second spring, 1222 restoring forces.The position of signal receiving part 132 is fixed with respect to support 110, so it can detect the change in location of signaling component 131, promptly can export the position signal of representing relative position information between it and the signal receiving part 132.
Preferably, in conjunction with Fig. 3, in this embodiment, displacement sensor component 130 is a Hall element, and wherein, signaling component is a magnet steel 131, and signal receiving part is a Hall element 132.Certainly; Displacement sensor component 130 also can adopt the displacement pickup of other suitable type; For example inductive displacement transducer, capacitive displacement transducer, optical displacement sensor, ultrasonic type displacement pickup etc.; Be used for the change in location of signal receiving part 132 is detected, and the steering control system of outgoing position variable signal to vehicle.
In addition, routinely, steering hardware 100 of the present invention also comprises steering control system (figure do not show), is used to receive the position signal that signaling component 131 sends, and according to the variation of this position signal, controls turning to of this balanced car with two wheels.Because the propulsive effort on the horizontal direction that translation assembly 120 is applied is big more; The side-play amount of signal receiving part 132 is also just maximum; The steering angle that this expression operator wants to operate is also big more, therefore, and in this embodiment; When steering control system was controlled, steering angle and propulsive effort size were linear.Certainly, in general, in steering control system, can be other positive correlations outside the linearly dependent with steering angle and propulsive effort size design as required also, promptly steering angle and propulsive effort size is a relationships of increase function.
Steering control system can micro controller system or other signal processors or central process unit be fundamental construction, and output signal to the driving circuit of balanced car with two wheels left and right sides transmitting set, and finally carry out handling maneuvers by two driving engines about balanced car with two wheels.The more specifically description of relevant steering control system can number be that Chinese utility model patent and the Granted publication of CN201597703U number is the Chinese invention patent of CN 100506632C referring to Granted publication.
Steering controlling device of the present invention is particularly suitable for the driver and carries out the foot control operation.In conjunction with Fig. 1, as stated, the operator can stand on the pedal 12,13 and turns to control with shank; At this moment; Support 110 is a foot control handle, and contact mat 123,124 correspondingly is the foot control back cushion, and the operator can pass through shank haptic element control back cushion; Translation assembly 120 is applied horizontal actuator force, turn to the control balanced car with two wheels.In this design,,, the operator can control turning to so only need touching the foot control back cushion lightly because translation assembly 120 is the parallel motion mode; And if take traditional rotation or swing mode; When adopting the foot control form, the operator need utilize both legs to make and shake or wobbling action, can cause mass centre changing easily like this; And for the balanced car with two wheels that relies on center of gravity to control; Such mass centre changing sends spurious signal might for the control system of vehicle, for example quickens, slows down, retreats etc., thereby be unfavorable for controling balanced car with two wheels.Therefore, steering hardware of the present invention is compared traditional form that turns to, and can improve safety and handling, and can bring good driving to experience, and highlights the recreational characteristics of balanced car with two wheels.
Certainly, understand easily, parallel-moving type balanced car with two wheels steering hardware of the present invention is also applicable to manual occasion.As shown in Figure 5, be that parallel-moving type balanced car with two wheels steering hardware 100 of the present invention is the scheme drawing of manual situation, at this moment; Support 110 ' is a manual handle, correspondingly, about two contact mats be manual back cushion; Operator's both hands capable of using apply propulsive effort to manual back cushion; With respect to other manual steering modes, this steering hardware is simple to operate, and from designing the space of also having saved the balanced car with two wheels car body.
Claims (8)
1. a parallel-moving type balanced car with two wheels steering hardware is characterized in that, comprising:
Be arranged on the support on the car body of this balanced car with two wheels;
But be arranged on this support and under the propulsive effort effect translation assembly of parallel motion, but this translation assembly comprises the load bearing component of a parallel motion and be used for when propulsive effort disappears, making this load bearing component to restore the elastic recovery parts to initial position;
The displacement sensing assembly; This displacement sensing assembly comprises a signaling component and a signal receiving part; Wherein, This signaling component is fixedly set on this load bearing component, and this signal receiving part is fixedly set on this support, and the position signal of relative position information between this signaling component and this signal receiving part is represented in output;
Steering control system is used to receive this position signal, and according to the variation of this position signal, controls turning to of this balanced car with two wheels.
2. parallel-moving type balanced car with two wheels steering hardware according to claim 1 is characterized in that, said load bearing component both sides are respectively arranged with and are used to supply grasping the contact mat that the person applies propulsive effort.
3. parallel-moving type balanced car with two wheels steering hardware according to claim 1; It is characterized in that; Said load bearing component is a horizontally disposed movable push bar; Said elastic recovery parts comprise first spring and second spring, and the two ends of this first spring and second spring are connected with said support with said movable push bar respectively.
4. parallel-moving type balanced car with two wheels steering hardware according to claim 3; It is characterized in that; The midway location of said movable push bar is a jut, and said signaling component is arranged on this jut, and the both sides of this jut are connected with second spring with this first spring respectively.
5. parallel-moving type balanced car with two wheels steering hardware according to claim 1 is characterized in that, said support is a foot control handle, and said contact mat is the foot control back cushion, and operator's shank capable of using applies propulsive effort to this foot control back cushion.
6. parallel-moving type balanced car with two wheels steering hardware according to claim 5 is characterized in that, said foot control handle and said car body pivotal joint.
7. parallel-moving type balanced car with two wheels steering hardware according to claim 1 is characterized in that, said support is a manual handle, and said contact mat is manual back cushion, and operator's both hands capable of using apply propulsive effort to this manual control back cushion.
8. parallel-moving type balanced car with two wheels steering hardware according to claim 1 is characterized in that said displacement sensor component is a Hall element, and said signaling component is a magnet steel, and said signal receiving part is a Hall element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210326124.XA CN102826121B (en) | 2012-09-05 | 2012-09-05 | Steering apparatus of translational self-balanced two-wheel vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210326124.XA CN102826121B (en) | 2012-09-05 | 2012-09-05 | Steering apparatus of translational self-balanced two-wheel vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102826121A true CN102826121A (en) | 2012-12-19 |
| CN102826121B CN102826121B (en) | 2015-02-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210326124.XA Active CN102826121B (en) | 2012-09-05 | 2012-09-05 | Steering apparatus of translational self-balanced two-wheel vehicle |
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| CN (1) | CN102826121B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170962A (en) * | 2013-03-08 | 2013-06-26 | 北京工业大学 | Desktop type double-wheel self-balancing robot |
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| JP2005039962A (en) * | 2003-07-17 | 2005-02-10 | Sony Corp | Carrier, carrying method, braking device for carrier, braking method for carrier, braking device, braking method, and braking device mechanism |
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| CN201165299Y (en) * | 2007-11-19 | 2008-12-17 | 宋宇宁 | Self-balance electric vehicle |
| JP2010184611A (en) * | 2009-02-12 | 2010-08-26 | Toyota Motor Corp | Running apparatus |
| CN201597703U (en) * | 2009-11-27 | 2010-10-06 | 烟台日江电器制造有限公司 | Automatic balance two-wheel cart steering mechanism |
| US20110067943A1 (en) * | 2009-09-18 | 2011-03-24 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
| US20120150410A1 (en) * | 2009-09-18 | 2012-06-14 | Honda Motor Co., Ltd. | Control device of inverted pendulum type vehicle |
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2012
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005039962A (en) * | 2003-07-17 | 2005-02-10 | Sony Corp | Carrier, carrying method, braking device for carrier, braking method for carrier, braking device, braking method, and braking device mechanism |
| US20060202439A1 (en) * | 2005-02-25 | 2006-09-14 | Ulrich Kahlert | Two-wheel battery-powered vehicle for one person |
| CN201165299Y (en) * | 2007-11-19 | 2008-12-17 | 宋宇宁 | Self-balance electric vehicle |
| JP2010184611A (en) * | 2009-02-12 | 2010-08-26 | Toyota Motor Corp | Running apparatus |
| US20110067943A1 (en) * | 2009-09-18 | 2011-03-24 | Honda Motor Co., Ltd. | Inverted pendulum type vehicle |
| US20120150410A1 (en) * | 2009-09-18 | 2012-06-14 | Honda Motor Co., Ltd. | Control device of inverted pendulum type vehicle |
| CN201597703U (en) * | 2009-11-27 | 2010-10-06 | 烟台日江电器制造有限公司 | Automatic balance two-wheel cart steering mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170962A (en) * | 2013-03-08 | 2013-06-26 | 北京工业大学 | Desktop type double-wheel self-balancing robot |
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| CN102826121B (en) | 2015-02-04 |
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Effective date of registration: 20191205 Address after: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo, Zhejiang Province Patentee after: Ningbo qikewei Electronic Co.,Ltd. Address before: 201318 Shanghai city Pudong New Area Zhou Pu Zhen Shen Mei Road 99 Lane 3 No. 1-9 Building 2 floor B block Patentee before: Shanghai New Century Robot Co.,Ltd. |
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Address after: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo City, Zhejiang Province Patentee after: Ningbo qikewei Electronic Co.,Ltd. Address before: 315336 No.111 Binhai 4th Road, Hangzhou Bay New District, Ningbo, Zhejiang Province Patentee before: Ningbo qikewei Electronic Co.,Ltd. |
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Effective date of registration: 20231114 Address after: 315336 No. 131 Binhai Fourth Road, Hangzhou Bay New Area, Ningbo City, Zhejiang Province Patentee after: Ningbo Gauss Robot Co.,Ltd. Address before: No. 111, Binhai 4th Road, Hangzhou Bay New District, Ningbo City, Zhejiang Province Patentee before: Ningbo qikewei Electronic Co.,Ltd. |