CN102826121B - Steering apparatus of translational self-balanced two-wheel vehicle - Google Patents
Steering apparatus of translational self-balanced two-wheel vehicle Download PDFInfo
- Publication number
- CN102826121B CN102826121B CN201210326124.XA CN201210326124A CN102826121B CN 102826121 B CN102826121 B CN 102826121B CN 201210326124 A CN201210326124 A CN 201210326124A CN 102826121 B CN102826121 B CN 102826121B
- Authority
- CN
- China
- Prior art keywords
- parallel
- wheels
- balanced car
- steering hardware
- spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000011664 signaling Effects 0.000 claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 17
- 238000013519 translation Methods 0.000 claims abstract description 11
- 230000001141 propulsive effect Effects 0.000 claims description 20
- 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
- 238000013461 design Methods 0.000 abstract description 4
- 238000013475 authorization Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 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
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Motorcycle And Bicycle Frame (AREA)
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 for balanced car with two wheels.
Background technology
Balanced car with two wheels is each wheel in a kind of left and right, and the novel car body of individual drive.The gravity center shift that it adopts accurate gyroscope and acceleration pick-up to answer human body small from innervation, comes controlled motion and balance, the object reaching cast and advance.As a kind of emerging roadster, balanced car with two wheels becomes the light people carrier that the places such as amusement, square, scenic spot use gradually.Therefore, to balanced car with two wheels portability and recreational requirement also more and more higher.
Authorization Notice No. is that the Chinese utility model patent of CN201597703U discloses a kind of steering hardware for balanced car with two wheels, comprise one and be fixed on base plate in the middle part of car body with the horizontal rotating shaft be fixedly connected with this base plate by 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, horizontal rotating shaft is fixed with along axisymmetrical, vertical with control lever bearing bracket, bearing bracket down either side or above elastic body is installed.In use, operator to swing control lever by utilizing both hands, can level of control rotating shaft rotate in the axial direction, the size of horizontal rotating shaft rotational angle, become instruction by potential device, thus control turning to and speed output of motor, reach the object controlling two-wheel car and turn to.
Authorization Notice No. is that the Chinese utility model patent of CN201610202U discloses a kind of double-wheel self-balancing battery-driven car, its steering hardware comprises direction control handle and steering controller, steering controller is arranged at bottom human body support, operator by direction control handle, with steering controller be rotating shaft swing controlling party to.
Authorization Notice No. is that the Chinese invention patent of CN 100506632C discloses a kind of left and right double-wheel self-balancing battery-driven car, this two-wheel car comprises a compartment, a vertical rod is risen at center compartment place, handle assembly inserts in vertical rod, the end of handle assembly is provided with left and right turn control mechanism, is arranged on left and right respectively on transverse tube.Due to the effect of retracing spring and banking stop, handle one direction can only rotate to certain angle, can automatically restore to reference position after loosing one's grip.In rotary course, the Hall plate on handle can sense the change of permanent magnet field intensity, causes its voltage to change, thus 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 the parameters such as turn sign, and calculates the horsepower output of electrical motor, is transferred to left and right motor drive circuit, and then driving motor motion, thus realizes turning to.
Summary of the invention
Object of the present invention, what be to propose a kind of handling good, innovation that safety is high turns to means, and provides a kind of novel parallel-moving type balanced car with two wheels steering hardware thus.
Parallel-moving type balanced car with two wheels steering hardware of the present invention, comprising:
Be arranged on the support on the car body of this balanced car with two wheels;
To be arranged on this support and can the translation assembly of parallel motion under propulsive effort effect, this translation assembly comprise one can parallel motion load bearing component and for making this load bearing component restore Elastic return members to initial position when propulsive effort disappears;
Displacement sensing assembly, this displacement sensing assembly comprises a signaling component and a signal receiving part, wherein, this signaling component is fixedly installed on this load bearing component, this signal receiving part is fixedly installed on this support, and exports the position signal representing relative position information between this signaling component and this signal receiving part;
Steering control system, for receiving this position signal, and according to the change of this position signal, controls turning to of this balanced car with two wheels.
Preferably, described load bearing component both sides are respectively arranged with for for the contact pad grasping person and apply propulsive effort.
Preferably, described load bearing component is a horizontally disposed movable push bar, and described Elastic return members comprises the first spring and the second spring, and this first spring is connected with described support with described movable push bar respectively with the two ends of the second spring.
Preferably, the midway location of described movable push bar is a jut, and described signaling component is arranged on this jut, and the both sides of this jut are connected with the second spring with this first spring respectively.
Preferably, described support is a foot control handle, and described contact pad is foot control back cushion, and operator can utilize leg to apply propulsive effort to this foot control back cushion.
Preferably, described foot control handle and described car body pivotal joint.
Preferably, described support is a manual handle, and described contact pad is manual back cushion, and operator can utilize both hands to apply propulsive effort to this manual back cushion.
Preferably, described displacement sensor component is Hall element, and described signaling component is magnet steel, and described signal receiving part is Hall element.
Parallel-moving type balanced car with two wheels steering hardware of the present invention, be convenient to manipulation, safety is high, simply compact to design, embodies the small and exquisite feature flexibly of balanced car with two wheels, and improves recreational and driving experience.
Accompanying drawing explanation
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 balanced car with two wheels;
Fig. 3 is the enlarged diagram of steering hardware of the present invention in 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 schematic diagram of the another kind of embodiment of steering hardware of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, being described in detail to the composition of parallel-moving type balanced car with two wheels steering hardware of the present invention and principle of work, is outstanding feature of the present invention, and parts identical with prior art in the present invention are only done briefly to describe or omit.
As shown in Figure 1, for having the schematic diagram of the balanced car with two wheels 10 of steering hardware 100 of the present invention.This steering hardware 100 comprises a support 110, and this support can be rotated by the car body 11 of a pivot 111 relative to balanced car with two wheels 10, to be in storage and open mode respectively.Illustrate situation when support 110 is in open mode (i.e. mode of operation) in Fig. 1, in Fig. 4, illustrate situation when support 110 is in receiving state.Further, support 110 is also provided with stop gear and fixed mechanism, is respectively used to carry out spacing to the anglec of rotation of support 110 and be fixed in work and reception position support.When be in control position after support 110 is opened and fixing after, operator can step down on pedal 12,13 and carry out driver behavior.In the embodiment shown in Fig. 1,4, this support 110 is foot control handles, and driver applies horizontal actuator force, to carry out steering operation by leg touching contact pad.
More specifically, with reference to figure 2,3, steering hardware 100 of the present invention comprises and to be arranged on support 110 and can the translation assembly 120 of parallel motion under propulsive effort effect.Translation assembly 120 comprise one can parallel motion load bearing component 121 and for making this load bearing component 121 restore Elastic return members 122 to initial position when propulsive effort disappears.As shown in Figure 2,3, load bearing component 120 is located on support 110 by perforate movably, and pass through the elastic reaction of Elastic return members 122, when applying propulsive effort, this Elastic return members 122 can be oppressed, and when propulsive effort disappears, the elastic force that Elastic return members 122 stores makes load bearing component 121 return back to initial position.
As shown in Figure 2,3, in the illustrated embodiment, load bearing component 121 is a horizontally disposed movable push bar.Elastic return members 122 comprises the first spring 1221 and the second spring 1222, first spring 1221 is connected with support 110 with movable push bar 121 respectively with the two ends of the second spring 1222.Easy understand, load bearing component 121 also can be other forms outside push rod, and such as one can the slide block etc. of horizontal motion.In addition, Elastic return members 122 also can adopt other elastic means outside 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, wherein, signaling component 131 is fixedly installed on load bearing component 121, signal receiving part 132 is fixedly installed on 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 jut 1211, and the both sides of jut 1211 are connected with the second spring 1222 with the first spring 1221 respectively.Further, for ease of applying horizontal actuator force, the movable push bar of load bearing component 121(also namely in present embodiment) both sides are respectively arranged with for for the contact pad 123,124 grasping person and apply propulsive effort.Thus, by reference to the accompanying drawings, when contact pad 123,124 not being applied in the application force in horizontal direction, the first spring 1221 and the second spring 1222 are in state of equilibrium, and the signaling component 131 now on jut 1211 is in initial position.When applying the application force in water direction by contact pad 123,124, under the effect of the first spring 1221 and the second spring 1222, signaling component 131 on jut 1211 will depart from initial position, and the horizontal applied force applied is larger, and the distance that signaling component 131 departs from initial position is far away.After the application force in the horizontal direction being applied to contact pad disappears, signaling component 131, under the effect of the first spring 1221 and the second spring 1222 restoring force, comes back to initial position.The position of signal receiving part 132 is fixing relative to support 110, and therefore it can detect the change in location of signaling component 131, namely can export the position signal representing relative position information between it and signal receiving part 132.
Preferably, composition graphs 3, in this embodiment, displacement sensor component 130 is Hall element, and wherein, signaling component is magnet steel 131, and signal receiving part is Hall element 132.Certainly, displacement sensor component 130 also can adopt the displacement pickup of other suitable type, such as inductive displacement transducer, capacitive displacement transducer, optical displacement sensor, ultrasonic type displacement pickup etc., for detecting the change in location of signal receiving part 132, and outgoing position variable signal is to the steering control system of vehicle.
In addition, routinely, steering hardware 100 of the present invention also comprises steering control system (not shown), for the position signal that Received signal strength transmit block 131 sends, and according to the change of this position signal, controls turning to of this balanced car with two wheels.Because the propulsive effort in the horizontal direction apply translation assembly 120 is larger, the side-play amount of signal receiving part 132 is also just maximum, this represents that the steering angle that operator wants to operate is also larger, therefore, in present embodiment, when steering control system controls, steering angle and propulsive effort size are linear.Certainly, in general, in steering control system, also as required, steering angle and propulsive effort size can be designed to other positive correlations outside linearly dependent, namely steering angle and propulsive effort size are relationships of increase function.
Steering control system can build based on micro controller system or other signal processors or central process unit, and outputs signal to the driving circuit of balanced car with two wheels left and right transmitting set, and finally performs handling maneuvers by two driving engines about balanced car with two wheels.The more specifically description of relevant steering control system, can see the Chinese invention patent of Authorization Notice No. to be the Chinese utility model patent of CN201597703U and Authorization Notice No. be CN 100506632C.
Steering controlling device of the present invention, is particularly suitable for driver and carries out foot control operation.Composition graphs 1, as mentioned above, operator can stand on pedal 12,13 and carries out course changing control with leg, now, support 110 is a foot control handle, and contact pad 123,124 is correspondingly foot control back cushion, and operator is by leg haptic element control back cushion, horizontal actuator force is applied to translation assembly 120, turns to control balanced car with two wheels.In this design, because translation assembly 120 is parallel motion mode, therefore operator only need touch foot control back cushion lightly can control turning to; And if take traditional rotation or swing mode, when adopting foot control form, operator needs to utilize both legs to make shake or wobbling action, such meeting easily causes mass centre changing, and for the balanced car with two wheels relying on center of gravity to carry out controlling, such mass centre changing send spurious signal likely can to the control system of vehicle, such as, accelerate, slow down, retrogressing etc., thus is unfavorable for controlling the operation of balanced car with two wheels.Therefore, steering hardware of the present invention is compared and traditional is turned to form, can improve safety and handling, and can bring good driving experience, highlight the recreational feature of balanced car with two wheels.
Certainly, easy understand, 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, the schematic diagram of manual situation that to be parallel-moving type balanced car with two wheels steering hardware 100 of the present invention be, now, support 110 ' is a manual handle, and correspondingly, two, left and right contact pad is manual back cushion, operator can utilize both hands to apply propulsive effort to manual back cushion, relative to other manual steering modes, this steering hardware is simple to operate, and also saves the space of balanced car with two wheels car body from design.
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;
To be arranged on this support and can the translation assembly of parallel motion under propulsive effort effect, this translation assembly comprise one can parallel motion load bearing component and for making this load bearing component restore Elastic return members to initial position when propulsive effort disappears;
Displacement sensing assembly, this displacement sensing assembly comprises a signaling component and a signal receiving part, wherein, this signaling component is fixedly installed on this load bearing component, this signal receiving part is fixedly installed on this support, and exports the position signal representing relative position information between this signaling component and this signal receiving part;
Steering control system, for receiving this position signal, and according to the change 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, described load bearing component both sides are respectively arranged with for for the contact pad grasping person and apply propulsive effort.
3. parallel-moving type balanced car with two wheels steering hardware according to claim 1, it is characterized in that, described load bearing component is a horizontally disposed movable push bar, described Elastic return members comprises the first spring and the second spring, and this first spring is connected with described support with described movable push bar respectively with the two ends of the second spring.
4. parallel-moving type balanced car with two wheels steering hardware according to claim 3, it is characterized in that, the midway location of described movable push bar is a jut, and described signaling component is arranged on this jut, and the both sides of this jut are connected with the second spring with this first spring respectively.
5. parallel-moving type balanced car with two wheels steering hardware according to claim 2, is characterized in that, described support is a foot control handle, and described contact pad is foot control back cushion, and operator can utilize leg to apply 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, described foot control handle and described car body are pivotally connected.
7. parallel-moving type balanced car with two wheels steering hardware according to claim 2, is characterized in that, described support is a manual handle, and described contact pad is manual back cushion, and operator can utilize both hands to apply propulsive effort to this manual back cushion.
8. parallel-moving type balanced car with two wheels steering hardware according to claim 1, is characterized in that, described displacement sensing assembly is Hall element, and described signaling component is magnet steel, and described signal receiving part is 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 CN102826121A (en) | 2012-12-19 |
| CN102826121B true CN102826121B (en) | 2015-02-04 |
Family
ID=47329488
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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102826121B (en) |
Families Citing this family (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 |
Citations (4)
| 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 |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202005021402U1 (en) * | 2005-02-25 | 2007-11-29 | Kahlert, Ulrich | Two-wheeled battery-powered vehicle for one person |
| JP5260455B2 (en) * | 2009-09-18 | 2013-08-14 | 本田技研工業株式会社 | Inverted pendulum type moving body |
| JP5306471B2 (en) * | 2009-09-18 | 2013-10-02 | 本田技研工業株式会社 | Control device for inverted pendulum type vehicle |
-
2012
- 2012-09-05 CN CN201210326124.XA patent/CN102826121B/en active Active
Patent Citations (4)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102826121A (en) | 2012-12-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9511812B2 (en) | Steering driving device for self-balancing two wheeled vehicle | |
| CN102849156B (en) | Steering device of self-balance two-wheeler | |
| JP4734666B2 (en) | 3-wheeled passenger car | |
| CN106926949B (en) | Novel two-wheeled electrodynamic balance car | |
| CN103600795B (en) | Based on the balanced car with two wheels of disk grating | |
| JP6068286B2 (en) | Bicycle control device | |
| CN103600800B (en) | Based on the self-balancing trolley steering order device of pressure sensor | |
| JP6672106B2 (en) | Cart | |
| CN103600799A (en) | Steering control system based on pressure sensor and self-balancing bicycle thereof | |
| JP2003140757A (en) | Haptic input device | |
| WO2012047127A1 (en) | One-wheeled vehicle and device for stabilizing same | |
| CN106314640B (en) | Balance car | |
| CN105857468A (en) | Electric self-balance type two-wheeled vehicle | |
| WO2015041128A1 (en) | Hand cart | |
| JPH10109647A (en) | Electric assist truck | |
| CN102826121B (en) | Steering apparatus of translational self-balanced two-wheel vehicle | |
| CN103693146B (en) | The steering hardware of balanced car with two wheels | |
| CN112440972A (en) | Brake steering apparatus for controlling autonomous navigation of electric scooter | |
| CN102795290B (en) | Steering device for lightweight vehicle | |
| CN105905207A (en) | Self-balanced power-driven double-wheeled vehicle | |
| JP6377944B2 (en) | Electric wheelchair and driving method thereof | |
| CN104590422A (en) | Single motor scooter with automatic differential function | |
| JPH10338143A (en) | Operating part for driving-assisted small vehicle | |
| WO2018039911A1 (en) | Balancing vehicle control mechanism, control method and balancing vehicle | |
| JP2018061305A (en) | Electric-vehicular acceleration apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
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. |
|
| TR01 | Transfer of patent right | ||
| CP02 | Change in the address of a patent holder |
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. |
|
| CP02 | Change in the address of a patent holder | ||
| TR01 | Transfer of patent right |
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. |
|
| TR01 | Transfer of patent right |