CN104118509B - Manned detection and the steering control device of chair type vehicle - Google Patents

Manned detection and the steering control device of chair type vehicle Download PDF

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Publication number
CN104118509B
CN104118509B CN201410392199.7A CN201410392199A CN104118509B CN 104118509 B CN104118509 B CN 104118509B CN 201410392199 A CN201410392199 A CN 201410392199A CN 104118509 B CN104118509 B CN 104118509B
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Prior art keywords
tube
lining
standpipe
detection
steering control
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CN201410392199.7A
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CN104118509A (en
Inventor
沈林
方继勇
陈养彬
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Ningbo qikewei Electronic Co., Ltd
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SHANGHAI NEW CENTURY ROBOT CO Ltd
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Abstract

Manned detection and the steering control device of chair type vehicle, comprise seat cushion, standpipe, pedestal, lower lining, rubber spring cover, upper lining, outer tube position-limit mechanism, detect the axially movable moving body detection of standpipe and detect the turning feeler mechanism that standpipe rotates. Standpipe bottom is arranged in pedestal axis hole rotationally, and upper end is connected with seat cushion. Standpipe comprises inner and outer tubes, and insert within the outer tube the bottom of inner tube, and outer tube and inner tube interconnect. Lower lining is fixed on the top of pedestal; The lower end of rubber spring cover is connected with lower lining and upper lining respectively with upper end; Lower lining, rubber spring post and upper lining are all enclosed within outside standpipe, inner tube is can move vertically with respect to upper lining but not relatively turnable mode is connected with upper lining, outer tube and upper lining interconnect, and can drive lining move vertically together and rotate. The present invention can detect on the seat cushion of whether having taken vehicle, and can utilize the rotation action of seat cushion to realize the control to Vehicular turn.

Description

Manned detection and the steering control device of chair type vehicle
Technical field
The present invention relates to a kind of manned detection and steering control device of chair type vehicle.
Background technology
At present, common self-balancing electric motor car with two wheels mainly comprises with lower component: wheel, pedal, be erected atMotor and the control system of the control stick on pedal, the handle being connected with control stick, driving vehicle wheel rotation.The manned state-detection of vehicle is that the pressure sensor by being arranged on pedal is realized, and the turning to of vehicleTo realize to clockwise direction or counterclockwise rotation by driver's hand or bottom bands of trouser legs motor vehicle handle mostly.In the time that handle rotates, can further drive the control stick being connected with this handle to rotate, turning feeler mechanism detects thisThe size of control stick rotational angle, and the detection signal of this rotational angle variable quantity of reflection is sent to this self-balancingThe control system of electric motor car with two wheels, thus turning to of this self-balancing electric motor car with two wheels controlled. Above-mentioned control modeCannot meet user and expect the demand that by seat, vehicle is realized to manned detection and turn to control.
Summary of the invention
Technical problem to be solved by this invention is a kind of manned detection of chair type vehicle is provided and turns to controlDevice processed, it can detect on the seat cushion of whether having taken vehicle, and can utilize the rotation of seat cushion movingRealize the control to Vehicular turn.
The invention provides a kind of manned detection and steering control device of chair type vehicle, comprise seat cushion, standpipe,And pedestal; Pedestal is provided with an axis hole, and the bottom of standpipe is arranged in this axis hole rotationally, the upper end of standpipe and seatPad connects, and its feature is, standpipe comprises inner and outer tubes, and the bottom of inner tube is inserted in the centre bore of outer tube, inThe upper end of pipe is connected with seat cushion, and this outer tube and inner tube interconnect; This manned detection and steering control device also compriseLower lining, rubber spring cover, upper lining, outer tube position-limit mechanism, move axially moving of action for detection of standpipeMoving testing agency and for detection of the turning feeler mechanism of the rotation action of this standpipe; Lower lining is fixed on pedestalTop; Lower end and the upper end of rubber spring cover interconnect with lower lining and upper lining respectively; Lower lining, rubber bulletSpring post and upper lining are all set in outside standpipe, and wherein, inner tube is can move vertically with respect to upper lining but can notMode is connected with upper lining in relative rotation, and outer tube and upper lining interconnect, and can drive lining together along axleTo mobile and rotation; Outer tube position-limit mechanism is for limiting shaft orientation moving range and the circumferential slewing area of outer tube.
Adopt after technique scheme, after the personnel of driving sit on the seat cushion of vehicle, seat cushion and with thisThe connected standpipe of seat cushion all can move down vertically, and moving body detection detects when standpipe moves down,Can export corresponding detection signal; And after driver and crew leave the seat cushion of vehicle, this seat cushion can be automaticReset, thereby realize the detection to the manned state of vehicle. Meanwhile, the present invention also provide one be different fromToward utilizing the novel steering control mode of hand control Vehicular turn: after driver and crew are sitting on Vehicular seat cushionCan drive seat and standpipe to be rotated to clockwise or counter clockwise direction by centre position, turning feeler mechanism canDetect the rotational angle variable quantity of this standpipe, and the detection signal of this rotational angle variable quantity of reflection is sent to vehicleControl system, to control turning to of vehicle. And cancel after the rotating torque that imposes on seat cushion seat as driver and crewPad can automatically reset to centre position. The present invention manipulates simply, reliable.
Brief description of the drawings
Fig. 1 is the self-balancing two-wheeled electricity that adopts manned according to an embodiment of the invention detection and steering control deviceThe general illustration of motor-car.
Fig. 2 is the local enlarged diagram of Fig. 1, shows manned according to an embodiment of the invention detection and turnsTo the assembling schematic diagram of control device.
Fig. 3 shows showing of manned according to an embodiment of the invention detection and steering control device from an angleIntention, wherein, lower lining, rubber spring cover, upper lining are in decomposing state.
Fig. 4 shows showing of manned according to an embodiment of the invention detection and steering control device from another angleIntention, wherein, lower lining, rubber spring cover, upper lining are in decomposing state.
Fig. 5 is the schematic diagram of the outer tube of manned according to an embodiment of the invention detection and steering control device.
Fig. 6 is the schematic diagram of the inner tube of manned according to an embodiment of the invention detection and steering control device.
Fig. 7 is the manned detection of one embodiment of the invention and the generalized section of steering control device, wherein, and seatPad and standpipe are in initial position.
Fig. 8 is the generalized section of manned according to an embodiment of the invention detection and steering control device, wherein,Seat cushion is in manned state, and the lower end of standpipe contacts with microswitch.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Fig. 1 shows the self-balancing two of the manned according to an embodiment of the invention detection of employing and steering control deviceThe general illustration of wheel electric motor car 100.
Referring to figs. 2 to Fig. 6. According to an embodiment of the invention the manned detection of chair type vehicle and turn to control dressPut, comprise seat cushion 1, standpipe 2, pedestal 3, lower lining 4, rubber spring cover 5, upper lining 6, for detection ofThe moving body detection that moves axially action of standpipe 2 and for detection of the rotation inspection of the rotation action of this standpipeSurvey mechanism. Pedestal 3 is provided with an axis hole 30, and the bottom of standpipe 2 is arranged in this axis hole 30 rotationally, standpipe2 upper end is connected with seat cushion 1.
Standpipe 2 comprises inner tube 21 and outer tube 22, and the bottom of inner tube 21 is inserted in the centre bore of outer tube 22, inThe upper end of pipe 21 is connected with seat cushion 1, and this outer tube 22 passes through simultaneously through outer tube wall and inner tube with inner tube 21The pin of sidewall interconnects. Fig. 5 and Fig. 6 show respectively the pin-and-hole 226 being arranged on outer tube wall and arrangePin-and-hole 216 on inner tube sidewall.
Lower lining 4 is fixed on the top of pedestal 3 by multiple screws. Lower end and the upper end of rubber spring cover 5 are dividedDo not interconnect with lower lining 4 and upper lining 6, wherein, the upper end of the lower end of upper lining 6 and lower lining 4 respectivelyBe provided with spaced multiple lower raised teeth 61 and spaced multiple upper raised teeth 42; The center of rubber spring cover 5The hole wall top and bottom of through hole are respectively equipped with and multiple lower raised teeths 61 and the suitable multiple upper teeth groove of upper raised teeth 4251 and multiple lower teeth groove 52, multiple lower raised teeths 61 are embedded in respectively in multiple upper teeth groove 51 correspondingly, multipleUpper raised teeth 42 is embedded in respectively in multiple lower teeth groove 52 correspondingly. Lower lining 4, rubber spring post 5 and upper liningCover 6 is all set in outside standpipe 2, and inner tube 21 is can move vertically but can not relatively turn with respect to upper lining 6Moving mode is connected with upper lining 6, and outer tube 22 interconnects with upper lining 6, and can drive lining 6 togetherMove vertically and rotate. In embodiment shown in the figure, the sidewall of outer tube 22 is provided with recessed along what circumferentially extendGroove 220, upper lining 6 is along being circumferentially interval with multiple screw holes 60, and many screws are respectively through the plurality of screw hole60, and embed in described groove 220. The sidewall of inner tube 21 is provided with an axially extended keyway 211, outer tubeTop side wall is provided with a breach 221 extending vertically; The inwall of the central through hole of upper lining 6 is provided with one along axleTo the spline key 63 extending, spline key 63 is embedded in keyway 211 and breach 221 simultaneously.
This manned detection and steering control device also comprise outer tube position-limit mechanism and are enclosed within the axle sleeve 7 of standpipe bottom. OutwardPipe position-limit mechanism is for limiting shaft orientation moving range and the circumferential slewing area of outer tube. As shown in Figure 5, outer tube is spacingMechanism comprises the T shape stopper slot 223 being opened on outer tube wall and is arranged at spacing with this T shape on pedestalThe spacer pin that groove matches, this spacer pin is located in this T shape stopper slot 223. The lower end of outer tube 22 is provided with oneStretch out the contact site 224 outside pedestal bottom plate. Axle sleeve 7 is fixed on the bottom of pedestal 3, and is enclosed within contact site 224Upper, play the effect that is equivalent to two bearings that are positioned at the upper and lower both sides of standpipe together with lower lining 4.
As shown in Figure 7, moving body detection is the microswitch 8 that is arranged on standpipe below. Turning feeler mechanism bagThe linear hall element (not shown) of drawing together magnet steel and matching with this magnet steel; Described magnet steel is fixedly installed onIn inner tube 21, described linear hall element closes on the car body 101 that this magnet steel is fixedly installed on chair type vehicle.
Please refer to Fig. 8. After the personnel of driving sit on the seat cushion 1 of vehicle, seat cushion 1 and with this seat cushionConnected inner tube 21 all can move down vertically. Because outer tube 22 and inner tube 21 connect together, outer tube22 also can move down. Meanwhile, because upper lining 6 is connected with rubber spring cover 5 with outer tube 22 respectively,In the time that outer tube 22 moves down, rubber spring cover 5 can be to lower compression. In the present embodiment, rubber springAfter cover 5 compression 5mm, the contact site 224 of standpipe lower end can contact and touch microswitch 8. Microswitch8 send the control system of a detection signal to vehicle, show in manned state. Leave and work as driver and crewAfter the seat cushion of vehicle, under the effect of the elastic reset power of rubber spring cover 5, upper lining 6 can be upwards multiplePosition, and further drive standpipe 2 and seat cushion 1 to automatically reset. After driver and crew are sitting on Vehicular seat cushion,If operation self-balancing electric motor car with two wheels while turning to a side direction, also can twist seat cushion 1, make seat cushion andStandpipe is rotated to this side direction by centre position, and the rotational angle that turning feeler mechanism can detect this standpipe changesAmount, and the detection signal of this rotational angle variable quantity of reflection is sent to the control system of vehicle, to control vehicleTurn to. When seat cushion 1 is rotated to a side by centre position, inner tube 21 and outer tube 22 also rotate thereupon. Due to upper liningCover 6 is connected with outer tube 22, and lower lining 4 is fixed on pedestal 3, and therefore, the upper end of rubber spring cover 5 turnsMoving and lower end is fixed and twists distortion. Owing to being provided with T shape stopper slot on outer tube 22, on pedestal 3, establishThere is the spacer pin matching with this T shape stopper slot, within the slewing area of standpipe is limited at the horizontal edge of T-slot,The shaft orientation moving range of standpipe also can not exceed the height of T shape stopper slot simultaneously. When cancelling, driver and crew impose on seatAfter the rotating torque of pad, in the middle of seat cushion can automatically reset under the elastic reset power effect of rubber spring cover 5Position, the rubber spring cover 5 of torsional deflection simultaneously also restores to the original state.

Claims (10)

1. manned detection and the steering control device of chair type vehicle, comprise seat cushion, standpipe and pedestal; DescribedPedestal is provided with an axis hole, and the bottom of described standpipe is arranged in this axis hole rotationally, and the upper end of standpipe and seat cushion connectConnect, it is characterized in that, described standpipe comprises inner and outer tubes, and the bottom of described inner tube is inserted in the centre bore of outer tubeIn, the upper end of inner tube is connected with described seat cushion, and this outer tube and inner tube interconnect;
This manned detection and steering control device also comprise lower lining, rubber spring cover, upper lining, outer tube position restrainerStructure, for detection of the moving body detection that moves axially action of standpipe and for detection of the rotation action of this standpipeTurning feeler mechanism; Described lower lining is fixed on the top of pedestal; The lower end of described rubber spring cover and upperEnd interconnects with lower lining and upper lining respectively; Described lower lining, rubber spring post and upper lining are all set inOutside described standpipe, wherein, inner tube is can move vertically but not relatively turnable mode with respect to upper liningBe connected with upper lining, outer tube and described upper lining interconnect, and can drive lining move vertically together and turnMoving; Described outer tube position-limit mechanism is for limiting shaft orientation moving range and the circumferential slewing area of outer tube.
2. manned detection as claimed in claim 1 and steering control device, is characterized in that, described upper liningThe lower end of cover and the upper end of lower lining are respectively equipped with spaced multiple lower raised teeth and spaced multiple epireliefTooth;
The hole wall top and bottom of the central through hole of described rubber spring cover are respectively equipped with and described multiple lower raised teethsWith suitable multiple upper teeth groove and the multiple lower teeth groove of upper raised teeth, multiple lower raised teeths are embedded in respectively multiple correspondinglyIn upper teeth groove, multiple upper raised teeths are embedded in respectively in multiple lower teeth groove correspondingly.
3. manned detection as claimed in claim 1 or 2 and steering control device, is characterized in that, describedThe sidewall of inner tube is provided with an axially extended keyway, and described outer tube wall top is provided with a breach extending vertically;
The inwall of the central through hole of described upper lining is provided with a spline key extending vertically, described splineKey is embedded in described keyway and breach simultaneously.
4. manned detection as claimed in claim 3 and steering control device, is characterized in that, described outer tubeSidewall is provided with the groove extending along circumferentially, and described upper lining is along being circumferentially interval with multiple screw holes, many screwsPass respectively the plurality of screw hole, and embed in described groove.
5. manned detection as claimed in claim 1 and steering control device, is characterized in that, described is mannedDetect and turn to control dress to comprise that one is enclosed within the axle sleeve of described standpipe bottom, this axle sleeve is fixed on the end of described pedestalPortion.
6. manned detection as claimed in claim 1 and steering control device, is characterized in that, described movementTesting agency is the microswitch that is arranged on standpipe below.
7. manned detection and the steering control device as described in claim 1 or 6, is characterized in that, describedThe linear hall element that turning feeler mechanism comprises magnet steel and matches with this magnet steel; Described magnet steel is fixedly installed onIn inner tube, described linear hall element closes on the car body that this magnet steel is fixedly installed on described chair type vehicle.
8. manned detection as claimed in claim 1 or 2 and steering control device, is characterized in that, described outsidePipe interconnects by the pin that passes outer tube wall and inner tube sidewall simultaneously with inner tube.
9. manned detection as claimed in claim 1 or 2 and steering control device, is characterized in that, describedOuter tube position-limit mechanism comprise the T shape stopper slot being opened on outer tube wall and be arranged on pedestal with this T shapeThe spacer pin that stopper slot matches, this spacer pin is located in this T shape stopper slot.
10. manned detection as claimed in claim 1 or 2 and steering control device, is characterized in that, described inChair type vehicle be self-balancing electric motor car with two wheels.
CN201410392199.7A 2014-08-11 2014-08-11 Manned detection and the steering control device of chair type vehicle Active CN104118509B (en)

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Application Number Priority Date Filing Date Title
CN201410392199.7A CN104118509B (en) 2014-08-11 2014-08-11 Manned detection and the steering control device of chair type vehicle

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Application Number Priority Date Filing Date Title
CN201410392199.7A CN104118509B (en) 2014-08-11 2014-08-11 Manned detection and the steering control device of chair type vehicle

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CN104118509A CN104118509A (en) 2014-10-29
CN104118509B true CN104118509B (en) 2016-05-04

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105253226B (en) * 2015-11-02 2018-01-16 常州爱尔威智能科技有限公司 Electrodynamic balance car

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201890317U (en) * 2010-10-25 2011-07-06 陶明升 Monocycle capable of realizing automatic balance
DE202012008151U1 (en) * 2012-08-27 2012-11-29 Klaus Hofer One-wheeled electric vehicle with a wide pneumatic tire
CN202608978U (en) * 2012-05-17 2012-12-19 刘华福 Self-balancing electric vehicle with seat
CN202879694U (en) * 2012-10-25 2013-04-17 邹帆 Single wheel self-balancing electric vehicle
CN204077922U (en) * 2014-08-11 2015-01-07 上海新世纪机器人有限公司 The manned detection of chair type vehicle and steering controlling device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201890317U (en) * 2010-10-25 2011-07-06 陶明升 Monocycle capable of realizing automatic balance
CN202608978U (en) * 2012-05-17 2012-12-19 刘华福 Self-balancing electric vehicle with seat
DE202012008151U1 (en) * 2012-08-27 2012-11-29 Klaus Hofer One-wheeled electric vehicle with a wide pneumatic tire
CN202879694U (en) * 2012-10-25 2013-04-17 邹帆 Single wheel self-balancing electric vehicle
CN204077922U (en) * 2014-08-11 2015-01-07 上海新世纪机器人有限公司 The manned detection of chair type vehicle and steering controlling device

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Effective date of registration: 20191204

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: 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