CN105314020A - Anti-rolling self-balancing car and anti-rolling method thereof - Google Patents
Anti-rolling self-balancing car and anti-rolling method thereof Download PDFInfo
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- CN105314020A CN105314020A CN201410333978.XA CN201410333978A CN105314020A CN 105314020 A CN105314020 A CN 105314020A CN 201410333978 A CN201410333978 A CN 201410333978A CN 105314020 A CN105314020 A CN 105314020A
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Abstract
The invention discloses an anti-rolling self-balancing car and an anti-rolling method thereof, and relates to the field of vehicles, in particular to a self-balancing car with two wheels. The self-balancing car comprises a car body, a direction control rod, the pair of wheels, a pair of pedals, a displacement detection device, a controller, a stretchable assembly and a pair of connecting pieces, wherein the direction control rod is axially connected with the car body, the pedals are arranged on the two sides of the wheels, the displacement detection device is used for detecting displacement of the direction control rod and sending displacement signals to the controller, the stretchable assembly is connected with the pedals through the connecting pieces, and the controller controls the stretchable assembly to movably stretch and retract through the displacement signals so as to drive the pedals to move up and down along the surfaces of the outer sides of the wheels corresponding to the pedals, so that the height difference is generated between the two pedals. Accordingly, the center of weight of the body of a driver is driven to move correspondingly so as to defend discomfort brought by centrifugal force generated by the self-balancing car to the driver.
Description
Technical field
The present invention relates to field of vehicles, particularly relate to a kind of Self-Balancing vehicle of two-wheeled.
Background technology
The arriving of information age, people require more and more higher to the convenience of life, and Self-Balancing vehicle enjoys the favor of people because of advantages such as its volume is little, lightweight, flexible operations.
Self-Balancing vehicle popular is on the market all generally that two-wheeled be arranged in parallel in car body both sides at present, car body dead ahead arranges control stalk, in the process run, people stand on the car body in the middle of two-wheeled and handles control stalk, in the process of turning, control stalk, to lopsidedness, produces certain centnifugal force, but the centnifugal force turned in the process only having skilled driver's ability perceptual equilibrium car to turn to, makes the transfer of corresponding center of gravity simultaneously.For new hand, if balance truck excessive velocities, be easy to the danger that generation balance truck is toppled over, can only underspeed traveling in the process of turning, thus make troubles to the trip of new hand.Thus the trip of conveniently people's daily life, a kind of Self-Balancing vehicle that can solve the tilt problem that turning process causes has become a kind of demand.
Summary of the invention
For the problems referred to above, the invention provides the equilibrium problem that Self-Balancing vehicle that a kind of anti-side inclines and the anti-side method of inclining thereof efficiently solve Self-Balancing vehicle user in the process of turning.
Technical scheme provided by the invention is as follows:
The Self-Balancing vehicle that anti-side is inclined, comprising: a car body; Be located at the direction controlling bar be connected on described car body and with described car body axis; Be divided into the pair of wheels of described car body both sides; Pair of pedals;
Described pair of pedals is divided into the both sides of described pair of wheels, and described Self-Balancing vehicle also comprises:
Displacement detector, controller, telescopic component, a pair attaching parts;
Institute's displacement sensing device for detecting the displacement of described direction controlling bar, and is electrically connected with described controller and sends the displacement signal of described direction controlling bar to described controller;
Described controller is connected with described telescopic component and described car body;
Described telescopic component is connected with described pair of pedals respectively by described a pair attaching parts, and the corresponding described pair of wheels setting respectively of described a pair attaching parts, each described attaching parts is arranged along the outer surface of the described wheel corresponding with it;
Described controller controls described telescopic component by institute's displacement signal and carries out movable telescopic, carries out up and down respectively to drive described pedal along the outer surface of described wheel corresponding with it.
Preferably, institute's displacement sensing device comprises magnetics and magnetic induction part;
Described magnetics is arranged on described direction controlling bar;
Described magnetic induction part is arranged on described car body, and receives the magnetic signal of described magnetics, to be detected the displacement of described direction controlling bar by the change of magnetic signal.
Preferably, described telescopic component is one, and this telescopic component is connected with described a pair attaching parts by a gangbar simultaneously, to drive described a pair attaching parts to carry out up and down by described gangbar simultaneously, and then the outer surface of described pair of pedals edge described wheel corresponding is with it driven to carry out up and down.
Preferably, described telescopic component is a pair, and correspondingly with described a pair attaching parts respectively connects, and each telescopic component drives a corresponding pedal to carry out up and down by a described attaching parts.
Preferably, described pair of pedals is up and down along the direction that the outside face of described wheel is contrary respectively.
Preferably, each described wheel is provided with wearing piece with between the described attaching parts corresponding with it.
Preferably, described wearing piece is roller, and described roller is arranged on described wheel, and the axis of described roller and described wheel is axial vertical.
Preferably, described telescopic component comprises electric pushrod;
And/or;
The mud guard of described attaching parts and described wheel becomes one, the top of coated described wheel.
The method that Self-Balancing vehicle anti-side is inclined, is applied to above-mentioned Self-Balancing vehicle, comprises the following steps:
Direction controlling bar described in S1 is towards the direction run-off the straight that will turn;
Controller described in S2 controls described car body and deflects along the direction identical with described direction controlling bar, and institute's displacement sensing device detects the displacement of described direction controlling bar simultaneously, and institute's displacement signal is sent to described controller;
Controller described in S3 receives institute's displacement signal, controls described telescopic component simultaneously and carries out telescopic movable;
Telescopic component described in S4 drives described pedal to carry out up and down along the outer surface of described wheel by described a pair attaching parts.
Preferably, in step s 4 which, described telescopic component is connected with described a pair attaching parts by a gangbar simultaneously, and drives described a pair attaching parts to link by described gangbar;
And/or;
In step s 4 which, described telescopic component is a pair, and each described telescopic component correspondence connects a described attaching parts, and each described telescopic component drives a described pedal to carry out up and down by a described attaching parts.
The invention provides Self-Balancing vehicle that a kind of anti-side inclines and anti-side thereof to incline method, its beneficial effect is:
1. in Self-Balancing vehicle, displacement detector is housed, by the detection to direction control stalk displacement, mainly to the detection of displacement variable, and this displacement signal is sent to controller, the pedal of the telescopic component band motor car wheel both sides that controller controls in car body carries out up and down (one on the other) and produces certain diff-H, thus drive the center of gravity of driver's health to make corresponding movement, the discomfort that the centnifugal force produced in steering procedure to resist Self-Balancing vehicle brings to driver.Because Self-Balancing vehicle can drive the center of gravity of driver that corresponding movement occurs in operational process, driver no longer needs to rely on a twist of the wrist to carry out the centnifugal force produced in perception Self-Balancing vehicle turning process, even and then new hand also can adapt to Self-Balancing vehicle by fast speed, has ensured the safety of new hand in the process of driving Self-Balancing vehicle.
2. also wearing piece can being set between attaching parts and wheel in the present invention, effectively avoiding attaching parts when driving pedal up and down along the outer surface of wheel, to the wearing and tearing that wheel brings.Preferably, this wearing piece is roller, and it is socketed on wheel, and axis is axial vertical with wheel, and attaching parts can carry out activity along roller when driving pedal up and down, not only reduces the wearing and tearing to wheel, also makes the activity of attaching parts more convenient simultaneously.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Fig. 1 is the front schematic view of Self-Balancing vehicle in specific embodiment one in the present invention;
Fig. 2 is the side schematic view of Self-Balancing vehicle in specific embodiment one in the present invention;
Fig. 3 is the front schematic view of Self-Balancing vehicle in specific embodiment two in the present invention;
Fig. 4 is the front schematic view of Self-Balancing vehicle in specific embodiment three in the present invention;
Fig. 5 is motion detection device detailed description of the invention front schematic view in the present invention;
Fig. 6 is the schematic flow sheet that in the present invention, Self-Balancing vehicle anti-side is inclined.
Description of reference numerals:
1. Self-Balancing vehicle, 2. direction controlling bar, 3. wheel, 4. attaching parts, 5. pedal,
6. car body, 7. telescopic component, 8. expansion link, 9. roller, 10. gangbar,
11. displacement detectors, 12. magneticss, 13. magnetic induction parts, 14. pipe links.
Detailed description of the invention
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below in conjunction with drawings and Examples, the present invention is specifically described.Accompanying drawing in the following describes is only some embodiments of the present invention.For those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Specific embodiment one:
The front schematic view of the Self-Balancing vehicle 1 that the anti-side that Fig. 1 and Fig. 2 is respectively the specific embodiment of the invention one to be provided is inclined and side schematic view, comprise car body 6, direction controlling bar 2, be arranged at respectively car body 6 both sides pair of wheels 3 and be arranged at the pair of pedals 5 of pair of wheels 3 both sides, displacement detector 11, controller, telescopic component 7 and a pair attaching parts 4 respectively; Wherein, direction controlling bar 2 to be arranged on car body 6 and to be axially connected with car body 6, and in the process of Self-Balancing vehicle 1 operation, driver controls the travel direction of car body 6 by swaying direction control stalk 2, as: if direction controlling bar 2 run-off the straight forward, then car body 6 travels forward; If direction controlling bar 2 run-off the straight left, then car body 6 will occur towards the left side to turn.Displacement detector 11 is for the displacement of detection side to control stalk 2, and to be electrically connected with controller and to the displacement signal of controller sending direction control stalk 2, particularly, the displacement of above-mentioned direction controlling bar 2 comprises displacement of the lines and/or angular transposition, as, the angle etc. that direction controlling bar 2 swings on car body 6.Especially, the concrete form of the present invention to displacement detector 11 is not construed as limiting, as long as detecting device can be used for the displacement signal of detection side to control stalk 2, is included in the present invention.
Controller is connected with telescopic component 7 and car body 6, is respectively used to control car body 6 and carries out telescopic movable towards the direction deflection that direction controlling bar 2 tilts and control telescopic component 7.Telescopic component 7 is connected with pair of pedals 5 respectively by a pair attaching parts 4, and a pair attaching parts 4 respectively corresponding pair of wheels 3 arrange, each attaching parts 4 is arranged along the outer surface of the wheel 3 corresponding with it; Controller controls telescopic component 7 by the displacement signal received and carries out movable telescopic, carries out up and down respectively to drive pedal 5 along the outer surface of wheel 3 corresponding with it.Pedal can be understood as along the outer surface of wheel is up and down, with wheel towards the outer surface of pedal for reference plane, pedal carries out up and down along this reference plane, its movable route parallel or substantially parallel with this reference plane (having less differential seat angle, such as, is 1-10 °).In order to realize this purpose, can such as, by attaching parts parallel or substantially parallel setting (having less differential seat angle, is 1-10 °) along this outer surface of wheel.Particularly, telescopic component 7 comprises expansion link 8, realizes the telescopic movable of telescopic component 7, and telescopic component 7 is connected with attaching parts 4 by expansion link 8.
Preferably, the present invention also can only be balanced by up and down realization of pedal controlling any side.Self-Balancing vehicle 1 comprises a telescopic component 7, and it is connected with any one in above-mentioned a pair attaching parts 4, drives the pedal 5 corresponding with it to carry out up and down along the outside face of wheel 3.Such as: as shown in Figure 1, the expansion link 8 in telescopic component 7 is connected with the attaching parts 4 in left side, and the attaching parts 4 on right side is fixed on car body 6 by pipe link 14 simultaneously.When direction controlling bar 2 run-off the straight left, displacement detector 11 detects the angular transposition that direction controlling bar 2 deflects and/or displacement of the lines, subsequently displacement signal is sent to controller, controller controls Self-Balancing vehicle 1 immediately and deflects left and control the expansion link 8 of telescopic component 7 simultaneously and carry out contraction movement, the attaching parts 4 in the left side be attached thereto is driven to move down, and then drive the pedal 5 that is connected with attaching parts 4 along the downwardly activity of the wheel 3 in left side, meanwhile, to not action be there is in the pedal 5 on right side, and then create certain diff-H between the pedal 5 of the left and right sides, driver offsets left along with the activity center of gravity of left pedal 5, overcome Self-Balancing vehicle 1 and the centnifugal force produced of turning occurs left, same, when direction controlling bar 2 run-off the straight to the right, then telescopic component 7 drives left pedal 5 upwards movable along wheel 3, and the pedal 5 on right side action does not occur, thus makes driver overcome the centnifugal force produced when Self-Balancing vehicle 1 occurs to turn to the right.Correspondingly, if telescopic component 7 is connected with the attaching parts 4 on right side, then the attaching parts 4 in left side is fixed on car body 6 by pipe link 14, and when direction controlling bar 2 run-off the straight left, right-side pedal 5 will be upwards movable along right side wheels 3; When direction controlling bar 2 run-off the straight to the right, right-side pedal 5 will be movable downwards along right side wheels 3, and the pedal 5 in left side action does not occur simultaneously, and then produces diff-H between the pedal 5 of the left and right sides, reaches object of the present invention.
Specific embodiment two:
The front schematic view of the Self-Balancing vehicle 1 that the anti-side that being illustrated in figure 3 the specific embodiment of the invention two provides is inclined, except telescopic component 7 is different from the connection mode of a pair attaching parts 4, other description is identical with above-mentioned specific embodiment one.Identical with embodiment one, Self-Balancing vehicle 1 comprises a telescopic component 7, and this telescopic component 7 is connected with a pair attaching parts 4 by a gangbar 10 simultaneously, to be driven a pair attaching parts 4 to carry out up and down by gangbar 10 simultaneously, and then pair of pedals 5 is driven to carry out up and down along wheel 3 outside face corresponding with it.As shown in Figure 3, the expansion link 8 of telescopic component 7 is connected with the attaching parts 4 in left side, be connected with the attaching parts on right side by gangbar 10, further, be connected with a pair attaching parts respectively by a pair universal driving shaft in gangbar 10, and in order to firm above-mentioned a pair attaching parts 4 and accurately control the interlock of gangbar 10 is more flexible, the shape of gangbar 10 is set to, i.e. triangle as shown in the figure, and handstand is arranged on car body, its bottom is flexibly connected with car body, the two ends, left and right on top are connected with a pair attaching parts 4 respectively respectively by universal driving shaft, and the universal driving shaft in left side is connected with telescopic component.Particularly, when direction controlling bar 2 run-off the straight left, displacement detector 11 detects the angular transposition that direction controlling bar 2 deflects and displacement of the lines, subsequently displacement signal is sent to controller, controller controls the deflect expansion link 8 of simultaneous retractable assembly 7 of Self-Balancing vehicle 1 immediately left and has carried out contraction movement, the attaching parts 4 be attached thereto is driven to move down, and then drive the pedal 5 that is connected with attaching parts 4 along the downwardly activity of the wheel 3 in left side, meanwhile, link under the effect of attaching parts 4 universal driving shaft in gangbar 10 on right side, the attaching parts on right side is moved towards the direction contrary with the attaching parts in left side, thus create certain diff-H between the pedal 5 of the left and right sides, driver offsets left along with the activity center of gravity of left pedal 5, overcome Self-Balancing vehicle 1 and the centnifugal force produced of turning occurs left, similarly, when direction controlling bar 2 run-off the straight to the right, then telescopic component 7 drives left pedal 5 upwards movable along wheel 3, and the pedal 5 on right side is movable downwards under the drive of gangbar 10 simultaneously, thus makes driver overcome the centnifugal force produced when Self-Balancing vehicle 1 occurs to turn to the right.Especially, in specific embodiment two, telescopic component 7 can be connected with any one attaching parts in above-mentioned a pair attaching parts 4, all identical action effect will be produced under the drive of gangbar 10, namely when Self-Balancing vehicle 1 is turned left, the pedal 5 in left side is movable downwards along corresponding wheel 3, and the pedal 5 on right side is upwards movable along corresponding wheel 3 simultaneously; When Self-Balancing vehicle 1 bends to right, the pedal 5 in left side is upwards movable along corresponding wheel 3, and the pedal 5 on right side is movable downwards along corresponding wheel 3 simultaneously.
Specific embodiment three:
The front schematic view of the Self-Balancing vehicle 1 that the anti-side that being illustrated in figure 4 the specific embodiment of the invention three provides is inclined, as can be seen from the figure, except telescopic component 7 is different from the connection mode of attaching parts 4, other description is identical with embodiment one.In the present embodiment, Self-Balancing vehicle 1 comprises a pair telescopic component 7, is connected respectively with above-mentioned a pair attaching parts 4, carries out up and down to drive pair of pedals 5 along wheel 3 outside face corresponding with it.Particularly, when direction controlling bar 2 run-off the straight left, displacement detector 11 detects the angular transposition that direction controlling bar 2 deflects and displacement of the lines, subsequently displacement signal is sent to controller, controller controls Self-Balancing vehicle 1 immediately and deflects left, the expansion link 8 of the telescopic component 7 in left side has carried out contraction movement simultaneously, and overhanging activity occurs the expansion link 8 of the telescopic component 7 on right side under the control of the controller; Drive the attaching parts 4 on right side while of the activity downwards of the attaching parts 4 in left side upwards movable, and then drive the pedal 5 that is connected with left side connector 4 along the downwardly activity of the wheel 3 in left side, the pedal 5 be connected with right side connector 4 is upwards movable along the outside face of the wheel 3 on right side, thus create certain diff-H between the pedal 5 of the left and right sides, driver offsets left along with the activity center of gravity of left pedal 5, overcomes Self-Balancing vehicle 1 and the centnifugal force produced of turning occurs left.When direction controlling bar 2 run-off the straight to the right, then telescopic component 7 drives left pedal 5 upwards movable along wheel 3, and the pedal 5 on right side is movable downwards simultaneously, thus makes driver overcome the centnifugal force produced when Self-Balancing vehicle 1 occurs to turn to the right.
Preferably, telescopic component 7 comprises electric pushrod, and control to carry out automatic telescopic by controller, operability is stronger.
Preferably, displacement detector 11 comprises magnetics 12 and magnetic induction part 13, and as shown in Figure 5, be applicable in above-mentioned three embodiments, what show in figure is situation in specific embodiment two.Wherein, magnetics 12 is arranged on direction controlling bar 2; Magnetic induction part 13 is arranged on car body 6, receives the magnetic signal of magnetics 12 simultaneously.Further, the magnetic signal that magnetics 12 sends farthest is sensed in order to make magnetic induction part 13, magnetics 12 is arranged at the position near car body 6 in direction controlling bar 2, the such as bottom of direction controlling bar 2, magnetic induction part 13 is arranged in car body 6 and arranges near above-mentioned magnetics 12; Particularly, be in vertical position at direction controlling bar, when not tilting to both sides, magnetic induction part 13 is positioned at immediately below magnetics 12.Closer, magnetics 12 comprises magnet steel, and magnetic induction part 13 comprises Hall element.In the present invention, the concrete form of magnetics 12 and magnetic induction part 13 is not construed as limiting, as long as can above-mentioned purpose be realized, is included in the present invention.
Preferably, above-mentioned a pair attaching parts 4 becomes one respectively at the mud guard of above-mentioned pair of wheels 3, and be coated on above above-mentioned pair of wheels 3, the such as part-structure of coated top, so not only can expand the application of attaching parts, makes it use as mud guard; Also can make the more compact structure of Self-Balancing vehicle simultaneously, again mud guard need not be set separately.
Preferably, as shown in figs. 1-4, also comprise a pair wearing piece in car body 6, as roller 9, be arranged on above-mentioned pair of wheels 3 respectively, and the axis of roller and wheel 3 is axial vertical, attaching parts 4 can carry out activity along roller when driving pedal 5 up and down, not only reduces the wearing and tearing to wheel 3, also makes the activity of attaching parts 4 more convenient simultaneously, effectively avoid attaching parts 4 when driving pedal 5 up and down along the outer surface of wheel 3, to the wearing and tearing that wheel 3 brings.
Preferably, in car body 6, also comprise supporting component, for being fixed in car body 6 by above-mentioned telescopic component 7.Particularly, when car body 6 comprises a telescopic component 7, then car body 6 comprises a supporting component; When car body 6 comprises a pair telescopic component 7, then correspondingly comprise a pair supporting component in car body 6, fix above-mentioned a pair telescopic component 7 respectively.
The method that Self-Balancing vehicle 1 anti-side is inclined, is applied to above-mentioned Self-Balancing vehicle 1, as shown in Figure 6, specifically comprises the following steps:
S1 direction controlling bar 2 is towards the direction run-off the straight that will occur to turn;
S2 controller controls car body 6 and deflects along the direction identical with direction controlling bar 2, and displacement signal to the displacement of control stalk 2, and is sent to controller by simultaneous displacement detecting device 11 detection side;
S3 controller receives displacement signal, controls telescopic component 7 simultaneously and carries out telescopic movable;
S4 telescopic component 7 drives pedal 5 to carry out up and down along wheel 3 outer surface by a pair attaching parts 4.
In step s 2, displacement detector 11 comprises magnetics 12, as magnet steel and magnetic induction part 13, as Hall element.Particularly, there is corresponding inclination along with direction controlling bar 2 in magnetics 12, magnetic induction part 13 along with the rocking sensation of magnetics 12 should be different magnetic signal, send signal to controller subsequently.
In step s3, after controller receives the displacement signal of direction controlling bar 2, and then control telescopic component 7 carries out movable telescopic, thus drives the attaching parts 4 be connected with telescopic component 7 up and down.
In step s 4 which, telescopic component 7 is connected with any one in a pair attaching parts 4, and another one is fixed on car body 6, is with the pedal 5 be dynamically connected to carry out up and down by telescopic component 7; And/or telescopic component 7 is connected with a pair attaching parts 4 by a gangbar 10 simultaneously, and drive a pair attaching parts 4 to link by gangbar 10, make pair of pedals realize interlock; And/or telescopic component 7 is a pair, and each telescopic component 7 correspondence connects an attaching parts 4, and it is up and down that each telescopic component 7 drives a pedal 5 to carry out by an attaching parts 4, controls the activity of pair of pedals respectively.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment of making, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the Self-Balancing vehicle that inclines of anti-side, comprising:
One car body; Be located at the direction controlling bar be connected on described car body and with described car body axis; Be divided into the pair of wheels of described car body both sides; Pair of pedals;
It is characterized in that, described pair of pedals is divided into the both sides of described pair of wheels, and described Self-Balancing vehicle also comprises:
Displacement detector, controller, telescopic component, a pair attaching parts;
Institute's displacement sensing device for detecting the displacement of described direction controlling bar, and is electrically connected with described controller and sends the displacement signal of described direction controlling bar to described controller;
Described controller is connected with described telescopic component and described car body;
Described telescopic component is connected with described pair of pedals respectively by described a pair attaching parts, and the corresponding described pair of wheels setting respectively of described a pair attaching parts, each described attaching parts is arranged along the outer surface of the described wheel corresponding with it;
Described controller controls described telescopic component by institute's displacement signal and carries out movable telescopic, carries out up and down respectively to drive described pedal along the outer surface of described wheel corresponding with it.
2. the Self-Balancing vehicle that inclines of anti-side as claimed in claim 1, is characterized in that: institute's displacement sensing device comprises magnetics and magnetic induction part;
Described magnetics is arranged on described direction controlling bar;
Described magnetic induction part is arranged on described car body, and receives the magnetic signal of described magnetics, to be detected the displacement of described direction controlling bar by the change of magnetic signal.
3. the Self-Balancing vehicle that inclines of anti-side as claimed in claim 1, it is characterized in that: described telescopic component is one, and this telescopic component is connected with described a pair attaching parts by a gangbar simultaneously, to drive described a pair attaching parts to carry out up and down by described gangbar simultaneously, and then the outer surface of described pair of pedals edge described wheel corresponding is with it driven to carry out up and down.
4. the Self-Balancing vehicle that inclines of anti-side as claimed in claim 1, is characterized in that: described telescopic component is a pair, and correspondingly with described a pair attaching parts respectively connects, and each telescopic component drives a corresponding pedal to carry out up and down by a described attaching parts.
5., as the Self-Balancing vehicle that anti-side as described in any one in claim 3 or 4 is inclined, described pair of pedals is up and down along the direction that the outside face of described wheel is contrary respectively.
6. the Self-Balancing vehicle that inclines of anti-side as claimed in claim 1, is characterized in that: each described wheel is provided with wearing piece with between the described attaching parts corresponding with it.
7. the Self-Balancing vehicle that inclines of anti-side as claimed in claim 6, is characterized in that: described wearing piece is roller, and described roller is arranged on described wheel, and the axis of described roller and described wheel is axial vertical.
8. the Self-Balancing vehicle that inclines of anti-side as claimed in claim 1, is characterized in that:
Described telescopic component comprises electric pushrod;
And/or;
The mud guard of described attaching parts and described wheel becomes one, the top of coated described wheel.
9. a Self-Balancing vehicle anti-side method of inclining, is applied to the Self-Balancing vehicle as described in any one of claim 1-8, it is characterized in that, comprise the following steps:
Direction controlling bar described in S1 is towards the direction run-off the straight that will turn;
Controller described in S2 controls described car body and deflects along the direction identical with described direction controlling bar, and institute's displacement sensing device detects the displacement of described direction controlling bar simultaneously, and institute's displacement signal is sent to described controller;
Controller described in S3 receives institute's displacement signal, controls described telescopic component simultaneously and carries out telescopic movable;
Telescopic component described in S4 drives described pedal to carry out up and down along the outer surface of described wheel by described a pair attaching parts.
10. the Self-Balancing vehicle anti-side method of inclining as claimed in claim 9, is characterized in that:
In step s 4 which, described telescopic component is connected with described a pair attaching parts by a gangbar simultaneously, and drives described a pair attaching parts to link by described gangbar;
And/or;
In step s 4 which, described telescopic component is a pair, and each described telescopic component correspondence connects a described attaching parts, and each described telescopic component drives a described pedal to carry out up and down by a described attaching parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410333978.XA CN105314020B (en) | 2014-07-14 | 2014-07-14 | The Self-Balancing vehicle and its anti-side that anti-side is inclined incline method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410333978.XA CN105314020B (en) | 2014-07-14 | 2014-07-14 | The Self-Balancing vehicle and its anti-side that anti-side is inclined incline method |
Publications (2)
| Publication Number | Publication Date |
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| CN105314020A true CN105314020A (en) | 2016-02-10 |
| CN105314020B CN105314020B (en) | 2019-04-16 |
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Cited By (1)
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| WO2019033667A1 (en) * | 2017-08-12 | 2019-02-21 | 深圳天轮科技有限公司 | Single-wheel self-balancing scooter without leg rest |
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| CN204021082U (en) * | 2014-07-14 | 2014-12-17 | 上海新世纪机器人有限公司 | The Self-Balancing vehicle that anti-side is inclined |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019033667A1 (en) * | 2017-08-12 | 2019-02-21 | 深圳天轮科技有限公司 | Single-wheel self-balancing scooter without leg rest |
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| CN105314020B (en) | 2019-04-16 |
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Address after: Room 1138, No. 25, Lane 38, Caoli Road, Fengjing Town, Jinshan District, Shanghai, 20118 Applicant after: Shanghai New Century Robot Co., Ltd. Address before: Block B, 2nd Floor, Block 1-9, Lane 99, Shenmei Road, Zhoupu Town, Pudong New Area, Shanghai, 201318 Applicant before: Shanghai New Century Robot Co., Ltd. |
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