CN105346643A - Electrodynamic balance bike - Google Patents
Electrodynamic balance bike Download PDFInfo
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- CN105346643A CN105346643A CN201510863567.6A CN201510863567A CN105346643A CN 105346643 A CN105346643 A CN 105346643A CN 201510863567 A CN201510863567 A CN 201510863567A CN 105346643 A CN105346643 A CN 105346643A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides an electrodynamic balance bike. The electrodynamic balance bike comprises a bike body, a plurality of wheels, a photoelectric sensor, four elastic support elements and a control mechanism, wherein the bike body comprises a flat pedal and a support framework arranged at the lower part of the pedal; two ends of the four elastic support elements are respectively connected with the pedal and the support framework and are arranged rectangularly; the photoelectric sensor is positioned under the pedal and is used for sensing the rotating angle of the pedal relative to the movement plane; the wheels are connected with the support framework, and the wheels are in trigonal arrangement or in polygonal arrangement; the bottom surfaces of the wheels are positioned in the same plane, and the planes of the bottom surfaces of the wheels are parallel to the pedal; the control mechanism is connected with the photoelectric sensor, and controls the movement of the wheels according to the rotating angle of the pedal relative to the movement plane, which is induced by the photoelectric sensor.
Description
Technical field
The invention belongs to field of mechanical technique, relate to a kind of electrodynamic balance car.
Background technology
Two-wheeled vehicle is based upon one to be called as in the groundwork of " dynamic stability ", the namely self-equalizing ability of vehicle itself.Judge the posture state residing for vehicle body with built-in accurate solid-state gyroscope, after calculating suitable instruction through central microprocessor that is accurate and high speed, CD-ROM drive motor accomplishes the effect balanced.
Suppose that we are using the overall center of gravity longitudinal axis of station steerman onboard and vehicle as reference line.When this axle is toward top rake, built-in electro-motor in vehicle body can produce strength forward, the moment of torsion that one side balance people and car are toppled over forward, produce the acceleration/accel allowing vehicle advance on the one hand, contrary, when gyroscope finds the center of gravity of steerman toward hypsokinesis, also the strength that can produce backward reaches counterbalance effect.Therefore, as long as the angle that steerman changes oneself health is forward or toward hypsokinesis, will according to the side tilted forward or backward, speed is then proportional with the degree of steerman body inclination.In principle, as long as have correct opening power and can keep the electric power of enough runnings, the people on car does not just worry there be possibility of toppling over and falling, and this is with generally to need to lean on steerman oneself to carry out the vehicle such as the Kickboard Scooter balanced different greatly.
But existing two-wheeled vehicle change direct of travel is mainly realized by twist grip.Can find out, two-wheeled vehicle arrange handle and causes its complex structure, and cost increases.
For this reason, people have devised two-wheeled vehicle not with handles, and this scooter forms primarily of the support of two energy relative motion, each support are connected to a corresponding wheel.Although this scooter eliminates handle, because stent size is less, when using this scooter, balance is not easy to grasp.
Its publication number of Chinese patent CN203958471U provides " a kind of split rotary type balanced car with two wheels ", it comprises main frame of vehicle body, main frame of vehicle body both sides are provided with wheel, be provided with motor in main frame of vehicle body and the gyroscope of motor speed can be controlled, described main frame of vehicle body comprises two split vehicle frames be separated from each other, two split central frame beams are provided with a connecting shaft, two split vehicle frames are that center of turn rotates alone with connecting shaft, gyroscope and motor is provided with separately in each split vehicle frame, split vehicle frame comprises a upper cover pedal and lower house, gyroscope is fixed on bottom upper cover pedal, gyroscope connecting circuit board, circuit card connects motor, motor driving wheel.
Two-wheel car energy realization pin in above-mentioned patent carries out acceleration-deceleration, turning function, and structure is simple.But it forms primarily of the support of two energy relative motion, in use procedure, its balance is not easy to control.And because it takes up room, it is very not convenient to carry yet.
Summary of the invention
A kind of electrodynamic balance car that the present invention proposes to overcome prior art.
To achieve these goals, a kind of electrodynamic balance car provided by the present invention, comprises vehicle body, multiple wheel, opto-electronic pickup and four flexible support members and control mechanism; Described vehicle body comprises in flat stretcher and is located at the support frame of described stretcher bottom, the two ends of described four flexible support members are connected and rectangular arrangement with described stretcher and described support frame respectively, and described opto-electronic pickup is positioned at the below of described stretcher and the rotational angle for sensing described stretcher relative motion plane; Described multiple wheel is connected with described support frame, and described multiple wheel is triangle arrangement or polygonal array, and the bottom surface of described multiple wheel is positioned at same plane, and the plane at the place, bottom surface of described multiple wheel is parallel with described stretcher; Described control mechanism is connected with described opto-electronic pickup, and the rotational angle of the described stretcher relative motion plane that described control mechanism senses according to described opto-electronic pickup controls described multiple wheel movement.
Further, described multiple wheel comprises two drive wheels being located at body structure or rear end symmetrically, the drive motor that described control mechanism comprises controller and is connected with described controller, described control mechanism comprises drive motor and is connected with described drive motor and controller for controlling the propulsive effort that described drive motor exports, described opto-electronic pickup is connected with described controller, described drive motor rotates for driving described two drive wheels, the rotational angle of the described stretcher relative motion plane that described controller senses according to described opto-electronic pickup judges the center-of-gravity position of described user, described drive motor exports corresponding propulsive effort according to the center-of-gravity position of described user and rotates to drive described two drive wheels to described two drive wheels.
Further, the quantity of described drive motor is two, two drive motor drive two drive wheels to rotate respectively, described controller is after the center-of-gravity position judging described user, and described controller controls two described drive motor and exports corresponding propulsive effort to described two drive wheels to drive described two drive wheels rotation.
Further, the quantity of described drive motor is one, described control mechanism also comprises diff, described drive motor is connected with described two drive wheels by described diff, and described drive motor output drive strength is dispensed to described two drive wheels according to the center-of-gravity position of described user and rotates to drive described two drive wheels by described diff.
Further, the quantity of described multiple wheel is four, and described multiple wheel comprises two wheel flutters, described two wheel flutters and described two rectangular arrangements of drive wheel, and described two wheel flutters and described two drive wheels are oppositely arranged.
Further, the quantity of described multiple wheel is three, and described multiple wheel also comprises a wheel flutter, and described wheel flutter and described two drive wheels are that triangle is arranged, and when described two drive wheels are arranged on the rear end of described vehicle body, described wheel flutter is arranged on the front center of described vehicle body; When described two drive wheels are arranged on the front end of described vehicle body, described wheel flutter is arranged in the middle part of the rear end of described vehicle body.
Further, the quantity of described multiple wheel is four and rectangular arrangement, described four wheels are cardan wheel, the quantity of described drive motor is four, each drive motor drives a vehicle wheel rotation, described control mechanism comprises drive motor and is connected with described drive motor and controller for controlling the propulsive effort that described drive motor exports, the quantity of described drive motor is four, each drive motor drives a described vehicle wheel rotation, described opto-electronic pickup is connected with described controller, described drive motor rotates for driving described two drive wheels, the rotational angle of the described stretcher relative motion plane that described controller senses according to described opto-electronic pickup is judged the center-of-gravity position of described user and is controlled four described drive motor according to the center-of-gravity position of described user and export vehicle wheel rotation corresponding to corresponding drive force.
Further, further, described stretcher is provided with inductive switch, and described inductive switch is connected between described control mechanism and electric supply installation, and whether described inductive switch is for having user to control powering on of described control mechanism and power-off by responding on car.
Further, described support frame top has recessed installation cavity, described stretcher covers installation cavity, and four elastic elements are positioned at installation cavity and the difference diapire in connection chamber and the bottom of stretcher, and described opto-electronic pickup is arranged on the diapire of described installation cavity.
Further, described vehicle body also comprises joint pin, described joint pin to be arranged between described stretcher and described support frame and to be positioned at described installation cavity, the bottom surface of described stretcher is provided with positioning groove, the diapire of described installation cavity is provided with lower positioning groove, and the upper and lower of the periphery of described joint pin is positioned in described upper positioning groove and described lower positioning groove respectively.
Due to the utilization of technique scheme, the present invention possesses following advantage:
Electrodynamic balance car of the present invention due to the car body of main component be tabular, therefore, its compact conformation, easy to carry and store.Meanwhile, because this electrodynamic balance car has three or four wheels, therefore, relatively other its balance of two-wheeled vehicle is higher for it, plays balance and more easily control when user stand on this electrodynamic balance car.
Accompanying drawing explanation
Fig. 1 is the structural representation of the electrodynamic balance car of first embodiment of the invention.
Fig. 2 is the cross-sectional schematic of the electrodynamic balance car shown in Fig. 1.
Fig. 3 is the lateral plan of the electrodynamic balance car shown in Fig. 1.
Fig. 4 is the upward view of the electrodynamic balance car shown in Fig. 1.
Fig. 5 is the upward view of the electrodynamic balance car of further embodiment of this invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is further described.
Refer to Fig. 1-4, a kind of electrodynamic balance car that the embodiment of the present invention provides, comprise vehicle body 1, multiple wheel 2, opto-electronic pickup 106 and four flexible support members 107 and control mechanism.
Described vehicle body 1 comprises in flat stretcher 11 and is located at the support frame 13 of described stretcher 11 bottom, the two ends of described four flexible support members 107 are connected and rectangular arrangement with described stretcher 11 and described support frame 13 respectively, and described opto-electronic pickup 106 is positioned at the below of described stretcher 11 and the rotational angle for sensing described stretcher 11 relative motion plane.
Described multiple wheel 2 is connected with described support frame 13, and described multiple wheel 2 is arrangement or polygonal array in triangle, and the bottom surface of described multiple wheel 2 is positioned at same plane, and the plane at the place, bottom surface of described multiple wheel 2 is parallel with described stretcher 11.
Described control mechanism is connected with described opto-electronic pickup 106, and the rotational angle of the described stretcher 11 relative motion plane that described control mechanism senses according to described opto-electronic pickup 106 controls described multiple wheel 2 and moves.
Principle of work of the present invention is as follows: when user stand on stretcher 11, flexible support members 107 can be compressed, during the centre-of gravity shift of user, stretcher 11 can tilt, opto-electronic pickup 106 can sense the angle of inclination of stretcher 11, and namely the angle of inclination of stretcher 11 that namely opto-electronic pickup 106 collects has collected the center-of-gravity position information of user.When opto-electronic pickup 106 senses stretcher 11 dead ahead or right front inclination left, control mechanism controls multiple wheel 2, and advance in dead ahead or right front left; When stretcher 11 senses that stretcher 11 tilts to left back front or right abaft, control mechanism controls multiple wheel 2 and falls back to left back or right abaft.
Described support frame 13 top has recessed installation cavity 130, described stretcher 11 covers installation cavity 130, four elastic elements 4 are positioned at installation cavity 130 and the difference diapire in connection chamber 130 and the bottom of stretcher 11, and described opto-electronic pickup 106 is arranged on the diapire of described installation cavity 130.
Described vehicle body 1 also comprises joint pin 15, described joint pin 15 to be arranged between described stretcher 11 and described support frame 13 and to be positioned at described installation cavity 130, the bottom surface of described stretcher 11 is provided with positioning groove 115, the diapire of described installation cavity 130 is provided with lower positioning groove 135, and the upper and lower of the periphery of described joint pin 15 is positioned at described upper positioning groove 115 respectively with in described lower positioning groove 135.
In the present embodiment, the angle of inclination of stretcher 11, at 10 degree-30 degree, while the angle of inclination of stretcher 11 being controlled can make the stable inclination of stretcher 11 between 10 degree-30 degree, can also ensure the stability of whole electrodynamic balance car.
In the present embodiment, the quantity of described multiple wheel 2 is four and rectangular arrangement, in the working direction of described electrodynamic balance car, described multiple wheel 2 comprises two drive wheels that are that be located at vehicle body 1 front end symmetrically or rear end and two wheel flutters relative with two drive wheels, the rear end of vehicle body 1 is arranged on symmetrically at the present embodiment drive wheel, wheel flutter can arrange the front end of vehicle body 1 symmetrically, namely the pattern of back-wheel drive is adopted to drive at the present embodiment, certainly, two drive wheels arrange the front end of vehicle body 1 symmetrically, two wheel flutters arrange the rear end of vehicle body 1 symmetrically, namely the pattern of f-w-d can be adopted, in other embodiments, as shown in Figure 5, the quantity of described multiple wheel 2 is 3, and described multiple wheel 2 comprises the wheel flutter being positioned at vehicle body 1 front end and two drive wheels being positioned at vehicle body 1 rear end, and wheel flutter and two drive wheels are that triangle is arranged, be understandable that, in order to ensure the balance of electrodynamic balance car, wheel flutter is located at the medium position of vehicle body 1 front end, certainly, two drive wheels also can be arranged on the front end of vehicle body, and wheel flutter also can arrange the medium position of the rear end of vehicle body 1.It should be noted that, in the above-described embodiments, wheel flutter is cardan wheel.
Described control mechanism comprises drive motor and is connected with described drive motor and controller for controlling the propulsive effort that drive motor exports, and described opto-electronic pickup 106 is connected with described controller, and drive motor rotates for driving two drive wheels.The rotational angle of the described stretcher 11 relative motion plane that described controller senses according to opto-electronic pickup 106 judges the center-of-gravity position of user, and described drive motor controls to export corresponding propulsive effort according to the center-of-gravity position of user and rotates to drive described two drive wheels to described two drive wheels.Be understandable that, when balance truck is to dead ahead or dead aft motion, the propulsive effort that drive motor exports makes two drive wheel rotating speeds identical, and when balance truck needs to turn to, the propulsive effort that drive motor exports makes two drive wheels have certain speed discrepancy.
Particularly, in the present embodiment, the quantity of drive motor is two, two drive motor drive two drive wheels to rotate respectively, described controller is after the center-of-gravity position judging described user, and described controller controls two described drive motor and exports corresponding propulsive effort to described two drive wheels to drive described two drive wheels rotation.More specifically, when the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 according to opto-electronic pickup 106 judges that the center of gravity of user turns forward, controller controls two drive motor and exports that size is identical and the propulsive effort to two a driven forwards drive wheel makes two drive wheels travel forward; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user retreats, controller controls two drive motor and exports that size is identical and propulsive effort to two drive wheel to rear drive makes two drive wheels move backward; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user rolls to one, namely now balance truck needs to turn, controller controls two drive motor and exports propulsive effort to two drive wheel varied in size and make two drive wheels all have certain velocity contrast, thus balance truck is turned.
In other embodiments, the quantity of drive motor is one, and described control mechanism also comprises diff, and drive motor is connected with two drive wheels by diff.Be understandable that, when the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user turns forward, drive motor exports that size is identical by diff and the propulsive effort driven forwards controls multiple wheel 2 travels forward; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that user's center of gravity retreats, it is identical and control multiple wheel 2 to the propulsive effort of rear drive and move backward that drive motor exports size by diff; When the rotational angle of the described stretcher 11 relative motion plane that controller root senses according to opto-electronic pickup 106 judges the center of gravity of user to lopsidedness, namely now balance truck needs to turn, drive motor exports propulsive effort to the left and right sides drive wheel varied in size by diff makes drive wheel have different speed, thus balance truck can be turned.
Particularly, described diff is gear differential, comprise the inner case for cavity and the planetary wheel being positioned at case, planetary wheel carrier, left half axle gear, right axle shaft gear, left half axle and right axle shaft, described planetary wheel carrier is located in case, planetary wheel is connected on planetary wheel carrier, driving gear on the input end of above-mentioned planetary wheel carrier and planetary wheel carrier is connected with the transmission shaft of drive motor, described left half axle gear is all connected with planetary wheel in right axle shaft gear, left half axle and right axle shaft respectively with left half axle gear and right axle shaft gear affixed, two drive wheels are connected with left half axle and right axle shaft.Power enters diff through transmission shaft, Direct driver planetary wheel carrier, then drives left and right two semiaxis by satellite gear, drives left and right wheel respectively.The designing requirement of diff meets: left half axle rotating speed+right axle shaft rotating speed=2 planetary wheel carrier rotating speed.When electrodynamic balance car is kept straight on, left and right wheel is equal with the rotating speed of planetary wheel carrier three is in state of equilibrium, and when electrodynamic balance car is turned, three's state of equilibrium is destroyed, and causes nearside wheel rotating speed to reduce, and off-side wheel rotating speed increases.
In other embodiments, the quantity of described multiple wheel 2 is four and rectangular arrangement, described four wheels 2 are cardan wheel, the quantity of described drive motor is four, each drive motor drives a wheel 2 to rotate, described controller controls four drive motor according to the center-of-gravity position information of the person of standing and exports wheel corresponding to corresponding drive force 2 and rotate, and makes the path of motion required for sense of motion synthesis of four wheels 2.When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user turns forward, controller controls four drive motor and exports corresponding propulsive effort to four drive wheel and make four drive wheels drive balance trucks to travel forward; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user retreats, controller controls four drive motor and exports corresponding propulsive effort to four drive wheel and make four drive wheels drive balance trucks to move backward; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user rolls to one, namely now balance truck needs to turn, and controller controls four drive motor and exports corresponding propulsive effort to four drive wheel and make four drive wheels drive balance trucks to turn.Needs illustrate, when the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges the center of gravity of user to front-left or front-right skew, controller can control the propulsive effort of four drive motor outputs and then the rotating speed of control four wheels 2 and rotation direction and make balance truck to front-left or front-right skew.
In other embodiments, the quantity of described multiple wheel 2 is four and rectangular arrangement, described four wheels 2 are drive wheel, the quantity of described drive motor is four, each drive motor drives a wheel 2 to rotate, described controller controls four drive motor according to the location information of the person of standing and exports wheel corresponding to corresponding drive force 2 and rotate, and makes the path of motion required for sense of motion synthesis of four wheels 2.Body ground, when the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user turns forward, controller controls four drive motor and exports two groups size is identical and the propulsive effort driven forwards makes four drive wheels travel forward to two drive wheels of front end and two drive wheels of rear end; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user retreats, controller controls four drive motor, and to export two groups of sizes identical and to two drive wheels of rear end and two drive wheels of front end, four drive wheels are moved to the propulsive effort of rear drive backward; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user rolls to one, namely now balance truck needs to turn, controller controls four drive motor and exports propulsive effort to four drive wheel varied in size and make four drive wheels all have certain velocity contrast, thus balance truck is turned.It should be noted that two the propulsive effort sizes being passed to two drive wheels in front end that the propulsive effort that two groups of sizes are identical refers to are identical, two the propulsive effort sizes being passed to two drive wheels in rear end are identical.
In other embodiments, the quantity of described multiple wheel 2 is four and rectangular arrangement, described four wheels 2 are drive wheel, the quantity of described drive motor is one, described control mechanism also comprises two difies, being connected with four drive wheels by two difies of drive motor, particularly, being connected with two anterior drive wheels by one of them diff of drive motor, drive motor is also connected with two drive wheels at rear portion by another diff.Be understandable that, when the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user turns forward, drive motor exports that two groups of sizes are identical by two difies and the propulsive effort driven forwards makes multiple wheel 2 travel forward to anterior two drive wheels and two, rear end drive wheel; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user retreats, it is identical and to the propulsive effort of rear drive to multiple wheel 2, multiple wheel 2 is moved backward that drive motor exports size by two difies; When the rotational angle of the described stretcher 11 relative motion plane that controller senses according to opto-electronic pickup 106 judges that the center of gravity of user rolls to one, namely now balance truck needs to turn, drive motor is exported propulsive effort to the multiple wheel 2 varied in size and multiple wheel 2 can be turned to by two difies, thus balance truck is turned.It should be noted that two the propulsive effort sizes being passed to two drive wheels in front end that the propulsive effort that two groups of sizes are identical refers to are identical, two the propulsive effort sizes being passed to two drive wheels in rear end are identical.
In the present embodiment, in order to realize automatically powering on and power-off of balance truck, described stretcher 11 is provided with inductive switch 10, inductive switch 10 is connected between control mechanism and electric supply installation, and described inductive switch 10 is by whether induction car has user to control powering on of described control mechanism and power-off.Preferably, inductive switch 10 is such as pressure switch, and when user stand on vehicle body 1, inductive switch 10 conducting, the electric supply installation of vehicle body 1 inside starts the electricity consumption power elements to vehicle body 1.Preferably, electric supply installation is such as storage battery.
In the present embodiment, stretcher 11 front portion is convexly equipped with protecting along 112 for the protection of the wheel being positioned at vehicle body 1 front portion downwards.To extend the service life of electrodynamic balance car.
Be understandable that, the electronic component being electrodynamic balance car and also comprising that such as acceleration pick-up, electric supply installation, gyroscope etc. form electrodynamic balance car of the present invention, these electronic components all can be arranged in installation cavity 130.
In sum, electrodynamic balance car of the present invention because the vehicle body 1 of main component is in tabular, therefore, its compact conformation, easy to carry and store.Meanwhile, because this electrodynamic balance car has three or four wheels 2, therefore, relatively other its balance of two-wheeled vehicle is higher for it, plays balance and more easily control when user stand on this electrodynamic balance car.
Although the present invention discloses as above by preferred embodiment; but and be not used to limit the present invention, anyly know this those skilled in the art, without departing from the spirit and scope of the present invention; can do a little change and retouching, therefore protection scope of the present invention is when being as the criterion depending on claims scope required for protection.
Claims (10)
1. an electrodynamic balance car, is characterized in that, comprises vehicle body (1), multiple wheel (2), opto-electronic pickup (106) and four flexible support members (107) and control mechanism; Described vehicle body (1) comprises in flat stretcher (11) and is located at the support frame (13) of described stretcher (11) bottom, the two ends of described four flexible support members (107) are connected and rectangular arrangement with described stretcher (11) and described support frame (13) respectively, and described opto-electronic pickup (106) is positioned at the below of described stretcher (11) and the rotational angle for sensing described stretcher (11) relative motion plane; Described multiple wheel (2) is connected with described support frame (13), described multiple wheel (2) is arranged or polygonal array in triangle, and the bottom surface of described multiple wheel (2) is positioned at same plane, the plane at the place, bottom surface of described multiple wheel (2) is parallel with described stretcher (11); Described control mechanism is connected with described opto-electronic pickup (106), and the rotational angle of described stretcher (11) the relative motion plane that described control mechanism senses according to described opto-electronic pickup (106) controls the motion of described multiple wheel (2).
2. electrodynamic balance car according to claim 1, it is characterized in that, described multiple wheel (2) comprises two drive wheels being located at vehicle body (1) front end or rear end symmetrically, the drive motor that described control mechanism comprises controller and is connected with described controller, described control mechanism comprises drive motor and is connected with described drive motor and controller for controlling the propulsive effort that described drive motor exports, described opto-electronic pickup (106) is connected with described controller, described drive motor rotates for driving described two drive wheels, the rotational angle of described stretcher (11) the relative motion plane that described controller senses according to described opto-electronic pickup (106) judges the center-of-gravity position of described user, described drive motor exports corresponding propulsive effort according to the center-of-gravity position of described user and rotates to drive described two drive wheels to described two drive wheels.
3. electrodynamic balance car according to claim 2, it is characterized in that, the quantity of described drive motor is two, two drive motor drive two drive wheels to rotate respectively, described controller is after the center-of-gravity position judging described user, and described controller controls two described drive motor and exports corresponding propulsive effort to described two drive wheels to drive described two drive wheels rotation.
4. electrodynamic balance car according to claim 2, it is characterized in that, the quantity of described drive motor is one, described control mechanism also comprises diff, described drive motor is connected with described two drive wheels by described diff, and described drive motor output drive strength is dispensed to described two drive wheels according to the center-of-gravity position of described user and rotates to drive described two drive wheels by described diff.
5. the electrodynamic balance car according to claim 2-4 any one, it is characterized in that, the quantity of described multiple wheel (2) is four, described multiple wheel (2) comprises two wheel flutters, described two wheel flutters and described two rectangular arrangements of drive wheel, and described two wheel flutters and described two drive wheels are oppositely arranged.
6. the electrodynamic balance car according to claim 2-4 any one, it is characterized in that, the quantity of described multiple wheel (2) is three, described multiple wheel (2) also comprises a wheel flutter, described wheel flutter and described two drive wheels are that triangle is arranged, and when described two drive wheels are arranged on the rear end of described vehicle body (1), described wheel flutter is arranged on the front center of described vehicle body (1); When described two drive wheels are arranged on the front end of described vehicle body (1), described wheel flutter is arranged in the middle part of the rear end of described vehicle body (1).
7. electrodynamic balance car according to claim 1, it is characterized in that, the quantity of described multiple wheel (2) is four and rectangular arrangement, described four wheels (2) are cardan wheel, the quantity of described drive motor is four, each drive motor drives the rotation of a wheel (2), described control mechanism comprises drive motor and is connected with described drive motor and controller for controlling the propulsive effort that described drive motor exports, the quantity of described drive motor is four, each drive motor drives the rotation of a described wheel (2), described opto-electronic pickup (3) is connected with described controller, described drive motor rotates for driving described two drive wheels, the rotational angle of described stretcher (11) the relative motion plane that described controller senses according to described opto-electronic pickup (106) is judged the center-of-gravity position of described user and is controlled four described drive motor according to the center-of-gravity position of described user and export wheel corresponding to corresponding drive force (2) and rotate.
8. electrodynamic balance car according to claim 1, it is characterized in that, 8, electrodynamic balance car according to claim 1, it is characterized in that, described stretcher (11) is provided with inductive switch (10), described inductive switch (10) is connected between described control mechanism and electric supply installation, and whether described inductive switch (10) is for having user to control powering on of described control mechanism and power-off by responding on car.
9. electrodynamic balance car according to claim 1, it is characterized in that, described support frame (13) top has recessed installation cavity (130), described stretcher (11) covers installation cavity (130), four elastic elements (4) are positioned at installation cavity (130) and the diapire of difference connection chamber (130) and the bottom of stretcher (11), and described opto-electronic pickup (106) is arranged on the diapire of described installation cavity (130).
10. electrodynamic balance car according to claim 9, it is characterized in that, described vehicle body (1) also comprises joint pin (15), described joint pin (15) to be arranged between described stretcher (11) and described support frame (13) and to be positioned at described installation cavity (130), the bottom surface of described stretcher (11) is provided with positioning groove (115), the diapire of described installation cavity (130) is provided with lower positioning groove (135), the upper and lower of the periphery of described joint pin (15) is positioned at described upper positioning groove (115) respectively with in described lower positioning groove (135).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510863567.6A CN105346643B (en) | 2015-12-01 | 2015-12-01 | Electric balance car |
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|---|---|---|---|
| CN201510863567.6A CN105346643B (en) | 2015-12-01 | 2015-12-01 | Electric balance car |
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| CN105346643A true CN105346643A (en) | 2016-02-24 |
| CN105346643B CN105346643B (en) | 2023-06-23 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275164A (en) * | 2016-08-09 | 2017-01-04 | 尚艳燕 | A kind of electrodynamic balance car and pedal assembly thereof |
| CN106314641A (en) * | 2016-11-11 | 2017-01-11 | 林鸿贵 | Electric scooter |
| CN106828729A (en) * | 2017-01-04 | 2017-06-13 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
| USD803963S1 (en) | 2016-07-20 | 2017-11-28 | Razor Usa Llc | Two wheeled board |
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| CN107539399A (en) * | 2016-06-24 | 2018-01-05 | 深圳市卡奈迪科技有限公司 | A kind of steering mechanism of the wheel scooter of electrodynamic balance two |
| USD865095S1 (en) | 2016-07-20 | 2019-10-29 | Razor Usa Llc | Two wheeled board |
| USD941948S1 (en) | 2016-07-20 | 2022-01-25 | Razor Usa Llc | Two wheeled board |
| USD840872S1 (en) | 2016-07-20 | 2019-02-19 | Razor Usa Llc | Two wheeled board |
| USD1002764S1 (en) | 2016-07-20 | 2023-10-24 | Razor Usa Llc | Two wheeled board |
| USD807457S1 (en) | 2016-07-20 | 2018-01-09 | Razor Usa Llc | Two wheeled board |
| USD960043S1 (en) | 2016-07-20 | 2022-08-09 | Razor Usa Llc | Two wheeled board |
| USD958278S1 (en) | 2016-07-20 | 2022-07-19 | Razor Usa Llc | Two wheeled board |
| USD837322S1 (en) | 2016-07-20 | 2019-01-01 | Razor Usa Llc | Two wheeled board |
| USD803963S1 (en) | 2016-07-20 | 2017-11-28 | Razor Usa Llc | Two wheeled board |
| USD1013080S1 (en) | 2016-07-20 | 2024-01-30 | Razor Usa Llc | Two wheeled board |
| USD899540S1 (en) | 2016-07-20 | 2020-10-20 | Razor Usa Llc | Two wheeled board |
| USD865890S1 (en) | 2016-07-20 | 2019-11-05 | Razor Usa Llc | Two wheeled board |
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| US11654995B2 (en) | 2017-12-22 | 2023-05-23 | Razor Usa Llc | Electric balance vehicles |
| USD837323S1 (en) | 2018-01-03 | 2019-01-01 | Razor Usa Llc | Two wheeled board |
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