CN106005150A - Electric self-balancing type double-wheel vehicle - Google Patents
Electric self-balancing type double-wheel vehicle Download PDFInfo
- Publication number
- CN106005150A CN106005150A CN201610451175.3A CN201610451175A CN106005150A CN 106005150 A CN106005150 A CN 106005150A CN 201610451175 A CN201610451175 A CN 201610451175A CN 106005150 A CN106005150 A CN 106005150A
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- Prior art keywords
- seat
- wheel
- pedal
- controller
- mounting seat
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
Abstract
The invention discloses an electric self-balancing type double-wheel vehicle. The electric self-balancing type double-wheel vehicle comprises two wheels, wherein torque motors are arranged on inner peripheral sides of the wheels, one side of an inner stator of each torque motor is fixedly connected to one mounting base, a pedal is connected to one side, away from the corresponding wheel, of each mounting base, connecting bases are rotationally connected below the pedals and connected on the mounting bases, the two connecting bases are connected through electric push rods, and two ends of the electric push rods are hinged with the two connecting bases; an angle sensor is mounted in the hinge position between one end of each electric push rod and one connecting base and connected with a signal input end of a controller; the controller correspondingly limits the driving speed of the wheels according to angles measured by the angle sensors, and when each angle sensor detects that the included angle between the electric push rod and the surface of one wheel is reduced, the set speed is increased. The double-wheel vehicle is convenient to use, and safety during driving at a higher speed is guaranteed.
Description
This patent is:
Invention entitled: a kind of electronic self-balancing type two-wheel car
Application No.: 2014108261743
Filing date: 2014.12.25
The divisional application of patent application.
Technical field
The invention belongs to electric automobiles, be specifically related to the two-wheel car field with Self-balancing.
Background technology
Electrodynamic balance car, is again body-sensing car, thinking car etc..Its operation principles is mainly built upon one and is referred to as " dynamically
Stably " in the ultimate principle of (Dynamic Stabilization), utilize gyroscope and the acceleration transducer of vehicle body,
Detect the change of vehicle body attitude, and utilize servo-control system, accurately drive motor to be adjusted correspondingly, to keep system
The balance of system.Common are the self-balancing wheelbarrow of single wheel, and the two-wheel car that two, left and right wheel is arranged side by side at present.Wherein
Self-balancing wheelbarrow is balanced by control system automatically at fore-and-aft direction, and left and right directions user to be leaned on balances, for
Preventing from the single wheel from producing in the longitudinal direction to topple over and cause danger, its travel speed is limited in reduced levels, at present
The speed limit of 14 cun of the most common wheelbarrows is 16km/h.Two-wheel car is due to by handle control direction and speed, and left and right
Two wheels, it is not necessary to human body controls the balance of left and right, therefore its speed limit can reach 30-40km/h, right current this two-wheel car
Need manually to be controlled, completely easy to control by health not as wheelbarrow.
Summary of the invention
The technical problem to be solved is: the deficiency existed for prior art, it is provided that a kind of driving is simple, speed
Degree comparatively fast and beneficially health keeps balance, comfortable Self-balancing electronic two-wheel car of riding.
For realizing the purpose of the present invention, it is achieved by the following technical solutions: a kind of electronic self-balancing type two-wheel car, bag
Having included two wheels, wheel inner circumferential is torque motor, and torque motor electrically connects with the outfan of controller, on two torque motors
Also it is separately installed with the sensor being connected with controller signals input；The inner stator side of torque motor is fixedly connected on one
In mounting seat, in mounting seat, the side connection away from wheel has pedal, and mounting seat is positioned at the connection of pedal rotated down connection
Seat, connection seat is mounted opposite the rotational angle range of seat and is 1-10 °, and mounting seat is axially put down with wheel with the rotary shaft being connected seat
OK；Two described connecting are connected by two electric pushrods be arrangeding in parallel between seat, and two electric pushrod two ends are with two
Individual connection seat is the most hinged；At least one described electric pushrod be connected between seat be provided with to control in articulated position electronic
Push rod length direction and the motor being connected seat corner dimension, motor, two electric pushrods defeated with controller respectively
Go out end electrical connection；When two-wheel car travel speed is less than the first setting speed, controller controls motor action, makes two electricity
It is perpendicular that dynamic push rod length direction is connected seat with two；When two-wheel car travel speed is more than the first setting speed, controller control
Electric pushrod processed extends, and controller controls motor action simultaneously, makes between electric pushrod length direction and a connection seat
Angle become acute angle, and along with the increase of two-wheel car travel speed, described sharp angle successively decreases, when two-wheel car travel speed
When reaching maximum setting speed, the angle of acute angle is 30-45 °.
Preferably: the first described setting speed is 10-15km/h；Described maximum setting speed is 30-40km/h.
Preferably: in described mounting seat, fixing connection is in order to the housing covering wheel top；Sensor described in two groups
Being fixed in described housing, described controller is arranged in housing.
Preferably: when described pedal launches, it is against in mounting seat so that stepping near the bottom of side, mounting seat side
Plate is positioned at horizontal direction, and at least one described pedal upper surface is provided with inductive switch, inductive switch and described controller
Signal input part connects, and when described inductive switch is not trampled, controller controls wheel braking.
Preferably: in described housing, be provided with accumulator, accumulator is electrically connected with the controller.
Preferably: on described pedal, be rotatably connected to a screw mandrel, one it is provided with in pedal in order to drive screw mandrel to rotate
Motor, described screw mandrel is connected by screw-driven with described mounting seat；Described motor is electrically connected with an outfan of controller
Connecing, when two-wheel car speed is less than the first normal speed, motor driving screw mandrel rotates forward and makes pedal to two-wheel car direct of travel
Front is moved, and when two-wheel car speed is higher than the second normal speed, motor driving screw mandrel rotates backward and makes pedal to two-wheel garage
The rear entering direction is moved, and described second normal speed is more than the first normal speed.
Preferably: the first described normal speed is 10km/h, the second described normal speed is 30km/h, described pedal
Forward and backward mobile range be 20-50mm.
Preferably: the top of two described pedals is separately installed with pressure transducer, two pressure transducers respectively with control
The input electrical connection of device processed；The pressure differential recorded when two pressure transducers controls less than turning setting value, two controllers
Two wheel constant speed are advanced, and the pressure differential recorded when two pressure transducers is more than turning setting value, and two pressure transducers
When the force value recorded is more than zero, controller controls the wheel velocity of the bigger side of pressure and accelerates to realize turning.
Compared with prior art, the invention has the beneficial effects as follows: the two-wheel car of the present invention can be higher in travel speed
About Shi Zidong adjustment, two wheels pull open a segment distance in the longitudinal direction, accordingly even when a wheel moment breaks down,
Car load will not produce in the longitudinal direction topples over, it is ensured that the safety of user；Simultaneously when two-wheel car higher speed travels, use
Person steps down in the double-legged front and back position on two pedals and also pulls open a segment distance, is so more conducive to keep stablizing of health.The present invention
With by compared with hand-guided two-wheel balance car, it is not necessary to hand goes control, turns up that rear volume is little to be easy to carry；Put down with single wheel
Weighing apparatus car is compared, then have higher stability and faster speed.
Accompanying drawing explanation
Structural representation when Fig. 1 is low-speed running state of the present invention.
Structural representation when Fig. 2 is high-speed travel state of the present invention.
Fig. 3 is the structural representation at another visual angle of the present invention.
Fig. 4 is the structural representation of pedal part.
Fig. 5 is the another kind of structural representation of pedal part.
1, wheel；11, housing；12, mounting seat；13, seat is connected；2, pedal；20, inductive switch；21, motor；22, silk
Bar；23, linear reciprocating motor；24, connecting shaft；3, electric pushrod；4, motor.
Detailed description of the invention
Below according to accompanying drawing, the detailed description of the invention of the present invention is made a detailed explanation.
Embodiment 1
According to Fig. 1, Fig. 2 and Fig. 3, the one electronic self-balancing type two-wheel car described in the present embodiment, include two wheels
1, wheel inner circumferential is torque motor, and torque motor electrically connects with the outfan of controller, and two torque motors are also respectively mounted
There is the sensor being connected with controller signals input；The inner stator side of torque motor is fixedly connected on a mounting seat 12
On, in mounting seat, the side connection away from wheel has pedal 2, and mounting seat is positioned at the connection of pedal rotated down connection seat 13,
Connection seat is mounted opposite the rotational angle range of seat and is 1-10 °, and mounting seat is axially in parallel with wheel with the rotary shaft being connected seat；Two
Individual described connecting is connected by two electric pushrods be arrangeding in parallel 3 between seat, and two electric pushrod two ends and two companies
Joint chair is the most hinged；At least one described electric pushrod is provided with to control electric pushrod in articulated position with being connected between seat
Length direction and the motor 4 being connected seat corner dimension, motor, two electric pushrods respectively with the outfan of controller
Electrical connection；When two-wheel car travel speed is less than 15km/h, controller controls motor action, makes two electric pushrod length
It is perpendicular that direction is connected seat with two；When two-wheel car travel speed is more than 15km/h, controller controls electric pushrod elongation, with
Time controller control motor action, the angle making electric pushrod length direction and connect between seat becomes acute angle, and
Along with the increase of two-wheel car travel speed, described sharp angle successively decreases, when two-wheel car travel speed reaches 40km/h, and acute angle
Angle be 45 °；Simultaneously along with the increase of speed, controller controls electric pushrod and gradually extends, and uses during electric pushrod elongation
Person also can judge the travel speed of two-wheel car intuitively.
In described mounting seat, fixing connection is in order to the housing 11 covering wheel top；Sensor described in two groups is fixed on
In described housing, described controller is arranged in housing.
When described pedal launches, it is against in mounting seat near the bottom of side, mounting seat side so that pedal positions
In the horizontal direction, at least one described pedal upper surface is provided with the signal of inductive switch 20, inductive switch and described controller
Input connects, and when described inductive switch is not trampled, controller controls wheel braking.So when emergency user from
Jumping off on pedal, inductive switch loses signal thus controller controls wheel reversing immediately and realizes braking.Described inductive switch
For pressing type contact switch or switching regulator pressure transducer.
Being provided with accumulator in described housing, in housing, the side inwall of remotely mounted seat forms and accommodates accumulator
Installation cavity, accumulator is electrically connected with the controller.Accumulator can be continuous in order to increase by 16 joint 18650 battery set of cells in series
Boat ability can use two above-mentioned set of cells used in parallel.
Form in described mounting seat and be connected the connection post that seat is rotationally connected, connecting seat and also install with being connected between post
Have torsion spring or elastic-like part, torsion spring in the raw time, connect seat perpendicular with mounting seat.Two such wheel has one
Fixed rotational freedom, beneficially bipod control the speed of two wheels respectively and realize keeping straight on or turning.When a wheel occurs
During skidding, relatively rotating the restriction of angle and the existence of torsion spring owing to connecting seat with mounting seat, two-wheel car is at another wheel
Driving under remain to continue normally to travel.As in figure 2 it is shown, the upper position connecting post in mounting seat forms one in order to limit
System connects the retaining wall of seat slewing area.
Often organizing described sensor and include gyro sensor and acceleration transducer, gyro sensor makes controller
Can control wheel fore-and-aft direction and be in the poised state of level, when body gravity deflection front or behind, controller is corresponding
Ground control moment motor forward or reverse, when the amplitude of user body forward, rear-inclined is the biggest, acceleration transducer detects
The side-play amount arrived is the biggest, then the rotating speed of controller correspondingly control moment motor increases.
The using method of this two-wheel car is similar to self-balancing wheelbarrow, relies on user health to act on the center of gravity on wheel
Control speed.Before riding, owing to the inductive switch on pedal does not has signal, two-wheel car is standby, when user is double
After foot is stepped on two pedals respectively, two-wheel car is just in manipulated state, the most i.e. center of gravity of adjustable health and drives
Two-wheel car moves ahead.Two wheels are directly manipulated by bipod respectively, and motility is strong, can realize flipper turn, be suitable for technology preferable
Car fan use.
Embodiment 2
The present embodiment compared with Example 1, also includes following characteristics:
Shown in Fig. 4, described pedal is rotatably connected to a screw mandrel 22, is provided with one in pedal in order to drive screw mandrel to turn
Dynamic motor 21, described screw mandrel is connected by screw-driven with described mounting seat；Described motor and an outfan of controller
Electrical connection, when two-wheel car travel speed is less than 10km/h, motor driving screw mandrel rotates forward and makes pedal to two-wheel car advance side
Forwards moving, when two-wheel car travel speed is higher than 30km/h, motor driving screw mandrel rotates backward and makes pedal to two-wheel garage
The rear entering direction is moved.
When so needing brake in higher speed driving process, owing to pedal is automatically moved to wheel rear positions, use
As long as person's health is somewhat swung back, center of gravity is the most mobile to wheel rear portion, it is possible to after realizing braking in time and ensureing user health
The amplitude of facing upward will not be excessive and cause falling down；When relatively running at a low speed, pedal is automatically moved to wheel forward position, such user
The health that need not to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure transducer, two pressure transducers respectively with the input of controller
Electrical connection；The pressure differential recorded when two pressure transducers controls two wheel constant speed advance less than 100N, two controller, when
The pressure differential that two pressure transducers record more than 100N, and the force value that records of two pressure transducers more than zero time, control
Device controls the wheel velocity of the bigger side of pressure and accelerates to realize turning.
The technical characteristic that the present embodiment increases relative to embodiment 1, makes two-wheel car can conveniently keep straight in ride
OK, during turning, need the center of gravity shifting health significantly to drive, be suitable for new hand or security performance requires that high user uses.
Embodiment 3
The present embodiment compared with Example 1, also includes following characteristics:
Shown in Fig. 5, described pedal being rotatably connected to a connecting shaft 24, the middle part of connecting shaft is through mounting seat and passes through
Screw is fixedly connected in mounting post, and pedal one end is installed with linear reciprocating motor 23, the output shaft of linear reciprocating motor
Coaxially being connected with connecting shaft, described linear reciprocating motor is electrically connected with the controller, when two-wheel car speed is less than 10km/h, and straight line
Reciprocating motor drives pedal to move to two-wheel car direct of travel front, when two-wheel car speed is higher than 30km/h, and linear reciprocation electricity
Machine drives pedal to move to the rear of two-wheel car direct of travel.
Specifically, described linear reciprocating motor can be selected for linear reciprocation electricity disclosed in Publication No. CN103715858A
Machine, is adjusted the relative position of pedal and connecting shaft, thus adjusts the pedal position relative to car body by linear reciprocating motor.
When so needing brake in higher speed driving process, owing to pedal is automatically moved to wheel rear positions, use
As long as person's health is somewhat swung back, center of gravity is the most mobile to wheel rear portion, it is possible to after realizing braking in time and ensureing user health
The amplitude of facing upward will not be excessive and cause falling down；When relatively running at a low speed, pedal is automatically moved to wheel forward position, such user
The health that need not to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure transducer, two pressure transducers respectively with the input of controller
Electrical connection；The pressure differential recorded when two pressure transducers controls two wheel constant speed advance less than 100N, two controller, when
The pressure differential that two pressure transducers record more than 100N, and the force value that records of two pressure transducers more than zero time, control
Device controls the wheel velocity of the bigger side of pressure and accelerates to realize turning.
The technical characteristic that the present embodiment increases relative to embodiment 1, makes two-wheel car can conveniently keep straight in ride
OK, during turning, need the center of gravity shifting health significantly to drive, be suitable for new hand or security performance requires that high user uses.
Claims (1)
1. an electronic self-balancing type two-wheel car, it is characterised in that: including two wheels, wheel inner circumferential is torque motor, power
Torque motor electrically connects with the outfan of controller, two torque motors is also separately installed with and is connected with controller signals input
Sensor；The inner stator side of torque motor is fixedly connected in a mounting seat, and in mounting seat, the side away from wheel connects
Being connected to pedal, mounting seat is positioned at the connection of pedal rotated down connection seat, connects seat and is mounted opposite the rotational angle range of seat
For 1-10 °, mounting seat is axially in parallel with wheel with the rotary shaft being connected seat；Between two described connection seats by two parallel
The electric pushrod arranged connects, and to be connected seat with two the most hinged two electric pushrod two ends；At least one is described electronic pushes away
Bar is provided with, in articulated position, the stepping that controls electric pushrod length direction be connected seat corner dimension with being connected between seat
Motor, motor, two electric pushrods electrically connect with the outfan of controller respectively；When two-wheel car travel speed is less than
During 15km/h, controller controls motor action, makes two electric pushrod length directions and two connection seats perpendicular；When double
When wheel car travel speed is more than 15km/h, controller controls electric pushrod elongation, and controller controls motor action simultaneously, makes
Electric pushrod length direction and an angle connected between seat become acute angle, and along with the increase of two-wheel car travel speed, institute
The sharp angle stated successively decreases, and when two-wheel car travel speed reaches 40km/h, the angle of acute angle is 45 °；Simultaneously along with speed
Increasing, controller controls electric pushrod and gradually extends；
In described mounting seat, fixing connection is in order to the housing covering wheel top；Sensor described in two groups is fixed on described shell
Internal, described controller is arranged in housing；
When described pedal launches, it is against in mounting seat so that pedal is positioned at water near the bottom of side, mounting seat side
Square to, at least one described pedal upper surface inductive switch is installed, the signal input part of inductive switch and described controller
Connecting, when described inductive switch is not trampled, controller controls wheel braking；Described inductive switch is pressing type contact switch
Or switching regulator pressure transducer；
Being provided with accumulator in described housing, in housing, the side inwall of remotely mounted seat forms the installation accommodating accumulator
Chamber, accumulator is electrically connected with the controller；Accumulator is by 16 joint 18650 battery set of cells in series；
Form in described mounting seat and be connected the connection post that seat is rotationally connected, connecting seat and be also equipped with turning round with being connected between post
Spring；Torsion spring in the raw time, connect seat perpendicular with mounting seat；The upper position connecting post in mounting seat forms
One retaining wall connecting seat slewing area in order to limit；
Often organize described sensor and include gyro sensor and acceleration transducer；
Being rotatably connected to a connecting shaft 24 on described pedal, the middle part of connecting shaft connects through mounting seat and by screw is fixing
In mounting post, pedal one end is installed with linear reciprocating motor 23, and the output shaft of linear reciprocating motor is coaxial with connecting shaft
Being connected, described linear reciprocating motor is electrically connected with the controller, and when two-wheel car speed is less than 10km/h, linear reciprocating motor drives
Pedal moves to two-wheel car direct of travel front, when two-wheel car speed higher than 30km/h time, linear reciprocating motor drive pedal to
The rear of two-wheel car direct of travel is moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610451175.3A CN106005150A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing type double-wheel vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826174.3A CN104494749B (en) | 2014-12-25 | 2014-12-25 | A kind of electronic self-balancing type two-wheel car |
| CN201610451175.3A CN106005150A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing type double-wheel vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410826174.3A Division CN104494749B (en) | 2014-12-25 | 2014-12-25 | A kind of electronic self-balancing type two-wheel car |
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| CN106005150A true CN106005150A (en) | 2016-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610453309.5A Pending CN105947052A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201610451175.3A Pending CN106005150A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing type double-wheel vehicle |
| CN201610458585.0A Pending CN105947055A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201410826174.3A Active CN104494749B (en) | 2014-12-25 | 2014-12-25 | A kind of electronic self-balancing type two-wheel car |
| CN201610451178.7A Pending CN105857468A (en) | 2014-12-25 | 2014-12-25 | Electric self-balance type two-wheeled vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610453309.5A Pending CN105947052A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610458585.0A Pending CN105947055A (en) | 2014-12-25 | 2014-12-25 | Electric self-balancing double-wheeled vehicle |
| CN201410826174.3A Active CN104494749B (en) | 2014-12-25 | 2014-12-25 | A kind of electronic self-balancing type two-wheel car |
| CN201610451178.7A Pending CN105857468A (en) | 2014-12-25 | 2014-12-25 | Electric self-balance type two-wheeled vehicle |
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- 2014-12-25 CN CN201610458585.0A patent/CN105947055A/en active Pending
- 2014-12-25 CN CN201410826174.3A patent/CN104494749B/en active Active
- 2014-12-25 CN CN201610451178.7A patent/CN105857468A/en active Pending
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105947052A (en) | 2016-09-21 |
| CN105857468A (en) | 2016-08-17 |
| CN104494749A (en) | 2015-04-08 |
| CN104494749B (en) | 2016-09-21 |
| CN105947055A (en) | 2016-09-21 |
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