CN106926947A - It is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car - Google Patents
It is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car Download PDFInfo
- Publication number
- CN106926947A CN106926947A CN201710270425.8A CN201710270425A CN106926947A CN 106926947 A CN106926947 A CN 106926947A CN 201710270425 A CN201710270425 A CN 201710270425A CN 106926947 A CN106926947 A CN 106926947A
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- CN
- China
- Prior art keywords
- wheel
- driven pulley
- balance car
- driving wheel
- chassis
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B62K13/00—Cycles convertible to, or transformable into, other types of cycles or land vehicle
- B62K13/06—Cycles convertible to, or transformable into, other types of cycles or land vehicle to a quadricycle, e.g. by coupling together two bicycles side by side
-
- 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
- B62K2202/00—Motorised scooters
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention provide it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, including chassis, first driving wheel, second driving wheel, first driven pulley, second driven pulley, drive module, push rod module, electric supply installation, control panel and bascule, first driving wheel and the second driving wheel are symmetricly set on chassis both sides, and it is respectively provided with photoelectric encoder on the first driving wheel and the second driving wheel, first driven pulley and the second driven pulley are arranged on chassis lower section, and one in front and one in back near the setting of chassis front and rear edges, first driven pulley and the second driven pulley are universal wheel, the drive module, push rod module, control panel, bascule is arranged on chassis, single-chip microcomputer is set on the control panel.
Description
Technical field
The present invention relates to the technical field of balance car, particularly it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance
Car.
Background technology
With the progress and the development of science and technology of society, requirement of the people to quality of life and condition of work is increasingly
Height, in recent years, the pursuit with people to convenience of going on a journey, this new Personal Transporter of the electrodynamic balance car that has been born.
It is the energy that balance car generally uses electric power, and motor provides power, and driver's center of gravity is detected using gyroscope, is calculated using inverted pendulum
Method maintains the dynamic equilibrium of driver.Similar mainstream product has two-wheeled balance car and single wheel balance car etc..
Current balance car is generally two-wheeled balance car and single wheel balance car, and its existence and stability is low, unitary function, long-time
Easy tired shortcoming.It is vdiverse in function and lorry stability is high, it is widely used, but the steering of dolly is dumb, walks not
Accurately, it is made above to be subject to many limitations in application.Therefore need badly a kind of i.e. stability of research and development it is high and turn to flexibly, walking rapidly,
The electrodynamic balance car for walking accurate, easy to use.
In view of this, the present inventor specially devise it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, this case
Thus produce.
The content of the invention
In order to solve the above problems, technical scheme is as follows：
It is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, including chassis, the first driving wheel, the second driving wheel,
First driven pulley, the second driven pulley, drive module, push rod module, electric supply installation, control panel and bascule, described first
Driving wheel and the second driving wheel are symmetricly set on chassis both sides, and are respectively provided with photoelectricity on the first driving wheel and the second driving wheel
Encoder, first driven pulley and the second driven pulley are arranged on chassis lower section, and one in front and one in back near chassis front and rear edges
Set, first driven pulley and the second driven pulley are universal wheel, the drive module, push rod module, control panel, balance dress
Put and be arranged on chassis, single-chip microcomputer is set on the control panel；
The drive module includes first driving means and the second drive device, and the first driving means drive first
Driving wheel, second drive device drives the second driving wheel, and the first driving means and the second drive device are fixed
Above chassis, and it is symmetrical arranged；
The push rod module includes the first push rod device and the second push rod device, and first push rod device includes first
Lifting joint, the first push-rod electric machine, first push-rod electric machine are fixed on chassis, and the first lifting joint one end connection is pushed away
Push rod on bar motor, the other end connects the first driven pulley, and the first lifting joint middle part is movably arranged on base, described
First lifting joint drives the first driven pulley to leave or contact ground in the presence of the first push-rod electric machine；Described second pushes away
Lever apparatus includes the second lifting joint, the second push-rod electric machine, and second push-rod electric machine is fixed on chassis, second lifting
Push rod on joint one end connection push-rod electric machine, the other end connects the second driven pulley, and the second lifting joint middle part activity sets
Put on base, the two liftings joint drives the second driven pulley to leave or contiguously in the presence of the second push-rod electric machine
Face；When the first driven pulley and the second driven pulley contact ground, balance car four-wheel motion, when the first driven pulley and second
When driven pulley leaves ground, the motion of balance car two-wheeled.
Further, the bascule includes gyroscope, gyroscope tablet and acceleration transducer, the gyro
Instrument tablet and chassis correspond and set, and are connected with gyroscope, the gyroscope and acceleration transducer with control
Single-chip microcomputer connection on plate.
Further, the first driving means include the first motor, the first drive sprocket and the first rotary shaft,
First drive sprocket is fixed in the first rotary shaft, and first motor uses the drive sprocket of chain drive first,
First drive sprocket drives the first driving wheel to move by the first rotary shaft；Second drive device includes that second drives electricity
Machine, the second drive sprocket and the second rotary shaft, second drive sprocket are fixed in the second rotary shaft, and described second drives
Motor uses the drive sprocket of chain drive second, the second drive sprocket to drive the second driving wheel to move by the second rotary shaft.
Further, described first rotary shaft one end is connected with the first driving wheel, and the other end sets first bearing seat, described
Second rotary shaft one end is connected with the second driving wheel, and the other end sets second bearing seat.
Further, the first groove and the second groove are provided with before and after the base, the first groove both sides are set
First fixed block, the second groove both sides set the second fixed block, first fixed block and the second fixed block point
She Zhi not first through hole and the second through hole.
Further, the first lifting joint is respectively provided with third through-hole and four-way with the second lifting joint middle part
Hole.
Further, first lifting mechanism passes through first through hole and third through-hole, second lift by latch
Rise mechanism and pass through the second through hole and fourth hole also through latch.
Further, the universal wheel sets spring vibration damper.
Further, fixed seat is provided with the base, first motor and the second motor are solid
It is scheduled on fixed seat top.
Further, the electric supply installation uses battery, the battery to connect control panel.
Balance car of the invention, sets the first driving wheel, the second driving wheel, the first driven pulley and the second driven pulley,
Photoelectric encoder is respectively provided with first driving wheel and the second driving wheel for detecting its speed, a velocity amplitude is concurrently set,
Before this velocity amplitude is reached, balance car is moved using four-wheel, and when reaching, the first driven pulley and the second driven pulley are respectively by the
, away from ground, now balance car is using two-wheeled motion for one push rod device and the second push rod device；If thinking four-wheel motion always, can
Velocity amplitude is set into highest, the intelligent conversion between balance car four-wheel and two-wheeled has been capable of achieving, two-wheeled is efficiently solved and is put down
Weighing apparatus car and single wheel balance car stability is low, unitary function, easily tired for a long time shortcoming and lorry steering it is ineffective
Living, walk inaccurate shortcoming.
Brief description of the drawings
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the explosive view of balance car of the present invention；
Fig. 2 is the front view of balance car of the present invention；
Fig. 3 is the top view of balance car of the present invention；
Fig. 4 is the side view of balance car of the present invention；
Fig. 5 is the structural representation of balance car four-wheel state of the present invention；
Fig. 6 is balance car four-wheel conversion two-wheeled balance car structural representation of the present invention；
Fig. 7 is the structural representation of balance car two-wheeled state of the present invention；
Fig. 8 is the schematic diagram of balance car of the present invention.
Label declaration：
1- chassis, the fixed blocks of 11- first, 111- first through hole, the fixed blocks of 12- second, the through holes of 121- second, 13- is fixed
Seat, 2- first driving means, the driving wheels of 20- first, the motors of 21- first, the drive sprockets of 22- first, 23- first is rotated
Axle, 24- first bearing seats, the drive devices of 3- second, the driving wheels of 30- second, the motors of 31- second, the driving-chains of 32- second
Wheel, the rotary shafts of 33- second, 34- second bearing seats, the push rod device of 4- first, the driven pulleys of 40- first, the push-rod electric machines of 41- first,
The first liftings of 42- joint, the push rod device of 5- second, the driven pulleys of 50- second, the push-rod electric machines of 51- second, the second liftings of 52- joint.
Specific embodiment
Fig. 1 to 8 is referred to, being can intelligent conversion four-wheel or two-wheeled pattern as a kind of of highly preferred embodiment of the present invention
Balance car, including chassis 1, the first driving wheel 20, the second driving wheel 30, the first driven pulley 40, the second driven pulley 50, driving mould
Block, push rod module, electric supply installation, control panel and bascule, the first driving wheel 20 and the second driving wheel 30 are symmetrical arranged
In the both sides of chassis 1, and photoelectric encoder is respectively provided with the first driving wheel 20 and the second driving wheel 30, the first driven pulley 40 and
Second driven pulley 50 is arranged on the lower section of chassis 1, and one in front and one in back sets near the front and rear edges of chassis 1, the first driven pulley 40 and the
Two driven pulleys 50 are and spring vibration damper are set on universal wheel, and universal wheel, when can run into concave-convex road surface with absorption equilibrium car
Caused vibrations, travel safer stabilization；Drive module, push rod module, control panel, bascule are arranged on chassis 1, control
Single-chip microcomputer is set in making sheet.
Drive module includes the drive device 3 of first driving means 2 and second, and first driving means 2 drive first to drive
Wheel 20, the second drive device 3 drives the second driving wheel 30, and the drive device 3 of first driving means 2 and second is each attached to chassis
1 top, and be symmetrical arranged, first driving means 2 include the first motor 21, the first drive sprocket 22 and the first power transmission shaft
23, the first drive sprocket 22 is fixed in the first rotary shaft 23, and the first motor 21 uses the drive sprocket of chain drive first
22, the first drive sprocket 22 drives the first driving wheel 20 to move by the first rotary shaft 24, one end of the first rotary shaft 23 and first
Driving wheel 20 is connected, and the other end sets first bearing seat 24；Second drive device 3 includes that the second motor 31, second is driven
The rotary shaft 33 of sprocket wheel 32 and second, the second rotating sprocket 32 is fixed in the second rotary shaft 33, and the second motor 31 is used
The second drive sprocket of chain drive 32, the second drive sprocket 32 drives the second driving wheel 30 to move by the second rotary shaft 33, the
The one end of two rotary shaft 33 is connected with the second driving wheel 30, and the other end sets second bearing seat 34, while being provided with fixation on base
Seat 13, the first motor 21 and the second motor 31 are each attached to the top of fixed seat 13.
Push rod module includes the first push rod device 4 and the second push rod device 5, and the first push rod device 4 includes the first lifting
Joint 42, the first push-rod electric machine 41, the first push-rod electric machine 41 are fixed on chassis 1, the one end of the first lifting joint 42 connection push rod
Push rod on motor, the other end connects the first driven pulley 40, and the middle part of the first lifting joint 42 is movably arranged on base, the first lift
Joint 42 is risen in the presence of the first push-rod electric machine 41, drives the first driven pulley 40 to leave or contact ground,；Second push rod is filled
Putting 5 includes the second lifting joint 52, the second push-rod electric machine 51, and second push-rod electric machine 51 is fixed on chassis 1, the second lifting
Push rod on the one end of joint 52 connection push-rod electric machine, the other end connects the second driven pulley 50, the activity of the middle part of the second lifting joint 52
Be arranged on base, the second lifting joint 52 in the presence of the second push-rod electric machine 51, drive the second driven pulley 50 leave or
Contact ground；When the first driven pulley 40 and the second driven pulley 50 contact ground, balance car four-wheel motion, when first driven
When the driven pulley 50 of wheel 40 and second leaves ground, the motion of balance car two-wheeled, the first driven pulley 40 and the second driven pulley 50 can
Remotely face or ground is outwards lifted away to contract.
Bascule includes gyroscope, gyroscope tablet and acceleration transducer, gyroscope tablet and chassis 1 one
One is correspondingly arranged, and is connected with gyroscope, and gyroscope is connected with acceleration transducer with the single-chip microcomputer on control panel.
The first groove and the second groove are provided with before and after base, the first groove both sides set the first fixed block 11, second
Groove both sides set the second fixed block 12, and the fixed block 12 of first fixed block 11 and second is respectively provided with first through hole 111
And second through hole 121, the first lifting joint 42 and the middle part of the second lifting joint 52 are respectively provided with third through-hole and four-way
Hole, the first lifting mechanism passes through first through hole 111 and third through-hole, the second lifting mechanism to be passed through also through latch by latch
Second through hole 121 and fourth hole.
Electric supply installation uses battery, battery to connect control panel, when battery is finished electricity, can be filled to battery
Electricity, and full of automatically powering off.
In sum, balance car of the invention, sets the first driving wheel, the second driving wheel, the first driven pulley and second
Driven pulley, is respectively provided with photoelectric encoder for detecting its speed on the first driving wheel and the second driving wheel, concurrently sets one
Individual velocity amplitude, before this velocity amplitude is reached, balance car is moved using four-wheel, when reaching, the first driven pulley and the second driven pulley
Respectively by the first push rod device and the second push rod device away from ground, now balance car is using two-wheeled motion；If thinking always
Four-wheel is moved, and velocity amplitude can be set into highest, has been capable of achieving the intelligent conversion between balance car four-wheel and two-wheeled, effectively solution
Determine two-wheeled balance car and single wheel balance car stability is low, unitary function, shortcoming easily tired for a long time and lorry
Steering it is dumb, walk inaccurate shortcoming.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented and do not receive aforesaid way
Limitation, as long as employing the improvement of various unsubstantialities that method of the present invention design and technical scheme are carried out, or without changing
Enter and design of the invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (10)
1. it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that including chassis, the first driving wheel,
Two driving wheels, the first driven pulley, the second driven pulley, drive module, push rod module, electric supply installation, control panel and bascule,
First driving wheel and the second driving wheel are symmetricly set on chassis both sides, and on the first driving wheel and the second driving wheel
Photoelectric encoder is set, and first driven pulley and the second driven pulley are arranged on chassis lower section, and one in front and one in back near chassis
Front and rear edges is set, and first driven pulley and the second driven pulley are universal wheel, the drive module, push rod module, control
Plate, bascule are arranged on chassis, and single-chip microcomputer is set on the control panel；
The drive module includes first driving means and the second drive device, and the first driving means drive first to drive
Wheel, second drive device drives the second driving wheel, and the first driving means and the second drive device are each attached to bottom
Disk top, and be symmetrical arranged；
The push rod module includes the first push rod device and the second push rod device, and first push rod device includes the first lifting
Joint, the first push-rod electric machine, first push-rod electric machine are fixed on chassis, the first lifting joint one end connection push rod electricity
Push rod on machine, the other end connects the first driven pulley, and the first lifting joint middle part is movably arranged on base, and described first
Lifting joint drives the first driven pulley to leave or contact ground in the presence of the first push-rod electric machine；The second push rod dress
Put including the second lifting joint, the second push-rod electric machine, second push-rod electric machine is fixed on chassis, the second lifting joint
Push rod on one end connection push-rod electric machine, the other end connects the second driven pulley, and the second lifting joint middle part is movably arranged on
On base, the two liftings joint drives the second driven pulley to leave or contact ground in the presence of the second push-rod electric machine；When
When first driven pulley and the second driven pulley contact ground, balance car four-wheel motion, when the first driven pulley and second driven
When wheel leaves ground, the motion of balance car two-wheeled.
2. it is according to claim 1 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that it is described
Bascule includes gyroscope, gyroscope tablet and acceleration transducer, a pair of the gyroscope tablet and chassis 1
Should set, and be connected with gyroscope, the gyroscope is connected with acceleration transducer with the single-chip microcomputer on control panel.
3. it is according to claim 1 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that it is described
First driving means include the first motor, the first drive sprocket and the first rotary shaft, and first drive sprocket is fixed
In the first rotary shaft, first motor uses the drive sprocket of chain drive first, the first drive sprocket to pass through first
Rotary shaft drives the motion of the first driving wheel；Second drive device includes the second motor, the second drive sprocket and the
Two rotary shafts, second drive sprocket is fixed in the second rotary shaft, and second motor uses chain drive second
Drive sprocket, the second drive sprocket drives the second driving wheel to move by the second rotary shaft.
4. it is according to claim 3 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that it is described
First rotary shaft one end is connected with the first driving wheel, and the other end sets first bearing seat, described second rotary shaft one end and second
Driving wheel is connected, and the other end sets second bearing seat.
5. it is according to claim 1 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that it is described
The first groove and the second groove are provided with before and after base, the first groove both sides set the first fixed block, and described second is recessed
Groove both sides set the second fixed block, and first fixed block and the second fixed block are respectively provided with first through hole and second
Through hole.
6. it is according to claim 1 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that it is described
First lifting joint is respectively provided with third through-hole and fourth hole with the second lifting joint middle part.
7. according to claim 5 or 6 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that
First lifting mechanism passes through first through hole and third through-hole, second lifting mechanism to be worn also through latch by latch
Cross the second through hole and fourth hole.
8. it is according to claim 1 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that it is described
Universal wheel sets spring vibration damper.
9. it is according to claim 1 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that it is described
Fixed seat is provided with base, first motor and the second motor are each attached to fixed seat top.
10. it is according to claim 1 it is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car, it is characterised in that institute
Stating electric supply installation uses battery, the battery to connect control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710270425.8A CN106926947A (en) | 2017-04-24 | 2017-04-24 | It is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710270425.8A CN106926947A (en) | 2017-04-24 | 2017-04-24 | It is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106926947A true CN106926947A (en) | 2017-07-07 |
Family
ID=59437927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710270425.8A Pending CN106926947A (en) | 2017-04-24 | 2017-04-24 | It is a kind of can intelligent conversion four-wheel or two-wheeled pattern balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106926947A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040188153A1 (en) * | 2003-03-27 | 2004-09-30 | Pao-Pao Liu | Electric motorized scooter with an electric differential |
| CN203032844U (en) * | 2012-12-18 | 2013-07-03 | 武济群 | Self-balanced vehicle auxiliary wheel structure and self-balanced vehicle with same |
| CN104760644A (en) * | 2015-04-14 | 2015-07-08 | 上海理工大学 | Electric monocycle |
| CN204895700U (en) * | 2015-06-29 | 2015-12-23 | 深圳市宝乐机器人技术有限公司 | Balance car with safety protection |
| CN205087083U (en) * | 2015-09-30 | 2016-03-16 | 江西迪比科股份有限公司 | Two -wheeled electrodynamic balance car |
| CN205292898U (en) * | 2015-11-19 | 2016-06-08 | 浙江易力车业有限公司 | Electric bicycle |
| WO2017203298A1 (en) * | 2016-05-26 | 2017-11-30 | Timur Artemev | Self-balancing unicycle device with auxiliary support |
-
2017
- 2017-04-24 CN CN201710270425.8A patent/CN106926947A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040188153A1 (en) * | 2003-03-27 | 2004-09-30 | Pao-Pao Liu | Electric motorized scooter with an electric differential |
| CN203032844U (en) * | 2012-12-18 | 2013-07-03 | 武济群 | Self-balanced vehicle auxiliary wheel structure and self-balanced vehicle with same |
| CN104760644A (en) * | 2015-04-14 | 2015-07-08 | 上海理工大学 | Electric monocycle |
| CN204895700U (en) * | 2015-06-29 | 2015-12-23 | 深圳市宝乐机器人技术有限公司 | Balance car with safety protection |
| CN205087083U (en) * | 2015-09-30 | 2016-03-16 | 江西迪比科股份有限公司 | Two -wheeled electrodynamic balance car |
| CN205292898U (en) * | 2015-11-19 | 2016-06-08 | 浙江易力车业有限公司 | Electric bicycle |
| WO2017203298A1 (en) * | 2016-05-26 | 2017-11-30 | Timur Artemev | Self-balancing unicycle device with auxiliary support |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170707 |
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| RJ01 | Rejection of invention patent application after publication |