CN107010146A - Balance assistant device - Google Patents
Balance assistant device Download PDFInfo
- Publication number
- CN107010146A CN107010146A CN201710221851.2A CN201710221851A CN107010146A CN 107010146 A CN107010146 A CN 107010146A CN 201710221851 A CN201710221851 A CN 201710221851A CN 107010146 A CN107010146 A CN 107010146A
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- Prior art keywords
- foot
- connecting rod
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- rotor
- pedal
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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
- B62K13/00—Cycles convertible to, or transformable into, other types of cycles or land vehicle
- B62K13/04—Cycles convertible to, or transformable into, other types of cycles or land vehicle to a tricycle
-
- 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
-
- 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
Assistant device is balanced the present invention relates to one kind, two wheels including car body, positioned at car body both sides and the pedal for being connected to car body upper end, also include two the first ground-engaging elements, connection member and the second ground-engaging element, described two first ground-engaging elements are connected respectively to the both sides of the car body；The connection member is connected to one end of the pedal and can rotated relative to the pedal, and second ground-engaging element is connected to the connection member.Automatic up-down stairs can be achieved by two the first ground-engaging elements of setting and the second ground-engaging element in the present invention, and easy to use, flexibility ratio is high, and controllability is good.
Description
【Technical field】
The present invention relates to balance car technical field, a kind of two-wheel electric balance assistant device is related particularly to.
【Background technology】
Two-wheel electric balance car is a kind of electric car with self-balancing system of the parallel arrangement of two-wheeled or so, profit
The high-tech intelligent artifact for controlling to advance and retreat with principle of mobile equilibrium, with the inclination of body, can indiscriminately ad. as one wishes be controlled
Travel speed and direction of advance processed.Two-wheel electric balance car in the market, can only run on road surface, on automatic
The function of going downstairs, function is relatively simple.
【The content of the invention】
It is an object of the invention to overcome the shortcomings of above-mentioned technology there is provided it is a kind of can stair activity two-wheel electric balance help
Manage device.
A kind of balance assistant device that the present invention is provided, including car body, positioned at two wheels of car body both sides and connection
To the pedal of car body upper end, in addition to two the first ground-engaging elements, connection member and the second ground-engaging element, described two the first rows
Walk the both sides that part is connected respectively to the car body；The connection member is connected to one end of the pedal and relatively described can stepped on
Plate is rotated, and second ground-engaging element is connected to the connection member.
Further, first ground-engaging element includes the first foot, the drive mechanism, driven being installed in the first foot
Foot rotor and first connecting rod component, the first connecting rod component include connecting rod and be formed at connecting rod end be used for connect
The supporting point part of tread surface or step surface, described first foot one end is fixed to the car body, and the other end is turned by the foot
Kinetoplast connects the connecting rod, so that the supporting point part can occur relatively with first foot on the foot rotor
Rotate.
Further, the wheel is connected to the car body, the axletree and described the first of corresponding side by axletree
The coaxial heart of foot rotor of ground-engaging element, parallel or holding certain angle；The wheel and the first row of correspondence side
Do not interfered between the first connecting rod component for walking part overlapping.
Further, the connecting rod be one or two, described two connecting rods be located at first foot the same side and
Driven by same drive mechanism or driven respectively by two drive mechanisms.
Further, the pivot center of described two connecting rods is overlapped, and is not interfered between the connecting rod overlapping.
Further, described two connecting rods are divided into first level of connecting rod and second level even the rod, and the installation end of the first level of connecting rod can turn
First foot is connected to dynamicly, and the second level even the rod is pivotally connected to the end of the first level of connecting rod.
Further, second ground-engaging element includes the second foot, the drive mechanism, driven being installed in the second foot
Foot rotor and second connecting rod component, the second connecting rod component include connecting rod and be formed at connecting rod end be used for connect
The supporting point part of tread surface or step surface, second foot is fixed to the connection member, and one end of the second foot passes through
The foot rotor connects the connecting rod, so that the supporting point part can be rotated with second foot on the foot
Body relatively rotates.
Further, one end of second foot is provided with wheel, when the connection member is rotated relative to the pedal
During to horizontality, the bottom of the wheel and the bottom of the wheel are located in the same horizontal plane.
Further, the connection member includes connecting plate and turning part, and one end of the connecting plate connects the upset
Portion, the other end connects second ground-engaging element；Turning part includes turnover driving mechanism and driven upset rotor；
The turnover driving mechanism is connected to one end of the pedal or the connecting plate, and the upset rotor is connected to the connection
One end of plate or the pedal, so that the connecting plate can be rotated by overturning rotor relative to the pedal.
Further, the both sides of the pedal are connected to the upper end of the car body by flexible jumper respectively；The work
Movement connector includes being installed to the drive mechanism of the car body and two connection poles being set in parallel, the connection pole
Two ends the side of the pedal, car body is connected to by connecting rotor respectively so that two connection poles and pedal, car body
Constitute a quadrangle；The connection rotor is driven by the drive mechanism, so that the pedal can be described two with car body
Occurs relative translation under the drive of individual connection pole.
The present invention can be achieved automatic up-down stairs, made by two the first ground-engaging elements of setting and the second ground-engaging element
With conveniently, flexibility ratio is high, and controllability is good.
【Brief description of the drawings】
A kind of schematic diagram for balance assistant device that Fig. 1 provides for first embodiment of the invention；
Fig. 2 is schematic diagram when balance assistant device shown in Fig. 1 prepares top bar；
Schematic diagram when Fig. 3 is the first ground-engaging element top bar of balance assistant device shown in Fig. 1；
A kind of schematic diagram for balance assistant device that Fig. 4 provides for second embodiment of the invention；
Fig. 5 is schematic diagram when balance assistant device shown in Fig. 4 prepares top bar；
Schematic diagram when Fig. 6 is the first ground-engaging element top bar of balance assistant device shown in Fig. 4；
A kind of schematic diagram for balance assistant device that Fig. 7 provides for third embodiment of the invention；
Fig. 8 is schematic diagram when balance assistant device shown in Fig. 7 prepares top bar；
Schematic diagram when Fig. 9 is the first ground-engaging element top bar of balance assistant device shown in Fig. 7.
【Embodiment】
The invention will be further described with reference to the accompanying drawings and examples.
First embodiment
With reference to Fig. 1, a kind of balance assistant device that the present invention is provided, is two-wheel electric balance car.The balance assistant device
Two wheels 11, the pedal 12 for being connected to the upper end of car body 10, two the first running parts including car body 10, positioned at the both sides of car body 10
Part 20, the ground-engaging element 40 of connection member 30 and second.Two the first ground-engaging elements 20 are connected respectively to the both sides of car body 10.Wheel
11 are connected to car body 10 by axletree 25.Connection member 30 is connected to the front end of pedal 12 and can vertically rotated relative to pedal 12.
Second ground-engaging element 40 is connected to connection member 30.Two the first ground-engaging elements 20 and the second ground-engaging element 40 realize walking jointly
Action.When on the ground, the relative pedal 12 of connection member 30 can be turned to plumbness, be realized by two wheels 11
Run on ground.When needing stair activity, as shown in Fig. 2 connection member 30 is turned into proper states with respect to pedal 12, such as
Horizontality, up/down steps are realized by two the first ground-engaging elements 20 and the second ground-engaging element 40.
Car body 10 is built with control system, for being controlled to vehicle.Pedal 12 is provided with handrail 14, and handrail 14 is close
Connection member 30.When running on the ground, user can grasp direction by handrail 14, can make car body 10 turn to it is steady and
Accurately, fallen down while being also prevented from user because of body inclination.In stair activity, handrail 14 can prevent again user to
It is preceding or fall down backward.
The both sides of pedal 12 are connected to the upper end of car body 10 by flexible jumper 13 respectively.Flexible jumper 13 includes peace
The connection pole 131 that the drive mechanism for being attached to car body 10 and two are set in parallel.The two ends of connection pole 131 pass through respectively
Connection rotor 132 is connected to pedal 12, the side of car body 10, so that two connection poles 131 are constituted with pedal 12, car body 10
One quadrangle.In the present embodiment, connection pole 131 is inclined to set, so that two connection poles 131 and pedal 12, car body
10 constitute a parallelogram.Connection rotor 132 is driven by drive mechanism.When drive mechanism drive connection rotor 132
During rotation, under two drives for connecting pole 131, with car body 10 relative translation can occur for pedal 12.With reference to shown in Fig. 2, when
Connection member 30 is turned to before horizontality preparation up/down steps with respect to pedal 12, first controls drive mechanism drive connection to turn
Kinetoplast 132 turns an angle to the front end of car body 10, for example, rotate 60 degree of angles, and the rotation of connection rotor 132 drives two companies
Connect pole 131 and rotate 60 degree of angles to the front end of car body 10.The relative car body 10 under two drives for connecting pole 132 of pedal 12 is facing forward
The segment distances of Fang Pingyi mono-, so when up/down steps, it is ensured that the center of gravity of human body is located at two the first ground-engaging elements 20, second
In the delta-shaped region that ground-engaging element 40 is surrounded, so the device will not be overturned in up/down steps.
Connection member 30 includes connecting plate 31 and turning part.The rear end connection turning part of connecting plate 31, front end connection second
Ground-engaging element 40.Turning part includes turnover driving mechanism and driven upset rotor 33, and turnover driving mechanism includes motor
32 and driver, motor 32 is used to drive upset rotor 33.In the present embodiment, motor 32 is connected to pedal 12 by connector
Front end.Upset rotor 33 is connected to connecting plate 31.It is double shafts to overturn rotor 33, and upset rotor 33 is arranged on motor
On 32.One end of the close pedal 12 of connecting plate 31 has a connector, and the two ends of upset rotor 33 are connected respectively to corresponding
On the inwall of connector, so as to by the driving upset rotor 33 of motor 32, make connecting plate 31 vertically to be rotated relative to pedal 12.
It will of course be understood that, upset rotor 33 can also be single shaft, and upset rotor 33 is connected to the wherein side of connector
Inwall on.Turnover driving mechanism is provided with sensor for detecting whether there is step, and testing result is fed back into control system
System.Turnover driving mechanism is connected with control system, can be according to the signal control motor 32 of control system.
In another alternative, motor 32 is connected to connecting plate 31 by connector.Upset rotor 33 is connected
To the front end of pedal 12.Upset rotor 33 is double shafts and is arranged on motor 32.The front end of pedal 12 has connector, turns over
The walk around two ends of kinetoplast 33 are connected respectively on the inwall of corresponding connector, so as to pass through the driving upset rotor of motor 32
33, connecting plate 31 is vertically rotated relative to pedal 12.
First ground-engaging element 20 includes the first foot 21, the drive mechanism being installed in the first foot 21, driven foot
Rotor 24 and first connecting rod component.Drive mechanism includes motor, and is connected with control system, can be according to the signal of control system
Controlled motor, motor is used to drive foot rotor 24.First connecting rod component includes a connecting rod 22.The one end of first foot 21 is consolidated
Surely car body 10 is arrived, the other end connects connecting rod 22 by foot rotor 24, and the installation end of connecting rod 22 is fixed to foot rotor 24,
Rotated with the rotation of foot rotor 24.The end of connecting rod 22 forms supporting point part 23, and supporting point part 23 is used for and ground
Or step surface contact.Connecting rod 22 is formed in one with supporting point part 23, it is preferable that supporting point part 23 is shaped as circle.
It is to be appreciated that when drive mechanism drive link 22 is rotated, if being reference position with the first foot 21, being
Supporting point part 23 is rotated relative to the first foot 21；It is that the first foot 21 is relative if being reference position with supporting point part 23
Rotated in supporting point part 23.
Wheel 11 is connected to car body 10 by axletree 25.In the present embodiment, the first running part of axletree 25 and corresponding side
The coaxial heart of foot rotor 24 of part 20.Wheel 11 is located at the outside of the first ground-engaging element 20.Specifically, axletree 25 from correspondence one
Stretched out in the foot rotor 24 of side, and axletree 25 is driven by the drive mechanism for wheel for being installed to car body 10, wheel 11 with it is corresponding
Overlapping, the fortune of wheel 11 and first connecting rod component is not interfered between the first connecting rod component of first ground-engaging element 20 of side
Dynamic is independent.It should be understood that axletree 25 can also be with the foot rotor 24 of the first ground-engaging element 20 of corresponding side
Parallel or holding certain angle.The radius of wheel 11 is less than the length of connecting rod 22 and more than the radius of the first foot 21, wheel 11
For being run on road surface, connecting rod 22 is used for up/down steps, is so achieved that the balance assistant device can be transported on road surface
OK, but can stair activity function.
Second ground-engaging element 40 includes the second foot 41, the drive mechanism being installed in the second foot 41, driven foot
Rotor 44 and second connecting rod component.Drive mechanism includes motor, and is connected with control system, can be according to the signal of control system
Controlled motor, motor is used to drive foot rotor 44.Second connecting rod component includes a connecting rod 42.Second foot 41 is fixed to
Connection member 30, and one end of the second foot 41 connects connecting rod 42 by foot rotor 44.The installation end of connecting rod 42 is fixed to
Foot rotor 44, is rotated with the rotation of foot rotor 44.The end of connecting rod 42 forms supporting point part 43, supporting point part
43 are used to contact with ground or step surface.Connecting rod 42 is formed in one with supporting point part 43, it is preferable that the shape of supporting point part 43
For circle.
It is to be appreciated that when drive mechanism drive link 42 is rotated, if being reference position with the second foot 41, being
Supporting point part 43 is rotated relative to the second foot 41；It is that the second foot 41 is relative if being reference position with supporting point part 43
Rotated in supporting point part 43.
One end mutually deviated from connecting rod 42 of second foot 41 is provided with wheel 46 by axletree.The radius of wheel 46 is less than
The length of connecting rod 42 and the radius for being more than the second foot 41, to ensure that the second ground-engaging element 40 can up/down steps.Wheel 46 is set
The speed that the second ground-engaging element 40 is walked in up/down steps can be improved by putting.When the relative pedal 12 of connection member 30 turns to water
During level state, as shown in Fig. 2 the bottom of wheel 46 and the bottom of wheel 11 are located in the same horizontal plane, to ensure car body 10
Balance.
The principle of stair activity of the present invention is described by taking the up/down steps of the first ground-engaging element 20 as an example below.
As shown in Fig. 2 before up/down steps, first passing through the driving upset rotor 33 of motor 32 and stepping on connecting plate 31 relatively
Plate 12 turns to horizontality, is located in the same horizontal plane the bottom of wheel 46 and the bottom of two wheels 11.Pass through control
Drive mechanism drive connection rotor 132 turns an angle to the front end of car body 10, and the rotation of connection rotor 132 drives two
Connection pole 131 turns an angle to the front end of car body 10.The relative car body 10 under two drives for connecting pole 132 of pedal 12
A segment distance is translated forward, it is ensured that the center of gravity of human body is surrounded positioned at two the first ground-engaging elements 20, the second ground-engaging elements 40
In delta-shaped region.
It is the schematic diagram of the top bar of the first ground-engaging element 20 with reference to Fig. 3.The center of rotation of foot rotor 24 is defined as
O, the center of supporting point part 23 is defined as O1.The first step, the first ground-engaging element 20 is in original state, and corresponding wheel 11 is contacted
The horizontal plane of low one-level step 100.Drive mechanism drive link 22 is rotated, and connecting rod 22 is rotated around center of rotation O, until fulcrum
The bottom of part 23 contacts the horizontal plane of high one-level step 100 and the installation end of reaction connecting rod 22, into second step, according to thick stick
Thick stick principle, the installation end of connecting rod 22 is rotated by opposition around supporting point part 23, i.e., connecting rod 22 is in supporting point part 23
Heart O1 is rotated, and the first foot 21 (not shown on figure) is overturn forward, and corresponding wheel 11, which is also driven, to be overturn forward, Zhi Daoche
The horizontal plane of the high one-level step 100 of the contact of wheel 11, into the 3rd step, drive link 22 is rotated into the 4th step to drive mechanism again.
So it is repeated, you can complete the action of top bar.The principle that first ground-engaging element 20 is got out of a predicament or an embarrassing situation is similar with top bar, here
Repeat no more.Similarly, the top bar of the second ground-engaging element 40 and the principle got out of a predicament or an embarrassing situation are all similar with the first ground-engaging element 20, only
During up/down steps, when the second foot 41 is overturn forward, drive is that wheel 46 is overturn forward rather than wheel 11.This
Sample, under the collective effect of two the first ground-engaging elements 20 and the second ground-engaging element 40, makes the up/down steps of car body 10, so as to realize
Stair activity.
Second embodiment
With reference to Fig. 4, the present embodiment from unlike first embodiment, first connecting rod component includes two connecting rods, two companies
Bar is divided into first level of connecting rod 22a and second level even the rod 22b.First level of connecting rod 22a installation end is fixed to foot rotor 24, with foot
The rotation of rotor 24 and rotate.First level of connecting rod 22a end forms supporting point part 23a and provided with rotor 26.Second level even the rod
22b installation end is installed to rotor 26.Second level even the rod 22b end forms supporting point part 23b.It can pacify in first level of connecting rod 22a
Transmission device is filled, first level of connecting rod 22a and second level even the rod 22b is driven by same or different drive mechanism.
Preferably, first level of connecting rod 22a supporting point part 23a and second level even the rod 22b supporting point part 23b shape are all half
Circle, first level of connecting rod 22a supporting point part 23a diameter is identical with first level of connecting rod 22a width, second level even the rod 22b fulcrum
Part 23b diameter is identical with second level even the rod 22b width.It will of course be understood that, first level of connecting rod 22a supporting point part 23a
Shape with second level even the rod 22b supporting point part 23b can also be circle.Because having second level even the rod 22b presence, one-level
Connecting rod 22a supporting point part 23a can not in contact with the ground or step surface.First level of connecting rod 22a and second level even the rod 22b can cause first
Ground-engaging element 20 is walked more flexible, and bearing capacity is stronger.The radius of wheel 11 is less than first level of connecting rod 22a length and more than first
The radius of foot 21, is so achieved that the balance assistant device can be run on road surface, and the function of energy stair activity.
Illustrate that the first row walks the process of the up/down steps of part 20 with reference to Fig. 5 and Fig. 6.
As shown in figure 5, before up/down steps, first passing through the driving upset rotor 33 of motor 32 and stepping on connecting plate 31 relatively
Plate 12 is turned to horizontality, is located in the same horizontal plane the bottom of wheel 46 and the bottom of two wheels 11.Pass through control
Drive mechanism drive connection rotor 132 turns an angle to the front end of car body 10, and the rotation of connection rotor 132 drives two
Connection pole 131 turns an angle to the front end of car body 10.The relative car body 10 under two drives for connecting pole 132 of pedal 12
A segment distance is translated forward, it is ensured that the center of gravity of human body is surrounded positioned at two the first ground-engaging elements 20, the second ground-engaging elements 40
In delta-shaped region.
It is the schematic diagram of the top bar of the first ground-engaging element 20 with reference to shown in Fig. 6.The center of rotation of foot rotor 24 is determined
Justice is O, and the center of rotation of rotor 26 is defined as O1, and second level even the rod 22b supporting point part 23b center is defined as O2.First
Step, the first ground-engaging element 20 is in original state, and the first foot 21 (not shown on figure) does not contact the level of low one-level step 100
Face, corresponding wheel 11 contacts the horizontal plane of low one-level step 100, and drive mechanism driving first level of connecting rod 22a is rotated, and makes a cascade
Bar 22a is rotated around center of rotation O, and actuator drives second level even the rod 22b is rotated, and makes second level even the rod 22b around center of rotation
O1 is rotated, until second level even the rod 22b supporting point part 23b bottom contacts the horizontal plane of high one-level step 100, into second
Step, second level even the rod 22b supporting point part 23b reaction second level even the rods 22b installation end makes second level even the rod 22b around fulcrum
Part 23b center O2 is overturn forward, the first foot 21 is overturn forward, so that it is low to drive corresponding wheel 11 to overturn disengaging forward
The horizontal plane of one-level step 100, meanwhile, first level of connecting rod 22a is overturn forward around center of rotation O1, into the 3rd step, the first foot
Portion 21 drives corresponding wheel 11 to overturn forward until wheel 11 contacts the horizontal plane of high one-level step 100, then, first level of connecting rod
22a is overturn forward around center of rotation O, second level even the rod 22b supporting point part 23b is departed from the horizontal plane of high one-level step 100,
Meanwhile, second level even the rod 22b is overturn forward around center of rotation O1, until second level even the rod 22b supporting point part 23b bottom contact
The horizontal plane of higher one-level step 100.So alternately and repeatedly carry out, you can complete the action of top bar.First ground-engaging element 20
The principle got out of a predicament or an embarrassing situation is similar with top bar, repeats no more here.
So, under the collective effect of two the first ground-engaging elements 20 and the second ground-engaging element 40, make to leave office on car body 10
Rank, so as to realize stair activity.
3rd embodiment
With reference to Fig. 7, the present embodiment from unlike first embodiment, the present embodiment is double link structure.Specifically, first
Link assembly includes two connecting rods 22a, 22b, and foot rotor is two 24a, 24b, from the same side of the first foot 21
The heart stretches out, two coaxial hearts of foot rotor 24a, 24b.Foot rotor 24a covers the periphery for being set to foot rotor 24b.Often
Individual foot rotor drives a corresponding connecting rod.The end of each connecting rod forms supporting point part.
The process of the up/down steps 100 of first ground-engaging element 20 is described with reference to Fig. 8 and Fig. 9.For the ease of description, this pair
Connecting rod is expressed as 22a and 22b, and its supporting point part is expressed as 23a and 23b.
As shown in figure 8, before up/down steps 100, first passing through the driving of motor 32 upset rotor 33 by the phase of connecting plate 31
Horizontality is turned to pedal 12, the bottom of wheel 46 and the bottom of two wheels 11 is located in the same horizontal plane.Pass through
Control drive mechanism drive connection rotor 132 turns an angle to the front end of car body 10, and the rotation of connection rotor 132 drives
Two connection poles 131 turn an angle to the front end of car body 10.The relative car under two drives for connecting pole 132 of pedal 12
Body 10 translates a segment distance forward, it is ensured that the center of gravity of human body is enclosed positioned at two the first ground-engaging elements 20, the second ground-engaging elements 40
Into delta-shaped region in.
It is the schematic diagram of the top bar 100 of the first ground-engaging element 20 with reference to shown in Fig. 9.By the center of rotation of the first foot 21
O is defined as, foot rotor 24b center of rotation is defined as O1, and foot rotor 24a center is defined as O2.The first step, the
One ground-engaging element 20 is in original state, wherein the supporting point part 23b of connecting rod 22b bottom contacts low one-level step 100
Horizontal plane, in the presence of drive mechanism, the center O of the first foot 21 is rotated around supporting point part 23b center O1, Ling Yilian
Bar 22a is rotated relative to the center O of the first foot 21, its supporting point part 23a bottom is contacted high one-level step 100
Horizontal plane.Second step, continues to drive the connecting rod 22a positioned at high one-level step 100, so that the center O phases of the first foot 21
Overturn forward for connecting rod 22a supporting point parts 23a center O2, drive link 22b supporting point part 23b is left low one-level platform
The horizontal plane of rank 100.It is to be appreciated that drive mechanism also drive link 22a is rotated.3rd step, the first foot 21 continues forward
Upset, connecting rod 22b continues to rotate forward, until connecting rod 22b supporting point part 23b touches the horizontal plane of step 100, for example when
The horizontal plane of front step 100.Now, the center O of the first foot 21 is located between connecting rod 22a, 22b supporting point part, so as to have
There is very high stability.Then, the first foot 21 is overturn forward on connecting rod 22b supporting point part 23b center O1, connecting rod
22a is rotated forward on the center O of the first foot 21.4th step.So alternately and repeatedly carry out, until one of connecting rod for example
Untill connecting rod 22a supporting point part 23a touches the horizontal plane of high one-level step 100, state now is similar with the first step.The
As soon as the step of step to four step is constantly circulated, top bar 100 can be continued.
Under the structure using double link, the first foot 21, wheel 11 can not just be contacted with the horizontal plane of step 100.
So alternately and repeatedly carry out, you can complete the action of top bar.The principle that first ground-engaging element 20 is got out of a predicament or an embarrassing situation is similar with top bar,
Here repeat no more.
So, under the collective effect of two the first ground-engaging elements 20 and the second ground-engaging element 40, make to leave office on car body 10
Rank, so as to realize stair activity.
The first connecting rod component or second connecting rod component of the present invention can also be other knots in addition to for above-mentioned structure
Structure, such as first connecting rod component or second connecting rod component include multiple connecting rods.Multiple connecting rods driven by same drive mechanism or
Driven respectively by multiple drive mechanisms.The pivot center of multiple connecting rods is overlapped, or parallel.The quantity of connecting rod is different, can carry
Load it is also different, can be selected according to actual conditions.
Above example only expresses the preferred embodiment of the present invention, and it describes more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, it is such as special to the difference in each embodiment
Levy and be combined, these belong to protection scope of the present invention.
Claims (10)
1. one kind balance assistant device, including car body, two wheels positioned at car body both sides and it is connected to stepping on for car body upper end
Plate, it is characterised in that：Also include two the first ground-engaging elements, connection member and the second ground-engaging element, described two first walkings
Part is connected respectively to the both sides of the car body；The connection member is connected to one end of the pedal and can relatively described pedal
Rotate, second ground-engaging element is connected to the connection member.
2. balance assistant device according to claim 1, it is characterised in that：First ground-engaging element includes the first foot
Portion, the drive mechanism being installed in the first foot, driven foot rotor and first connecting rod component, the first connecting rod component
Including connecting rod and be formed at connecting rod end be used for contact the supporting point part of ground or step surface, described first foot one end is consolidated
Surely the car body is arrived, the other end connects the connecting rod by the foot rotor, so that the supporting point part and described the
One foot can relatively rotate on the foot rotor.
3. balance assistant device according to claim 2, it is characterised in that：The wheel is connected to the car by axletree
Body, the foot rotor coaxial heart, parallel or holding certain angle of the axletree with first ground-engaging element of corresponding side；
Do not interfered between the first connecting rod component of the wheel and first ground-engaging element of correspondence side overlapping.
4. balance assistant device according to claim 2, it is characterised in that：The connecting rod be one or two, described two
Individual connecting rod is located at the same side of first foot and is driven by same drive mechanism or driven respectively by two drive mechanisms.
5. balance assistant device according to claim 4, it is characterised in that：The pivot center of described two connecting rods is overlapped,
Do not interfered between the connecting rod overlapping.
6. balance assistant device according to claim 4, it is characterised in that：Described two connecting rods are divided into first level of connecting rod and two
Level connecting rod, the installation end of the first level of connecting rod is pivotally connected to first foot, and the second level even the rod rotationally connects
It is connected to the end of the first level of connecting rod.
7. balance assistant device according to claim 1, it is characterised in that：Second ground-engaging element includes the second foot
Portion, the drive mechanism being installed in the second foot, driven foot rotor and second connecting rod component, the second connecting rod component
Including connecting rod and be formed at connecting rod end be used for contact the supporting point part of ground or step surface, second foot is fixed to
The connection member, and one end of the second foot connects the connecting rod by the foot rotor, so that the fulcrum
Part can relatively rotate with second foot on the foot rotor.
8. balance assistant device according to claim 6, it is characterised in that：One end of second foot is provided with wheel
Son, when the relatively described pedal of the connection member turns to horizontality, the bottom of the wheel and the bottom of the wheel
It is located in the same horizontal plane.
9. balance assistant device according to claim 1, it is characterised in that：The connection member includes connecting plate and upset
Portion, one end connection turning part of the connecting plate, the other end connects second ground-engaging element；Turning part includes turning over
Turn drive mechanism and driven upset rotor；The turnover driving mechanism is connected to one end of the pedal or the connection
Plate, the upset rotor is connected to one end of the connecting plate or the pedal, so that the connecting plate is rotated by overturning
Body can be rotated relative to the pedal.
10. balance assistant device according to claim 1, it is characterised in that：The both sides of the pedal pass through activity respectively
Connector is connected to the upper end of the car body；The flexible jumper includes being installed to the drive mechanism of the car body and two
The connection pole being set in parallel, the two ends of the connection pole are connected to the pedal, car body by connecting rotor respectively
Side so that two connection poles and pedal, car bodies constitute a quadrangle；The connection rotor is by the drive mechanism
Driving, so that with car body under the drive of described two connection poles relative translation can occur for the pedal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221851.2A CN107010146B (en) | 2017-04-06 | 2017-04-06 | Balance assistant device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221851.2A CN107010146B (en) | 2017-04-06 | 2017-04-06 | Balance assistant device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107010146A true CN107010146A (en) | 2017-08-04 |
| CN107010146B CN107010146B (en) | 2022-11-18 |
Family
ID=59445398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710221851.2A Active CN107010146B (en) | 2017-04-06 | 2017-04-06 | Balance assistant device |
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| Country | Link |
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| CN (1) | CN107010146B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020103158A1 (en) * | 2018-11-23 | 2020-05-28 | 陆任行 | Mobility scooter |
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| US7004271B1 (en) * | 1999-08-31 | 2006-02-28 | Deka Products Limited Partnership | Dynamic balancing vehicle with a seat |
| CN103552637A (en) * | 2013-11-14 | 2014-02-05 | 无锡联创薄板有限公司 | Climbing self-balancing shopping trolley |
| CN106114706A (en) * | 2016-07-06 | 2016-11-16 | 林建伟 | A kind of two-wheeled balance car |
| CN106428284A (en) * | 2016-08-30 | 2017-02-22 | 陆任行 | Multi-leg independent mobile carrier |
| CN206856871U (en) * | 2017-04-06 | 2018-01-09 | 陆任行 | Balance assistant device |
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2017
- 2017-04-06 CN CN201710221851.2A patent/CN107010146B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0894515A1 (en) * | 1997-07-28 | 1999-02-03 | Sport-Thieme GmbH | Sport- and playing device |
| US7004271B1 (en) * | 1999-08-31 | 2006-02-28 | Deka Products Limited Partnership | Dynamic balancing vehicle with a seat |
| CN103552637A (en) * | 2013-11-14 | 2014-02-05 | 无锡联创薄板有限公司 | Climbing self-balancing shopping trolley |
| CN106114706A (en) * | 2016-07-06 | 2016-11-16 | 林建伟 | A kind of two-wheeled balance car |
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| WO2020103158A1 (en) * | 2018-11-23 | 2020-05-28 | 陆任行 | Mobility scooter |
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| Publication number | Publication date |
|---|---|
| CN107010146B (en) | 2022-11-18 |
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