CN107097881A - A kind of control method of posture car and posture car - Google Patents
A kind of control method of posture car and posture car Download PDFInfo
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- CN107097881A CN107097881A CN201710293893.7A CN201710293893A CN107097881A CN 107097881 A CN107097881 A CN 107097881A CN 201710293893 A CN201710293893 A CN 201710293893A CN 107097881 A CN107097881 A CN 107097881A
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- car
- drive component
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- drive
- driving wheel
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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
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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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
- 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 provides the control method of a kind of posture car and posture car, is related to vehicle technology field, and the posture car includes car body, at least two rollers, pedal, two drive components and battery component.Each roller includes stator fixing axle and mover driving wheel.Car body can be around in stator fixing axle and be rotated relative to mover driving wheel, drive component is fixedly connected in stator fixing axle, drive component then can be with stator fixing axle with respect to vehicle body swing, drive component is in same working face with roller, i.e. in use, user is equivalent to stepping down on roller, so as to eliminate interference of the poised state of car body to drive component output signal.Compared to prior art, the posture car that the present invention is provided improves the sensitivity that drive component judges adjustment signal so that user is physically easier to perform, and especially becomes to be more prone in the process of getting on the bus, the body structure of posture car is also simplify, the production cost of product is reduced.
Description
Technical field
The present invention relates to the control method of vehicle technology field, more particularly to a kind of posture car and posture car.
Background technology
Posture car, is called body-sensing car, thinking car, and its operation principles is mainly built upon the substantially former of a kind of " dynamic stability "
In reason, using the gyroscope and acceleration transducer of vehicle body, to detect the change of vehicle body attitude, and SERVO CONTROL system is utilized
Accurately motor is adjusted correspondingly system, to ensure the balance of car body.
At present, the control mode of posture car has two kinds：First, an action bars is provided with car body, user stands in car body
Foot platform on action bars is operated so that with " manual control " mode realize car body advance, retreat and stop, but
It is that action bars adds the weight of overall posture car, is unfavorable for carrying；Second, control pedal is provided with the foot-operated region of car body,
User is different by being exerted a force to control pedal front and back end, i.e., with " foot control " mode realize the advance of car body, retrogressing, turning and
Stop, still, the control pedal because can not relative body movement, induction sensitivity is low, causes the actual manipulation difficulty of user, flat
The sexual experience that weighs is poor, is especially difficult to keep car body stabilized driving during getting on the bus.
The content of the invention
In summary, it is an object of the invention to provide a kind of posture car, it is intended to which solution is stepped on using control in the prior art
The problem of operating difficulties and low induction sensitivity that plate manipulation posture car is faced.
The present invention is achieved in that a kind of posture car, including car body, at least two rollers, pedal and two drives
Dynamic component, multiple rollers are articulated in car body, and pedal is arranged on car body, and two drive component parallel intervals are arranged in car body
And drive two rollers to rotate under the drive of pedal；Each roller includes stator fixing axle and mover driving wheel, stator
Fixing axle is pivotally connected and car body, and mover driving wheel is connected with stator fixing axle, two drive components respectively with two mover driving wheels
Electrical connection, two drive components are respectively fixedly connected with stator fixing axle corresponding in two mover driving wheels, each drive component
Can be rotated relative to the stator fixing axle and produce slanted angle and can to corresponding mover driving wheel output drive signal so that
Drive component tends to dynamic level balance.
A kind of posture car, including car body, at least two rollers, pedal, two drive components and control system, it is multiple
Roller is relatively articulated in the both sides of car body two-by-two, and pedal is covered on car body, and two drive component parallel intervals are arranged at
It is connected in car body and respectively the two ends of pedal；Each roller includes stator fixing axle and mover driving wheel, and stator is fixed
One end of axle is stretched into car body and is connected with car body, and the other end and the mover driving wheel of stator fixing axle are pivotally connected, so that mover drives
Wheel can relative stator fixing axle rotate, two drive components electrically connects with two mover driving wheels respectively, and two drive components divide
The corresponding stator fixing axle of two mover driving wheels is not connected to；Each drive component can relative stator under the drive of pedal
Fixing axle rotates and can be to corresponding mover driving wheel output drive signal so that drive component tends to dynamic level balance.Battery
Component is arranged in car body and electrical with two drive components and two mover driving wheels corresponding with two drive components respectively
Connection, to be powered to drive component and roller.
Further, each drive component includes level board, two elastic components and control system, and level board is arranged at car
In vivo and be rotatably connected at stator fixing axle, two elastic components are respectively arranged at the two ends of level board and optionally supported
The inwall of car body is connected to, control system is electrically connected to mover driving wheel, turned when level board relative stator fixing axle is rotated and produced
Output drive signal is to mover driving wheel during angle of dynamical inclination.
Further, drive component includes level board, two elastic components and control system, and level board is arranged in car body
And it is rotatably connected at stator fixing axle, two elastic components are arranged in car body and are optionally connected to the two of level board
End, control system is electrically connected to mover driving wheel, is exported when level board relative stator fixing axle is rotated and produces rotation inclination angle
Drive signal is to mover driving wheel.
Further, the first support base is provided with car body, the first support base is provided with clutch shaft bearing, and stator fixing axle is worn
In clutch shaft bearing.
Further, the second support base is additionally provided with car body, the second support base is oppositely arranged with the first support base, second
Support and second bearing be provided with seat, stator fixing axle be arranged in clutch shaft bearing and second bearing respectively and be set up in the first support base with
Between second support base.
A kind of control method of posture car, for controlling above-mentioned posture car, the control method of posture car includes：Pedal
It is pressurized and drives drive component to rotate；The rotational angle of two drive components is detected, and is driven independently of each other to corresponding mover
Output drive signal is taken turns, so that drive component tends to dynamic level balance；Two mover driving wheels are respectively according to drive signal phase
Mutually independently rotated；When the rotational angle of two drive components is identical, the driving letter that two mover driving wheels are received
It is number identical, so that two mover driving wheel synchronous axial systems so that posture Chinese herbaceous peony is entered or retreated；When the angle of rotation of two drive components
When spending different, the drive signal that two mover driving wheels are received is different, is rotated so that two mover driving wheels are asynchronous so that
Posture car is turned.
Further, pedal is by for two groups of separate pressure signals, and two groups of pressure signals correspond to control respectively
Two drive components are rotated.
Further, a sensor is provided with each drive component, sensor is electrically connected with corresponding drive component,
The rotational angle of corresponding drive component is detected by sensor and corresponding drive component is fed back to, each drive component to
Corresponding mover driving wheel sends drive signal.
Further, each drive component sends drive signal in real time according to the feedback of each corresponding sensor, with reality
When control corresponding mover driving wheel to rotate.
Further, there is a velocity response module, to sense the speed of posture car, when posture car on each drive component
Speed exceed preset value when, velocity response module generation adjustment signal simultaneously be transferred to drive component, drive component is accordingly adjusted
Rotational angle, to change the drive signal and cause the mover driving wheel to slow down.
The invention has the advantages that：
Compared with prior art, the posture car that the present invention is provided, car body can be around in stator fixing axle with respect to mover driving wheel
Rotate, drive component is fixedly connected in stator fixing axle, drive component then can be with the relative vehicle body swing of stator fixing axle, this
Sample, drive component and roller are in same working face, though during, user equivalent to stepping down on roller so that
Eliminate the overall type of drive of interference of the poised state of car body to drive component output signal, i.e. posture car and be only driven group
The adjustment signal source of part relative level plane is stimulated, and therefore, user need to only manipulate drive component, produces its relative level plane
Raw slanted angle can then send drive signal to corresponding mover driving wheel, obtain corresponding transport condition, this connection
Mode improves the sensitivity that drive component judges adjustment signal so that user is physically easier to perform, especially in the process of getting on the bus
Become to be more prone to, also simplify the body structure of posture car, reduce the production cost of product.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the first visual angle explosive view of the posture car that first embodiment of the invention is provided；
Fig. 2 is the second visual angle explosive view of the posture car that first embodiment of the invention is provided；
Fig. 3 is the posture bassinet structure schematic diagram that first embodiment of the invention is provided；
Fig. 4 is the explosive view at the 3rd visual angle of the posture car that first embodiment of the invention is provided；
Fig. 5 is the control method schematic diagram for the posture car that first embodiment of the invention is provided；
Fig. 6 is the structural representation for the posture car that second embodiment of the invention is provided.
Icon：1st, 1 ＇-car body；11- top shell bodies；11a- non-slip textures；111- pedals；12- bottom shell bodies；2- rollers；21-
Stator fixing axle；22nd, 22 ＇-mover driving wheel；3rd, 3 ＇-drive component；31- level boards；32- elastic components；33- control systems；
The support bases of 41- first；411- clutch shaft bearings；The support bases of 42- second；421- second bearings.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " vertical ", " level ", " interior ", " outer "
Orientation or position relationship Deng instruction are that, based on orientation shown in the drawings or position relationship, or the invention product is used when using
The orientation or position relationship often put, are for only for ease of the description present invention and simplify description, rather than indicate or imply and be signified
Device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the present invention
Limitation.In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important
Property.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" connected ", " installation ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment can be mutually combined.
First embodiment
Fig. 1 be refer to Fig. 3, posture car provided in an embodiment of the present invention, including it is car body 1, at least two rollers 2, foot-operated
Plate 111, two drive components 3 and battery component (non-label in figure), multiple rollers 2 are relatively articulated in car body 1 two-by-two
Both sides, pedal 111 is covered on car body 1, and two parallel intervals of drive component 3 are arranged in car body 1 and are connected to pin respectively
The two ends of pedal 111；Each roller 2 includes stator fixing axle 21 and mover driving wheel 22, and one end of stator fixing axle 21 is stretched
Enter in car body 1 and be connected with car body 1, the other end and the mover driving wheel 22 of stator fixing axle 21 are pivotally connected, so that mover driving wheel
22 can relative stator fixing axle 21 rotate.Two drive components 3 are electrically connected with two mover driving wheels 22 respectively, two driving groups
Part 3 is respectively fixedly connected with stator fixing axle 21 corresponding in two mover driving wheels 22；Each drive component 3 is in pedal 111
Drive under can relative stator fixing axle 21 rotate and can be to the corresponding output drive signal of mover driving wheel 22 so that driving group
Part 3 tends to dynamic level balance.Battery component be arranged in car body 1 and respectively with two drive components 3 and with two driving groups
3 corresponding two mover driving wheels 22 of part are electrically connected with, and its operation principle is as follows：It is relative that car body 1 can be around in stator fixing axle 21
Mover driving wheel 22 is rotated, and drive component 3 is connected in stator fixing axle 21, and drive component 3 then can be with stator fixing axle 21
Swung with respect to car body 1, so, drive component 3 is in same working face with roller 2, i.e., in use, user's phase
When in stepping down on roller 2, so as to eliminate interference of the poised state of car body 1 to the output signal of drive component 3, i.e. posture car is whole
The adjustment signal source that body type of drive is only driven the relative level plane of component 3 is stimulated, and therefore, user need to only manipulate driving
Component 3, its relative level plane is produced slanted angle then can send drive signal to corresponding mover driving wheel 22, obtain
Corresponding transport condition, this connected mode improves the sensitivity that drive component 3 judges adjustment signal so that user is more
It is easily operated, especially become to be more prone in the process of getting on the bus, meanwhile, the body structure of posture car is also simplify, production is reduced
The production cost of product.Specifically, Fig. 1 to Fig. 3 is refer to, in the present embodiment, two mover driving wheels 22 are respectively arranged on car body 1
It is parallel to each other between both sides, and two mover driving wheels 22, two drive components 3 are located between mover driving wheel 22.So, two move
Spacing is longer between sub- driving wheel 22, more stablizes in the process of moving, especially more steady in the turning process of car body 1.
In the present embodiment, the number of roller 2 is two, is respectively arranged at the two ends of car body 1.But it is not restricted to
This, the number of roller 2 can also be four or six, now widen to the being also adapted to property of car body 1, multiple rollers 2 are relative two-by-two
Ground is arranged on the both sides of car body 1, further increases the stability of the posture car.
Please continue to refer to Fig. 1 to Fig. 3, in the present embodiment, drive component 3 include level board 31, two elastic components 32 with
And control system 33, level board 31 is arranged in car body 1 and is rotatably connected at stator fixing axle 21, two 32 points of elastic components
The two ends of level board 31 are not arranged at and the inwall of car body 1 is optionally connected to, and control system 33 is electrically connected to mover drive
Driving wheel 22, when the relative stator fixing axle 21 of level board 31 is rotated and produces rotation inclination angle, output drive signal is to mover driving wheel
22.When level board 31 and horizontal plane, which are produced, rotates inclination angle, elastic component 32 is just connected to the inwall of car body 1, when level board 31 with
Horizontal plane is produced when rotating inclination angle, and control system 33 is moved with level board 31, so that output drive signal is to corresponding
Mover driving wheel 22, realizes the rotation acceleration of mover driving wheel 22 so that level board 31, which has, obtains parallel with horizontal plane
Trend, located at the rotational angle of the relative car body 1 of the limit levels plate 31 of elastic component 32 of the front-end and back-end of level board 31, make it not
Meeting relative level plane produced high inclination-angle angle.
Preferably, in the present embodiment, elastic component 32 is a spring, using the elastic restriction level plate 31 of spring with respect to car
The rotation of body 1.
Preferably, control system 33 is located at the lower section of level board 31, and rotates therewith, and this is not restricted to certainly,
The other positions of level board 31 can also be located at, as long as being able to detect that the position of the inclination angle angle of the relative level plane of level board 31
Within protection scope of the present invention.There is a sensor (not shown), for the phase of sensation level plate 31 in control system 33
To the angle of horizontal plane.
Or, do not show in figure, part unlike the embodiments above is, two elastic components 32 are in car body 1, level board 31
When being around in the rotation of stator fixing axle 21, its front end or rear end are resisted against on elastic component 32 with limit levels plate 31 with respect to car body 1
Rotational angle.
Please continue to refer to Fig. 1 to Fig. 3, be provided with is used to support the first of stator fixing axle 21 in the present embodiment, in car body 1
A clutch shaft bearing 411 is provided with support base 41, the first support base 41, stator fixing axle 21 is arranged in clutch shaft bearing 411.So,
It is articulated at stator fixing axle 21 only one on car body 1 so that the more flexibility of level board 31 in stator fixing axle 21.
Or, Fig. 1 to Fig. 4 is refer to, in the present embodiment, is additionally provided with car body 1 for supporting stator fixing axle 21
Second support base 42, the second support base 42 is oppositely arranged with the first support base 41, and a second bearing is provided with the second support base 42
421, stator fixing axle 21 is arranged in clutch shaft bearing 411 and second bearing 421 and is set up in the first support base 41 and second respectively
Between support base 42.So, the stabilization of stator fixing axle 21 being set up on the first support base 41 and the second support base 42 is improved
Property it is high, also make it that the course of work of level board 31 in stator fixing axle 21 is more steady.
Further, Fig. 1 to Fig. 3 is refer to, in embodiment, car body 1 includes the top shell body 11 and drain pan fastened up and down
Body 12, pedal 111 is the foot-operated area of the flexibility corresponding about 3 with drive component respectively of two on top shell body 11.So,
When flexible foot-operated area on user's bi-pedal, equivalent to trampling indirectly in drive component 3, the manipulation to drive component 3 is realized.
Preferably, flexible foot-operated area is made up of flexible silica gel material, is easy to user to pass through silica gel gearing power to drive component 3.
Specifically, Fig. 1 to Fig. 3 is refer to, in the present embodiment, the foot-operated area of flexibility is provided with non-slip texture 11a.So,
Increase the frictional force between pin and flexible foot-operated area, prevent from skidding.
There is a velocity response module (not shown) on each drive component 3, to sense the speed of posture car, when posture car
Speed when exceeding preset value, velocity response module generation adjustment signal is simultaneously transferred to drive component 3, and drive component 3 is accordingly adjusted
Whole rotational angle, to change the drive signal and cause the mover driving wheel to slow down.Specifically, drive component 3 is reduced
Level board 31 so as to change the angle that sensor sensing is arrived, and then changes mover driving relative to the angle of stator fixing axle 21
The output speed of wheel 22, reaches the purpose of deceleration.It should be noted that in the present embodiment, level board 31 is solid relative to stator
Dead axle 21 is to tend to relative balance state all the time, when the speed of posture car exceedes preset value, rotates level board 31 to break
Original relative balance state simultaneously establishes new poised state again so that the angle that inductor is sensed changes, and enters
And control mover driving wheel 22 to be braked.
In the present embodiment, due to car body and the relatively turnable connected mode of drive component so that drive component and water
The angle in average face can be substantially eliminated when reducing because the user that the unexpected rotational band of car body 1 is come loses the effect of center of gravity, so that
It must slow down more steady, ensure the safety of driving.
Especially, in the present embodiment, also there is an alarm module and vibration module, when the speed of posture car surpasses on car body
When crossing preset value, alarm module just generates alarm signal and is transferred to vibration module, and the vibration module receives alarm signal
Foot-operated panel vibration is driven afterwards, so as to remind user to exceed the speed limit.
With reference to Fig. 5, the present embodiment additionally provides a kind of control method of posture car, for controlling above-mentioned posture car, should
The control method of posture car includes：
Step S501：Pedal 111 is pressurized and drives drive component 3 to rotate.
When in use, it is necessary to which user steps down in pin on pedal 111, and control by user pedal 111 of stepping on
Pressure size and trample direction so that pedal 111 drives level board 31 and horizontal plane to produce slanted angle.It is worth
It is noted that pressure parameter includes the size and active position of pressure herein, each drive component 3 is made by input pressure parameter
In level board 31 can independently of each other relative to horizontal plane produce slanted angle.And the pressure parameter of two pin inputs is mutual
It is independent, produce slanted angle with horizontal plane to correspond to two level boards 31 of control respectively.It is worth noting that, level is put down herein
Face is a relative plane of reference.
Step S502：The rotational angle of two drive components 3 is detected, and it is defeated to corresponding mover driving wheel 22 independently of each other
Go out drive signal.
User tramples the pedal 111 at two ends respectively, and make it that the level board 31 at two ends is flat with level independently of each other
Face produces slanted angle, and control system 33 is moved with level board 31.Due to being set in the control system 33 of drive component 3
Have a sensor, sensor is electrically connected with corresponding control system 33, by sensor detect corresponding level board 31 with
The slanted angle of horizontal plane generation simultaneously feeds back to corresponding control system 33, and each drive component 3 drives to corresponding mover
Wheel 22 sends drive signal.Each control system 33 sends drive signal in real time according to the feedback of each corresponding sensor, with
Corresponding mover driving wheel 22 is controlled to rotate in real time.
Step S503：Two mover driving wheels 22 are rotated according to drive signal is separate respectively, so as to drive appearance
State garage enters or turned.
Especially, when two drive components 3 are identical with the slanted angle that horizontal plane is produced, two movers
The drive signal that driving wheel 22 is received is identical, so that two synchronous axial systems of mover driving wheel 22 so that the appearance
State Chinese herbaceous peony is entered or retreated；When two drive components 3 are different from the slanted angle that horizontal plane is produced, two movers
The drive signal that driving wheel 22 is received is different, is rotated so that two mover driving wheels 22 are asynchronous so that described
Posture car is turned.
In the present embodiment, the slanted angle that two level boards 31 are produced relative to horizontal plane can by pedal 111 come
It is determined that, that is to say, that the travel condition of posture car can be controlled by the both feet of user.And in the present embodiment, posture
The turning of car is realized by the difference of two rotating speeds of mover driving wheel 22, that is to say, that pass through the change of drive signal
The advance that posture car can be achieved, the function of retreating and turn.
Specifically, when user's both feet, which are stood, to be turned forward on the pedal 111 of car body 1, phase in car body 1 is triggered
Corresponding level board 31 so that two level boards 31 produce the angle that turns forward with horizontal plane, two level boards 31 then drive pair
Control system 33 is answered to occur inclination angle forward with respect to car body 1, the sensor (not shown) positioned at control system 33 detects two water
Flat board 31 leans forward motor message, now, and the drive signal that the output of two control systems 33 is rotated forward is same to respective mover driving wheel 22
Step is rotated forward forward, and overall posture car then travels forward.It is understood that when user's both feet are stood in the pedal of car body 1
When being retreated on 111, level board 31 corresponding in car body 1 is triggered so that two level boards 31 are produced with horizontal plane
The angle retreated, two level boards 31 then drive correspondence control system 33 to occur inclination angle backward with respect to car body 1, positioned at control system
The sensor (not shown) detection equal reclining movement signal of two level board 31 of system 33, now, the output reversion of two control systems 33
Drive signal rotated forward backward to respective mover driving wheel 22 is synchronous, overall posture car is then moved backward.When left side level board 31
When relative level planar tilt angle is more than 31 relative level planar tilt of right side level board, left side control system 33 is exported quickly
Turn signal is to left side mover driving wheel 22 so that the mover driving wheel 22 in left side is rotated faster, and right side control system 33 is exported
Slow rotation signal is to right side mover driving wheel 22 so that the mover driving wheel 22 on right side rotates slower, i.e. the mover drive in left side
The speed of driving wheel 22 is more than the speed of the mover driving wheel 22 on right side, so as to realize that whole posture car bends to right.Similarly, when
When right side level board 31 is more than left side level board 31 relative to the rotation inclination angle of car body 1 relative to the rotation inclination angle of car body 1, whole posture
Car is turned to the left.
In summary, the present embodiment, which provides a kind of car body 1 of posture car, can be around in stator fixing axle 21 with respect to mover driving
Wheel 22 is rotated, and drive component 3 is fixedly connected in stator fixing axle 21, drive component 3 then can be relative with stator fixing axle 21
Car body 1 is swung, so, and drive component 3 and roller 2 are in same working face, even if during, user is equivalent to stepping down in
On roller 2, so as to eliminate interference of the poised state of car body 1 to the output signal of drive component 3, i.e. posture the car integrally side of driving
The adjustment signal source that formula is only driven the relative level plane of component 3 is stimulated, and therefore, user need to only manipulate drive component 3, make it
Relative level plane produces slanted angle can then send drive signal to corresponding mover driving wheel 22, obtain corresponding row
State is sailed, this connected mode improves the sensitivity that drive component 3 judges adjustment signal so that user is physically easier to perform, especially
It is to become to be more prone in the process of getting on the bus, and also simplify the body structure of posture car, reduces the production cost of product.Simultaneously
Slowed down by way of lifting car body 1, with reference to the connected mode of car body 1 and drive component 3, may be such that moderating process more
Plus it is steady, it is to avoid because losing center of gravity accident occurs for user.
Second embodiment
Refer to Fig. 6, in the present embodiment, the ＇ of two mover driving wheel 22 provided with the ＇ of car body 1, the ＇ of two mover driving wheel 22 it
Between be in an acute angle, the ＇ of two drive component 3 respectively be located at the ＇ of two mover driving wheel 22 outside.That is the ＇ of two mover driving wheel 22 is in
Interior eight word is in the ＇ of car body 1, so, the hypotelorism between the ＇ of two mover driving wheel 22 so that the radius of turn of posture car is more
It is small, it is adapted to travel in narrow space.
The undeclared part of the present embodiment is identical with embodiment one, repeats no more here.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of posture car, it is characterised in that including car body, at least two rollers, pedal, two drive components and battery
Component, multiple rollers are relatively articulated in the both sides of the car body two-by-two, and the pedal is covered on the car body, and two
The individual drive component parallel interval is arranged in the car body and is connected to the two ends of the pedal respectively；Each rolling
Wheel includes stator fixing axle and mover driving wheel, and one end of the stator fixing axle is stretched into the car body and connected with the car body
Connect, the other end of the stator fixing axle is pivotally connected with the mover driving wheel, so that the mover driving wheel can be relatively described fixed
Sub- fixing axle is rotated, and two drive components are electrically connected with mover driving wheel described in two of which respectively, two drivings
Component is respectively fixedly connected with the stator fixing axle corresponding in two mover driving wheels；Each drive component is in institute
Stating can rotate relative to the stator fixing axle under the drive of pedal and can believe to the corresponding mover driving wheel output driving
Number so that the drive component tends to dynamic level balance, the battery component be arranged in the car body and respectively with two institutes
State drive component and two mover driving wheels corresponding with two drive components are electrically connected with, to the driving
Component and the roller are powered.
2. posture car as claimed in claim 1, it is characterised in that each drive component includes level board, two elasticity
Part and control system, the level board are arranged in the car body and are rotatably connected at the stator fixing axle, two
The elastic component is respectively arranged at the two ends of the level board and is optionally connected to the inwall of the car body, the control
System is electrically connected to the mover driving wheel, when the level board is rotated relative to the stator fixing axle and produces rotation inclination angle
Output drive signal is to the mover driving wheel.
3. posture car as claimed in claim 1, it is characterised in that the drive component include level board, two elastic components with
And control system, the level board is arranged in the car body and is rotatably connected at the stator fixing axle, described in two
Elastic component is arranged in the car body and is optionally connected to the two ends of the level board, and the control system is electrically connected to
The mover driving wheel, the output driving when the level board is rotated relative to the stator fixing axle and produces rotation inclination angle
Signal is to the mover driving wheel.
4. posture car as claimed in claim 2 or claim 3, it is characterised in that the first support base, described first are provided with the car body
Support base is provided with clutch shaft bearing, and the stator fixing axle is arranged in the clutch shaft bearing.
5. posture car as claimed in claim 4, it is characterised in that the second support base, described second are additionally provided with the car body
Support base is oppositely arranged with first support base, and second bearing, the stator fixing axle point are provided with second support base
The clutch shaft bearing and the second bearing are not arranged in and are set up between first support base and second support base.
6. a kind of control method of posture car, for controlling the posture car as described in claim any one of 1-5, its feature exists
In the control method of the posture car includes：
The pedal is pressurized and drives the drive component to rotate；
The rotational angle of drive component described in detection two, and believe independently of each other to the corresponding mover driving wheel output driving
Number, so that the drive component tends to dynamic level balance；
Two mover driving wheels are rotated independently of each other according to the drive signal respectively；When two driving groups
When the rotational angle of part is identical, the drive signal that two mover driving wheels are received is identical, so that two described dynamic
Sub- driving wheel synchronous axial system so that the posture Chinese herbaceous peony is entered or retreated；When the rotational angle of two drive components is different,
The drive signal that two mover driving wheels are received is different, is rotated so that two mover driving wheels are asynchronous,
So that the posture car is turned.
7. the control method of posture car as claimed in claim 6, it is characterised in that the pedal is by mutually only for two groups
Vertical pressure signal, pressure signal described in two groups corresponds to the drive component of control two and rotated respectively.
8. the control method of posture car as claimed in claim 6, it is characterised in that be provided with one on each drive component
Sensor, the sensor is electrically connected with the corresponding drive component, is detected by the sensor corresponding described
The rotational angle of drive component simultaneously feeds back to the corresponding drive component, and each drive component is to the corresponding mover
Driving wheel sends the drive signal.
9. the control method of posture car as claimed in claim 8, it is characterised in that each drive component is according to each right
The feedback for the sensor answered sends the drive signal in real time, to control the corresponding mover driving wheel to rotate in real time.
10. the control method of posture car as claimed in claim 6, it is characterised in that have one on each drive component
Velocity response module, to sense the speed of the posture car, when the speed of the posture car exceedes preset value, the speed sense
Answer module generation adjustment signal and be transferred to the drive component, the drive component accordingly adjusts rotational angle, to change
State drive signal and the mover driving wheel is slowed down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710293893.7A CN107097881A (en) | 2017-04-28 | 2017-04-28 | A kind of control method of posture car and posture car |
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| CN201710293893.7A CN107097881A (en) | 2017-04-28 | 2017-04-28 | A kind of control method of posture car and posture car |
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| CN107097881A true CN107097881A (en) | 2017-08-29 |
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Application publication date: 20170829 |