CN107416097A - Foot pedal apparatus - Google Patents

Foot pedal apparatus Download PDF

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Publication number
CN107416097A
CN107416097A CN201710548607.7A CN201710548607A CN107416097A CN 107416097 A CN107416097 A CN 107416097A CN 201710548607 A CN201710548607 A CN 201710548607A CN 107416097 A CN107416097 A CN 107416097A
Authority
CN
China
Prior art keywords
foot pedal
forced section
pedal apparatus
bottom plate
support frame
Prior art date
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.)
Granted
Application number
CN201710548607.7A
Other languages
Chinese (zh)
Other versions
CN107416097B (en
Inventor
应佳伟
肖科平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Qike Robot Technology Co ltd
Original Assignee
Hangzhou Chic Intelligent Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hangzhou Chic Intelligent Technology Co Ltd filed Critical Hangzhou Chic Intelligent Technology Co Ltd
Publication of CN107416097A publication Critical patent/CN107416097A/en
Application granted granted Critical
Publication of CN107416097B publication Critical patent/CN107416097B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B62K3/00—Bicycles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/24—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed with main controller driven by a servomotor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • 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
    • B62K11/02—Frames
    • 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
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
    • 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
    • B62K3/00—Bicycles
    • B62K3/02—Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/80—Accessories, e.g. power sources; Arrangements thereof
    • B62M6/90—Batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/22—Driver interactions by presence detection
    • 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
    • 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

Abstract

A kind of foot pedal apparatus provided by the present invention, for being arranged on the support frame of balance car, the foot pedal apparatus includes pedal bottom plate, the pressure sensor below the pedal bottom plate, the pressure sensor includes two sensing element regions, and described two sensing element area distributions are at described two positions of pedal bottom plate and for sensing the pressure suffered by two positions.After the foot pedal apparatus of the present invention is on the support frame for be installed to balance car, can effectively solve existing balance car is needed to be designed to support frame to need two parts rotating, and rotated the problem of can controlling complicated caused by vehicle wheel rotation by two parts.

Description

Foot pedal apparatus
Technical field
The present invention relates to a kind of balance car technical field, and in particular to a kind of foot pedal apparatus.
Background technology
Human-computer interaction body-sensing car, is called electrodynamic balance car, thinking car, and its operation principles is mainly built upon one kind and is referred to as In the general principle of " dynamic stability ", using the gyroscope and acceleration transducer of vehicle body, to detect the change of vehicle body attitude Change, and utilize servo-control system, accurately motor is adjusted correspondingly, to keep the balance of system.
Existing human-computer interaction body-sensing car has been generally divided into action bars and without this two class of action bars, wherein the people with action bars Machine interaction body-sensing car, the steering of its human-computer interaction body-sensing car carry out concrete operations control by action bars.Without with action bars Human-computer interaction body-sensing car, advance, the retrogressing of its human-computer interaction body-sensing car are controlled by the inclination of whole human-computer interaction body-sensing car, Steering is then ridden on foot platform by user, and is controlled by relative rotation angle difference between two foot platforms Realize.Wherein, the two-wheeled human-computer interaction body-sensing car without action bars is mainly two disclosed in patent CN201410262108.8 Self-balancing human-computer interaction body-sensing Che Wei to be taken turns to represent, the inner cap in the balance car includes symmetrically arranged left inside lid and right inner cap, and The relatively right inner cap rotation connection of left inside lid.
So, the balance car, which has been used for the inner cap that support frame acts on, need to include left inside lid and right inner cap, and structure is relatively multiple It is miscellaneous.
The content of the invention
The present invention is a kind of foot pedal apparatus simple for structure in order to overcome prior art and propose.
To achieve these goals, the present invention provides a kind of foot pedal apparatus, for being arranged on the support frame of balance car, The foot pedal apparatus includes pedal bottom plate, the pressure sensor below the pedal bottom plate, and the pressure sensor includes Two sensing element regions, described two sensing element area distributions described two positions of pedal bottom plate and for sense this two Pressure suffered by individual position.
Further, the sensing element region is provided with the first forced section and the second forced section, each sensing element region The first forced section offseted with the support frame and the pedal bottom plate alternative one, the second forced section and the support rib Another in both frame and the pedal bottom plate offsets, in two parts of first forced section and the second forced section with institute The bottom surface for stating the part that pedal bottom plate offsets vacantly is set.
The foot pedal apparatus also include be arranged on the support frame on sensor fixed seat, first forced section and Pass through the sensor fixed seat and support frame with the part that the support frame offsets in second part of forced section two Support indirectly.
Further, first forced section supports with the pedal bottom plate, second forced section and the sensor Fixed seat is supported, and the bottom surface of first forced section is hanging, and the is provided between the pedal bottom plate and the sensing element region One gap.
Further, the sensor fixed seat is provided with the second gap with the sensing element region.
Further, first forced section is provided with first through hole, and second forced section is provided with the second through hole, institute State pedal bottom plate and be provided with the first fixing hole, the sensor fixed seat is provided with the second fixing hole, and first forced section leads to The first fixture is crossed to pass through first through hole to lock the mode of the first fixing hole on the pedal bottom plate and ride with described Supported on bottom plate, second forced section is arranged on by way of the second fixture locks the second fixing hole through the second through hole Supported in the sensor fixed seat and with the sensor fixed seat.
Further, first fixture includes the connecting rod of screw rod, nut and the connection screw rod and the nut, The connecting rod is the body of rod of smooth-sided compression candles, and the connecting rod is located in the first through hole.
Further, the diameter of the connecting rod is less than the internal diameter of the first through hole.
Further, it is folded with gasket assembly between the nut and first forced section.
Further, the pressure sensor includes the connecting portion of former and later two ends and the described two ends of connection, It is described per one end include the second forced section, first forced section and positioned at second forced section with described first by The sensing element region between power portion.
Further, the pressure sensor is I-shaped that the width of the connecting portion is less than described in the lateral direction The width of end.
Further, described two sensing element area distributions are at the front portion of the pedal bottom plate and rear portion.
Due to the utilization of above-mentioned technical proposal, the present invention possesses advantages below：
The foot pedal apparatus of the present invention includes, by installing pressure sensor between pedal bottom plate and sensor fixed seat, pressing Force snesor and pedal bottom plate and sensor fixed seat support and have gap, pressure sensor between sensor fixed seat With former and later two sensing element regions.In this way, when stepping on the pedal bottom plate downwards, wherein at least one sensing element region Pedal bottom plate will be sensed to step on power under being subject to and deform upon and then export foot-operated region accordingly by force information, it is so man-machine The control system of interactive body-sensing car will control wheel movement according to by force information, need to support so as to solve existing balance car Two parts that frame design rotates into needs, rotated the knot that can be controlled caused by vehicle wheel rotation by two parts The problem of structure complexity.
Brief description of the drawings
Fig. 1 is the three-dimensional combination figure of human-computer interaction body-sensing car of the present invention.
Fig. 2 is the three-dimensional combination figure of another angle of human-computer interaction body-sensing car of the present invention.
Fig. 3 is the three-dimensional combination figure of the another angle of human-computer interaction body-sensing car of the present invention.
Fig. 4 is along the sectional view of line A-A in Fig. 3.
Fig. 5 is the part isometric exploded view of human-computer interaction body-sensing car wheel of the present invention.
Fig. 6 is the three-dimensional combination figure of wheel relevant portion in Fig. 5.
Fig. 7 is the three-dimensional combination figure of car body relevant portion in Fig. 5.
Fig. 8 is the three-dimensional exploded view of human-computer interaction body-sensing car of the present invention.
Fig. 9 is the three-dimensional exploded view of another angle of human-computer interaction body-sensing car of the present invention.
Figure 10 is the support bracket fastened three-dimensional structure diagram of foot pedal apparatus of human-computer interaction body-sensing car of the present invention.
Figure 11 is the structure decomposition figure of foot pedal apparatus in Fig. 8.
Figure 12 is the structure decomposition figure of another angle of foot pedal apparatus in Figure 11.
Figure 13 is the structure decomposition figure of wheel relevant portion in Fig. 8.
Figure 14 is the structure decomposition figure of another angle of wheel relevant portion in Figure 13.
Figure 15 is the structure decomposition figure of car body relevant portion in Fig. 8.
Figure 16 is the structure decomposition figure of another angle of car body relevant portion in Figure 15.
Figure 17 is the sectional view of the foot pedal apparatus in Fig. 1, and fixture is shown in the figure.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not To limit the present invention.
Refer to shown in Fig. 1 to Figure 17, be the structural representation of human-computer interaction body-sensing car 100 of the present invention, it includes car body 10 and two wheels 20 on car body 10, the wheel 20 can be rotated in radial directions around car body 10；The car body 10 Two foot pedal apparatus 12, control device 15 and the use for further comprise a support frame 11, being arranged on the support frame 11 To drive the drive device (not shown) of the wheel 20, the support frame 11, which is integral structure and rotated with wheel 20, to be connected Connect, each foot pedal apparatus 12 is included to sense pressure sensor 13 of the foot pedal apparatus 12 by force information, the control dress 15 are put according to two foot pedal apparatus 12 by force information, controls the drive device to drive the wheel 20 to move or turn to.Need It is noted that the movement of wheel 20 refers to that drive device driving output identical is exported to two wheels 20 so that wheel 20 With identical rotating speed with car body advance or retreat (certainly in extreme circumstances may also be static, now wheel 20 is in The state of one stress balance), wheel 20 turns to and refers to that drive device exports two different driving forces to wheel 20, makes The rotating speed of wheel 20 is different, so that car body turns to when turning to or retreat when advancing.
The support frame 11 is provided with the guide rail 112 of depression, is inserted with to install described in fixing on the guide rail 112 The foot pedal apparatus fixed support 18 of foot pedal apparatus 12.It is arranged such, it is simple in construction, it is easy to assemble, and the support frame 11 can With the foot pedal apparatus fixed support 18 to assemble after separately manufacturing, it is easy to select progress different according to both particular requirements Manufacturing process flow, such as in some embodiments, the support frame 11 are tubulose, and separately manufacturing can be in order to The support frame 11 is manufactured.The overall structure refers to the left inside lid that can be mutually rotated relative to setting in the prior art For right inner cap, the support frame 11 is the structure of globality, and in different embodiments, the overall structure can be Separable assembled is formed or is integrally formed.In addition, from the point of view of shape of cross section, the tubulose can include circular tube shaped, polygonal tube The tubulose of shape or other random cross-sectional shapes；From the point of view of the extension mode on left and right directions, the tubulose is not limited to wait this example The tubulose of extension, can also be the various tubuloses irregularly extended, such as partial enlargement, part diminution, rotation, displacement etc..
The guide rail 112 extends in left-right direction, and located at the front side of support frame 11 and/or rear side.Herein, institute Left and right directions is stated i.e. along the axial direction of wheel 20.It is arranged such, the foot pedal apparatus fixed support 18 can be inserted in left-right direction It is connected on the support frame 11, the foot pedal apparatus fixed support 18 can be made to be held power by preferable in the vertical direction, Beneficial to the support to foot pedal apparatus 12 upwards.
The left and right ends of guide rail 112 are inserted with to foot-operated with the phase of the foot pedal apparatus 12 installation fixing of left and right two respectively Device fixed support 18.It is arranged such, two foot pedal apparatus 12 in the left and right are immobilizated in the foot pedal apparatus fixed support 18 On.In the present embodiment, it is described to prolong to plug the unilateral guide rail 112 of the two foot pedal apparatus fixed supports 18 in left and right and be integrated Stretch.It is described it is unilateral be front side or rear side, for example, the same guide rail 112 of the front side can grafting simultaneously holding two respectively The foot pedal apparatus fixed support 18 of foot pedal apparatus 12, centre are not interrupted, in this way, it is simple in construction, manufacture and easy to assembly.At other In embodiment, the unilateral guide rail 112 or independently of each other setting.
The cross section of guide rail 112 is T fonts.It is arranged such, the foot pedal apparatus fixed support 18 can be inserted in described Prevent from outwards departing from guide rail 112.Certainly, in other embodiments, the cross section of guide rail 112 may be configured as other shapes Shape, such as triangle, circle etc., the bore of the opening of the guide rail need to be only caused to be less than the size of guide rail interior bore so that institute It is difficult for drop-off to state foot pedal apparatus fixed support 18.
The foot pedal apparatus fixed support 18 include to laterally be inserted in the guide rail 112 plug portion 181 and Extend outward the guide rail 112 and hold the installation portion 183 of the foot pedal apparatus 12 to install.It is arranged such, it is described foot-operated Device fixed support 18 can be immobilizated on support frame 11 to hold the foot pedal apparatus 12.
The installation portion 183 is provided with to hold the holding hole 101 of foot pedal apparatus 12.It is arranged such, the holding hole Can be held on 101 wear the retaining pieces such as nut realize and foot pedal apparatus 12 between firm connection.
The installation portion 183 and plug and be provided with the extension that fitted up and/or down with support frame 11 between portion 181 Support alar part 182.It is arranged such, the support alar part 182 can be held on the support frame 11 in the vertical direction, be carried The intensity of the high foot pedal apparatus fixed support 18 is stable so as to improve the fixing between foot pedal apparatus 12 and support frame 11 Property.
In the present embodiment, the support frame 11 be along the axially extending circular tube shaped of wheel 20, the guide rail 112 and Foot pedal apparatus fixed support 18 is respectively positioned on the top half of the support frame 11.It is arranged such, the support frame 11 can be to On provide preferable holding power to the foot pedal apparatus fixed support 18.Certainly, the guide rail 112 and foot pedal apparatus fixed support 18 top halfs for being arranged at the support frame 11 are preferential embodiment, but described setting is not wound of the present invention The limitation made.In other embodiments, the guide rail 112 and foot pedal apparatus fixed support 18 may be alternatively located at the support frame 11 middle part or the latter half.
The cross section of portion 181 that plugs is T fonts.It is arranged such, the portion 181 that plugs can be tight between guide rail 112 Coordinate, improve fixing stability.In other embodiments, the corresponding cross section of guide rail 112 in the plug division 118 can be set It is set to circle, triangle etc..
The human-computer interaction body-sensing car 100 further comprises power supply 16, and the power supply 16 is to the drive device, pressure Force snesor 13 and control device 15 are powered, and the control device 15 is controlling the power supply 16, drive device and pressure to pass Sensor 13, and drive signal is sent to drive device by force information according to what pressure sensor 13 was sensed, so as to drive car Wheel 20 rotates.
Axletree 21 is provided between the wheel 20 and car body 10, the wheel 20 is rotatablely connected by the axletree 21 In on the car body 10.
Preferably, the center of gravity of car body 10 is less than the axletree 21.It is arranged such, in the human-computer interaction body-sensing car 100 in operation or non-operating state, and center of gravity can be overhang the axletree 21 by the car body 10 all the time as an entirety Following position, car body 10 can be kept to keep original state not to be flipped up；Car body 10 is flipped up even by external force, Because the effect of gravity still can make car body 10 being returned to original position, so as to be very easy to the use of user. In other embodiment, the center of gravity of the car body 10 may be alternatively provided as being not below the axletree 21, the body gravity Set to turn into and limit the reasons why of the invention.
The wheel 20 is rotationally connected with the car body 10 by the axletree 21 and can be regarded as various ways, is such as existed In one embodiment, wheel 20 can be immobilizated on axletree 21, axletree 21 is rotationally connected with car body 10；Or at it Can also be that axletree 21 is fixed on car body 10 in his embodiment, and wheel 20 rotates along axletree 21.
In the present embodiment, described one end of axletree 21 is connected with wheel 20, and the other end is connected with axletree and fixed Plate 23, the wheel axis fixing plate 23 are held with the phase of car body 10.In this way, the wheel 20 can be with the wheel axis fixing plate 23 are connected is assembled into support frame 11 up again afterwards, consequently facilitating the modularization group between support frame 11 and wheel 20 Dress.
The axletree 21 is fixed on the first half of wheel axis fixing plate 23.It is arranged such, when the wheel axis fixing plate After 23 are installed to support frame 11 up, it can preferably realize that the center of gravity of the car body 10 is located at axletree below 21.
The side of support frame 11 is provided with the motor fixing seat 3 being used for the secure fit of wheel axis fixing plate 23, The rear center of gravity of the motor fixing seat 3, which is assembled, with wheel axis fixing plate 23 is less than the axletree 21.It is arranged such, can be further Ensure that the center of gravity of car body 10 is less than the axletree 21.Specifically, the larger metal of quality can be used in the motor fixing seat 3 Etc. material, ensure that the center of gravity of car body 10 is located at axletree below 21 and keeps higher stability.
Gasket seal (not shown) is provided between the wheel axis fixing plate 23 and motor fixing seat 3.In this way, it can make described There is preferable dustproof and waterproof and other effects between car body 10 and wheel 20.
The support frame 11 is provided with the host cavity 110 for coordinating the motor fixing seat 3 to grafting, and the motor is fixed Seat 3 includes the inserted terminal 32 being positioned to grafting in host cavity 110 and connection inserted terminal 32 to be closed in host cavity 110 The cap 31 in outside.In this way, the motor fixing seat 3 can be fixed by the inserted terminal 32 and the installation of support frame 11, it is described Lid is closed in the outside of support frame 11 and plays preferable sealing effect.
Be provided with the power supply 16 in the host cavity 110, the motor fixing seat 3 is provided with laterally protruding out to collecting The locating dowel 312 of the power supply 16 is supported in chamber 110.In this way, the motor fixing seat 3 can prevent the power supply 16 or so from shaking It is dynamic, improve the structural stability inside car body 10.
The top of wheel 20 is provided with wheel cover 123, and the cap 31 of motor fixing seat 3 has upwardly extended to be consolidated to grafting The grafting installation foot 311 of the fixed wheel cover 123.In this way, the wheel cover 123, which can be stablized, is immobilizated in the motor fixing seat On 3, it is easy to assemble.In other embodiments, the wheel cover 123 can also be immobilizated on car body 10 by other means.
Left and right extension and phase interworking are provided between the host cavity 110 of car body 10 and the inserted terminal 32 of motor fixing seat 3 The stopper protrusion 111 of conjunction and spacing recess 321.It is arranged such, the motor fixing seat 3 on the one hand can be prevented in host cavity 110 Interior rotation；And can prevent two parts are counter to fill when assembling, fool proof positioning action is played, the stopper protrusion 111, which can also play, to be added Strengthening tendons acts on, and increases the intensity of support frame 11, improves the structural stability of car body 10.In other embodiments, the limit Position convex portion 111 can also be arranged on inserted terminal 3, and the spacing recess 321 is arranged in host cavity 110.
The wheel axis fixing plate 23 is perpendicular to the line direction of axletree 21.It is arranged such, the wheel axis fixing plate 23 exists Deflection is not susceptible to during by the active force of the fore-and-aft direction of car body 10 and/or above-below direction, improves the wheel axis fixing plate 23 Fixing stability between car body 10.In other embodiments, the wheel axis fixing plate 23 can also be not orthogonal to car The line direction of wheel shaft 21.
The drive device is provided with the cable for connecting the drive device in the wheel 20 in the axletree 21 211, the cable 211 extends the wheel axis fixing plate 23 to be connected with control device 15 and/or power supply 16.So Set, the drive device in the wheel 20 can be filled by the cable 211 through the wheel axis fixing plate 23 and the control Put 15 and/or power supply 16 be connected.The drive device is motor, and in other embodiments, the drive device can also It is arranged in car body 20.
What the motor fixing seat 3 was provided with depression holds the accepting groove 33 of the wheel axis fixing plate 23 to house.Such as This is set, and the wheel axis fixing plate 23, which can house, to be positioned in the accepting groove 33, so as to improve the external table of car body 10 The planarization in face.In other embodiments, the motor fixing seat 3 can also be with a part or whole part one of support frame 11 Shaping.
The wheel axis fixing plate 23 is rectangle, and the accepting groove 33 is the square corresponding with the wheel axis fixing plate 23 Shape.In other embodiments, or other shapes.It is arranged such, the pluggable positioning axletree of accepting groove 33 Fixed plate 23, the wheel axis fixing plate 23 is prevented to be moved or rotate.
The foot pedal apparatus 12 also includes the pedal bottom plate 121 positioned at the top of pressure sensor 13, and the pressure passes Sensor 13 includes two sensing element regions 1313, and described two sensing element regions 1313 are distributed in the pedal bottom plate 121 Front portion and rear portion, two sensing element regions 1313 one end close to each other be equipped with to support frame 11 directly or Connect the second forced section 1312 supported, the one end being located remotely from each other in described two sensing element regions 1313 be equipped with to institute State the first forced section 1311 that pedal bottom plate 121 directly or indirectly offsets.In this way, when stepping on the pedal bottom plate 121 downwards, First forced section 1311 of the front and rear sides is by top-down power, and the second middle forced section 1312 is due to by certainly Resist force on down, make pressure sensor 13 that the similar arch deformation arched upward upwards be presented, the deformation can be understood as grand Deformation or microdeformation are seen, so that the sensing element region 1313 of the rear and front end senses deflection.First forced section 1311 bottom surface is vacantly set, and so when foot-operated floor 121 is by pedal force, the first forced section 1311 possesses what is moved down Space, so sensing element region 1313 is conveniently set to arch upward upwards, the top of certain second forced section 1312 can also preferably hang Sky is set.Preferably, the first gap 5, first gap are provided between the pedal bottom plate 121 and sensing element region 1313 5 can provide the space that the sensing element region 1313 in pressure sensor 13 is arched upward upwards.Certainly in other embodiments, first Forced section 1311 can support with support frame 11, and the second forced section 1312 supports with pedal bottom plate 121, the second forced section 1312 Bottom surface vacantly set, the top surface of the first forced section 1311 is preferably vacantly set, sensing element region 1313 in the embodiment Deformation principle it is similar with above-mentioned deformation, will not be repeated here.It should be noted that the two of the same lower section of pedal bottom plate 121 The distribution mode in individual sensing element region 1313 is not limited to the front and rear region of pedal bottom plate 121, can also be distributed in pedal bottom plate 121 left and right region.
Described directly support refers to miscellaneous part is not present and directly contacts realization and supports between the two, described to support indirectly Refer to that the transmission of the power by miscellaneous part between the two is realized to support, such as in the present embodiment, second forced section Sensor fixed seat 125 is additionally provided with supporting between 1312 and support frame 11.
Specifically, as shown in figure 4, the foot pedal apparatus 12 is included directly to be held with the phase of the second forced section 1312 Sensor fixed seat 125, the sensor fixed seat 125 with the support frame 11 directly or indirectly holding.So Set, the pressure sensor 13 is installed on support frame 11, pacified again after being immobilizated in the sensor fixed seat 125 The pressure sensor 13 can be protected during dress.It should be noted that sensor fixed seat 125 and sensing element region The second gap 6 is provided between 1313, in order to provide the space deformed downwards for sensing element region 1313.
As shown in figs. 4 and 17, in the present embodiment, the first forced section 1311 is provided with first through hole 134, the second stress Portion 1312 is provided with the second through hole 1315, and pedal bottom plate 121 is provided with the first fixing hole 1211, set in sensor fixed seat 125 There is the second fixing hole 1251, the first forced section 1311 locks the first fixing hole by the first fixture 7 through first through hole 134 1211 mode is arranged on pedal bottom plate 121 and with being supported on pedal bottom plate 121, and the second forced section 1312 is fixed by second Part 8 through the second through hole 1315 lock the second fixing hole 1251 mode be arranged on sensor fixed seat 125 on and and sensor Fixed seat 125 supports.
In the present embodiment, the first fixture 7 includes the connecting rod of screw rod 71, nut 72 and connecting screw 71 and nut 72 73, connecting rod 73 is the body of rod of smooth-sided compression candles, and connecting rod 73 is located in first through hole 134, and the first fixture 7 when in use, connects It is smooth contact between extension bar 73 and first through hole 134, it is possible to reduce the frictional force of connecting rod 73 and first through hole 134, avoid The problem of because of the excessive damage first through hole 134 of frictional force and then causing sensing element region 1313 to deform.
The diameter of the connecting rod 73 is slightly lower than in the internal diameter of the first through hole 134, so not influence first solid Determine part 7 by the first forced section 1311 be arranged on pedal bottom plate 121 installation effect while, can further reduce connecting rod 73 With the frictional force between first through hole 134.
Gasket assembly 9 is folded between the nut 72 and first forced section 1311, gasket assembly 9 can avoid For one fixture 7 when the first forced section 1311 is attached on foot-operated floor 121, the stress of the first forced section 1311 is excessive to cause sense The problem of answering element area 1313 to deform.
It is understood that the second fixture 8 can be arranged to the structure of the first fixture 7, or common spiral shell Bolt, gasket assembly can also be set between the head of the second fixture 8 and the second forced section 1312.
The pressure sensor 13 includes the connecting portion of former and later two ends 131 and the described two ends 131 of connection 132, it is described to include second forced section 1312, first forced section 1311 per one end 131 and positioned at described the Sensing element region 1313 between two forced sections 1312 and the first forced section 1311.It is arranged such, former and later two described ends 131 can the difference of sole be had an effect and senses different pressure informations before and after respectively.It is described two for from another statement Sensing element region 1313 is it can be appreciated that two different pressure sensors are had an effect to test the difference of front and rear sole respectively. Two sensing element regions 1313 are connected by connecting portion 132, can be in 131 stress of end, another end There is the trend to stick up in portion 131 by the effect of connecting portion 132, so has the sensing being upturned in the end 131 of trend Element area 1313 can so would be even more beneficial to by Liang Ge sensing elements area to lower recess, so meeting one negative pressure of bad student Domain 1313 calculates pressure differential, the accuracy of the pressure of the collection of pressure sensor 13 is improved essence with sensitivity, is easy to control device The power output of drive device is controlled by pressure sensor 13.
Generally, that is, the same foot pedal apparatus 12 is provided with to sense two of same sole pressure information The sensing element region 1313, the two positions (tool for the corresponding foot pedal apparatus 12 that two sensing element regions 1313 sense Body is the front portion and rear portion of corresponding foot pedal apparatus 12) pressure that is subject to is pressure of the same sole on same foot pedal apparatus 12 Information, closer it is that the difference of the pressure sensed in two sensing element regions 1313 is same sole in same pin The pressure information stepped on device 12, in other words, for same pressure sensor 13, that is, control device 15 receives The pressure value sensed to two sensing element regions 1313 of same pressure sensor 13, control device 15 calculate this two The difference of individual pressure value, the corresponding pressure difference value of each foot pedal apparatus 12, last control device 15 is according to two stress differences Between relation i.e. stress information-driven described in wheel 20 rotate so that drive the car body of human-computer interaction body-sensing car mobile or Turn to.
Specifically, when two foot pedal apparatus 12 (are referred specifically to pressure difference value, pressure difference value here is not by force information is identical Refer to the absolute value of pressure differential, but there is direction, for example, for a foot pedal apparatus 12, its anterior stress, pressure differential Value is designated as honest, and the big pressure difference value of rear pressure is designated as negative value) when, control device 15 controls drive device output identical driving Power gives two wheels 20, makes the velocity of rotation of two wheel 20 identical, realizes that car body 20 moves, as a kind of special circumstances, in car body During beinthebalancestate state, the velocity of rotation of two wheel 20 is zero, and now car body does not move；When two stress of foot pedal apparatus 12 are believed When ceasing different, control device 15 controls drive device to export different driving force to two wheels 20, one of wheels 20 and connect The driving force received is more than the driving force of another wheel 20 so that and the velocity of rotation of two wheels 20 is different, so that its The translational speed of middle single wheel 20 is more than the translational speed of opposite side wheel 20, is turned to so as to realize.It should be noted that pressure Force snesor 13 can only control the rotational band motor vehicles bodies of wheel 20 mobile or turn to, but the velocity of rotation during movement of wheel 20 is also Need to control by other sensors.How control device 15 controls drive device output identical driving force to see below detailed description.
Specifically, the human-computer interaction body-sensing car 100 further comprises position sensor (not shown), to sense support The inclination information of the relative wheel 20 of skeleton 11.Be arranged such, when user stand when on foot pedal apparatus 12, two foot pedal apparatus 12 it is identical by force information, can drive support frame 11 overall when user turns forward toward leaning forward, the position sensor After sensing the information that support frame 11 turns forward, signal that support frame 11 turns forward is sent to control device 15, institute Stating control device 15 controls driving moment 20 to travel forward so that and it is overall that there is sweptback power, play a part of balance.Separately Outside, the angle of inclination that position sensor senses is bigger, and driving force is bigger.Specifically, the position sensor include gyroscope, Acceleration transducer and/or photoelectric sensor.Need what is illustrated, when user tilts backwards, wheel 20 moves backward, its principle It is identical with the above-mentioned principle to travel forward, it will not be repeated here.
In the present embodiment, the same foot pedal apparatus 12 is provided with to sense two of same sole pressure information Sensing element region 1313.In other embodiment, the pressure sensor 13 can only set a sensing element region 1313 sensor, i.e. can be expressed as on the same foot pedal apparatus 12 being provided with to sense same sole different parts Two such pressure sensors 13 of pressure information, the control device 15 is to according to described two pressure sensors 13 Pressure differential drives the wheel 20 to move or turn to.It is arranged such, when two stress information gaps of foot pedal apparatus 12 are identical, two cars It is identical to take turns 20 translational speeds, when two 12 stress information gap differences of foot pedal apparatus, the velocity of rotation of wherein single wheel 20 is big In the velocity of rotation of opposite side wheel 20, or the rotation direction of both sides wheel 20 so as to realize on the contrary, turn to.
In the present embodiment, the pressure sensor 13 is I-shaped pressure sensor, described in the lateral direction The width of connecting portion 132 is less than the width of the end 131.It is arranged such, the connecting portion 132 can fix front and rear two second Forced section 1312, strengthen the intensity of pressure sensor 13, and the narrower connecting portion 132 can reduce pressure sensor 13 Weight, on the other hand, also can the pressure sensor 13 have preferably elasticity to improve sensing sensitiveness play a role.When So, in other embodiments, the shape of pressure sensor 13 is not limited to that in this circular weighing sensor etc. can be used.
The foot pedal apparatus 12 also includes the lower casing 126 between the sensor fixed seat 125 and car body 10.Such as This, can improve the outboard structure planarization of car body 10, play preferably protection and beauty function.
The top of pedal bottom plate 121 is provided with foot pad 122, and the foot pad 122 is closed with the phase of lower casing 126 and connected.Pin Pad 122 can be soft rubber material or other, in this way, the wearability and frictional force of foot pad 122 can be increased, can also improve user Comfort, also play preferable water proof and dust proof effect.
It please join shown in Fig. 3, the foot pedal apparatus 12 is ellipticity.In this way, user's safety in utilization can be improved, and it is more beautiful See.In other embodiments, the foot pedal apparatus 12 can also be other shapes.
The support frame 11 is the foot pedal apparatus on the fore-and-aft direction of car body 10 along the axially extending tubulose of wheel 20 12 are wider than the width of the support frame 11.The lower section of foot pedal apparatus 12 is recessed to support described in partial receipt from bottom to top Skeleton 11.It is arranged such, the overall structural stability of the car body 10 can be improved.
The side of pedal bottom plate 121 is provided with to be covered in the wheel cover 123 of the top of wheel 20, the wheel cover 123 With the split settings of foot pedal apparatus 12.In this way, it is easy to implement both respective manufacturing process, in other embodiments, the pin Step on device 12 and can also integrally extend with the wheel cover 123 and form.In other embodiments, the wheel cover 123 and pin Stepping on the section components of device 12 can also be integrally formed.
The control device 15 includes the master board 150 being horizontally set in tubular support skeleton 11.The tubulose is not It is limited to pipe, or the long cavate that cross section is other shapes.It is arranged such, the master board 150 can be utilized preferably The space of lengthwise host cavity 110 in the tubular support skeleton 11, improve space availability ratio.In other embodiments, it is described Master board 150 can be otherwise placed in support frame 11.
Power supply 16 is provided with the support frame 11, the master board 150 is provided with to electrical with the power supply 16 The battery mating interface 152 of docking.The power supply 16 is provided with to the relative battery interface connect with the battery mating interface 152 177.It is arranged such, is achieved a butt joint, can avoided more by modular interface between the power supply 16 and master board 150 Cable 211 shuttle, the generation for the problems such as avoiding 211 aging of cable, improve security.
The battery mating interface 152 is located at the middle part of the master board 150 in the lateral direction.In this way, it can improve The degree of balance of master control borad in itself, improve Assembly stability.In other embodiments, other positions be may also placed in.
The left and right ends of master board 150 are provided with the outside mating interface mutually electrically to be docked with both sides drive device 151.The outside mating interface 151 can be facilitated outwards relative with the interface of drive device and/or pressure sensor 13 can to connect, profit In realizing preferable modularization assembling.
It is provided between the support frame 11 and wheel 20 and is electrically connected with the drive device and to described in electrical dock The connector 25 of outside mating interface 151.The connector 25 can electrically dock with the outside mating interface 151, beneficial to reality Existing modularization assembling preferable between drive device and car body 10.
The outside mating interface 151 is located at the both ends of the power supply 16 in the lateral direction.In this way, the outside docking Interface 151 can preferably utilize the remaining space at the both ends of 11 interior power of support frame 16, convenient to be docked with motor, and improve branch Space availability ratio inside support bone frame 11.
The master board 150 is horizontally set at the top in the support frame 11, and the power supply 16 is located at the master The lower section of control panel 150.It is arranged such, can preferably protects the master board 150 not to be squeezed.
The front and rear sides of the top of the power supply 16 are provided with along left and right extension supporting the master board 150 upwards Support rib 1790, it is described to support the dead slot 179 being provided between rib 1790 between the master board 150 and power supply 16.Such as This, can preferably support outside the fixed master board 150, can also protect the element in master board 150 be not easy by To extruding.
In the present embodiment, the master board 150 is the strip along left and right extension.In this way, the master board 150 can improve space availability ratio preferably using the space on top in tubular support skeleton 11.In other embodiments, institute It can also be other shapes to state master board 150.
Transmission connection member is provided with the human-computer interaction body-sensing car 100, the transmission connection member includes power delivery Part, Hall transmission part and to transmit the temperature transmission part of temperature signal.It is arranged such, the temperature transmission part can To transmit the temperature signal of human-computer interaction body-sensing car 100 to control device 15, when the corresponding component temperature of human-computer interaction body-sensing car 100 When degree reach a certain height, the corresponding defence programs such as shutdown can be started, improve the safety in utilization of human-computer interaction body-sensing car 100.
The transmission part can be cable or plug terminal.In this way, signal transmission can be achieved.It is appreciated that this place The plug terminal be not limited to be arranged in diagram plug terminal 252 between power supply 16 and drive device or other Place is substituting the plug terminal of cable.State cable and be also not necessarily limited to illustrated cable 211 or set in this place Put cable elsewhere.
In different embodiments of the present invention, when the transmission part is cable, can include 5 Hall lines, 2 or 1 temperature line, 3 power lines.When the transmission part is plug terminal, 3 power supply terminals, 5 Hall ends can be included Son, 2 or 1 temperature terminal.Certainly, wire is used in other embodiments or partly, partly uses end Son is transmitted.For example, in the present embodiment, the plug terminal 252 can be provided with power supply terminal, but be not provided with Hall end Son, corresponding function is realized by separately powering up pond order wire.
Power supply 16 is provided with the support frame 11, the inside of power supply 16 is provided with to monitor the internal temperature of power supply 16 Temperature sensor (not shown), the temperature transmission part connect the temperature sensor.In this way, can be used to sensing power supply 16 is It is no temperature overheating to be present, improve safety in utilization.
Axletree 21 is provided between the wheel 20 and car body 10, the wheel 20 is rotatablely connected by the axletree 21 In on the car body 10, the drive device is in the wheel 20, and the drive device is motor, the main control Plate 150 is provided with to control the drive circuit of the drive device (not shown), is provided with the axletree 21 described in connection The cable 211 of drive device, the cable 211 extend the axletree 21 to be connected with a connector 25.Such as This is set, and the power supply, Hall and temperature transmission part are provided between the drive device and the connector 25.In other realities Apply in mode, temperature transmission part can also be not provided between the drive device and the connector 25, be i.e. drive device can To be not provided with temperature sensor,
The connector 25 includes a frame mouth 251 and the corresponding institute for connecting the cable 211 in the frame mouth 251 State plug terminal 252.
The power supply 16 is connected with outside mating interface 151, and the outside mating interface 151 and the connector 25 are mutual Docking.In this way, the connector 25 relative with outside mating interface 151 can connect, improve between drive device and power supply 16 Modularization assembling degree, improve security.
Further, connected between power supply 16 and outside mating interface 151 by master board 150, the power supply 16 with The battery mating interface 152 and battery interface 177 being mutually inserted, the outside mating interface 151 are provided between master board 150 In the master board 150, connected between the outside mating interface 151 and power supply 16 by the master board 150. In this way, further increasing the modularization assembling degree between master board 150 and power supply 16, security is improved.
The outside of wheel 20 is provided with wheel cover 123, and the wheel cover 123 is provided with anticollision glue 127.It is arranged such, During use, the wheel cover 123 can be preferably protected.
Specifically, the anticollision glue 127 is convexly equipped in the outside of the wheel cover 123.In this way, it is simple in construction, it is easy to assembly. In other embodiments, the anticollision glue 127 can be also embedded in inside wheel cover 123, using being different from the slow of wheel cover 123 Wear-resistant material is rushed, material saving cost while improving durability.
Join described in Fig. 1, the anticollision glue 127 is located at the front and rear sides of wheel cover 123.In this way, material saving cost. In other embodiment, also anticollision glue 127 can be also installed at other positions.
The wheel cover 123 is immobilizated on the car body 10.The car body 10 includes being located at the wheel 20 and support rib Motor fixing seat 3 between frame 11.The motor fixing seat 3 positions the wheel 20 to be pivotally connected.
The motor fixing seat 3 upwardly extends the grafting installation foot 311 to wheel cover described in plugged and fixed 123, institute State the lower section of wheel cover 123 be provided be recessed from bottom to top housing the installation slot 1230 of the grafting installation foot 311.Such as This, the wheel cover 123 can realize stable fixing with the motor fixing seat 3, and simple in construction, and assembling is firm.
The lower section of wheel cover 123 is provided with the fixed column protruded out from top to bottom positioned at installation slot 1230 front and rear sides 1231, the motor fixing seat 3 be provided with positioned at the front and rear sides of grafting installation foot 311 and be recessed from top to bottom to grafting house The fixing groove 313 of the fixed fixed column 1231.So can further it improve between wheel cover 123 and motor fixing seat 3 Hold stability.
By size of the support frame 11 before and after car body 10 and/or on above-below direction is less than the diameter of wheel 20 and institute It is to be provided with along the axially extending circular tube shaped of wheel 20, the wheel cover 123 to cover the wheel cap of wheel 20 to state support frame 11 Portion 1241 and the extension 1242 extended from wheel cap 1241 to the streamlined contraction in the direction of support frame 11.It is in this way, described Extension 1242 can make have preferable dustproof and waterproof function between the wheel 20 and car body 10, and can improve human-computer interaction body Feel the overall structure fluency of car 100, be easy to user to clean.
The installation gap 124 that the extending end of extension 1242 is provided with to be engaged with the support frame 11, such as This, improves the overall structural stability of human-computer interaction body-sensing car 100.
The support frame 11 is provided with the guide rail 112 of depression, and light bar 4 is inserted with the guide rail 112.It is arranged such, Simple installation；The light bar 4 can make the human-computer interaction body-sensing car 100 have preferably warning recognition reaction when in use, carry The traffic safety of high user.
The guide rail 112 extends in left-right direction, and located at the front side of support frame 11 and/or rear side.In this way, make described Light bar 4 can be located at front side and/or the rear side of the support frame 11.
Also it is inserted with that the foot pedal apparatus fixed support 18 for holding the foot pedal apparatus 12 is installed on the guide rail 112. It is arranged such, the foot pedal apparatus fixed support 18 and light bar 4 can share a guide rail 112, be easy to manufacture.
The left and right ends of guide rail 112 are inserted with to foot-operated with the phase of the foot pedal apparatus 12 installation fixing of left and right two respectively Device fixed support 18, the light bar 4 is between the both ends foot pedal apparatus fixed support 18.In an assembling process, can incite somebody to action Light bar 4 is first assigned into the guide rail 112, then the foot pedal apparatus fixed support 18 of the both sides is assigned into the both sides of light bar 4 In guide rail 112, it is easy to assemble.
The rear side of light bar 4 is fixed with the fixed strip 41 being plugged in the guide rail 112.It is arranged such, can be by lamp Band 4 is easy to being manufactured for light bar 4 with being fitted together after the separately manufacturing of fixed strip 41.
The cross section of guide rail 112 is T fonts.The cross section of fixed strip 41 is T fonts.It is arranged such, the fixation Bar 41 tightly coordinates with guide rail 112, improves the fixing stability between light bar 4 and support frame 11.In other embodiments, The cross section can also be other shapes, and guarantee does not depart from after plugging.
The support frame 11 is along the axially extending circular tube shaped of wheel 20, the guide rail 112, foot pedal apparatus fixed support 18 and light bar 4 be respectively positioned on the top half of the support frame 11.It is arranged such, the support frame 11 can be upwards to the pin Step on device fixed support 18 and preferable holding power is provided.In other embodiments, the guide rail 112, foot pedal apparatus fix branch Frame 18 and light bar 4 can be located at the middle part or the latter half of the support frame 11.
Being provided with the support frame 11 along the axially extending lengthwise open power supply 16 of wheel 20, the power supply 16 includes battery Shell 17, the battery case 17 and support frame 11 are metal material.It is arranged such, outside the battery of the metal material Shell 17 can make the power supply 16 be anti-explosion battery, and the support frame 11 of the metal material makes the explosion-proof electrical source 16 have more Further protection, the double-level-metal material protection can be greatly enhanced the security of the human-computer interaction body-sensing car 100, Power supply 16 is avoided to explode caused security incident.
In the present embodiment, the support frame 11 is aluminum pipe.In other embodiments, the support frame 11 Can be other metal materials.
The limited impression 170 to cooperate and stopper protrusion 111 are provided between the battery case 17 and support frame 11. It is arranged such, beneficial to the positioning between the power supply 16 and support frame 11, is not susceptible to mutual displacement, improves overall Stability, and anti-reverse mounting can be played a part of in assembling.
Size of the support frame 11 before and after car body 10 and/or on above-below direction is less than the diameter of wheel 20.So set Put, the car body 10 has less size on front and rear and/or above-below direction, more saves materials cost and more portable.
The support frame 11 is along the axially extending circular tube shaped of wheel 20.It is arranged such, in the base with same volume Support frame 11 described in plinth has smaller surface area, so as to more save materials cost and allow car body 10 smallerization, gently Just change.On the other hand, the round and smooth support frame 11 in surface is not easy to produce larger damage and failure to user or periphery things. In other embodiments, the support frame 11, lengthwise shape power supply 16 along axletree 21 to cross section can also be square Shape, other polygons, ellipse or other irregular shapes.Cross-sectional area of the power supply 16 of the lengthwise shape along the axial direction of wheel 20 be Circle, it is engaged with the support frame 11.
In the present embodiment, it is to be fixedly connected between the foot pedal apparatus 12 and support frame 11.The pressure sensing Device 13 can be used to sense the pressure information on the foot pedal apparatus 12.
In other embodiments, whether the pressure sensor 13 can also have use to sense on foot pedal apparatus 12 Person, to control the start and stop of wheel 20.It is arranged such, without being separately provided an inductive switch, so as to simplify the structure of car body 10.When So, in other embodiments, inductive switch can also be separately provided.
The drive device can be arranged in wheel 20, so the drive can be set come in using the existing volume of wheel 20 Dynamic device, space availability ratio are high；In other embodiments, the drive device can also be arranged in support frame 11.Such as This set, can be applicable to wheel 20 it is relatively small in the case of.
The foot pedal apparatus 12 includes pedal bottom plate 121 and the foot pad 122 above pedal bottom plate 121, the pressure Force snesor 13 is arranged at the lower section of pedal bottom plate 121.It is arranged such, user can be trampled on the foot pad 122, met The demand of comfortableness is trampled in specific anti-skidding or raising.
The foot pedal apparatus 12 is compared to the outside deflection of fore-and-aft direction.It is arranged such, is suitable between the tiptoe of user two Distance be wider than two heels distance stance, increase user's comfort level.In other embodiments, can not also be inclined Tiltedly.
In summary, human-computer interaction body-sensing car 100 of the invention, one support work is only included between two wheels 20 Tubular support skeleton 11, and foot pedal apparatus 12 is independently arranged on support frame 11, is connected without two mutually rotations The mechanism connect is used for setting foot pedal apparatus 12 respectively, and existing balance car or swing car on the market to this, simple in construction, car body 10 is Integral type, scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.
Although the present invention is disclosed above by preferred embodiment, but is not limited to the present invention, this any known skill Skill person, without departing from the spirit and scope of the present invention, a little change and retouching can be made, therefore protection scope of the present invention is worked as It is defined depending on claims scope claimed.

Claims (12)

  1. A kind of 1. foot pedal apparatus, for being arranged on the support frame of balance car, it is characterised in that：The foot pedal apparatus includes pin Tread plate, the pressure sensor below the pedal bottom plate, the pressure sensor include two sensing element regions, institute Two sensing element area distributions are stated at described two positions of pedal bottom plate and for sensing the pressure suffered by two positions.
  2. 2. foot pedal apparatus according to claim 1, it is characterised in that：The sensing element region be provided with the first forced section and Second forced section, the first forced section and the support frame and the pedal bottom plate alternative one phase in each sensing element region Support, the second forced section offsets with another in both the support frame and the pedal bottom plate, first stress The bottom surface of the part to be offseted in two parts in portion and the second forced section with the pedal bottom plate is vacantly set.
  3. 3. foot pedal apparatus according to claim 2, it is characterised in that：The foot pedal apparatus also includes being arranged on the support Sensor fixed seat on skeleton, offseted with the support frame in two parts of first forced section and the second forced section Part supported indirectly with support frame by the sensor fixed seat.
  4. 4. foot pedal apparatus according to claim 3, it is characterised in that：First forced section supports with the pedal bottom plate Hold, second forced section supports with the sensor fixed seat, and the bottom surface of first forced section is hanging, the pedal bottom plate The first gap is provided between the sensing element region.
  5. 5. foot pedal apparatus according to claim 4, it is characterised in that：The sensor fixed seat and the sensing element area Domain is provided with the second gap.
  6. 6. foot pedal apparatus according to claim 5, it is characterised in that：First forced section is provided with first through hole, institute State the second forced section and be provided with the second through hole, the pedal bottom plate is provided with the first fixing hole, set in the sensor fixed seat There is the second fixing hole, first forced section is installed by way of the first fixture locks the first fixing hole through first through hole On the pedal bottom plate and with being supported on the pedal bottom plate, second forced section is logical through second by the second fixture The mode that the second fixing hole is locked in hole is arranged in the sensor fixed seat and supported with the sensor fixed seat.
  7. 7. foot pedal apparatus according to claim 6, it is characterised in that：First fixture includes screw rod, nut and company Connect the connecting rod of the screw rod and the nut, the connecting rod is the body of rod of smooth-sided compression candles, and the connecting rod is positioned at described the In one through hole.
  8. 8. foot pedal apparatus according to claim 7, it is characterised in that：The diameter of the connecting rod is less than the first through hole Internal diameter.
  9. 9. foot pedal apparatus according to claim 6, it is characterised in that：Sandwiched between the nut and first forced section There is gasket assembly.
  10. 10. foot pedal apparatus according to claim 1, it is characterised in that：The pressure sensor includes former and later two ends And the connecting portion of the described two ends of connection, it is described include per one end the second forced section, first forced section and The sensing element region between second forced section and first forced section.
  11. 11. foot pedal apparatus according to claim 10, it is characterised in that：The pressure sensor is I-shaped, in left and right The width of the connecting portion is less than the width of the end on direction.
  12. 12. according to the foot pedal apparatus described in claim 1-11 any one, it is characterised in that：Described two sensing element regions It is distributed in the front portion and rear portion of the pedal bottom plate.
CN201710548607.7A 2017-01-04 2017-07-06 Pedal device Active CN107416097B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710006953.2A CN106828728A (en) 2017-01-04 2017-01-04 Human-computer interaction body-sensing car
CN2017100069532 2017-01-04

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CN107416097A true CN107416097A (en) 2017-12-01
CN107416097B CN107416097B (en) 2023-05-09

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Application Number Title Priority Date Filing Date
CN201710006953.2A Pending CN106828728A (en) 2015-10-10 2017-01-04 Human-computer interaction body-sensing car
CN201710548607.7A Active CN107416097B (en) 2017-01-04 2017-07-06 Pedal device
CN201710547539.2A Active CN107364524B (en) 2017-01-04 2017-07-06 Human-computer interaction somatosensory vehicle
CN201720815024.1U Active CN207580049U (en) 2017-01-04 2017-07-06 Foot pedal apparatus
CN201720814365.7U Active CN207241896U (en) 2017-01-04 2017-07-06 Human-computer interaction body-sensing car
CN201721556912.2U Active CN208585368U (en) 2017-01-04 2017-11-20 Human-computer interaction body-sensing vehicle
CN201711154434.7A Pending CN108275226A (en) 2017-01-04 2017-11-20 Human-computer interaction body-sensing vehicle
CN201810004910.5A Active CN108327835B (en) 2017-01-04 2018-01-03 Car is felt to interactive body of human-computer
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CN201820010270.4U Active CN208149512U (en) 2017-01-04 2018-01-03 A kind of human-computer interaction body-sensing vehicle
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CN201810005581.6A Active CN108341009B (en) 2017-01-04 2018-01-03 Human-computer interaction somatosensory vehicle and pedal device thereof
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