CN107933797A - Electrodynamic balance car - Google Patents
Electrodynamic balance car Download PDFInfo
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- CN107933797A CN107933797A CN201711051015.0A CN201711051015A CN107933797A CN 107933797 A CN107933797 A CN 107933797A CN 201711051015 A CN201711051015 A CN 201711051015A CN 107933797 A CN107933797 A CN 107933797A
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- balance car
- electrodynamic balance
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- foot pedal
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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
- B62K17/00—Cycles not otherwise provided for
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Abstract
The present invention provides a kind of electrodynamic balance car, including vehicle body, wheel, four pressure sensors and control mechanism；Vehicle body includes foot pedal and the support frame arranged on foot pedal lower part, wheel is connected with support frame, four pressure sensors are folded between foot pedal and support frame, and four pressure sensors form four-quadrant pressure sensitive system and the position of centre of gravity information for sensing the user on foot pedal；Control mechanism is connected with pressure sensor, and the position of centre of gravity information for the user that control mechanism is sensed according to four pressure sensors controls multiple wheel movements.The electrodynamic balance car of the present invention senses the position of centre of gravity information of user by pressure sensor, control device controls the movement of wheel according to the position of centre of gravity information of user, therefore, it is higher that it reacts its balance for the two-wheeled vehicle of the position of centre of gravity information of user by vehicle frame relative rotation relatively, and balance is easier to control from user stands when on this electrodynamic balance car.
Description
The application is Chinese patent (denomination of invention：Electrodynamic balance car, application number：201510872521.0 the date of application：
Divisional application 2015-12-01).
Technical field
The invention belongs to field of mechanical technique, is related to a kind of electrodynamic balance car.
Background technology
Two-wheeled vehicle is built upon one kind and is referred to as in the basic principle of " dynamic stability ", that is, vehicle in itself from
Dynamic balancing ability.Posture state residing for vehicle body is judged with built-in accurate solid-state gyroscope, through in accurate and high speed
Centre microprocessor calculate appropriate instruction after, drive motor come accomplish balance effect.
Assuming that we are using the overall center of gravity longitudinal axis of stand driver onboard and vehicle as referring to line.When this axis forward
During inclination, the built-in electro-motor in vehicle body can produce strength forward, on the one hand balance the moment of torsion that people topples over forward with car, and one
Aspect produces the acceleration for allowing vehicle to advance, opposite, when gyroscope find the center of gravity of driver toward during hypsokinesis, can also produce to
Strength afterwards reaches counterbalance effect.Therefore, will be according to inclining as long as driver changes the angle of oneself body forward or toward hypsokinesis
Forward or backward, and speed is then proportional with the degree of driver's body inclination for oblique side.In principle, as long as there is correct opening
Power supply and the electric power that can keep enough runnings, the people on car just do not have to worry there is the possibility toppled over and fallen, this is leaned on generally requiring
The vehicles such as the scooter that driver oneself is balanced are different greatly.
But it is mainly to be realized by twist grip that existing two-wheeled vehicle, which changes direct of travel,.As can be seen that
Handle is set to cause its complicated on two-wheeled vehicle, and cost increase.
For this reason, people have devised two-wheeled vehicle not with handles, this scooter mainly can be relatively movable by two
Stent composition, be connected to a corresponding wheel on each stent.Although this scooter eliminates handle, due to
Stent size is smaller, is not easy to grasp using balance during this scooter.
Its publication number of Chinese patent CN203958471U provides " a kind of split rotary type balanced car with two wheels ", it includes
Main frame of vehicle body, main frame of vehicle body both sides are equipped with wheel, and the gyroscope of motor and controllable motor speed is equipped with main frame of vehicle body, described
Main frame of vehicle body include two split vehicle frames being separated from each other, two split central frame beams are equipped with a connecting shaft, two split cars
Frame rotates alone using connecting shaft as center of rotation, and gyroscope and motor are individually equipped with each split vehicle frame, and split vehicle frame includes one
A upper cover pedal and lower housing shell, gyroscope are fixed on upper cover pedal bottom, gyroscope connection circuit board, and circuit board connects motor,
Motor driving wheel.
Two wheeler in above-mentioned patent can be realized carries out acceleration-deceleration, turning function with foot, and simple in structure.But
It is mainly made of two stents that can be relatively movable, its balance is not easily controlled during use.It is additionally, since its occupancy
Space, it is also not very convenient to carry.
The content of the invention
The present invention is for a kind of electrodynamic balance car for overcoming the prior art and proposing.
To achieve these goals, a kind of electrodynamic balance car provided by the present invention, including vehicle body, wheel, four pressure pass
Sensor and control mechanism；The vehicle body includes foot pedal and the support frame arranged on the foot pedal lower part, the wheel and institute
Support frame connection is stated, four pressure sensors are folded between the foot pedal and the support frame, described four
Pressure sensor forms four-quadrant pressure sensitive system and the position of centre of gravity information for sensing the user on foot pedal；It is described
Control mechanism is connected with the pressure sensor, the user that the control mechanism is sensed according to four pressure sensors
Position of centre of gravity information control the multiple wheel movement.
Further, four pressure sensors correspond to the left foot front portion of user, left foot heel, right crus of diaphragm front portion respectively
With right crus of diaphragm heel
Further, the wheel includes two driving wheels being connected with the support frame, and the control mechanism includes
Controller and the driving motor being connected with the controller, the pressure sensor are connected with the controller, the driving electricity
Machine is used to drive two driving wheels to rotate, the center of gravity for the user that the controller is sensed by the pressure sensor
The positional information control driving motor exports corresponding driving force to described two driving wheels to drive described two driving wheels
Rotate.
Further, the quantity of the driving motor is two, and two driving motors drive two driving wheels to rotate respectively.
Further, the quantity of the driving motor is one, and the control mechanism further includes two differential mechanisms, described two
A differential mechanism is connected with the controller, and the output shaft of the driving motor passes through described two differential mechanisms and described two drives
Driving wheel connects.
Further, be provided with inductive switch on the foot pedal, the inductive switch be connected to the control mechanism with
Between storage battery, the inductive switch be used for by sense whether have user on car control the control mechanism power on and
Power-off.
Further, the foot pedal is equipped with four foot-operated regions, and the support frame top has recessed installation
Chamber, the foot pedal cover installation cavity, and four pressure sensors are located in installation cavity and bear against the bottom wall and four of installation cavity
The bottom in a foot-operated region.
Further, four foot-operated regions may extend away vertical direction and move up and down.
Further, the foot-operated area depression enters in installation cavity.
Further, four pressure sensors are used for the center of gravity that user is sensed by the pressure information of sensing thereon
Positional information.
Due to the utilization of above-mentioned technical proposal, the present invention possesses advantages below：
The electrodynamic balance car of the present invention senses the position of centre of gravity information of user, control device root by pressure sensor
The movement of wheel is controlled according to the position of centre of gravity information of user, therefore, it is used by vehicle frame relative rotation to react relatively
Its balance is higher for the two-wheeled vehicle of the position of centre of gravity information of person, from user stands when on this electrodynamic balance car
Balance is easier to control.
Brief description of the drawings
Fig. 1 is the structure diagram of the electrodynamic balance car of first embodiment of the invention.
Fig. 2 is the schematic cross-sectional view of the electrodynamic balance car shown in Fig. 1.
Fig. 3 is the side view of the electrodynamic balance car shown in Fig. 1.
Fig. 4 is the bottom view of the electrodynamic balance car shown in Fig. 1.
Fig. 5 is the structure diagram of the electrodynamic balance car of second embodiment of the invention.
The schematic cross-sectional view of electrodynamic balance car shown in Fig. 6 Fig. 5.
Fig. 7 is the structure diagram of the electrodynamic balance car of third embodiment of the invention.
The schematic cross-sectional view of electrodynamic balance car shown in Fig. 8 Fig. 7.
Fig. 9 is the structure diagram of the electrodynamic balance car of third embodiment of the invention.
The schematic cross-sectional view of electrodynamic balance car shown in Figure 10 Fig. 9.
Figure 11 is the bottom view of the electrodynamic balance car of further embodiment of this invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Embodiment one
- 4 are please referred to Fig.1, electrodynamic balance car provided in an embodiment of the present invention includes vehicle body 1, multiple wheels 2, location sensitive
Device and control mechanism.Wherein, the multiple wheel 2 is connected with the vehicle body 1, and the multiple wheel 2 is in triangle arrangement or more
The arrangement of side shape, and in the bottom surface of the multiple wheel 2 is generally aligned in the same plane.
The position induction device is used for the position of centre of gravity information for sensing user on the vehicle body 1.
The control mechanism is connected with the position induction device, and the control mechanism is according to the position induction device sense
The position of centre of gravity information for the user that should be arrived controls the multiple wheel 2 to move.
It is in flat foot pedal 11 and the support frame 13 arranged on 11 lower part of foot pedal that the vehicle body 1, which includes, institute
Plane where stating the bottom surface of multiple wheels 2 is parallel with the foot pedal 11, and the position induction device is folded in described foot-operated
Between plate 11 and the support frame 13, and for sensing the position of centre of gravity information of the user on foot pedal 11.Specifically, exist
In the present embodiment, position induction device is gravity sensor 101, and gravity sensor 101 is used for the user's on foot pedal 11
Position of centre of gravity information, the position of centre of gravity information control for the user that the control mechanism is sensed according to the gravity sensor 101
The multiple wheel 2 is made to move.
Specifically, in the present embodiment, on foot pedal 11 area is ridden formed with two symmetrically arranged foot-operated regions 110
Domain 110 is contacted with position induction device, and in order to which user stands at foot-operated region 110, position induction device can be accurate
Sense the position of centre of gravity change of user.13 top of support frame has recessed installation cavity 130, and the foot pedal 11 covers peace
It behave affectedly 130, foot-operated region 110 is projected into installation cavity 130, and it is interior and bear against that position induction device be located at installation cavity 130
The bottom wall of installation cavity 130 and the bottom in foot-operated region 110.Foot pedal 11 can be with rectangular plate with support frame 13.This
The structure of sample makes whole electrodynamic balance car be in long plate shape, its shape size is suitable with laptop.Moreover, electrodynamic balance car
Thickness is also suitable with laptop.
It is understood that when standing has user on foot pedal 11, gravity sensor 101 can induce user
Position of centre of gravity information, when gravity sensor 101 senses that the center of gravity of user is tilted to front or dead astern, control machine
Structure controls multiple wheels 2 to advance to front or fallen back to dead astern；When gravity sensor 101 sense the center of gravity of user to
When left front or right front tilt, control mechanism controls multiple wheels 2, and front or right front are advanced to the left；Work as gravity sensitive
When device 101 senses the center of gravity of user to left back front or right back inclination, control mechanism controls multiple wheels 2 to left back
Or right back is fallen back.
The quantity of the multiple wheel 2 is four and rectangular arrangement, in the direction of advance of the electrodynamic balance car, institute
State multiple wheels 2 include symmetrically arranged on 1 front end of vehicle body or two driving wheels of rear end and opposite with two driving wheels
Two deflecting rollers, are symmetrically disposed in the rear end of vehicle body 1, deflecting roller can be symmetrically arranged vehicle body 1 in the present embodiment driving wheel
Front end, i.e., be driven in the present embodiment using the pattern of rear wheel drive, certainly, two driving wheels are symmetrically arranged vehicle body 1
Front end, two deflecting rollers are symmetrically arranged the rear end of vehicle body 1, you can with using the pattern of front-wheel drive；In other embodiment
In, as shown in figure 11, the quantity of the multiple wheel 2 is 3, and the multiple wheel 2 includes the deflecting roller positioned at 1 front end of vehicle body
And two driving wheels positioned at 1 rear end of vehicle body, deflecting roller and two driving wheels are arranged in triangle, it is to be understood that in order to protect
The balance of electrodynamic balance car is demonstrate,proved, deflecting roller is located at the medium position of 1 front end of vehicle body, and certainly, two driving wheels can also be set
In the front end of vehicle body, deflecting roller can also set the medium position of the rear end of vehicle body 1.It should be noted that in above-described embodiment
In, deflecting roller is universal wheel.
The control mechanism includes driving motor and is connected with the driving motor and is used to control driving motor output
The controller of driving force, the position induction device are connected with the controller, and driving motor is used to drive two driving rotation
It is dynamic.The position of centre of gravity information for the user that the controller is sensed according to the position induction device (gravity sensor 101)
Judge the position of centre of gravity of user, the driving motor exports corresponding driving force extremely according to the control of the position of centre of gravity of user
Described two driving wheels are to drive described two driving wheels to rotate.It is understood that work as balance car to front or dead astern
During movement, the driving force of driving motor output make it that two driving wheel speeds are identical, when balance car needs to turn to, drives motor
The driving force of output causes two driving wheels to have certain speed discrepancy.
Specifically, in the present embodiment, the quantity for driving motor is two, and two driving motors drive two drivings respectively
Wheel rotates, and for the controller after the position of centre of gravity of the user is judged, the controller controls two driving electricity
Machine exports corresponding driving force to described two driving wheels to drive described two driving wheels to rotate.More specifically, work as controller
When the position of centre of gravity information of the user sensed according to position induction device judges that the center of gravity of user turns forward, controller
Two driving motor output sizes of control are identical and driving force to two driving wheels for driving forwards cause two driving wheels to
Preceding movement；When the position of centre of gravity information for the user that controller is sensed according to position induction device judges the center of gravity of user
When retreating, driving force to two driving wheels that controller controls two driving motor output sizes identical and back-drives make
Two driving wheels are obtained to move backward；When the position of centre of gravity information for the user that controller is sensed according to position induction device judges
Go out the center of gravity of user to during an inclination, i.e., balance car needs to turn at this time, and controller controls two driving motor output sizes
Different driving forces to two driving wheels cause two driving wheels to have certain speed difference, so that balance car can turn.
In other embodiments, the quantity for driving motor is one, and the control mechanism further includes differential mechanism, drives motor
It is connected by differential mechanism with two driving wheels.It is understood that the user that controller is sensed according to position induction device
Position of centre of gravity information when judging that the center of gravity of user turns forward, driving motor is identical by differential mechanism output size and forward
The driving force of driving controls multiple wheels 2 to travel forward；Controller according to user's center of gravity that position induction device senses to
During hypsokinesis, the driving force for driving motor identical by differential mechanism output size and back-driving controls multiple wheels 2 to move backward；
The position of centre of gravity information for the user that controller is sensed according to position induction device judges that the center of gravity of user is rolled to one
When oblique, i.e., balance car needs to turn at this time, and driving motor is driven by the different driving force of differential mechanism output size to the left and right sides
Driving wheel makes driving wheel have different speed, so that balance car can turn.
Specifically, the differential mechanism is gear differential, including the internal case for cavity and the row in case
Star gear, planetary wheel carrier, left half axle gear, right axle shaft gear, left half axle and right axle shaft, the planetary wheel carrier are located in case,
Planetary gear is connected on planetary wheel carrier, input terminal (driving gear i.e. on planetary wheel carrier) and the driving electricity of above-mentioned planetary wheel carrier
The transmission shaft of machine is connected, and the left half axle gear is connected in right axle shaft gear with planetary gear, left half axle and right axle shaft point
Not affixed with left half axle gear and right axle shaft gear, two driving wheels are connected with left half axle and right axle shaft.Power through transmission shaft into
Enter differential mechanism, directly drive planetary wheel carrier, then left and right two semiaxis are driven by planetary gear, drive left and right wheel respectively.Differential
The design requirement of device meets：(left half axle rotating speed)+(right axle shaft rotating speed)=2 (planetary wheel carrier rotating speed).When electrodynamic balance car is kept straight on
When, left and right wheel is equal with the rotating speed of planetary wheel carrier three to be in equilibrium state, and three balances when electrodynamic balance car is turned
State is destroyed, and causes inner side wheel speed to reduce, the increase of outside wheel speed.
In other embodiments, the quantity of the multiple wheel 2 is four and rectangular arrangement, and four wheels 2 are equal
For universal wheel, the quantity of the driving motor is four, each to drive motor to drive a wheel 2 to rotate, the controller root
Control four driving motors to export the corresponding wheel 2 of corresponding drive force according to the position of centre of gravity information of standing person to rotate, make
The direction of motion for obtaining four wheels 2 synthesizes required movement locus.When controller makes according to what position induction device sensed
When the position of centre of gravity information of user judges that the center of gravity of user turns forward, controller controls four driving motor outputs corresponding
Driving force to four driving wheels cause four driving wheels to drive balance car to travel forward；When controller is according to position induction device sense
When the position of centre of gravity information for the user that should be arrived judges that the center of gravity of user retreats, controller controls four driving motors defeated
Go out corresponding driving force to four driving wheels so that four driving wheels drive balance car to move backward；When controller is felt according to position
Answer the user that device senses position of centre of gravity information judge the center of gravity of user to one roll when, i.e., balance car needs at this time
Turn, it is flat that controller controls the four corresponding driving force of driving motors output to four driving wheels make it that four driving wheels drive
The car that weighs is turned.Need what is illustrated, when the position of centre of gravity information for the user that controller is sensed according to position induction device judges
Go out the center of gravity of user to front-left or front-right deviate when, controller can control the driving force of four driving motors output into
And the rotating speed and rotation direction of four wheels 2 of control cause balance car to be deviated to front-left or front-right.
In other embodiments, the quantity of the multiple wheel 2 is four and rectangular arrangement, and four wheels 2 are equal
For driving wheel, the quantity of the driving motor is four, each to drive motor to drive a wheel 2 to rotate, the controller root
Control four driving motors to export the corresponding wheel 2 of corresponding drive force according to the positional information of standing person to rotate so that four
The direction of motion of a wheel 2 synthesizes required movement locus.Body, when controller makes according to what position induction device sensed
When the position of centre of gravity information of user judges that the center of gravity of user turns forward, controller controls four driving motor outputs two groups big
Driving force to two driving wheels of front end and two driving wheels of rear end that are small identical and driving forwards cause four driving wheels
Travel forward；When the position of centre of gravity information for the user that controller is sensed according to position induction device judges the weight of user
When the heart retreats, controller controls that four driving motors export that two groups of sizes are identical and the driving force that back-drives is to rear end
Two driving wheels and two driving wheels of front end cause four driving wheels to move backward；When controller is according to position induction device sense
The position of centre of gravity information for the user that should be arrived judges the center of gravity of user to during an inclination, i.e., balance car needs to turn at this time,
Driving force to four driving wheels that controller controls four driving motor output sizes different cause four driving wheels to have necessarily
Speed difference so that balance car can turn.It should be noted that two groups of identical driving forces of size refer to be transferred to front end
Two driving force sizes of two driving wheels are identical, and two driving force sizes for being transferred to two driving wheels in rear end are identical.
In other embodiments, the quantity of the multiple wheel 2 is four and rectangular arrangement, and four wheels 2 are equal
For driving wheel, the quantity of the driving motor is one, and the control mechanism further includes two differential mechanisms, drives passing through for motor
Two differential mechanisms are connected with four driving wheels, particularly, drive two by one of differential mechanism with front portion of motor
Driving wheel connects, and driving motor is also connected by another differential mechanism and two driving wheels at rear portion.It is understood that when control
When the position of centre of gravity information for the user that device processed is sensed according to position induction device judges that the center of gravity of user turns forward, drive
Dynamic motor by two differential mechanisms export that two groups of sizes are identical and the driving force that drives forwards to anterior two driving wheels and after
Two driving wheels in end cause multiple wheels 2 to travel forward；When the weight for the user that controller is sensed according to position induction device
When heart positional information judges that the center of gravity of user retreats, driving motor it is identical by two differential mechanism output sizes and to
The driving force driven afterwards is to multiple wheels 2 so that multiple wheels 2 move backward；When controller is sensed according to position induction device
User position of centre of gravity information judge the center of gravity of user to one roll when, i.e., balance car needs to turn at this time, driving
Motor can be turned to by the different driving force of two differential mechanism output sizes to the multiple wheels 2 of multiple wheels 2, so that
Balance car can turn.It should be noted that two that are transferred to two driving wheels in front end that two groups of identical driving forces of size refer to
Driving force size is identical, and two driving force sizes for being transferred to two driving wheels in rear end are identical.
In the present embodiment, in order to realize that the automatic of balance car powers on and power off, sensing is provided with the foot pedal 11
Switch 10, inductive switch 10 is connected between control mechanism and power supply unit, the inductive switch 10 by sense on car whether
There is user to control powering on and powering off for the control mechanism.Preferably, inductive switch 10 is, for example, pressure switch, works as use
Person stands when on vehicle body 1, and inductive switch 10 turns on, and the power supply unit inside vehicle body 1 starts to supply vehicle body 1 with electric device
Electricity.Preferably, power supply unit is, for example, storage battery.
Be equipped with support level 132 at the port of the installation cavity 130, the foot pedal 11 cover after installation cavity 130 with branch
Support step 132 against, avoid foot pedal 11 enter installation cavity 130 in.
In the present embodiment, anterior downwardly convex be equipped with of foot pedal 11 is used to protect positioned at the shield edge of the anterior wheel of vehicle body 1
112.To extend the service life of electrodynamic balance car.
In the present embodiment, of the invention is that electrodynamic balance car further includes such as power supply unit, balanced controls (acceleration biography
Sensor, Hall sensor etc.) etc. form the element of electrodynamic balance car, these electronic components can be installed within installation cavity 130,
Details are not described herein for the function of these elements.
Embodiment 2
Incorporated by reference to reference to Fig. 5-6,
The structure of the electrodynamic balance car of the second embodiment of the invention electrodynamic balance car with first embodiment of the invention respectively
Structure and principle it is essentially identical, its difference is, position induction device includes four displacement sensors 102 and four bullets
Property element 104.The both ends of four flexible members 104 are connected with the foot pedal 11 and the support frame 13 and are in respectively
Rectanglar arrangement, four displacement sensors 102 correspond with four flexible members 104 and for sensing four elasticity
The deformation quantity of element 104, four displacement sensors 102 form a four-quadrant displacement with four flexible members 104
Induction system, and for sensing the position of centre of gravity information of the user on foot pedal 11.
It is understood that when on user's standing foot pedal 11, flexible member 104 is compressed by user, works as use
During the centre-of gravity shift of person, the deformation quantity of each flexible member 104 necessarily changes, and such displacement sensor 102 can be adopted
Collect the displacement variable of corresponding flexible member 104, control mechanism collects corresponding elasticity member by displacement sensor 102
The deformation quantity of part 104 judges the displacement of center of gravity information of user, (refers to down so as to control the multiple wheel 2 to move
State).
The foot pedal 11 is equipped with four foot-operated regions 111, and four foot-operated regions 111 may extend away and be moved down on vertical direction
Dynamic, in other words, that is, the body of four foot-operated regions 111 and foot pedal 11 is Split type structure, such as the sheet of foot pedal 11
Four openings can be equipped with body, pedal are separately installed with four openings, to form foot-operated region, it is to be understood that step on
Plate is in convex shape, and the top of opening departs from for example equipped with stop flange to avoid pedal from opening.More specifically, four bullets
Property element 104 be located in installation cavity 130 and connect the bottom wall of installation cavity 130 respectively and the bottom in four foot-operated regions 111, four
Displacement sensor 102, which is arranged on, to be behave affectedly on 130 bottom wall and is corresponded with four flexible members 104.
In electrodynamic balance car of the present invention four-quadrant displacement induction system collection displacement information concrete principle be：Four bullets
Property 4 corresponding left foot of element front portion, left foot heel, right crus of diaphragm it is anterior with right crus of diaphragm heel, when user stands in foot pedal 11
When upper, if center of gravity does not deviate, the power base suffered by left foot front portion, the anterior position trampled with right crus of diaphragm heel of left foot heel, right crus of diaphragm
Originally be identical, i.e., balance car is in equilibrium state at this time, when the centre-of gravity shift of user, left foot front portion, left foot heel, right crus of diaphragm
The power that front portion is received with right crus of diaphragm heel can change, corresponding with left foot front portion, left foot heel, right crus of diaphragm front portion and right crus of diaphragm heel at this time
Flexible member 4 deformation quantity by difference, four displacement sensors 3 can collect corresponding flexible member 4 deformation quantity letter
Breath, that is, obtain the position of centre of gravity information of user, the user's that control mechanism is obtained according to four displacement sensors 3 at this time
Position of centre of gravity information (deformation quantity of four flexible members 4) can judge the position of centre of gravity of user.
Specifically, four displacement sensors are respectively left upper quadrant displacement sensor, right upper quadrant displacement sensor, lower-left
Quadrant displacement sensor and right lower quadrant displacement sensor.The left upper quadrant displacement sensor and upper right received when control mechanism
The displacement that quadrant displacement sensor collects is identical, the position that left lower quadrant displacement sensor and right lower quadrant displacement sensing collect
Phase shift is same, but left upper quadrant displacement sensor is more than left lower quadrant displacement with the displacement that right upper quadrant displacement sensor collects
The displacement that sensor and right lower quadrant displacement sensor collect, at this time control mechanism judge that standing person's center of gravity is inclined to front
Tiltedly, control mechanism controls multiple wheels 2 to travel forward, and conversely then control mechanism judges that standing person's center of gravity is tilted to dead astern,
Control mechanism controls multiple wheels 2 to move backward.
When the displacement that the left upper quadrant displacement sensor that control mechanism receives is collected with left lower quadrant displacement sensor
Identical, the displacement that right upper quadrant displacement sensor and right lower quadrant displacement sensor collect is identical, but left upper quadrant displacement
Sensor is more than right upper quadrant displacement sensor with the displacement that left lower quadrant displacement sensor collects and right lower quadrant displacement passes
The displacement that sensor collects, at this time control mechanism judge standing person's center of gravity to front-left tilt when, conversely then front-right tilt.
Certainly, in that case, if control mechanism can control multiple wheels 2 can be to (this kind when front-left or right movement
Situation is universal wheel for multiple wheels 2), control mechanism controls multiple wheels 2 to be moved to front-left or right.
Certainly, when the shift value for any one quadrant displacement sensor that control mechanism receives is maximum, you can judge
The center of gravity for going out the standing person is located in the quadrant, and control mechanism can control multiple wheels 2 to make corresponding start.For example, work as
The shift value that control mechanism receives left upper quadrant displacement sensor is bigger than normal, and control mechanism may determine that the center of gravity position of standing person
In in left upper quadrant, at this time, control mechanism controls multiple wheels 2 to turn to the left.
Incorporated by reference to reference to Fig. 7-8,
The structure of the electrodynamic balance car of the third embodiment of the invention electrodynamic balance car with first embodiment of the invention respectively
Structure and principle it is essentially identical, its difference is, position induction device includes four pressure sensors 105, described four
A pressure sensor 105 is folded between the foot pedal 11 and the support frame 13 and rectangular arrangement, four pressures
Force snesor 105 forms a four-quadrant pressure sensitive system, and for sensing the position of centre of gravity of the user on foot pedal 11
Information.The concrete principle of four-quadrant pressure sensitive system induction pressure in electrodynamic balance car of the present invention is：Four pressure sensings
3 corresponding left foot of device front portion, left foot heel, right crus of diaphragm are anterior with right crus of diaphragm heel, when user stands when on foot pedal 11,
If center of gravity does not deviate, the power suffered by left foot front portion, the anterior position trampled with right crus of diaphragm heel of left foot heel, right crus of diaphragm is substantially phase
Together, i.e., balance car is in equilibrium state at this time, when the centre-of gravity shift of user, left foot front portion, left foot heel, right crus of diaphragm it is anterior with
The power that right crus of diaphragm heel is received can change, at this time pressure corresponding with left foot front portion, left foot heel, right crus of diaphragm front portion and right crus of diaphragm heel
The pressure collected of sensor 3 will change, that is, obtain the position of centre of gravity information of user, at this time control mechanism according to
The position of centre of gravity information (pressure information collected of four pressure sensors 3) for the user that four pressure sensors 3 obtain
It can judge the position of centre of gravity of user.
The foot pedal 11 is equipped with four foot-operated regions 113, and four foot-operated regions 113 may extend away and be moved down on vertical direction
Dynamic, in other words, that is, the body of four foot-operated regions 113 and foot pedal 11 is Split type structure, such as the sheet of foot pedal 11
Four openings can be equipped with body, pedal are separately installed with four openings, to form foot-operated region, it is to be understood that step on
Plate is in convex shape, and the top of opening departs from for example equipped with stop flange to avoid pedal from opening.More specifically, four pressures
Force snesor 105 is located in installation cavity 130 and bears against the bottom wall of installation cavity 130 and the bottom in four foot-operated regions 113.
It is understood that four pressure sensors are respectively left upper quadrant pressure sensor, right upper quadrant pressure sensing
Device, left lower quadrant pressure sensor and right lower quadrant pressure sensor.When the left upper quadrant pressure sensing that control mechanism receives
Device is identical with the pressure that right upper quadrant pressure sensor collects, left lower quadrant pressure sensor and right lower quadrant pressure sensor
The pressure collected is identical, but left upper quadrant pressure sensor is more than a left side with the pressure that right upper quadrant pressure sensor collects
The pressure that lower quadrant pressure sensor and right lower quadrant pressure sensor collect, and after the pressure component of direction of advance is more than
The pressure component in direction is moved back, control mechanism judges that standing person's center of gravity is tilted to front at this time, and control mechanism controls multiple cars
Wheel 2 travels forward, and conversely then control mechanism judges that standing person's center of gravity is tilted to dead astern, and control mechanism controls multiple wheels 2
Move backward.
When the pressure that the left upper quadrant pressure sensor that control mechanism receives is collected with left lower quadrant pressure sensor
Identical, the pressure that right upper quadrant pressure sensor and right lower quadrant pressure sensor collect is identical, but left upper quadrant pressure
Sensor is more than right upper quadrant pressure sensor with the pressure that left lower quadrant pressure sensor collects and right lower quadrant pressure passes
The pressure that sensor collects, is specially that the pressure component of front-left is more than the pressure component of front-right, controller is judged at this time
Standing person's center of gravity to front-left tilt when, conversely then front-right tilt.Certainly, in that case, if control mechanism can be with
Multiple wheels 2 are controlled when can be moved to front-left or right (this kind of situation is universal wheel for multiple wheels 2), control mechanism
Multiple wheels 2 are controlled to be moved to front-left or right.
It is, of course, understood that the pressure value of any one the quadrant pressure sensor received when controller is bigger than normal
When, you can judge that the center of gravity of the standing person is located in the quadrant, control mechanism can control multiple wheels 2 to make corresponding work
It is dynamic.For example, the pressure value that left upper quadrant pressure sensor is received when control mechanism is maximum, control mechanism may determine that standing
The center of gravity of person is located in left upper quadrant, and at this time, control mechanism controls multiple wheels 2 to turn to the left.
Refer to Fig. 9-10
The electrodynamic balance of the structure of the electrodynamic balance car of fourth embodiment of the invention and principle and first embodiment of the invention
The structure of car and principle are essentially identical, its difference is, position induction device includes photoelectric sensor 106 and four elasticity
Support component 107, is connected between foot pedal 11 and support frame 13 by resilient support members 107, and photoelectric sensor 106 is used for
The rotational angle of 11 relative motion plane of foot pedal is sensed, to obtain the positional information of the user.Specifically, user is worked as
To stand when on foot pedal 11, resilient support members 107 can be compressed, and during the centre-of gravity shift of user, foot pedal 11 can tilt,
The angle of inclination for the foot pedal 11 that photoelectric sensor 106 collects has collected the position of centre of gravity information of user.It can manage
Solution, when standing has user on foot pedal 11, position induction device can induce the position of centre of gravity information of user,
When position induction device senses the center of gravity of user front or right front tilt to the left when, control mechanism controls multiple wheels
2 front or right front advances to the left；When position induction device senses that the center of gravity of user is inclined to left back front or right back
When oblique, control mechanism controls multiple wheels 2 to be fallen back to left back or right back.
In the present embodiment, the angle of inclination of foot pedal 11 is spent at 10 degree -30, and the angle of inclination of foot pedal 11 is controlled
While making the stabilization inclination of foot pedal 11 between 10 degree of -30 degree, moreover it is possible to ensure the stability of whole electrodynamic balance car.
In the present embodiment, vehicle body 1 further includes connecting pole 15, connecting pole 15 be arranged on foot pedal 11 and support frame 13 it
Between and the periphery of connecting pole 15 contacted with the bottom wall of the bottom surface of foot pedal 11 and installation cavity 130, in order to foot pedal 11
Tilt.Specifically, the bottom surface of foot pedal 11 is equipped with upper locating slot 115, the bottom wall of installation cavity 130 is equipped with lower locating slot 135, connection
The upper and lower part of the periphery of column 15 is respectively positioned in locating slot 115 and lower locating slot 135.
It should be noted that in the present embodiment, the top of installation cavity 130 is not setting support level 132, is so easy to
Foot pedal 11 moves.
In conclusion the electrodynamic balance car of the present invention is since the vehicle body 1 of main component is in tabular, its structure is tight
Gather, it is easy to carry and store.Simultaneously as this electrodynamic balance car has three or four wheels 2, therefore, it is relatively other
Two-wheeled vehicle for its balance it is higher, user stand when on this electrodynamic balance car from balance be easier slap
Control.
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, can make a little change and retouch, therefore protection scope of the present invention is worked as
Subject to claims scope claimed.
Claims (10)
1. a kind of electrodynamic balance car, it is characterised in that including vehicle body (1), wheel (2), four pressure sensors (3) and control machine
Structure；The vehicle body (1) includes foot pedal (11) and the support frame (13) arranged on the foot pedal (11) lower part, the wheel
(2) it is connected with the support frame (13), four pressure sensors (3) are folded in the foot pedal (11) and the support
Between skeleton (13), four pressure sensors (3) form four-quadrant pressure sensitive system and for sensing foot pedal (11)
On user position of centre of gravity information；The control mechanism is connected with the pressure sensor (3), the control mechanism according to
The position of centre of gravity information for the user that four pressure sensors (3) sense controls the multiple wheel (2) movement.
2. electrodynamic balance car according to claim 1, it is characterised in that four pressure sensors (3) correspond to respectively
Left foot front portion, left foot heel, right crus of diaphragm front portion and the right crus of diaphragm heel of user.
3. electrodynamic balance car according to claim 2, it is characterised in that the wheel (2) includes and the support frame
(13) two driving wheels of connection, the control mechanism includes controller and the driving motor being connected with the controller, described
Pressure sensor (3) is connected with the controller, and the driving motor is used to drive two driving wheels to rotate, the control
The position of centre of gravity information control driving motor output for the user that device is sensed by the pressure sensor (3) is corresponding
Driving force is to described two driving wheels to drive described two driving wheels to rotate.
4. electrodynamic balance car according to claim 3, it is characterised in that the quantity of the driving motor is two, two
Driving motor drives two driving wheels to rotate respectively.
5. electrodynamic balance car according to claim 3, it is characterised in that the quantity of the driving motor is one, described
Control mechanism further includes two differential mechanisms, and described two differential mechanisms are connected with the controller, the output of the driving motor
Axis is connected by described two differential mechanisms with described two driving wheels.
6. electrodynamic balance car according to claim 1, it is characterised in that be provided with inductive switch on the foot pedal (11)
(4), the inductive switch (4) is connected between the control mechanism and storage battery, and the inductive switch (4) is used to pass through sensing
Whether user is had on car to control powering on and powering off for the control mechanism.
7. electrodynamic balance car according to claim 1, it is characterised in that the foot pedal (11) is equipped with four foot-operated areas
Domain (110), support frame (13) top have recessed installation cavity (130), and the foot pedal (11) covers installation cavity
(130), four pressure sensors (3) be located in installation cavity (130) and bear against installation cavity (130) bottom wall and four it is foot-operated
The bottom in region (110).
8. electrodynamic balance car according to claim 7, it is characterised in that four foot-operated regions (110) are extensible perpendicular
Nogata moves up and down.
9. electrodynamic balance car according to claim 8, it is characterised in that the foot-operated region (110) is recessed into installation
In chamber (130).
10. according to the electrodynamic balance car described in claim 1-9 any one, it is characterised in that four pressure sensors
(3) it is used for the position of centre of gravity information that user is sensed by the pressure information of sensing thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711051015.0A CN107933797A (en) | 2015-12-01 | 2015-12-01 | Electrodynamic balance car |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711051015.0A CN107933797A (en) | 2015-12-01 | 2015-12-01 | Electrodynamic balance car |
| CN201510872521.0A CN105416486A (en) | 2015-12-01 | 2015-12-01 | Electric balance vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510872521.0A Division CN105416486A (en) | 2015-12-01 | 2015-12-01 | Electric balance vehicle |
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| CN107933797A true CN107933797A (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711051015.0A Pending CN107933797A (en) | 2015-12-01 | 2015-12-01 | Electrodynamic balance car |
| CN201510872521.0A Pending CN105416486A (en) | 2015-12-01 | 2015-12-01 | Electric balance vehicle |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510872521.0A Pending CN105416486A (en) | 2015-12-01 | 2015-12-01 | Electric balance vehicle |
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| Country | Link |
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| CN (2) | CN107933797A (en) |
Cited By (3)
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| CN110562371A (en) * | 2018-05-17 | 2019-12-13 | 北京中航瑞博航空电子技术有限公司 | Vehicle control system and control method thereof |
| CN112394655A (en) * | 2019-08-01 | 2021-02-23 | 纳恩博（北京）科技有限公司 | Balance car, method for controlling balance car and storage medium |
| CN114179839A (en) * | 2021-12-15 | 2022-03-15 | 江苏淮电电动平车有限公司 | Heavy-load stable type electric flat carriage |
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| US10988032B2 (en) * | 2016-04-19 | 2021-04-27 | Walnut Technology Limited | Self-propelled personal transportation device |
| USD837323S1 (en) | 2018-01-03 | 2019-01-01 | Razor Usa Llc | Two wheeled board |
| USD941948S1 (en) | 2016-07-20 | 2022-01-25 | Razor Usa Llc | Two wheeled board |
| USD840872S1 (en) | 2016-07-20 | 2019-02-19 | Razor Usa Llc | Two wheeled board |
| USD803963S1 (en) | 2016-07-20 | 2017-11-28 | Razor Usa Llc | Two wheeled board |
| USD807457S1 (en) | 2016-07-20 | 2018-01-09 | Razor Usa Llc | Two wheeled board |
| CN106828729B (en) * | 2017-01-04 | 2022-11-15 | 浙江骑客机器人科技有限公司 | Human-computer interaction somatosensory vehicle |
| CN209553392U (en) | 2017-12-22 | 2019-10-29 | 美国锐哲有限公司 | Electrodynamic balance vehicle |
| CN210212628U (en) * | 2019-02-02 | 2020-03-31 | 杭州骑客智能科技有限公司 | Human-computer interaction somatosensory vehicle and supporting framework thereof |
| CN111591382A (en) | 2019-02-02 | 2020-08-28 | 杭州骑客智能科技有限公司 | Human-computer interaction somatosensory vehicle |
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| CN105416486A (en) | 2016-03-23 |
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