CN108423108A - A kind of obstacle detouring electrodynamic balance vehicle - Google Patents
A kind of obstacle detouring electrodynamic balance vehicle Download PDFInfo
- Publication number
- CN108423108A CN108423108A CN201810403523.9A CN201810403523A CN108423108A CN 108423108 A CN108423108 A CN 108423108A CN 201810403523 A CN201810403523 A CN 201810403523A CN 108423108 A CN108423108 A CN 108423108A
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- CN
- China
- Prior art keywords
- vehicle frame
- vehicle
- obstacle detouring
- electrodynamic balance
- balance
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The present invention relates to balance car fields, specifically disclose a kind of obstacle detouring electrodynamic balance vehicle, including：Vehicle frame which is provided with left and right pedal, and the left and right sides of the vehicle frame is arranged with wheel by shaft, and each wheel is driven by a motor；Bar is set on the vehicle frame, and the top of the bar, which is equipped with, turns to handle；Angular transducer is set to the steering handle to obtain its steering angle；Electronic gyroscope is set on the vehicle frame to obtain the angle change of vehicle body；Balance Control Scheme device is connect with the motor, angular transducer and electronic gyroscope respectively, is obtained the angle of vehicle body according to the electronic gyroscope and is turned to the steering angle of handle to control the differential rotation of left and right motor；The balance car can prevent from encountering the problem of larger barrier causes to overturn in traveling process.
Description
Technical field
The invention belongs to balance car field, more particularly to a kind of obstacle detouring electrodynamic balance vehicle.
Background technology
Self-balance electric vehicle is the high-tech intellectual product for advancing and retreating using principle of mobile equilibrium control, with body
Inclination, can indiscriminately ad. as one wishes control travel speed and direction of advance.Its operation principles is established in the basic of " dynamic stability "
In principle, the posture state residing for vehicle body is judged with built-in accurate solid-state gyroscope, it is micro- through accurate and high speed center
After processor calculates instruction appropriate, drive motor accomplishes counterbalance effect.Self-balance electric vehicle is extensive by Chinese police
It uses.
But existing balance car can cross ambassador's body side because of impulse force and turn over, can not climb over stone when encountering stone.
Invention content
The purpose of the present invention is to provide a kind of obstacle detouring electrodynamic balance vehicles, to overcome existing electrodynamic balance vehicle can not obstacle detouring
Defect.
To achieve the above object, the present invention provides a kind of obstacle detouring electrodynamic balance vehicles, including：Vehicle frame which is provided with left and right
The left and right sides of pedal, the vehicle frame is arranged with wheel by shaft, and each wheel is driven by a motor；Bar,
It is set on the vehicle frame, and the top of the bar, which is equipped with, turns to handle；Angular transducer, be set to the steering handle with
Obtain its steering angle；Electronic gyroscope is set on the vehicle frame to obtain the angle change of vehicle body；Balance Control Scheme
Device is connect with the motor, angular transducer and electronic gyroscope respectively, and the angle of vehicle body is obtained according to the electronic gyroscope
The steering angle of degree and steering handle is to control the differential rotation of left and right motor；The wheel includes：Cavity body, it is cylindrical,
The cavity body is fixed in the shaft, and the multiple cylinders being arranged in order are offered on the periphery of the cavity body；Piston is more
One end sliding of a piston is respectively set in a cylinder；Buffer stopper, multiple buffer stoppers are respectively set to described in one
At the other end of piston；And air valve, it is set in the cavity body.
Preferably, further include an air pump in above-mentioned technical proposal, the gas outlet of the air pump is connect with the cavity body,
The air pump is connect with balance Control Scheme device.
Preferably, in above-mentioned technical proposal, the buffer stopper is rubber block.
Preferably, in above-mentioned technical proposal, the front of the vehicle frame is equipped with explosion-proof shield.
Preferably, in above-mentioned technical proposal, the front of the vehicle frame is equipped with headlamp.
Preferably, in above-mentioned technical proposal, the both sides of the vehicle frame are equipped with storage tank.
Preferably, in above-mentioned technical proposal, the bottom of the vehicle frame is equipped with accumulator, the accumulator and autobalance control
Device connection processed.
Preferably, in above-mentioned technical proposal, the steering handle is equipped with speed-regulating switch, the speed-regulating switch and autobalance
Controller connects.
Compared with prior art, the present invention has the advantages that：
The structure of obstacle detouring electrodynamic balance vehicle in the present invention, wheel is made of multiple pistons by air pressure driving, can usually be protected
The vehicle traveling for holding vehicle is more than normally travel when encountering barrier such as step, stone or road serrated edge with the pressure of shock
Pressure, forces piston shrinks back so that entire wheel generates notch and clasps barrier outstanding, is gone over stable climbing,
It prevents from encountering the problem of larger barrier causes to overturn in balance car traveling process.
Description of the drawings
Fig. 1 is the structure chart of obstacle detouring electrodynamic balance vehicle according to the present invention.
Fig. 2 is the circuit structure diagram of obstacle detouring electrodynamic balance vehicle according to the present invention.
Main appended drawing reference explanation：
1- vehicle frames, 2- bars, 3- turn to handle, and 4- pedals, 5- storage tanks, 6- wheels, 7- buffer stoppers, the explosion-proof shields of 8-, 9- is certainly
Dynamic balancing controller, 10- angular transducers, 11- electronic gyroscopes, 12- motors, 13- air pumps, 14- accumulators, 15- speed governing are opened
It closes.
Specific implementation mode
Below in conjunction with the accompanying drawings, the specific implementation mode of the present invention is described in detail, it is to be understood that the guarantor of the present invention
Shield range is not restricted by specific implementation.
Fig. 1 shows the structure chart of obstacle detouring electrodynamic balance vehicle according to the preferred embodiment of the present invention.
As Figure 1-Figure 2, obstacle detouring electrodynamic balance vehicle includes：Vehicle frame 1, bar 2, angular transducer 10, electronic gyroscope
Instrument 11, balance Control Scheme device 9, wheel 6 and air pump 13；Vehicle frame 1 is equipped with left and right pedal 4, and the front of vehicle frame 1 is equipped with illumination
The front of lamp, vehicle frame 1 is equipped with explosion-proof shield 8, and the both sides of vehicle frame 1 are equipped with storage tank 5, and the left and right sides of vehicle frame 1 is symmetrical by shaft
Equipped with wheel 6, each wheel 6 is driven by a motor；Bar 2 is set on vehicle frame 1, and the top of bar 2, which is equipped with, turns to handle
3；Angular transducer 10, which is set to, turns to handle 3 to obtain its steering angle；Electronic gyroscope 11 is set on vehicle frame 1 to obtain vehicle body
Angle change；Balance Control Scheme device 9 is connect with motor 12, angular transducer 10 with electronic gyroscope 11 respectively, automatic flat
Weigh 9 model MPU6800 of controller, obtains the angle of vehicle body according to electronic gyroscope 11 and turns to the steering angle of handle to control
Motor differential rotation in left and right processed；It turns to handle 3 and is equipped with speed-regulating switch 15, speed-regulating switch 15 is connect with balance Control Scheme device 9, vehicle
Taking turns 6 includes：Cavity body, piston, buffer stopper 7 and air valve；Cavity body is cylindrical, and cavity body is fixed in shaft, the cavity body
Periphery on offer the multiple cylinders being arranged in order；One end sliding of multiple pistons is respectively set in a cylinder；It is multiple slow
It rushes block 7 to be respectively set at the other end of a piston, buffer stopper 7 is preferably rubber block；Air valve is set in cavity body, and air pump 13 goes out
Gas port is connect with cavity body, and air pump 13 is connect with balance Control Scheme device 9, and the bottom of vehicle frame 1 is equipped with accumulator 14, accumulator 14
It is connect with balance Control Scheme device 9.
In motion, operation human body is stood on left and right pedal 4, and when the wheel 6 of both sides rotates synchronously, vehicle is i.e. front and back
Movement, when the 6 differential rotation of wheel of both sides, wheel 6 is turned, and in stable state, vehicle frame 1 and human body are basic relative to the earth
It is vertical, when this angle changes, the electronic gyroscope 11 on vehicle frame 1 can detect the variation of angle, by automatic
Balance controller 9 drives the wheel of both sides to adjust, and vehicle frame 1 and human body is made to restore balance state relative to the angle of the earth.
In normally travel, once direction of advance changes, electronic gyroscope 11 can also detect angle change and to autobalance
Controller 9 sends out correction instruction, and 2 wheels of driving, which adjust, makes vehicle keep correct direction of advance, turns when turning to handle
When dynamic, then angular transducer obtains 10 and takes corner, and the differential rotation of the wheel of balance Control Scheme device driving both sides is to turn
Further, the structure of the obstacle detouring electrodynamic balance vehicle in the present invention, wheel 6 is made of multiple pistons by air pressure driving,
The vehicle of vehicle can be usually kept to travel, it is big with the pressure of shock when encountering barrier such as step, stone or road serrated edge
In the pressure of normally travel, forces piston is shunk back, and portion gas is sprayed by air valve so that entire wheel generation notch clasps prominent
The barrier gone out is gone over stable climbing, and piston restores normally under normal barometric pressure later, and normally travel prevents balance car
The problem of larger barrier causes to overturn is encountered in traveling process.
The description of the aforementioned specific exemplary embodiment to the present invention is in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can much be changed
And variation.The purpose of selecting and describing the exemplary embodiment is that explaining the specific principle of the present invention and its actually answering
With so that those skilled in the art can realize and utilize the present invention a variety of different exemplary implementation schemes and
Various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (8)
1. a kind of obstacle detouring electrodynamic balance vehicle, including：
Vehicle frame which is provided with left and right pedal, and the left and right sides of the vehicle frame is arranged with wheel by shaft, each wheel
It is driven by a motor；
Bar is set on the vehicle frame, and the top of the bar, which is equipped with, turns to handle；
Angular transducer is set to the steering handle to obtain its steering angle；
Electronic gyroscope is set on the vehicle frame to obtain the angle change of vehicle body；
Balance Control Scheme device is connect with the motor, angular transducer and electronic gyroscope respectively, according to the electronics top
Spiral shell instrument obtains the angle of vehicle body and turns to the steering angle of handle to control the differential rotation of left and right motor；
It is characterized in that,
The wheel includes：
Cavity body, cylindrical, the cavity body is fixed in the shaft, is offered successively on the periphery of the cavity body
Multiple cylinders of arrangement；
One end sliding of piston, multiple pistons is respectively set in a cylinder；
Buffer stopper, multiple buffer stoppers are respectively set at the other end of a piston；And
Air valve is set in the cavity body.
2. obstacle detouring electrodynamic balance vehicle according to claim 1, which is characterized in that further include an air pump, the air pump goes out
Gas port is connect with the cavity body, and the air pump is connect with balance Control Scheme device.
3. obstacle detouring electrodynamic balance vehicle according to claim 1, which is characterized in that the buffer stopper is rubber block.
4. obstacle detouring electrodynamic balance vehicle according to claim 1, which is characterized in that the front of the vehicle frame is equipped with explosion-proof shield.
5. obstacle detouring electrodynamic balance vehicle according to claim 1, which is characterized in that the front of the vehicle frame is equipped with headlamp.
6. obstacle detouring electrodynamic balance vehicle according to claim 2, which is characterized in that the both sides of the vehicle frame are equipped with storage tank.
7. obstacle detouring electrodynamic balance vehicle according to claim 1, which is characterized in that the bottom of the vehicle frame is equipped with accumulator,
The accumulator is connect with balance Control Scheme device.
8. obstacle detouring electrodynamic balance vehicle according to claim 1, which is characterized in that the steering handle is equipped with speed-regulating switch,
The speed-regulating switch is connect with balance Control Scheme device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403523.9A CN108423108A (en) | 2018-04-28 | 2018-04-28 | A kind of obstacle detouring electrodynamic balance vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403523.9A CN108423108A (en) | 2018-04-28 | 2018-04-28 | A kind of obstacle detouring electrodynamic balance vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108423108A true CN108423108A (en) | 2018-08-21 |
Family
ID=63162170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810403523.9A Pending CN108423108A (en) | 2018-04-28 | 2018-04-28 | A kind of obstacle detouring electrodynamic balance vehicle |
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| Country | Link |
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| CN (1) | CN108423108A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896393A (en) * | 2021-02-27 | 2021-06-04 | 湖北邦步晨康智能科技有限公司 | Novel double-rod electric balance car |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057635A (en) * | 2011-10-21 | 2013-04-24 | 邹帆 | Bestriding type self-balancing two-wheeled electric car |
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN105599536A (en) * | 2016-03-08 | 2016-05-25 | 武汉理工大学 | Variable-diameter wheel hub |
| CN106176079A (en) * | 2015-05-06 | 2016-12-07 | 开曼商丰祥控股股份有限公司 | Wheel for stair of creeping |
| CN106904047A (en) * | 2017-04-17 | 2017-06-30 | 邓宏伟 | The many landform cylinder amplitude modulation vehicle wheels of self adaptation |
| CN208149513U (en) * | 2018-04-28 | 2018-11-27 | 桂林电子科技大学 | A kind of obstacle detouring electrodynamic balance vehicle |
-
2018
- 2018-04-28 CN CN201810403523.9A patent/CN108423108A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057635A (en) * | 2011-10-21 | 2013-04-24 | 邹帆 | Bestriding type self-balancing two-wheeled electric car |
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN106176079A (en) * | 2015-05-06 | 2016-12-07 | 开曼商丰祥控股股份有限公司 | Wheel for stair of creeping |
| CN105599536A (en) * | 2016-03-08 | 2016-05-25 | 武汉理工大学 | Variable-diameter wheel hub |
| CN106904047A (en) * | 2017-04-17 | 2017-06-30 | 邓宏伟 | The many landform cylinder amplitude modulation vehicle wheels of self adaptation |
| CN208149513U (en) * | 2018-04-28 | 2018-11-27 | 桂林电子科技大学 | A kind of obstacle detouring electrodynamic balance vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896393A (en) * | 2021-02-27 | 2021-06-04 | 湖北邦步晨康智能科技有限公司 | Novel double-rod electric balance car |
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