CN109774839A - Body-sensing balance car - Google Patents
Body-sensing balance car Download PDFInfo
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- CN109774839A CN109774839A CN201711105176.3A CN201711105176A CN109774839A CN 109774839 A CN109774839 A CN 109774839A CN 201711105176 A CN201711105176 A CN 201711105176A CN 109774839 A CN109774839 A CN 109774839A
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- 230000001953 sensory effect Effects 0.000 claims description 30
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- 238000000465 moulding Methods 0.000 claims description 4
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- 239000007787 solid Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000009434 installation Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000006698 induction Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000005693 optoelectronics Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005266 casting Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
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- 238000011065 in-situ storage Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 238000004806 packaging method and process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
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Abstract
The invention discloses a kind of body-sensing balance car, including traveling wheel, main body of vehicle frame, pedal and for the pressure sensitive device of sense pedal stress, traveling wheel is mounted on main body of vehicle frame, and pressure sensitive device is connect with pedal.When rider personnel step down on pedal, pressure sensing device senses pedal force, and then detect whether body-sensing balance car has into rider state.In body-sensing balance car provided by the present application, by installing the pressure sensitive device connecting with pedal, pedal force situation is judged by control device, and then judge whether body-sensing balance car has into rider state, easy for installation, structure is simple, significantly reduces the manufacturing cost of body-sensing balance car.
Description
Technical field
The present invention relates to scooter technical field, in particular to a kind of body-sensing balance car.
Background technique
Body-sensing balance car is the device using principle of mobile equilibrium control advance, retrogressing and steering operation.As shown in Figure 1 to Figure 4
Shown, traditional body-sensing balance car includes traveling wheel 01, main body of vehicle frame 02, main vehicle controller, pedal 03, rotating assembly 04, light
Controller for electric consumption and handle 05, traveling wheel 01, pedal 03, main vehicle controller and photoelectric eye are installed in main body of vehicle frame 02
On, wherein handle 05 installs the top of rotating assembly 04, and rotating assembly 04 is used to send the manipulation letter of handle 05 to main vehicle controller
Number, control traveling wheel 01 carries out steering operation.Specifically, riding the physical feelings such as personnel's hand or leg, control-rod, control are operated
Body-sensing balance car is turned during forward-reverse or turning in situ.Or the pedal 03 that rider personnel or so foot is trampled connects
With shaft, opposite can twist, main vehicle controller passes through the angle for detecting two pedals 03 respectively, according to the phase of two pedals 03
To twisting differential seat angle, control vehicle is turned during forward-reverse or pivot turn.
Photoelectric eye includes reset spring 07, transmitting tube 09, reception pipe 08 and shutter 06, wherein reset spring
07 both ends are connect with pedal 03 and main body of vehicle frame 02 respectively, and shutter 06 is mounted on 03 lower surface of pedal, transmitting tube 09 and are connect
Closed tube 08 is mounted on main body of vehicle frame 02, and is located at 06 opposite sides of shutter.Multiply when whether detection body-sensing balance car has to enter
When riding state, detect whether rider personnel set foot on pedal 03 by optoelectronic switch.When no rider personnel set foot on pedal 03, pedal
03 is bounced, unobstructed between the transmitting tube 09 and reception pipe 08 of optoelectronic switch；When rider personnel set foot on pedal 03, pedal 03
It pushes, after thering is shelter, main vehicle controller to detect the signal between the transmitting tube 09 and reception pipe 08 of optoelectronic switch, into multiplying
Ride state.
However, due to having detected whether the knot for needing to be arranged relative motion into rider state by photoelectric eye
Structure causes complete vehicle structure complicated, and production and assembly process is complicated, so that body-sensing balance car manufacturing cost is higher.
Therefore, the manufacturing cost for how reducing body-sensing balance car is those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
The object of the present invention is to provide a kind of body-sensing balance car, the manufacturing cost of the body-sensing balance car is reduced.
To achieve the above object, the present invention provides a kind of body-sensing balance car, including traveling wheel, main body of vehicle frame, pedal and use
In the pressure sensitive device of sense pedal stress, the traveling wheel is mounted on the main body of vehicle frame, the pressure sensitive device
It is connect with the pedal.
Preferably, the pedal includes the left-hand tread plate and right-hand tread plate along live axle to arrangement, the pressure sensitive device
Including the left pressure sensitive device being connect with the left-hand tread plate and the right pressure sensitive device being connect with the right-hand tread plate.
Preferably, the left pressure sensitive device includes that left-handed form becomes beam and is mounted on the left-handed form change biography that the left-handed form becomes on beam
Feel component, the left-hand tread plate becomes beam by the left-handed form and is mounted on the main body of vehicle frame；
And/or the right pressure sensitive device includes right deformation beam and the right deformation being mounted on right deformation beam sensing
Component, the right-hand tread plate are mounted on the main body of vehicle frame by the right deformation beam.
It preferably, further include the main vehicle controller being mounted on inside the main body of vehicle frame；
The left-handed form become sensory package include the first left changing sensor for incuding the position deformation of left-hand tread plate sole and
For incuding the second left changing sensor of left-hand tread plate heel position deformation；
The right deformation sensory package include the first right changing sensor for incuding the position deformation of right-hand tread plate sole and
For incuding the second right changing sensor of right-hand tread plate heel position deformation；
The first left changing sensor, the second left changing sensor, the first right changing sensor and described
Second right changing sensor is connect with the main vehicle controller, when first left-handed form becomes sensor signal and second left side
The difference of changing sensor signal is less than the described first right changing sensor signal and the described second right changing sensor signal
When difference, the main vehicle controller controls the traveling wheel and turns left；
It is greater than described the when first left-handed form becomes sensor signal and second left-handed form and becomes the difference of sensor signal
When the difference of one right changing sensor and the described second right changing sensor signal, the main vehicle controller controls the traveling wheel
It turns right.
Preferably, it includes becoming biography for incuding the first left-handed form of left-hand tread plate sole position deformation that the left-handed form, which becomes sensory package,
Sensor and the second left changing sensor for incuding left-hand tread plate heel position deformation；
The right deformation sensory package include the first right changing sensor for incuding the position deformation of right-hand tread plate sole and
For incuding the second right changing sensor of right-hand tread plate heel position deformation；
The first left changing sensor, the second left changing sensor, the first right changing sensor and described
Second right changing sensor is connect with the main vehicle controller, is greater than described the when second left-handed form becomes sensor signal value
One left-handed form becomes sensor signal value, and the two difference is greater than the first preset value, and the described first right changing sensor signal value simultaneously
Greater than with the described second right changing sensor signal value, and when the two difference reaches the second preset value, the main vehicle controller control
The traveling wheel is made to turn left；
It is greater than second left-handed form change sensor signal value when first left-handed form becomes sensor signal value, the two difference is big
In third preset value, and simultaneously, the described second right changing sensor signal value is greater than the described first right changing sensor signal value,
And the two difference, when reaching four preset values, the main vehicle controller controls the traveling wheel and turns right.
Preferably, the length direction that the left-handed form becomes beam is arranged along perpendicular to the traveling wheel axis direction, the left-handed form
The middle part for becoming beam is fixed with the main body of vehicle frame, and the first end that the left-handed form becomes beam is fixed with left-hand tread plate sole position, institute
The second end for stating left-handed form change beam is fixed with left-hand tread plate heel position, and the first left changing sensor is located at left-handed form change
The first end of beam and the left-handed form become between the middle part of beam, and the second left changing sensor is located at second that the left-handed form becomes beam
End and the left-handed form become between the middle part of beam；
And/or the length direction that the right deformation beam includes is arranged along perpendicular to the traveling wheel axis direction, the right side
The middle part of deformation beam is fixed with the main body of vehicle frame, and first end and the right-hand tread plate sole position of the right deformation beam are fixed,
The second end of the right deformation beam is fixed with right-hand tread plate heel position, and the first right changing sensor is located at the right shape
Become between the first end of beam and the middle part of the right deformation beam, the second right changing sensor is located at the of the right deformation beam
Between two ends and the middle part of the right deformation beam.
Preferably, it includes left foot palm deformation beam and left heel deformation beam that the left-handed form, which becomes beam, and the left foot slaps deformation beam one
End is fixed with left-hand tread plate sole position, and the other end is fixed with the main body of vehicle frame, and the first left changing sensor is located at
On left foot palm deformation beam, described left heel deformation beam one end is fixed with left-hand tread plate heel position, the other end with it is described
Main body of vehicle frame is fixed, and the second left changing sensor is located on the left heel deformation beam；
And/or the right deformation beam includes right crus of diaphragm palm deformation beam and right crus of diaphragm with deformation beam, the right crus of diaphragm slaps deformation beam one end
It is fixed with right-hand tread plate sole position, the other end is fixed with the main body of vehicle frame, and the first right changing sensor is located at institute
It states on right crus of diaphragm palm deformation beam, the right crus of diaphragm is fixed with deformation beam one end and right-hand tread plate heel position, the other end and the vehicle
Frame body is fixed, and the second right changing sensor is located at the right crus of diaphragm on deformation beam.
Preferably, the described first left changing sensor, the second left changing sensor, the first right changing sensor
It is multiple with the described second right changing sensor, and is distributed in matrix.
Preferably, the left-handed form become sensory package and the right deformation sensory package with the pedal and the vehicle frame master
Deformation space is equipped between body.
Preferably, it is tapered from becoming sensory package direction to close left-handed form to become beam for the left-handed form；
And/or the right deformation quantity is tapered to the close right deformation sensory package direction.
Preferably, the main body of vehicle frame, the left-handed form become beam and the right deformation beam is an integral molding structure.
In the above-mentioned technical solutions, body-sensing balance car provided by the invention includes traveling wheel, main body of vehicle frame, pedal and is used for
The pressure sensitive device of sense pedal stress, traveling wheel are mounted on main body of vehicle frame, and pressure sensitive device is connect with pedal.When multiplying
When the personnel of riding are stepped down on pedal, pressure sensing device senses pedal force, and then detect whether body-sensing balance car has into rider
State.
As can be seen from the above description, in body-sensing balance car provided by the present application, by installing the pressure connecting with pedal
Sensing device judges pedal force situation by control device, and then judges whether body-sensing balance car has into rider state,
Easy for installation, structure is simple, significantly reduces the manufacturing cost of body-sensing balance car.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of traditional body-sensing balance car；
Fig. 2 is the structural schematic diagram of traditional another body-sensing balance car；
Fig. 3 is the structural schematic diagram that traditional body-sensing balance car is located at free state；
Fig. 4 is the structural schematic diagram that traditional body-sensing balance car is located at rider state；
Fig. 5 is the tomograph of body-sensing balance car provided by the embodiment of the present invention；
Fig. 6 is the exploded view of body-sensing balance car provided by the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the first body-sensing balance car provided by the embodiment of the present invention；
Fig. 8 is structural schematic diagram of the body-sensing balance car shown in Fig. 7 along the direction A-A；
Fig. 9 is structural schematic diagram of the body-sensing balance car shown in Fig. 7 along the direction B-B；
Figure 10 is the top view of body-sensing balance car provided by inventive embodiments；
Figure 11 is the structural schematic diagram of second of body-sensing balance car provided by the embodiment of the present invention；
Figure 12 is structural schematic diagram of the body-sensing balance car shown in Figure 11 along the direction C-C；
Figure 13 is structural schematic diagram of the body-sensing balance car shown in Figure 11 along the direction D-D.
Wherein in Fig. 1-13: 01- traveling wheel, 02- main body of vehicle frame, 03- pedal, 04- rotating assembly, 05- handle, 06- hide
Baffle, 07- reset spring, 08- reception pipe, 09- transmitting tube；
1- traveling wheel, 2- main body of vehicle frame；
3- pedal, 31- left-hand tread plate, 32- right-hand tread plate；
4- left-handed form becomes beam, 41- left foot slaps deformation beam, 42- left heel deformation beam；
The right deformation beam of 5-, 51- right crus of diaphragm palm deformation beam, 52- right crus of diaphragm are with deformation beam；
The main vehicle controller of 6-；
The left changing sensor of 71- first, the left changing sensor of 72- second；
The right changing sensor of 81- first, the right changing sensor of 82- second.
Specific embodiment
Core of the invention is to provide a kind of body-sensing balance car, and the manufacturing cost of the body-sensing balance car reduces.
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing and embodiment party
The present invention is described in further detail for formula.
Fig. 5 to Figure 13 is please referred to, in a specific embodiment, the body-sensing balance car that the specific embodiment of the invention provides
Including traveling wheel 1, main body of vehicle frame 2, pedal 3 and pressure sensitive device for incuding 3 stress of pedal, traveling wheel 1 is installed
On main body of vehicle frame 2, pressure sensitive device is connect with pedal 3.For the ease of dismounting body-sensing balance car, it is preferable that pedal 3 and pressure
Sensing device is detachably connected, and pressure sensitive device is detachably connected with main body of vehicle frame 2.In order to extend the use of body-sensing balance car
Service life, it is preferable that main body of vehicle frame 2 is metal structure.Preferably, 2 outside mask of main body of vehicle frame is equipped with plastic shell, for the ease of induction
3 stress condition of pedal, pedal 3 are plastic construction, and plastic shell is equipped with the pedal aperture for accommodating pedal 3.Specifically, pressure
Power sensing device is specifically as follows static capacitive pressure sensor.
In order to extend the service life of body-sensing balance car, it is preferable that 3 upper surface of pedal is equipped with protective layer.
Specifically, traveling wheel 1 is two, two traveling wheels 1 are symmetrically distributed in 2 opposite sides of main body of vehicle frame, two walkings
Wheel 1 is respectively equipped with corresponding motor, and motor is mounted on main body of vehicle frame 2, in order to improve driving safety, it is preferable that vehicle frame
Main body 2 is equipped with indicator light, and wherein the number and shape of indicator light are decided according to the actual requirements, and the application is not specifically limited.
When rider personnel step down on pedal 3,3 stress of pressure sensing device senses pedal, and then detect body-sensing balance car
Whether have into rider state, specifically, judging whether pressure sensitive device pressure or deformation reach pre- by control device
If value is judged whether there is into rider state.
As can be seen from the above description, in the body-sensing balance car provided by the application specific embodiment, by installing and stepping on
The pressure sensitive device that plate 3 connects, and then judge whether body-sensing balance car has into rider state, easy for installation, structure is simple,
Significantly reduce the manufacturing cost of body-sensing balance car.On the other hand, it is trampled for a long time relative to needing to be reset spring, is caused multiple
The case where position spring is difficult to active homing, effectively extends the service life of body-sensing balance car, and improve raising balance car
Safety in utilization.
Preferably, pedal 3 includes the left-hand tread plate 31 and right-hand tread plate 32 axially arranged along traveling wheel 1, pressure sensitive device packet
The right pressure sensitive device for including the left pressure sensitive device connecting with left-hand tread plate 31 and being connect with right-hand tread plate 32.It is stepped on by the way that a left side is arranged
Plate 31 and right-hand tread plate 32, and left pressure sensitive device and right pressure sensitive device is respectively set, improve the induction of body-sensing balance car
Accuracy.
In order to improve the roadability of body-sensing balance car, it is preferable that left pressure sensitive device and right pressure sensitive device pair
Title is distributed in 2 center line opposite sides of main body of vehicle frame.
More preferably, left pressure sensitive device includes that left-handed form becomes beam 4 and is mounted on the left-handed form change sensing that left-handed form becomes on beam 4
Component, left-hand tread plate 31 become beam 4 by left-handed form and are mounted on main body of vehicle frame 2.Right pressure sensitive device includes right deformation beam 5 and installation
Right deformation sensory package on right deformation beam 5, right-hand tread plate 32 are mounted on main body of vehicle frame 2 by right deformation beam 5.Wherein, left
The effect of deformation beam 4 and right deformation beam 5 is connection pedal 3 and main body of vehicle frame 2, so that left-handed form becomes beam 4 and the right side when 3 load-bearing of pedal
Deformation beam 5 generates deformation, so that left-handed form becomes the subtle deformation of sensory package and the induction of right deformation sensory package, improves sensitive
Property.Left-handed form becomes beam 4 and right 5 planform of deformation beam can according to need specific setting, the company with pedal 3 and main body of vehicle frame 2
It connects fastening means and is specifically as follows the modes such as threaded connection, welding, bonding, it might even be possible to be that the structure and main body of vehicle frame 2 are one
Body the modes such as perhaps forges, is cut into especially by casting and processes or be integrated with pedal 3.Realize 3 stress of pedal
Afterwards, by deformation beam, power is transferred to main body of vehicle frame 2.
In order to reduce difficulty of processing, and improve packaging efficiency, it is preferable that main body of vehicle frame 2, left-handed form become beam 4 and right deformation beam 5 is equal
It is an integral molding structure.
In order to improve detection accuracy, it is preferable that left-handed form become beam 4 to close to left-handed form become sensory package direction it is tapered and/or
Right deformation quantity is tapered to close right deformation sensory package direction.Since left-handed form becomes beam 4 from becoming sensory package direction to close to left-handed form
Tapered and/or right deformation quantity is tapered to close right deformation sensory package direction, so that left-handed form becomes sensory package and right deformation sensing
Component more can accurately incude subtle deformation, improve the service performance of body-sensing balance car.
Specifically, for the ease of dismounting body-sensing balance car, it is preferable that on the basis of above-mentioned each scheme, it is preferable that main body of vehicle frame
2, pedal 3, left-handed form become beam 4 and right deformation beam 5 is an integral molding structure.
Further, which further includes the main vehicle controller 6 being mounted on inside main body of vehicle frame 2.
Left-handed form become sensory package include the first left changing sensor 71 for incuding 31 sole position deformation of left-hand tread plate and
For incuding the second left changing sensor 72 of 31 heel position deformation of left-hand tread plate.
Right deformation sensory package include the first right changing sensor 81 for incuding 32 sole position deformation of right-hand tread plate and
For incuding the second right changing sensor 82 of 32 heel position deformation of right-hand tread plate.
First left changing sensor 71, the second left changing sensor 72, the first right changing sensor 81 and the second right deformation
Sensor 82 is connect with main vehicle controller 6, when the first left 71 signal of changing sensor and the second left 72 signal of changing sensor
Difference less than the difference of the first right 81 signal of changing sensor and the second right 82 signal of changing sensor when, main vehicle controller 6
Traveling wheel 1 is controlled to turn left.Specifically, the driving speed that main vehicle controller 6 controls the left side wheels of traveling wheel 1 is less than the drive of right-hand wheel
Dynamic speed, car body rotate counterclockwise while moving forward or back or keeping original place
When the difference of the first left 71 signal of changing sensor and the second left 72 signal of changing sensor is greater than the first right deformation
When the difference of sensor 81 and the second right 82 signal of changing sensor, main vehicle controller 6 controls traveling wheel 1 and turns right.Specifically, main
Vehicle controller 6 control traveling wheel 1 left side wheels driving speed be greater than right-hand wheel driving speed, car body move forward or back or
While keeping original place, rotate clockwise.
In another embodiment, believe when the second left 72 signal value of changing sensor is greater than the first left changing sensor 71
Number value, the two difference is greater than the first preset value, and the first right 81 signal value of changing sensor is greater than simultaneously and the second right deformation passes
82 signal value of sensor, and when the two difference reaches the second preset value, main vehicle controller 6 controls traveling wheel 1 and turns left.Due to riding people
Member is when needing to turn left curved, it will usually which left foot is exerted oneself to front side, and right crus of diaphragm is exerted oneself to rear side, so being turned to by as above setting control
Wheel turns left, and rider personnel use of being more convenient for improves the stability of man-machine cooperation.
When the first left 71 signal value of changing sensor is greater than the second left 72 signal value of changing sensor, the two difference is greater than the
Three preset values, and the second right 82 signal value of changing sensor is greater than the first right 81 signal value of changing sensor simultaneously, and the two is poor
When value reaches four preset values, main vehicle controller 6 controls traveling wheel 1 and turns right.Since rider personnel are when needing to turn right curved, left foot
It exerts oneself to rear side, right crus of diaphragm is exerted oneself to front side, so turned right by as above setting control deflecting roller, rider personnel use of being more convenient for,
Improve the stability of man-machine cooperation.
Preferably, it is operated for the ease of riding personnel, it is preferable that the first preset value is equal with third preset value, and second is default
It is worth equal with the 4th preset value.Since the first preset value is equal with third preset value, the second preset value is equal with the 4th preset value,
For rider personnel when turning left and turning right, it is equal that respective foot steps on dynamics, uses convenient for rider personnel.
In one embodiment, as shown in Figure 7 to 9, left-handed form becomes the length direction of beam 4 along perpendicular to 1 axis of traveling wheel
The setting of line direction, left-handed form becomes the middle part of beam 4 and main body of vehicle frame 2 is fixed, and left-handed form becomes first end and the 31 sole position of left-hand tread plate of beam 4
Fixed, the second end that left-handed form becomes beam 4 is fixed with 31 heel position of left-hand tread plate, and the first left changing sensor 71 is located at left-handed form and becomes beam 4
First end and left-handed form become beam 4 middle part between, the second left changing sensor 72 be located at left-handed form become beam 4 second end and left-handed form change
Between the middle part of beam 4.Since the first left changing sensor 71 and the second left changing sensor 72 are mounted on a deformation beam, group
Dress is simple, reduces the assembling difficulty of staff, meanwhile, left-handed form becomes the middle position of beam 4 and main body of vehicle frame 2 is fixed, and avoids
The case where first left changing sensor 71 and the second left changing sensor 72 interfere with each other, improves induction accuracy.
Further, the length direction that right deformation beam 5 includes is arranged along perpendicular to 1 axis direction of traveling wheel, right deformation beam 5
Middle part and main body of vehicle frame 2 are fixed, and first end and the 32 sole position of right-hand tread plate of right deformation beam 5 are fixed, the second end of right deformation beam 5
Fixed with 32 heel position of right-hand tread plate, the first right changing sensor 81 be located at the right deformation beam 5 first end and right deformation beam 5
Middle part between, the second right changing sensor 82 is located between the second end of right deformation beam 5 and the middle part of right deformation beam 5.Due to
First right changing sensor 81 and the second right changing sensor 82 are mounted on a deformation beam, and assembling is simple, reduce work
The assembling difficulty of personnel, meanwhile, the middle position of right deformation beam 5 and main body of vehicle frame 2 are fixed, avoid the first right changing sensor 81
The case where interfering with each other with the second right changing sensor 82, further improves induction accuracy.
In another embodiment, such as Figure 11 to Figure 13, it includes left foot palm deformation beam 41 and left heel shape that left-handed form, which becomes beam 4,
Become beam 42, the left foot palm 41 one end of deformation beam is fixed with 31 sole position of left-hand tread plate, and the other end and main body of vehicle frame 2 are fixed, and first is left
Changing sensor 71 is located on left foot palm deformation beam 41, and 42 one end of left heel deformation beam is fixed with 31 heel position of left-hand tread plate, separately
One end and main body of vehicle frame 2 are fixed, and the second left changing sensor 72 is located on left heel deformation beam 42.Include since left-handed form becomes beam 4
Left foot slaps deformation beam 41 and left heel deformation beam 42, and left-handed form is avoided to become the case where needing integral replacing when beam 4 is replaced, staff
It can according to need replacement left foot palm deformation beam 41 or left heel deformation beam 42, reduce the maintenance cost of body-sensing balance car.
Further, right deformation beam 5 includes right crus of diaphragm palm deformation beam 51 and right crus of diaphragm with deformation beam 52, and right crus of diaphragm slaps 51 one end of deformation beam
It is fixed with 32 sole position of right-hand tread plate, the other end and main body of vehicle frame 2 are fixed, and the first right changing sensor 81 is located at right crus of diaphragm palm deformation
On beam 51, right crus of diaphragm is fixed with 52 one end of deformation beam and 32 heel position of right-hand tread plate, and the other end and main body of vehicle frame 2 are fixed, and second is right
Changing sensor 82 is located at right crus of diaphragm on deformation beam 52.Since right deformation beam 5 includes right crus of diaphragm palm deformation beam 51 and right crus of diaphragm with deformation
Beam 52, avoids the case where needing integral replacing when the replacement of right deformation beam 5, and staff can according to need replacement right crus of diaphragm palm deformation
Beam 51 or right crus of diaphragm reduce the maintenance cost of body-sensing balance car with deformation beam 52.
In order to extend the service life of body-sensing balance car and improve sensitivity, it is preferable that the first left changing sensor 71, second
Left changing sensor 72, the first right changing sensor 81 and the second right changing sensor 82 are multiple, and are distributed in matrix.
Sensor setting is multiple, avoids one of sensor degradation in use process, or rides personnel's shoe body and trample position influence
Micro- deformation incudes situation, improves the versatility of body-sensing balance car.
In order to improve induction accuracy, it is preferable that left-handed form becomes sensory package and right deformation sensory package and pedal 3 and vehicle frame master
Deformation space is equipped between body 2, specifically, when left-handed form change sensory package and right deformation sensory package on pedal 3 and main body of vehicle frame 2
Link position be equipped with installation protrusion.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (11)
1. a kind of body-sensing balance car, which is characterized in that including traveling wheel (1), main body of vehicle frame (2), pedal (3) and for incuding
The pressure sensitive device of pedal (3) stress is stated, the traveling wheel (1) is mounted on the main body of vehicle frame (2), the pressure sensitive
Device is connect with the pedal (3).
2. body-sensing balance car according to claim 1, which is characterized in that the pedal (3) includes axial along traveling wheel (1)
The left-hand tread plate (31) and right-hand tread plate (32) of arrangement, the pressure sensitive device include the left pressure connecting with the left-hand tread plate (31)
Sensing device and the right pressure sensitive device being connect with the right-hand tread plate (32).
3. body-sensing balance car according to claim 2, which is characterized in that the left pressure sensitive device includes that left-handed form becomes beam
(4) and it is mounted on the left-handed form change sensory package that the left-handed form becomes on beam (4), the left-hand tread plate (31) becomes beam by the left-handed form
(4) it is mounted on the main body of vehicle frame (2)；
And/or the right pressure sensitive device includes that right deformation beam (5) and the right deformation being mounted on the right deformation beam (5) pass
Feel component, the right-hand tread plate (32) is mounted on the main body of vehicle frame (2) by the right deformation beam (5).
4. body-sensing balance car according to claim 3, which is characterized in that further include being mounted in the main body of vehicle frame (2)
The main vehicle controller (6) in portion；
It includes the first left changing sensor for incuding left-hand tread plate (31) sole position deformation that the left-handed form, which becomes sensory package,
(71) the second left changing sensor (72) and for incuding the left-hand tread plate (31) heel position deformation；
The right deformation sensory package includes the first right changing sensor for incuding right-hand tread plate (32) sole position deformation
(81) the second right changing sensor (82) and for incuding the right-hand tread plate (32) heel position deformation；
The first left changing sensor (71), the second left changing sensor (72), the first right changing sensor
(81) it connect with the main vehicle controller (6) with the second right changing sensor (82), is sensed when first left-handed form becomes
The difference of device (71) signal and the described second left changing sensor (72) signal is less than the described first right changing sensor (81) and believes
When difference number with the described second right changing sensor (82) signal, it is left that the main vehicle controller (6) controls the traveling wheel (1)
Turn；
When the difference of the described first left changing sensor (71) signal and the described second left changing sensor (72) signal is greater than institute
When stating difference of the first right changing sensor (81) with the described second right changing sensor (82) signal, the main vehicle controller
(6) traveling wheel (1) is controlled to turn right.
5. body-sensing balance car according to claim 3, which is characterized in that it includes for incuding that the left-handed form, which becomes sensory package,
The left changing sensor (71) of the first of left-hand tread plate (31) sole position deformation and for incuding the left-hand tread plate (31) heel position
The left changing sensor of the second of deformation (72)；
The right deformation sensory package includes the first right changing sensor for incuding right-hand tread plate (32) sole position deformation
(81) the second right changing sensor (82) and for incuding the right-hand tread plate (32) heel position deformation；
The first left changing sensor (71), the second left changing sensor (72), the first right changing sensor
(81) it connect with the main vehicle controller (6) with the second right changing sensor (82), is sensed when second left-handed form becomes
Device (72) signal value is greater than the described first left changing sensor (71) signal value, and the two difference is greater than the first preset value, and simultaneously
First right changing sensor (81) signal value is greater than and the described second right changing sensor (82) signal value, and the two difference
When reaching the second preset value, the main vehicle controller (6) controls the traveling wheel (1) and turns left；
When the described first left changing sensor (71) signal value is greater than the described second left changing sensor (72) signal value, the two is poor
Value is greater than third preset value, and the described second right changing sensor (82) signal value is greater than the described first right changing sensor simultaneously
(81) signal value, and when the two difference reaches four preset values, the main vehicle controller (6) controls the traveling wheel (1) and turns right.
6. body-sensing balance car according to claim 4, which is characterized in that the left-handed form becomes the length direction of beam (4) along vertical
Directly it is arranged in the traveling wheel (1) axis direction, the left-handed form becomes the middle part of beam (4) and the main body of vehicle frame (2) are fixed, described
The first end that left-handed form becomes beam (4) is fixed with the left-hand tread plate (31) sole position, the second end of left-handed form change beam (4) with it is described
Left-hand tread plate (31) heel position is fixed, the first left changing sensor (71) be located at the left-handed form become beam (4) first end with
The left-handed form becomes between the middle part of beam (4), and the second left changing sensor (72) is located at the second end that the left-handed form becomes beam (4)
Become between the middle part of beam (4) with the left-handed form；
And/or the length direction of the right deformation beam (5) is arranged along perpendicular to the traveling wheel (1) axis direction, the right shape
Middle part and the main body of vehicle frame (2) for becoming beam (5) are fixed, the first end and the right-hand tread plate (32) foot of the right deformation beam (5)
Palm position is fixed, and second end and the right-hand tread plate (32) heel position of the right deformation beam (5) are fixed, the first right deformation
Sensor (81) is located between the first end of the right deformation beam (5) and the middle part of the right deformation beam (5), the second right shape
Become sensor (82) to be located between the second end of the right deformation beam (5) and the middle part of the right deformation beam (5).
7. body-sensing balance car according to claim 4, which is characterized in that it includes left foot palm deformation that the left-handed form, which becomes beam (4),
Beam (41) and left heel deformation beam (42), described left foot palm deformation beam (41) one end and the left-hand tread plate (31) sole position are solid
Fixed, the other end and the main body of vehicle frame (2) are fixed, and the first left changing sensor (71) is located at left foot palm deformation beam
(41) on, the left heel deformation beam (42) one end is fixed with the left-hand tread plate (31) heel position, the other end and the vehicle frame
Main body (2) is fixed, and the second left changing sensor (72) is located on the left heel deformation beam (42)；
And/or the right deformation beam (5) includes right crus of diaphragm palm deformation beam (51) and right crus of diaphragm with deformation beam (52), the right crus of diaphragm slaps deformation
Beam (51) one end is fixed with the right-hand tread plate (32) sole position, and the other end and the main body of vehicle frame (2) are fixed, and described first is right
Changing sensor (81) is located on right crus of diaphragm palm deformation beam (51), and the right crus of diaphragm is with deformation beam (52) one end and the right-hand tread plate
(32) heel position is fixed, and the other end and the main body of vehicle frame (2) are fixed, and the second right changing sensor (82) is located at described
Right crus of diaphragm is on deformation beam (52).
8. body-sensing balance car according to claim 4, which is characterized in that the first left changing sensor (71), described
Second left changing sensor (72), the first right changing sensor (81) and the second right changing sensor (82) are more
It is a, and be distributed in matrix.
9. body-sensing balance car according to claim 3, which is characterized in that the left-handed form becomes sensory package and the right deformation
Sensory package is equipped with deformation space between the pedal (3) and the main body of vehicle frame (2).
10. body-sensing balance car according to claim 3, which is characterized in that the left-handed form becomes beam (4) and becomes biography to close to left-handed form
It is tapered to feel component direction；
And/or the right deformation quantity is tapered to the close right deformation sensory package direction.
11. the body-sensing balance car according to any one of claim 3-10, which is characterized in that the main body of vehicle frame (2), institute
It states left-handed form change beam (4) and the right deformation beam (5) is an integral molding structure.
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|---|---|---|---|
| CN201711105176.3A CN109774839A (en) | 2017-11-10 | 2017-11-10 | Body-sensing balance car |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711105176.3A CN109774839A (en) | 2017-11-10 | 2017-11-10 | Body-sensing balance car |
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