CN110001842B - Balance car - Google Patents
Balance car Download PDFInfo
- Publication number
- CN110001842B CN110001842B CN201910403899.4A CN201910403899A CN110001842B CN 110001842 B CN110001842 B CN 110001842B CN 201910403899 A CN201910403899 A CN 201910403899A CN 110001842 B CN110001842 B CN 110001842B
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- CN
- China
- Prior art keywords
- sensor
- connecting plate
- supporting framework
- balance car
- support framework
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000005484 gravity Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 229920001971 elastomer Polymers 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
Abstract
The invention belongs to the technical field of balance vehicles, and particularly relates to a balance vehicle, which comprises a vehicle body and two wheels respectively arranged on two sides of the vehicle body, wherein a battery pack and a controller for controlling the automatic balance of the vehicle body are arranged in the vehicle body, a hub motor is arranged in the wheels, the vehicle body comprises a left support framework and a right support framework, a connecting plate is arranged between the left support framework and the right support framework and is respectively connected with the left support framework and the right support framework, a sensor for detecting torsion change of the left support framework and the right support framework is arranged on the connecting plate, and the sensor is electrically connected with the controller.
Description
Technical Field
The invention belongs to the technical field of balance vehicles, and particularly relates to a balance vehicle.
Background
Along with the continuous improvement of the living standard of people, people pay more attention to improving the living quality, body building, leisure and entertainment become an indispensable part of life of people, various forms of body building and entertainment devices are endlessly layered, and the balance car convenient to operate becomes the trend of modern young people instead of walk, and is popular through the characteristics of small size, attractive appearance and flexible operation. Balance car in the present market mainly has single wheel and two types, and wherein the balance car of two wheels factor of safety is higher, more is fit for riding instead of walk, but the balance car of two wheels in the market still has the shortcoming: the automobile body of balance car on the market mostly includes two sets of automobile bodies of rotating the connection, and the influence user keeps balanced among the balance car steering process, and after long-term use, the junction of two sets of automobile bodies is easy wearing and tearing, influences the life of balance car.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the balance car with simple structure and good riding feeling.
The purpose of the invention is realized in the following way:
the utility model provides a balance car, includes the automobile body and sets up two wheels in the automobile body both sides respectively, is provided with group battery and control automobile body automatic balance's controller in the automobile body, is provided with in the wheel in-wheel motor, and the automobile body includes left braced skeleton and right braced skeleton, be provided with the connecting plate between left braced skeleton and the right braced skeleton, the connecting plate is connected with left braced skeleton and right braced skeleton respectively, is provided with the sensor that is used for detecting left and right braced skeleton torsion and changes on the connecting plate, and the sensor is connected with the controller electricity.
Two connecting plates are arranged between the left supporting framework and the right supporting framework, and the sensor is arranged between the two connecting plates.
One end of a strain block of the sensor is fixedly connected with the connecting plate, the other end of the strain block is provided with a cylindrical sleeve, and the cylindrical sleeve is abutted against the connecting plate.
Limiting blocks for limiting the relative distance between the connecting plates are arranged between the connecting plates.
The cross section of the connecting plate is a vertical surface and a horizontal surface which are arranged in an L shape, the horizontal surface of the L-shaped connecting plate is connected with the left supporting framework and the right supporting framework, the vertical surface of the L-shaped connecting plate is abutted against the strain block of the sensor, and a notch is formed in the vertical surface.
The sensor is a strain gauge sensor.
Compared with the prior art, the invention has the following outstanding and beneficial technical effects:
1. according to the balance car, the connecting plate is arranged between the left support framework and the right support framework, the connecting plate is detachably connected with the left support framework and the right support framework respectively, the sensor for detecting torsion change is arranged on the connecting plate and is electrically connected with the controller, when a user controls the balance car to turn, the left support framework and the right support framework are controlled by two feet, so that the connecting plate deforms, the strain block of the sensor is caused to deform, the sensor detects signals, the controller controls the balance car to turn, the left support framework and the right support framework are relatively fixed through the connecting plate in the structure, the relative position of the left support framework and the right support framework does not obviously change in the turning process of the balance car, the balance car is kept balanced by the user, the connecting position of the left support framework and the right support framework is not worn in the using process, and the service life of the balance car is prolonged.
2. According to the invention, two connecting plates are arranged between the left supporting framework and the right supporting framework, the sensor is arranged between the two connecting plates, and the two connecting plates relatively fix the left supporting framework and the right supporting framework, so that the structural strength of the vehicle body is improved.
3. The L-shaped connecting plate is L-shaped, the notch is arranged on the vertical surface, the horizontal surface of the L-shaped connecting plate is connected with the left supporting framework and the right supporting framework, the vertical surface of the L-shaped connecting plate is abutted against the strain blocks of the sensor, the horizontal surface of the L-shaped connecting plate is connected with the left supporting framework and the right supporting framework, the supporting framework can not shake back and forth, and the vertical surface supports the force in the vertical direction of the supporting framework, namely supports the gravity of a human body.
4. According to the sensor, one end of the strain block is fixedly connected with the connecting plates, the other end of the mounting seat is provided with the cylindrical sleeve, the cylindrical sleeve is abutted against the connecting plates, and the limiting blocks for limiting the relative distance between the connecting plates are arranged between the connecting plates, so that different stresses on the strain block of the balance car caused by manufacturing errors or mounting errors are avoided, and the information acquisition of the sensor on torsion change is influenced.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
fig. 3 is a schematic structural view of the connection plate in the present invention.
The meaning of the reference numerals in the figures: 1-a left support framework; 2-a right support frame; 3-connecting plates; 4-strain blocks;
5-limiting blocks; 6-a cylinder sleeve; 7-a sensor; 31-notch; 41-mounting portion.
Detailed Description
The invention is further described in the following examples with reference to the accompanying drawings:
see the fig. 1 to 3 and show, a balance car, including the automobile body and set up two wheels in the automobile body both sides respectively, be provided with group battery and the controller of control automobile body automatic balance in the automobile body, be provided with wheel hub motor in the wheel, the automobile body includes left support skeleton 1 and right support skeleton 2, be provided with connecting plate 3 between left support skeleton 1 and the right support skeleton 2, connecting plate 3 can dismantle with left support skeleton 1 and right support skeleton 2 respectively and be connected, be provided with the sensor 7 that is used for detecting torsion variation on connecting plate 3, sensor 7 is connected with the controller electricity, when the user controlled balance car turns to, the user passes through both feet control left support skeleton 1 and right support skeleton 2 to make connecting plate 3 produce deformation, and impel sensor 7's strain block 4 to produce deformation, sensor 7 detects and obtain the signal, the controller controls balance car and turns to, through connecting plate 3 in this structure with left support skeleton 1 and right support skeleton 2 relatively fixed, the relative position of left support skeleton 1 and right support skeleton 2 in the balance car steering process has obvious change, be favorable to the user to keep balance, and in the service life-span sensor 7 is not connected with right support skeleton in the service life-span of the service life-time of the car.
The battery pack is installed on the left supporting framework 1, the controller is installed on the right supporting framework 2, the gyroscope for detecting the relative position information of the right supporting framework 2 of the balance car is arranged in the controller, the controller controls the rotation direction and the speed of the right wheel hub motor according to the information of the gyroscope, and the controller controls the rotation direction and the speed of the left wheel hub motor according to the torsion direction and the size information of the sensor 7. Of course, the controller not only collects information of the gyroscopes and the torsion sensors, but also includes, but is not limited to, rotational speed information of the motor, stator position information, etc., and there are many prior art solutions for the balance car electronic control system, which are not described herein.
When a user uses the balance car, when the right foot drives the right support framework 2 to incline forwards, the left foot drives the left support framework 1 to also incline forwards, and the torsion between the left support framework and the right support framework is zero, the controller controls the wheel hub motor to drive the balance car to move forwards and straightly; when the right foot drives the right supporting framework 2 to incline forwards, the left foot drives the force of the left supporting framework 1 to backwards, the controller controls the right wheel hub motor to forwards, and the rotation speed of the left wheel hub motor is smaller than that of the right wheel hub motor, so that left turning is realized; the larger the torsion between the left support framework 2 and the right support framework 2 is, the larger the difference between the rotation speeds of the left wheel hub motor and the right wheel hub motor is, if the forward rotation speed of the wheel hub motor is positive, the backward rotation speed is negative, the rotation speed of the right wheel hub motor is V right, the rotation speed of the left wheel hub motor is V left, and when V right-V left is more than V right, the left wheel hub motor rotates backward, so that the in-situ turning can be realized; and vice versa.
Two connecting plates 3 are arranged between the left supporting framework 1 and the right supporting framework 2, the sensor 7 is arranged between the two connecting plates 3, and the two connecting plates 3 relatively fix the left supporting framework 1 and the right supporting framework 2, so that the structural strength of the vehicle body is improved.
In the invention, a strip-shaped strain block 4 is preferably arranged between two connecting plates 3, a sensor 7 is arranged on the strain block 4, one end of the strain block 4 is fixed with the connecting plates 3, the other end of the strain block 4 is provided with a cylindrical mounting part 41, a cylindrical sleeve 6 is sleeved on the mounting part 41, and the cylindrical sleeve 6 is preferably made of elastomer with higher hardness such as rubber.
Limiting blocks 5 for limiting the relative distance between the connecting plates 3 are arranged between the connecting plates 3, the structure enables the abutting force of the cylindrical sleeve 6 to the connecting plates 3 to be basically constant, and the situation that different stresses exist on the strain blocks 4 of each balance car due to manufacturing errors or installation errors to influence the information acquisition of the sensor to torsion changes is avoided.
Preferably, the connecting plate 3 is L-shaped, a notch 31 is formed in a vertical surface, the horizontal surface of the L-shaped connecting plate 3 is connected with the left and right supporting frameworks 2, the vertical surface of the L-shaped connecting plate 3 is abutted against the strain blocks 4 of the sensor 7, the horizontal surface of the L-shaped connecting plate 3 is connected with the left and right supporting frameworks 2, the left and right supporting frameworks can not shake back and forth, the vertical surface is vertically opposite to the force support of the left and right supporting frameworks 2 in the vertical direction, namely, the support of the gravity of a human body, and in the embodiment, the sensor 7 is preferably arranged on the side surface of the strain blocks 4 and in the notch 31.
By the measures, the influence of the gravity of the person on the sensor 7 can be reduced to be very low, for example, the rotation of the wheel hub motor controlled by the controller is 0.1 level to the value level of the sensor 7, and the influence of the gravity of the person on the sensor 7 is reduced to be 0.01 level or even 0.001 level, so that the rotation of the wheel hub motor can be accurately controlled by the controller according to the torsion.
In addition, even if the influence of the gravity of the person on the sensor 7 is reduced to a very low level, the sensor 7 can still detect the numerical change, so that whether the person stands on the balance car or not can be detected according to the numerical change, and the structure can be simplified in the existing balance car for detecting whether the person stands on the balance car or not.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention in this way, therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (5)
1. The utility model provides a balance car, includes the automobile body and sets up two wheels in the automobile body both sides respectively, is provided with group battery and control automobile body automatic balance's controller in the automobile body, is provided with in the wheel in-wheel motor, and the automobile body includes left braced skeleton (1) and right braced skeleton (2), its characterized in that: a connecting plate (3) is arranged between the left supporting framework (1) and the right supporting framework (2), the connecting plate (3) is respectively connected with the left supporting framework (1) and the right supporting framework (2), a sensor (7) for detecting torsion fluctuation of the left supporting framework (1) and the right supporting framework (2) is arranged on the connecting plate (3), and the sensor (7) is electrically connected with a controller;
the connecting plate (3) comprises a vertical surface and a horizontal surface which are arranged in an L shape, the horizontal surface of the L-shaped connecting plate (3) is connected with the left supporting framework (1) and the right supporting framework (2), the vertical surface of the L-shaped connecting plate (3) is abutted against the strain block (4) of the sensor (7), and a notch (31) is formed in the vertical surface.
2. A balance car according to claim 1, characterized in that: two connecting plates (3) are arranged between the left supporting framework (1) and the right supporting framework (2), and a sensor (7) is arranged between the two connecting plates (3).
3. A balance car according to claim 2, characterized in that: one end of a strain block (4) of the sensor (7) is fixedly connected with the connecting plate (3), a cylindrical sleeve (6) is arranged at the other end of the strain block (4), and the cylindrical sleeve (6) is abutted against the connecting plate (3).
4. A balance car according to claim 2 or 3, characterized in that: limiting blocks (5) for limiting the relative distance between the connecting plates (3) are arranged between the connecting plates (3).
5. A balance car according to claim 1 or 2 or 3, characterized in that: the sensor (7) is a strain gauge sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403899.4A CN110001842B (en) | 2019-05-15 | 2019-05-15 | Balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403899.4A CN110001842B (en) | 2019-05-15 | 2019-05-15 | Balance car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110001842A CN110001842A (en) | 2019-07-12 |
| CN110001842B true CN110001842B (en) | 2023-12-05 |
Family
ID=67177019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910403899.4A Active CN110001842B (en) | 2019-05-15 | 2019-05-15 | Balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110001842B (en) |
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| CN105709407A (en) * | 2016-04-15 | 2016-06-29 | 上官希坤 | Electric skateboard realizing gravity sensing |
| CN106267790A (en) * | 2016-09-18 | 2017-01-04 | 广东工业大学 | A kind of twisting double-wheel scooter automatically controlled and control method |
| WO2018010110A1 (en) * | 2016-07-13 | 2018-01-18 | 尚艳燕 | Connecting apparatus for use in electric-powered self-balancing scooter, and electric-powered self-balancing scooter for pulling cargo |
| CN208306852U (en) * | 2018-04-03 | 2019-01-01 | 吕林宝 | A kind of balance car |
| CN109334843A (en) * | 2018-12-01 | 2019-02-15 | 吕永剑 | A kind of novel two-wheeled balance car |
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| CN210310711U (en) * | 2019-05-15 | 2020-04-14 | 吕林宝 | Balance car |
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| KR101501029B1 (en) * | 2014-08-14 | 2015-03-12 | 김준홍 | Spring type flexible skate board |
| US20160059108A1 (en) * | 2014-08-29 | 2016-03-03 | Carl Francis Demolder | Universal Electric Skateboard Unit |
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| US20180148120A1 (en) * | 2016-11-25 | 2018-05-31 | Better Wheels, Llc. | Balancing vehicle |
| US10343052B2 (en) * | 2016-11-30 | 2019-07-09 | Daniel James Wood | Electric skateboard with strain-based controls and methods |
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| CN106267790A (en) * | 2016-09-18 | 2017-01-04 | 广东工业大学 | A kind of twisting double-wheel scooter automatically controlled and control method |
| CN208306852U (en) * | 2018-04-03 | 2019-01-01 | 吕林宝 | A kind of balance car |
| CN208498687U (en) * | 2018-04-25 | 2019-02-15 | 吕林宝 | A kind of connection structure balancing vehicle carriage |
| CN109334843A (en) * | 2018-12-01 | 2019-02-15 | 吕永剑 | A kind of novel two-wheeled balance car |
| CN210310711U (en) * | 2019-05-15 | 2020-04-14 | 吕林宝 | Balance car |
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| Title |
|---|
| 日江平衡车;电子制作(第12期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110001842A (en) | 2019-07-12 |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190712 Assignee: Yongkang Yunran Tianchen Technology Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000138 Denomination of invention: A balance car License type: Common License Record date: 20210825 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190712 Assignee: Yongkang Fudi Trading Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000137 Denomination of invention: A balance car License type: Common License Record date: 20210826 |
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| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190712 Assignee: Zhejiang Jiuhua import and Export Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000184 Denomination of invention: A balance car License type: Common License Record date: 20210831 Application publication date: 20190712 Assignee: Yongkang Junhao industry and Trade Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000175 Denomination of invention: A balance car License type: Common License Record date: 20210830 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190712 Assignee: Yongkang mengle Trading Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000275 Denomination of invention: A balance car License type: Common License Record date: 20210908 |
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