CN110562372A - Pedal component, driving system and electric balance car - Google Patents
Pedal component, driving system and electric balance car Download PDFInfo
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- CN110562372A CN110562372A CN201910849559.4A CN201910849559A CN110562372A CN 110562372 A CN110562372 A CN 110562372A CN 201910849559 A CN201910849559 A CN 201910849559A CN 110562372 A CN110562372 A CN 110562372A
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- pedal
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- wheel
- axle
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- 238000010168 coupling process Methods 0.000 claims description 41
- 238000005859 coupling reaction Methods 0.000 claims description 41
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 239000007769 metal material Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 4
- 230000005520 electrodynamics Effects 0.000 claims description 2
- 230000000994 depressogenic effect Effects 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 9
- 230000002411 adverse Effects 0.000 abstract description 3
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 238000010438 heat treatment Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 17
- 230000003014 reinforcing effect Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 4
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- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000000149 penetrating effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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- 210000001503 joint Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
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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
- B62K2202/00—Motorised scooters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Mechanical Control Devices (AREA)
Abstract
The invention discloses a pedal component, a driving system and an electric balance car, wherein the electric balance car comprises a transverse connecting component, wheels, a servo motor arranged in the wheels, a wheel shaft controlled by the servo motor and the pedal component, an inner cavity installation control component is arranged in the pedal component, a sensor used for sensing the inclination of a pedal cover is arranged in the control component, the control component is fixed in an inner cavity formed after a pedal seat and the pedal cover are folded, the sensor senses the inclination information of the pedal cover, and the servo motor adjusts the rotation state of the wheels according to the inclination information. The invention has the advantages that the pedal part can be provided with the control part integrated with the sensor, the length of a signal wire of the servo motor and the control part can be shortened, the volume of the transverse connecting part is reduced, the adverse effect of battery heating on electronic components is avoided, the servo motor in the driving part adjusts the motion state of wheels according to the sensed inclination information of the pedal part, and the sensitivity and the reliability of the control system of the balance car are improved.
Description
Technical Field
The invention relates to a balance electric vehicle, in particular to a pedal component and a driving system of an electric balance vehicle.
Background
the electric balance car detects the change of the posture of the car body by using a gyroscope and an acceleration sensor in the car body, and accurately drives a motor to carry out corresponding adjustment by using a servo control system so as to keep the balance of the car body and the system. The electric balance car is used as a riding tool and a leisure and entertainment apparatus by modern people.
The application publication number is CN104029769A electrodynamic balance swing car, which comprises a left set of pedal modules and a right set of pedal modules capable of being twisted, wherein the pedal modules are connected through a rotating shaft; the balance swing car with the structure has relatively good flexibility and controllability, but due to split type rotary connection, the middle structural strength is not enough, and accidental collision easily causes failure and even risks of breakage.
the balance car with the authorization notice number of CN205469471U has two wheels independently and rotatably arranged on a connecting shaft, two pedal mechanisms rotatably arranged on the connecting shaft, respective pedal mechanisms in butt joint with respective wheels, and angular motion detection mechanisms respectively arranged on respective pedal mechanisms, and is the balance car with an integrated structure.
Application publication is CN 106560384A's human-computer interaction body and feels car, and it includes that a whole support chassis, the shaft on the wheel and support chassis fixed connection, and the footboard device can be connected on the support chassis rotatoryly, is equipped with buffering resilient means on the footboard device, and when the footboard device rotated, the position sensor sensing arrived the footboard device for the gradient information of support chassis, then removed or rotate through controlling means drive wheel. The integrated supporting framework is improved in the strength of the whole machine.
The plate-shaped pedal is connected to the supporting framework in a shaft mode, the control device connected with the servo motor in the wheel is placed in the central area of the supporting framework, the rechargeable battery is placed in the central area of the supporting framework, the signal wire led out from the servo motor needs to be connected with the control device in the central area of the supporting framework, and therefore the signal wire is relatively long in arrangement, the size of the supporting framework is increased, and the rechargeable battery heats up to have adverse effects on electronic components on the control device.
Disclosure of Invention
The invention aims to provide a pedal component with a novel structure, and further provides a driving system and an electric balance car with the pedal component.
The technical scheme of the invention is as follows: the pedal component is used in an electric balance car and is characterized by comprising a control component connected with a built-in motor of a wheel through an electric wire, a pedal seat fixedly connected with a wheel shaft of the wheel at the bottom and a pedal cover for a user to step on, wherein a sensor used for sensing the inclination of the pedal cover is arranged in the control component, and the control component is fixed in an inner cavity formed after the pedal seat and the pedal cover are folded.
The further preferable scheme of the invention is as follows: the pedal cover is arranged on the pedal seat, and the peripheral edge of the pedal cover is positioned outside the peripheral edge of the pedal seat.
The further preferable scheme of the invention is as follows: the middle of the bottom plate of the pedal seat is low, the two sides of the bottom plate of the pedal seat are gradually increased, and the concave depth of the pedal seat is gradually increased from the two sides to the middle.
The further preferable scheme of the invention is as follows: the pedal seat is fixed on the wheel axle through at least one hoop component.
The further preferable scheme of the invention is as follows: the bottom of the pedal seat is provided with a shaft hole slot for the wheel shaft to pass through, and the wheel shaft is fixed in the shaft hole slot by the hoop component.
The further preferable scheme of the invention is as follows: the pedal seat and the pedal cover are made of metal materials or high-strength plastics.
the further preferable scheme of the invention is as follows: the cross sections of the pedal seat and the pedal cover are similar to rectangles or ellipses.
The further preferable scheme of the invention is as follows: the driving system comprises wheels, a servo motor arranged in the wheels, a wheel shaft controlled by the servo motor and a pedal component, wherein the sensor senses the inclination information of the pedal cover, and the servo motor adjusts the rotation state of the wheels according to the inclination information.
The further preferable scheme of the invention is as follows: the driving system also comprises a transverse connecting part which is rotationally connected with the wheel axle and is used for limiting the distance between two wheels, a rechargeable battery is fixed on the transverse connecting part, and the rechargeable battery supplies power to the servo motor through a power line.
The electric balance car comprises a transverse connecting part, a wheel, a servo motor arranged in the wheel, a wheel shaft controlled by the servo motor and a pedal part, wherein the sensor senses the inclination information of a pedal cover, and the servo motor adjusts the rotation state of the wheel according to the inclination information.
compared with the prior art, the invention has the advantages that the pedal part is provided with the inner cavity for installing the control part integrated with the sensor, the sensor can directly sense the inclination information of the pedal part and feed the inclination information back to the built-in servo motor of the wheel, and the motor adjusts the motion state of the wheel according to the inclination information, thereby shortening the length of a signal wire between the servo motor and the control part, reducing the volume of the transverse connecting part and avoiding the adverse effect of battery heating on electronic components.
A servo motor in the driving part adjusts the motion state of the wheels according to the sensed inclination information of the pedal part, and the sensitivity and the reliability of a control system of the balance car are improved.
Drawings
the present invention will be described in further detail below with reference to the drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of illustrating the background art and explaining the preferred embodiments, and therefore should not be taken as limiting the scope of the present invention. Furthermore, unless specifically stated otherwise, the drawings are merely schematic representations based on conceptual representations of elements or structures depicted and may contain exaggerated displays and are not necessarily drawn to scale.
FIG. 1 is a view showing the overall configuration and layout of the pedal member in a first state according to the first embodiment;
FIG. 2 is a schematic diagram of an equilibrium state according to the first embodiment;
FIG. 3 is a schematic view of the rotation of the transverse coupling member of the first embodiment;
FIG. 4 is a schematic view of a connection structure of the pedal member, the transverse coupling member and the wheel axle according to the first embodiment;
FIG. 5 is a schematic view of a pedal member and an axle according to the first embodiment;
FIG. 6 is a schematic view showing the inner relationship between the pedal member and the axle according to the first embodiment;
FIG. 7 is an exploded view of the pedal member and the axle according to the first embodiment;
FIG. 8 is a schematic view of the rotational connection of the transverse coupling member to the axle of the first embodiment;
FIG. 9 is a schematic view of a circuit board and a battery mounting position according to the first embodiment;
Fig. 10 is a schematic view of a connecting structure of the pedal member and the lateral coupling member in the second state of the first embodiment;
FIG. 11 is a view showing the overall configuration and layout of the pedal member in the first state according to the second embodiment;
fig. 12 is a schematic view of a balanced state of two pedal members and a transverse coupling member of the second embodiment;
FIG. 13 is a schematic view showing the steering control effect of the two pedal members and the following of the lateral coupling member in the second embodiment;
FIG. 14 is a side view of the two pedal members of the second embodiment showing the effect of steering control and the following of the transverse link member;
Fig. 15 is a schematic view of a connection structure of the pedal member, the transverse coupling member, and the wheel axle according to the second embodiment;
FIG. 16 is a schematic view showing a combination of a pedal member and an axle according to the second embodiment;
FIG. 17 is a schematic view showing the inner relationship between the pedal member and the axle according to the second embodiment;
FIG. 18 is an exploded view of the pedal member and the axle according to the second embodiment;
fig. 19 is a schematic view of the coupling of the transverse coupling member of the second embodiment with the wheel axle;
FIG. 20 is a schematic view showing a mounting position of the circuit board and the battery according to the second embodiment;
Fig. 21 is a schematic view showing a connection structure of the pedal member, the transverse coupling member, and the wheel axle in the second state according to the second embodiment;
Fig. 22 is a schematic illustration of the second state of the wheel axle plugging according to the second embodiment.
in the figure, 1 left wheel; 1-1 left wheel axle; 1-2 middle section; 2 a left pedal member; 2-1 pedal seat; 2-2 pedal covers; 3 transverse coupling means; 4a right pedal member; 5 a right wheel; 5-1 right wheel axle; 6, a second hoop; 7, a hoop I; 8, passing through the groove; 9a circuit board; 10 charging the battery; 11 a hinge; 12 reinforcing the shaft.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that the description is illustrative only, and is not to be construed as limiting the scope of the invention.
It should be noted that: like reference numerals refer to like items in the following figures, and thus, once an item is defined in one figure, it may not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
example one
As shown in fig. 1, the electric balance vehicle includes a left wheel 1, a right wheel 5, a lateral coupling member 3 connected between the two wheels for defining a two-wheel interval, a pedal member, and a control member. Specifically, the pedal component is divided into a left pedal component 2 and a right pedal component 4, the left wheel 1 and the right wheel 5 are provided with wheel shafts and are internally provided with motors, more specifically, the left wheel 1 is provided with a left wheel shaft 1-1, the right wheel 5 is provided with a right wheel shaft 5-1, and the left wheel shaft 1-1 and the right wheel shaft 5-1 are both motor shafts. The control part is connected with the motor through an electric wire, the control part is arranged in the left pedal part 2 and the right pedal part 4, and the signal wires of the control part and the motor are shortened.
Preferably, the outer rings of the left wheel 1 and the right wheel 5 are provided with colloid rims, the rims are internally provided with motors, the shells of the motors can be used as hubs, the motors can adopt the existing servo motors, and the encoding disc and the encoder which rotate coaxially with the motors are arranged.
In this embodiment, the left pedal part 2 and the right pedal part 4 can both incline, the left pedal part 2 is fixedly connected with the left wheel axle 1-1, a sensor for sensing the inclination of the left pedal part is arranged in the control part, the sensor is used for sensing the inclination information of the left pedal part 2, and a control module of the control part drives the corresponding wheel to rotate according to the inclination information.
the left end of the transverse connecting part 3 is rotatably connected with the left wheel axle 1-1. The right wheel axle 5-1 is fixedly connected with the right side end of the transverse connecting component 3, and the right pedal component 4 is arranged on the transverse connecting component 3. The right pedal part 4 is provided with the same control part, and a sensor in the control part is used for sensing the inclination of the transverse connecting part 3 and controlling the rotation of the right wheel 5.
Specifically, a sensor in the left pedal part 2 senses the inclination information of the position of the left pedal part 2 and sends data information to a control module of the control part; the sensor in the right pedal part 4 senses the inclination information of the transverse coupling part 3 and sends data information to the control module of the control part. The information fed back by the sensor on each side independently controls the left wheel 1 or the right wheel 5, so that the left wheel 1 or the right wheel 5 can move forwards simultaneously. Or the left wheel 1 and the right wheel 5 are controlled to generate a rotation speed difference due to the different inclination angles of the left pedal part 2 and the transverse coupling part 3, so that the steering can be directly controlled.
As shown in fig. 2 to 3, more specifically, in the power-on initial state, the left wheel axle 1-1 holds the left pedal member 2 horizontally with it, and the right wheel axle 5-1 holds the transverse link member 3 horizontally with it. The right pedal member 4 merely follows the transverse link member 3 as a stepping portion.
Under normal conditions, the wheel shaft can be kept still at a certain horizontal angle by the aid of the adjusting force. When the left pedal component 2 and the transverse connecting component 3 tilt forwards or backwards, the control module of the control component obtains feedback of the sensor to control the two rims to roll forwards and backwards simultaneously; when one of the left pedal part 2 and the transverse connecting part 3 tilts forwards or backwards, and the other part is kept horizontal, the control module of the control part obtains feedback control of the sensor to control the corresponding rim rotation to realize the unilateral steering function.
Here, the transverse coupling part 3 is located between the two wheels for determining the distance of the beam mount, while ensuring that the transverse coupling part 3 and the left pedal part 2 can be rotated relative to each other for independently controlling the rotation of the right wheel axle 5-1.
The transverse connection component 3 and the right pedal component 4 rotate simultaneously, the right wheel 5 can be controlled to rotate, and the left pedal component 2 is balanced to ensure that the left wheel 1 is fixed, so that unilateral rotation is realized.
If the transverse connecting component 3 is relatively fixedly connected with the left wheel axle 1-1, the left pedal component 2 and the transverse connecting component 3 can only tilt forwards and backwards at the same time, and the purpose of unilateral steering control cannot be achieved.
Preferably, the left pedal part 2 and the right pedal part 4 comprise a pedal seat 2-1 and a pedal cover 2-2, and the pedal seat 2-1 and the pedal cover 2-2 are both made of metal materials or high-strength plastics. The pedal cover 2-2 is provided for the user to step on, and the cross sections of the pedal seat and the pedal cover are similar to rectangle or ellipse. More preferably, a sensor in the left pedal member 2 is used to sense the tilt angle of the pedal cover 2-2.
The left pedal part 2 is sleeved and fixed on the left wheel axle 1-1, or the left pedal part 2 is fixed on the left wheel axle 1-1 in a plugging and clamping way, and the left wheel axle 1-1 penetrates through the whole width of the left pedal part 2. One end of the transverse connecting part 3 is movably sleeved or coupled or hinged on the left wheel axle 1-1.
For example, when the left pedal part 2 is fixed by a sleeve, the left wheel axle 1-1 is fixedly connected as shown in fig. 4-7: the left wheel axle 1-1 transversely penetrates into the pedal seat 2-1 of the left pedal component 2, and the pedal seat 2-1 is of a concave structure and is fixed by a hoop component. The bottom of the pedal seat 2-1 is provided with a shaft hole groove for the left wheel shaft 1-1 to pass through, and the hoop component is used for fixing the left wheel shaft 1-1 in the shaft hole groove. Specifically, two hoops I7 are arranged and pressed on the left wheel axle 1-1, and the hoops I7 tightly hold the left wheel axle 1-1 and then are fixed with the pedal seat 2-1 through bolts. In order to limit rotation, a flat edge is arranged on the left wheel axle 1-1, the hoop I7 is also a plane, and the plane of the hoop I7 is just pressed on the flat edge of the wheel axle. The left pedal component 2 solves the problem of balance resetting of the pedal components by utilizing the principle that the wheel shaft is always balanced, so that the connection relation is simplest, and the purpose is most accurate.
For example, when the left pedal part 2 is fixed by inserting, a polygonal insertion hole can be formed in the left pedal part 2, and the left wheel axle 1-1 can be provided with a multi-surface flat edge, so that the left wheel axle 1-1 is inserted into the left pedal part 2 to be limited in rotation.
For another example, when the left pedal component 2 is fixed by clamping, a clamping groove is arranged on the left pedal component, and the left wheel axle 1-1 is clamped in the clamping groove to limit rotation.
The transverse connecting component 3 can rotate relative to the left wheel axle 1-1 in a sleeving and hinging mode, and the connection relationship of the transverse connecting component 3 and the left wheel axle 1-1 in a rotating mode is shown in fig. 8: the left wheel axle 1-1 is a long axle, two hoops II 6 are arranged to press on the left wheel axle 1-1, the inner ring of the hoops II 6 is a circular arc, and the left wheel axle 1-1 can rotate in the hoops II 6. The bottom of the pedal seat 2-1 is provided with a through groove 8, one hoop II 6 penetrates through the through groove 8, the width of the through groove 8 is basically consistent with that of the hoop II 6, and the through groove is designed for limiting the hoop II 6 and the left wheel axle 1-1. The penetrating sequence of the left wheel axle 1-1 is hoop two 6 → hoop one 7 → hoop two 6 → hoop one 7. The long axis is described as having a continuous middle section 1-2, and the left axle 1-1 extends across the entire width of the left pedal member 2 to increase the rigidity of the connection. The left wheel axle 1-1 is inserted from one side of the pedal seat 2-1 of the left pedal component 2, but the shaft end is not exposed from the other side of the pedal seat 2-1, and the pedal cover 2-2 is added, so that the appearance is attractive, and rainwater can be reduced from entering from the side.
Of course, the left axle 1-1 could also be a short axle as shown in FIG. 10, which would be described without the middle section 1-2.
Specifically, the left wheel axle 1-1 is inserted from one side of the left pedal part 2, a hoop I7 is arranged to press on the left wheel axle 1-1, and the hoop I7 is fastened to the left wheel axle 1-1 and then fixed with the pedal seat 2-1 through bolts. In order to limit rotation, a flat edge is arranged on the left wheel axle 1-1, the hoop I7 is also a plane, and the plane of the hoop I7 is just pressed on the flat edge of the left wheel axle 1-1.
Connection of the lateral coupling member 3 to the left wheel axle 1-1: one hoop II 6 is pressed on the left wheel shaft 1-1, the inner ring of the hoop II 6 is a circular arc, and the left wheel shaft 1-1 can rotate in the hoop II 6.
More specifically, the connection relationship of the other side of the left pedal member 2 to the lateral coupling member 3: a reinforcing shaft 12 is arranged in the pedal seat 2-1, and the other hoop I7 is arranged on the pedal seat 2-1 and is tightly connected with the reinforcing shaft 12. The bottom of the pedal seat 2-1 is provided with a through groove 8, another hoop II 6 penetrates through the through groove 8, the width of the through groove 8 is basically consistent with that of the hoop II 6, the hoop II 6 is connected with the transverse connecting component 3, and meanwhile, the hoop II 6 also clamps the reinforcing shaft 12.
On the other hand, the right pedal member 4 is fixed to the lateral coupling member 3. Specifically, the right wheel shaft 5-1 is a long shaft and is provided with two hoops I7 which are pressed on the right wheel shaft 5-1, in order to limit rotation, a flat edge is arranged on the right wheel shaft 5-1, the hoops I7 are also planes, and the planes of the hoops I7 are just pressed on the flat edges of the wheel shafts, so that rotation limiting is realized. The right pedal part 4 is pressed on the right wheel shaft 5-1 by two hoops I7 for fixation, and the hoops I7 are fixed with the pedal seat 2-1 by bolts after clamping the right wheel shaft 5-1, thereby realizing the rotation limit. Or the right pedal part 4 is directly and fixedly connected with the transverse connecting part 3 through screws.
With respect to the electronic components, as shown in fig. 9, the control component is preferably an integrated circuit board 9, the pedal base 2-1 is of a concave structure, the pedal cover 2-2 covers the pedal base 2-1, and the peripheral edge of the pedal cover 2-2 is located outside the peripheral edge of the pedal base 2-1. The middle of the bottom plate of the pedal seat 2-1 is low, the two sides of the bottom plate are gradually increased, and the concave depth of the pedal seat 2-1 is gradually increased from the two sides to the middle. The control component is fixed in an inner cavity formed after the pedal seat 2-1 and the pedal cover 2-2 are folded. Three sets of wiring of the motor extend from the center of the axle and are connected to the circuit board 9.
The transverse coupling part 3 or the right pedal part 4 is also provided with a circuit board 9.
The control module of the sensor and the control component is described by taking the prior structure as a case: the sensor includes an angle sensor, an acceleration sensor, or a gyroscope, and the acceleration sensor may measure acceleration generated by the action of earth gravity or the movement of an object. The vehicle inclination can be calculated by measuring the acceleration value in one direction. For example, an acceleration signal in the X axis direction is used, and when the vehicle is standing upright, the fixed accelerometer is in the X axis horizontal direction, and at this time, the output signal is a zero bias voltage signal. When the vehicle is inclined, the gravity acceleration g forms an acceleration component in the X-axis direction, so that the output signal of the axis is changed. The gyroscope can be used for measuring the rotation angular velocity of an object, measuring the angular velocity of the vehicle inclination, and performing integral processing on the angular velocity signal to obtain the inclination angle of the vehicle. Both sensors alone achieve accurate, stable attitude in dynamic situations, but the two sensors have complementarity, namely: the acceleration sensor has better use effect under the static condition, and the gyroscope has better effect under the dynamic condition. At this time, an algorithm is required: and the variable fuzzy Kalman filtering algorithm with compensation is used for realizing the fusion of attitude data, so that stable and accurate attitude information under a high dynamic environment is obtained.
The control module of the control part can be a photoelectric encoder, for example, an existing incremental encoder is adopted, the main working principle of the incremental encoder is also photoelectric conversion, but A, B, Z groups of square wave pulses are output, wherein A, B two pulses are out of phase to judge the rotating direction of the motor, and Z pulse is one pulse per rotation to facilitate the positioning of a reference point.
As shown in fig. 9, the lateral coupling member 3 is a plate-like structure, and a cavity is provided in the middle of the lateral coupling member 3, and the rechargeable battery 10 is located in the cavity. The lateral coupling member 3 is provided with an upper cover which closes the lateral coupling member 3 so that the rechargeable battery 10 is hidden inside the lateral coupling member 3.
For example, the lateral coupling member may have a shaft-like or columnar structure, or the middle of the lateral coupling member 3 may be reduced to have a shaft-like shape, so that the right pedal member 4 and the left pedal member 2 may have distinct regional characteristics. The rechargeable battery is disposed outside the lateral coupling member.
example two
As shown in fig. 11, the electric balance car includes two built-in motor left and right wheels 1 and 5 with axles, a left pedal member 2 tiltable forward and backward, a right pedal member 4, a lateral coupling member 3 defining a distance between the two wheels, and a control member.
in this embodiment, the pedal component is divided into a left pedal component 2 and a right pedal component 4, the left pedal component 2 and the right pedal component 4 can be inclined, the left pedal component 2 is fixedly connected with a left wheel axle 1-1, the right pedal component 4 is fixedly connected with a right wheel axle 5-1, control components are arranged in the left pedal component 2 and the right pedal component 4, and the control components are connected with the motor through electric wires, so that signal wires of the control components and the motor are shortened. The control part is internally provided with a sensor which is used for sensing the inclination information of the left pedal part 2 and the right pedal part 4, and a control module of the control part drives the corresponding wheels to rotate according to the inclination information.
Specifically, the outer rings of the left wheel 1 and the right wheel 5 are provided with colloid rims, and the rims are internally provided with motors which can be external rotor motors. The shell of the motor can be used as a hub, and an independent hub can also be arranged. The axle of the wheel can be the motor shaft of the outer rotor motor.
Preferably, the motor adopts an existing servo motor, receives the inclination information processed by the control module of the control part and drives the wheel to rotate, and is provided with a code disc and an encoder which rotate coaxially with the motor.
The transverse connection 3 is rotatably connected to the wheel axle. Preferably, the transverse link 3 is in rotational connection with the left wheel axle 1-1, the transverse link 3 also being in rotational connection with 5-1. The sensor receives the inclination information of the left pedal part 2 and the right pedal part 4, and the control module of the control part drives the corresponding wheels to rotate according to the inclination information.
More specifically, as shown in fig. 12 to 14, the left wheel axle 1-1 is kept horizontal with the left pedal member 2 and the right wheel axle 5-1 is kept horizontal with the right pedal member 4 in the power-on initial state. Under normal conditions, the wheel shaft can be kept still at a certain angle by the adjusting force. When the left pedal part 2 and the right pedal part 4 are pedaled to incline forwards and lean backwards simultaneously, the control module of the control part obtains the feedback of the sensor to control the two rims to roll forwards and backwards simultaneously; when the left pedal part 2 keeps balance and the right pedal part 4 pedals forwards and backwards, a speed difference is generated, and the control module of the control part obtains the feedback of the sensor to control the right rim to rotate so as to realize the function of unilateral steering.
The transverse coupling part 3 is located between the two wheels for determining the distance, and also connects the two wheels simultaneously as a beam. However, since the left pedal part 2 is fixedly connected with the left wheel axle 1-1, the right pedal part 4 is fixedly connected with the right wheel axle 5-1, and the left pedal part 2 and the right pedal part 4 must rotate independently, at least one side of the transverse connecting part 3, the left wheel axle 1-1 and the right wheel axle 5-1 is movably connected. As shown in fig. 14, the transverse coupling part 3 will also follow the rotation angle a °.
If the transverse connecting part 3 is fixedly connected with the left wheel axle 1-1 and the right wheel axle 5-1, the left pedal part 2 and the right pedal part 4 can only tilt forwards and backwards at the same time, and the purpose of unilateral control steering cannot be realized.
The left pedal part 2 is sleeved and fixed on the left wheel axle 1-1, and the right pedal part 4 is sleeved and fixed on the right wheel axle 5-1. Preferably, the left pedal part 2 and the right pedal part 4 comprise a pedal seat 2-1 and a pedal cover 2-2, and the pedal seat 2-1 and the pedal cover 2-2 are both made of metal materials or high-strength plastics. The pedal cover 2-2 is provided for the user to step on, and the cross sections of the pedal seat and the pedal cover are similar to rectangle or ellipse.
Specifically, as shown in fig. 15-18, the left wheel axle 1-1 transversely penetrates into the pedal seat 2-1 of the left pedal component 2, and the pedal seat 2-1 is a concave structure and is fixed by the hoop component. The bottom of the pedal seat 2-1 is provided with a shaft hole groove for the left wheel shaft 1-1 to pass through, and the hoop component is used for fixing the left wheel shaft 1-1 in the shaft hole groove. Specifically, two hoops I7 are arranged to press the left wheel axle 1-1, and the hoops I7 clamp the left wheel axle 1-1 and then are fixed with the pedal seat 2-1 through bolts. In order to limit rotation, a flat edge is arranged on the left wheel axle 1-1, the hoop I7 is also a plane, and the plane of the hoop I7 is just pressed on the flat edge. The left pedal component 2 solves the problem of balance resetting of the pedal components by utilizing the principle that the wheel shaft is always balanced, so that the connection relation is simplest, the purpose is most accurate, and the high sensitivity of control is realized. The right pedal part 4 is connected to the left pedal part 2 in the same manner.
Of course, the left pedal part 2 can be inserted and fixed on the left wheel axle 1-1, and the right pedal part 4 can be inserted and fixed on the right wheel axle 5-1. The left pedal part 2 can also be clamped and fixed on the left wheel axle 1-1, and the right pedal part 4 can also be clamped and fixed on the right wheel axle 5-1.
For example, when the left pedal part 2 is fixed by inserting, a polygonal insertion hole can be formed in the left pedal part 2, and the left wheel axle 1-1 can be provided with a multi-surface flat edge, so that the left wheel axle 1-1 is inserted into the left pedal part 2 to be limited in rotation. The right pedal member 4 is provided as above.
For another example, when the left pedal component 2 is fixed by clamping, a clamping groove is arranged on the left pedal component, and the left wheel axle 1-1 is clamped in the clamping groove to limit rotation. The right pedal member 4 is provided as above.
or the wheel axle of the wheel is fixed at one end of the pedal part, and the other end of the pedal part is coupled with the transverse coupling part.
Preferably, the left axle 1-1 extends the entire width of the left pedal member 2, the right axle 5-1 extends the entire width of the right pedal member 4, and the left axle 1-1 and the right axle 5-1 define a major axis.
Specifically, in the first state, the transverse connection portion 3 and the left wheel axle 1-1 are rotationally connected as shown in fig. 15 and 18, the left wheel axle 1-1 is a long axle, two hoops two 6 are arranged to press on the left wheel axle 1-1, inner rings of the hoops two 6 are circular arcs, and the left wheel axle 1-1 can rotate in the hoops two 6. The bottom of the pedal seat 2-1 is provided with a through groove 8, one hoop II 6 penetrates through the through groove 8, the width of the through groove 8 is basically consistent with that of the hoop II 6, and the through groove is designed for limiting the hoop II 6 and the left wheel axle 1-1. The penetrating sequence of the left wheel axle 1-1 is hoop two 6 → hoop one 7 → hoop two 6 → hoop one 7. The long axis is described as having a continuous intermediate section 1-2 to increase the rigidity of the connection. The left wheel axle 1-1 is inserted from one side of the pedal seat 2-1 of the pedal component but does not penetrate through the other side of the pedal seat 2-1, and the pedal cover 2-2 is added, so that the appearance is attractive, and rainwater can be reduced from entering from the side. The transverse connecting part 3 is connected with the right wheel shaft 5-1 in a rotating connection manner.
For another example, the left wheel axle 1-1 is fixed to one end of the left pedal member 2, and the other end of the left pedal member 2 is coupled to the lateral coupling member 3. Specifically, the left axle 1-1 is a short axis. The transverse connecting part 3 is connected with the right wheel shaft 5-1 in a rotating connection manner.
Specifically, as shown in fig. 21-22, in the second state, the left wheel axle 1-1 transversely penetrates into the pedal seat 2-1 of the left pedal component 2, and a hoop 7 is arranged to press on the wheel axle, and the hoop 7 clamps the wheel axle and then is fixed with the pedal seat 2-1 by bolts. In order to limit rotation, a flat edge is arranged on the left pedal part 2, the hoop I7 is also a plane, and the plane of the hoop I7 is just pressed on the flat edge of the left pedal part 2. A second hoop 6 is arranged to press on the left pedal component 2, the inner ring of the second hoop 6 is arc, and the left pedal component 2 can rotate in the second hoop 6. A reinforcing shaft 12 is arranged in the pedal seat 2-1, and the other hoop I7 is arranged on the pedal seat 2-1 and is tightly connected with the reinforcing shaft 12. The bottom of the pedal seat 2-1 is provided with a through groove 8, another hoop II 6 penetrates through the through groove 8, the width of the through groove 8 is basically consistent with that of the hoop II 6, the hoop II 6 is connected with the transverse connecting component 3, and meanwhile, the hoop II 6 also clamps the reinforcing shaft 12. The short axis is expressed without the middle section 1-2 of example one.
Regarding sensors and control systems: as shown in fig. 16, 17 and 20, the pedal base 2-1 is of a concave structure, the pedal cover 2-2 covers the pedal base 2-1, and the peripheral edge of the pedal cover 2-2 is located outside the peripheral edge of the pedal base 2-1. The middle of the bottom plate of the pedal seat 2-1 is low, the two sides of the bottom plate are gradually increased, and the concave depth of the pedal seat 2-1 is gradually increased from the two sides to the middle. The control component is fixed in an inner cavity formed after the pedal seat 2-1 and the pedal cover 2-2 are folded.
three sets of wiring of the motor extend from the center of the axle and are connected to the circuit board 9.
The control module of the sensor and the control component is described by taking the prior structure as a case: the sensor is an angle sensor, an acceleration sensor or an electronic gyroscope. The acceleration sensor may measure acceleration generated by the action of earth's gravity or the movement of an object. The vehicle inclination can be calculated by measuring the acceleration value in one direction. For example, an acceleration signal in the X axis direction is used, and when the vehicle is standing upright, the fixed accelerometer is in the X axis horizontal direction, and at this time, the output signal is a zero bias voltage signal. When the vehicle is inclined, the gravity acceleration g forms an acceleration component in the X-axis direction, so that the output signal of the axis is changed. The gyroscope can be used for measuring the rotation angular velocity of an object, measuring the angular velocity of the vehicle inclination, and performing integral processing on the angular velocity signal to obtain the inclination angle of the vehicle. Both sensors alone achieve accurate, stable attitude in dynamic situations, but the two sensors have complementarity, namely: the acceleration sensor has better use effect under the static condition, and the gyroscope has better effect under the dynamic condition. At this time, an algorithm is required: and the variable fuzzy Kalman filtering algorithm with compensation is used for realizing the fusion of attitude data, so that stable and accurate attitude information under a high dynamic environment is obtained.
the control module of the control part can be a photoelectric encoder, for example, an existing incremental encoder is adopted, the main working principle of the incremental encoder is also photoelectric conversion, but A, B, Z groups of square wave pulses are output, wherein A, B two pulses are 90 degrees out of phase to judge the rotating direction of the motor, and Z pulse is one pulse per rotation to facilitate the positioning of a reference point.
The transverse coupling component 3 is of a plate-shaped structure, a cavity is formed in the middle of the transverse coupling component 3 of the plate-shaped structure, the rechargeable battery 10 is located in the cavity, and a charging hole is formed outside the transverse coupling component 3. The transverse coupling part 3 has an upper cover housing which can be opened.
For another example, the lateral coupling member 3 is of a shaft-like or columnar structure, and the rechargeable battery 10 is disposed on the outer side of the lateral coupling member 3.
The electric balance car and the driving system provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the above embodiments is only used to help understanding the invention and the core idea. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The pedal component is used in an electric balance car and is characterized by comprising a control component connected with a built-in motor of a wheel through an electric wire, a pedal seat fixedly connected with a wheel shaft of the wheel at the bottom and a pedal cover for a user to step on, wherein a sensor used for sensing the inclination of the pedal cover is arranged in the control component, and the control component is fixed in an inner cavity formed after the pedal seat and the pedal cover are folded.
2. The pedal assembly of claim 1 wherein the pedal seat is of a concave configuration, the pedal cover covering the pedal seat, the peripheral edge of the pedal cover being disposed outwardly of the peripheral edge of the pedal seat.
3. The pedal member according to claim 1, wherein the bottom plate of the pedal seat is positioned so as to be lower in the middle and gradually higher in both sides, and the depressed depth of the pedal seat is also gradually deeper in both sides toward the middle.
4. The pedal assembly of claim 1 wherein the pedal housing is secured to said wheel axle by at least one hoop assembly.
5. the pedal assembly according to claim 5, wherein the pedal seat has an axle hole groove at a bottom thereof through which the axle passes, and the axle is fixed in the axle hole groove by the hoop assembly.
6. The pedal member according to claim 1, wherein the pedal seat and the pedal cover are made of a metal material or a high-strength plastic material.
7. The pedal assembly according to claim 1, wherein the pedal seat and the pedal cover have a rectangular-like or elliptical cross-section.
8. a drive system comprising a wheel, a servo motor built into the wheel, an axle controlled by the servo motor, and a pedal assembly as claimed in any one of claims 1 to 7, wherein said sensor senses inclination information of the pedal cover, and the servo motor adjusts the rotation state of said wheel based on the inclination information.
9. The drive system of claim 8, further comprising a transverse coupling member rotatably coupled to the wheel axle for defining a distance between the two wheels, wherein a rechargeable battery is secured to the transverse coupling member, and wherein the rechargeable battery supplies power to the servo motor via a power cord.
10. Electrodynamic balance car, characterized in that it comprises a drive system according to claim 8.
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019206876205 | 2019-05-07 | ||
| CN2019104051429 | 2019-05-07 | ||
| CN201920687620 | 2019-05-07 | ||
| CN201910405142 | 2019-05-07 | ||
| CN201921013294 | 2019-06-24 | ||
| CN2019210132946 | 2019-06-24 | ||
| CN2019210132950 | 2019-06-24 | ||
| CN201921013295 | 2019-06-24 |
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| CN110562372A true CN110562372A (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921494826.2U Active CN211223720U (en) | 2019-05-07 | 2019-09-10 | Wheel and pedal part linkage mechanism of electric balance car and electric balance car |
| CN201910849564.5A Pending CN110481688A (en) | 2019-05-07 | 2019-09-10 | The linkage mechanism of electrodynamic balance vehicle and wheel and pedal parts |
| CN201910849682.6A Pending CN110481689A (en) | 2019-05-07 | 2019-09-10 | Electrodynamic balance vehicle |
| CN201921497029.XU Active CN210793472U (en) | 2019-05-07 | 2019-09-10 | Pedal component, driving system and electric balance car |
| CN201910849699.1A Pending CN110481690A (en) | 2019-05-07 | 2019-09-10 | Electrodynamic balance vehicle |
| CN201910849559.4A Pending CN110562372A (en) | 2019-05-07 | 2019-09-10 | Pedal component, driving system and electric balance car |
| CN201921494968.9U Active CN210793471U (en) | 2019-05-07 | 2019-09-10 | Electric balance car |
| CN201921505437.5U Active CN210503014U (en) | 2019-05-07 | 2019-09-10 | Electric balance car |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921494826.2U Active CN211223720U (en) | 2019-05-07 | 2019-09-10 | Wheel and pedal part linkage mechanism of electric balance car and electric balance car |
| CN201910849564.5A Pending CN110481688A (en) | 2019-05-07 | 2019-09-10 | The linkage mechanism of electrodynamic balance vehicle and wheel and pedal parts |
| CN201910849682.6A Pending CN110481689A (en) | 2019-05-07 | 2019-09-10 | Electrodynamic balance vehicle |
| CN201921497029.XU Active CN210793472U (en) | 2019-05-07 | 2019-09-10 | Pedal component, driving system and electric balance car |
| CN201910849699.1A Pending CN110481690A (en) | 2019-05-07 | 2019-09-10 | Electrodynamic balance vehicle |
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| CN201921494968.9U Active CN210793471U (en) | 2019-05-07 | 2019-09-10 | Electric balance car |
| CN201921505437.5U Active CN210503014U (en) | 2019-05-07 | 2019-09-10 | Electric balance car |
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| CN211223720U (en) * | 2019-05-07 | 2020-08-11 | 胡烨 | Wheel and pedal part linkage mechanism of electric balance car and electric balance car |
| WO2022011798A1 (en) * | 2020-07-17 | 2022-01-20 | 白士刚 | Balancing vehicle |
| CN112660282B (en) * | 2020-10-10 | 2022-11-15 | 聂爱琴 | Steering mechanism of balance car and balance car |
| CN113184096B (en) * | 2021-05-11 | 2022-10-21 | 永康市小郎科技有限公司 | Two-wheeled through shaft balance car |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN211223720U (en) | 2020-08-11 |
| CN210503014U (en) | 2020-05-12 |
| CN110481690A (en) | 2019-11-22 |
| CN210793472U (en) | 2020-06-19 |
| CN210793471U (en) | 2020-06-19 |
| CN110481688A (en) | 2019-11-22 |
| CN110481689A (en) | 2019-11-22 |
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