CN110979532B - Magnetic force balance car - Google Patents
Magnetic force balance car Download PDFInfo
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- CN110979532B CN110979532B CN201911388848.5A CN201911388848A CN110979532B CN 110979532 B CN110979532 B CN 110979532B CN 201911388848 A CN201911388848 A CN 201911388848A CN 110979532 B CN110979532 B CN 110979532B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- 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
- B62K11/02—Frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
- B62L1/02—Brakes; Arrangements thereof in which cycle wheels are engaged by brake elements
- B62L1/06—Brakes; Arrangements thereof in which cycle wheels are engaged by brake elements the wheel rim being engaged
- B62L1/08—Brakes; Arrangements thereof in which cycle wheels are engaged by brake elements the wheel rim being engaged by the elements moving radially relative to the wheel
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- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a magnetic force balance car, and belongs to the technical field of electromechanics. The balance car comprises a fixed frame, two movable frames, two rotating shafts and two wheels, wherein the two rotating shafts respectively correspond to the two movable frames; the magnetic driving mechanism comprises a transmission chain wheel fixed on the rotating shaft, and the first transmission chain and the second transmission chain are simultaneously meshed with the transmission chain wheel; and a power supply connected with the first coil, the second coil, the third coil and the fourth coil is arranged in the fixed frame. The invention has the advantages that the balance car can be controlled to run by magnetic force, and the like.
Description
Technical Field
The invention belongs to the technical field of electromechanics, and relates to a magnetic balance car.
Background
The existing operation principle of the balance vehicle is mainly established on a basic principle called dynamic stability, namely the automatic balancing capability of the vehicle. The posture state of the car body is judged by a built-in precise solid-state gyroscope, and after a proper command is calculated by a precise and high-speed central microprocessor, a motor is driven to achieve a balancing effect.
Disclosure of Invention
The invention aims to provide a magnetic balance vehicle aiming at the problems in the prior art, and the technical problem to be solved by the invention is how to realize the operation of the magnetic drive balance vehicle.
The purpose of the invention can be realized by the following technical scheme: a magnetic balance car is characterized by comprising a fixed frame, two movable frames, two rotating shafts and two wheels, wherein the two rotating shafts respectively correspond to the two movable frames; the magnetic driving mechanism comprises a transmission chain wheel fixed on the rotating shaft, a first sliding cavity and a second sliding cavity which are symmetrically distributed on two sides of the rotating shaft are arranged on the movable frame, a first sliding block is connected in the first sliding cavity in a sliding mode, a second sliding block is connected in the second sliding cavity in a sliding mode, a first push rod and a second push rod are fixedly connected between the first sliding block and the second sliding block, a first short shaft is fixedly arranged on the first push rod, the first chain wheel is connected to the first short shaft through a one-way bearing, a first transmission chain is connected between the first chain wheel and the second chain wheel, a second short shaft is fixedly arranged on the second push rod, a second chain wheel is connected to the second short shaft through a one-way bearing, a second transmission chain is connected between the second chain wheel and the first transmission chain wheel, and the first transmission chain and the; one side of the first sliding block, which is close to the bottom of the first sliding cavity, is provided with a first permanent magnet, one side of the second sliding block, which is close to the bottom of the second sliding cavity, is provided with a second permanent magnet, the bottom of the first sliding cavity is provided with a first armature block, the bottom of the second sliding cavity is provided with a second armature block, the first armature block is wound with a first coil and a second coil, the second armature block is wound with a third coil and a fourth coil, the first coil and the second coil have the same number of turns and the same winding direction, one coil is electrified, and the third coil and the fourth coil have the same number of turns and the same winding direction, and the other coil is electrified; the first coil and the third coil are electrified in opposite directions synchronously, the second coil and the fourth coil are electrified in opposite directions synchronously, the magnetic pole of the first permanent magnet block facing to the first armature block is the same as the magnetic pole of the second permanent magnet block facing to the second armature block, and when the first armature block and the second permanent magnet block are mutually exclusive, the second armature block and the second permanent magnet block attract each other; when the armature block I and the permanent magnet block I attract each other, the armature block II and the permanent magnet block II are mutually exclusive; and a power supply connected with the first coil, the second coil, the third coil and the fourth coil is arranged in the fixed frame.
In the above magnetic balance vehicle, two ends of the fixed vehicle frame are respectively provided with a limiting part, the movable vehicle frame is provided with a limiting cavity corresponding to the limiting part, and a plurality of return springs are connected between the limiting parts and the limiting cavity.
The return springs and the limiting parts enable the two movable frames to automatically return, and the swing inclination angle of the relative fixed frame is limited.
In the above magnetic balance car, a braking mechanism and a coil switching device are arranged between the movable frame and the wheel on the same side, the coil switching device is arranged on the movable frame on one side of the advancing direction of the wheel, and the braking mechanism is located on the other side of the movable frame.
In the magnetic balance car, the brake mechanism comprises a brake disc fixed on the inner side of the wheel, a brake retainer ring extends out of the outer edge of the brake disc to the wheel, a mounting disc is fixedly arranged on the fixed car frame and is connected with the brake disc through a bearing, a shifting block is fixedly arranged at the bottom of the movable car frame, a brake arm is hinged to the mounting disc, a tension spring is connected between the middle of the brake arm and the mounting disc, the lower end of the brake arm is hinged to the mounting disc, a brake pad is arranged on the outer side of the upper end of the brake arm, and when the movable car frame swings relative to the fixed car frame, the shifting block can drive the brake arm to be close to the brake retainer ring.
The movable frame is controlled to tilt backwards, so that the brake block can be contacted with the brake retainer ring to realize braking.
In the above magnetic balance vehicle, the coil switching device includes an installation block fixed on the installation disc, the installation block is provided with a guide slot, the lower end of the guide slot inclines towards the direction far away from the axis of the wheel, the guide slot is connected with a rectangular guide rod matched with the inner wall of the guide slot in a sliding manner, the guide rod is fixedly provided with a first trigger disc and a second trigger disc, the first trigger disc and the second trigger disc are rotationally connected through a pin shaft, the pin shaft is fixedly provided with a switching wheel, the first trigger disc is provided with a first contact piece, a second contact piece, a third contact piece and a fourth contact piece, the first contact piece, the second contact piece, the third contact piece and the fourth contact piece are uniformly distributed on the first trigger disc in the circumferential direction, the first contact piece is connected with the negative pole of the power supply, the second contact piece is connected with the second coil, the second coil is connected with the negative pole of the, the third coil is connected with the negative electrode of the power supply, and the contact piece four is connected with the negative electrode of the power supply; the trigger disc II is provided with a first conducting sheet, a second conducting sheet, a third conducting sheet and a fourth conducting sheet, the first conducting sheet, the second conducting sheet, the third conducting sheet and the fourth conducting sheet are circumferentially and uniformly distributed on the trigger disc II, the first conducting sheet is connected with a first coil, the first coil is connected with a power supply anode, the second conducting sheet is connected with the power supply anode, the third conducting sheet is connected with the power supply anode, the fourth conducting sheet is connected with a fourth coil, and the fourth coil is connected with the power supply anode; the switching wheel is fixedly provided with a first contact and a second contact which penetrate through two side surfaces of the switching wheel, the first contact and the second contact are circumferentially and uniformly distributed on the switching wheel, the movable frame is provided with an arc-shaped extrusion part which can be abutted against the wheel surface of the switching wheel, the mounting block is rotatably connected with an intermediate wheel positioned below the switching wheel, the intermediate wheel is abutted against the braking check ring, and a movable wheel extending out of the arc-shaped extrusion part is rotatably connected above the arc-shaped extrusion part; the movable wheel can abut against the switching wheel; and a return spring is connected between each of the two ends of the guide rod and the mounting block, and drives the guide rod to translate towards the top of the guide groove by the return spring.
In the above magnetic balance vehicle, the lower end of the arc-shaped extrusion part is provided with a braking protrusion extending out of the arc-shaped extrusion part, and the braking protrusion can abut against the switching wheel.
The braking bulge can limit the rotation of the switching wheel, primary braking is carried out, the magnetic driving mechanism is stopped to be transported, the movable frame continuously tilts backwards, and secondary braking is realized through the braking mechanism, so that the braking difficulty is reduced, and the braking sensitivity is improved.
In the magnetic force balance car, a protective sleeve sleeved outside the brake check ring is fixedly arranged on the movable car frame, and the protective sleeve is rotatably connected with the brake check ring.
The existence of the protective sleeve can avoid potential safety hazards caused by high-speed rotation of the brake check ring.
The principle of the magnetic driving mechanism respectively arranged on the two wheels is as follows:
the movable frame is controlled to tilt forwards around the corresponding rotating shaft, the arc-shaped extrusion part is contacted with the switching wheel and moves relative to the switching wheel, so that the switching wheel slowly rotates until the movable wheel is contacted with the switching wheel, the switching wheel has a certain rotating speed before, the action of a magnetic drive mechanism can be realized, the wheel rotates, a brake retainer ring synchronously rotates with the wheel, an intermediate wheel abutted against the brake retainer ring also reversely rotates along with the intermediate wheel, and the steering direction of the intermediate wheel is opposite to the steering direction of the switching wheel before moving downwards; the movable wheel stirs the switching wheel, the first trigger plate, the second trigger plate and the guide rod to synchronously move downwards along the guide groove, the switching wheel moves downwards to be in contact with the middle wheel and then can be driven by the middle wheel to rotate, the rotating direction at the moment is consistent with the rotating direction before the switching wheel moves downwards, and the switching wheel is indirectly driven to rotate by the rotation of the wheel.
Undoubtedly, before switching wheel and intermediate wheel contact, the rotational speed of switching wheel is slower, is suitable for the starting of balance car, avoids traditional balance car starting speed very fast and the potential safety hazard that exists, and after transferring to switching wheel along with the wheel linear velocity, at the in-process of switching wheel and intermediate wheel sustained contact, the balance car is the operation at the uniform velocity relatively, through the hypsokinesis of activity frame, makes switching wheel and intermediate wheel separation can realize the deceleration, otherwise realizes accelerating.
Rotation of the rotating shaft: the first coil and the second coil have the same number of turns and are selected to be electrified, and the third coil and the fourth coil have the same number of turns and are selected to be electrified; the first coil and the third coil are electrified in opposite directions synchronously, the second coil and the fourth coil are electrified in opposite directions synchronously, the magnetic pole of the first permanent magnet block towards the first armature block is the same as the magnetic pole of the second permanent magnet block towards the second armature block, and when the first armature block and the second permanent magnet block mutually repel each other, the second armature block and the second permanent magnet block mutually attract each other; when the armature block I and the permanent magnet block I attract each other, the armature block II and the permanent magnet block II are mutually exclusive; the first sliding block and the second sliding block are in transverse reciprocating motion, the first transmission chain is in a locking state for the two chain wheels when driving the transmission chain wheels to rotate, at the moment, the two chain wheels are in a state of rotating relative to the second short shaft, and the transmission chain wheels continuously rotate around the same direction in the same way when reversing, so that the two wheels can be driven to respectively rotate at different speeds, the steering and the turning-around are realized, and the balance car cannot be backed up.
How to control each coil to switch: the switching wheel rotates, so that the first contact is conducted with the first contact piece and the third contact piece, the first contact piece is connected with the negative pole of the power supply, the first conduction piece is connected with the first coil, and the first coil is connected with the positive pole of the power supply, thereby forming the following loop: the power supply comprises a power supply anode, a first coil, a first conduction piece, a first contact piece and a power supply cathode, wherein a third contact piece is connected with a third coil, the third coil is connected with the power supply cathode, and the third conduction piece is connected with the power supply anode to form a loop as follows: the first armature block is adsorbed by the first permanent magnet, and the second armature block is repelled by the second permanent magnet to form a resultant force that the first push rod and the second push rod synchronously move to one side;
when the first switching wheel rotating contact conducts the second contact piece and the second conduction piece, and the second contact conducts the fourth contact piece and the fourth conduction piece, the second contact piece is connected with the second coil, the second coil is connected with the negative pole of the power supply, and the second conduction piece is connected with the positive pole of the power supply, so that the following loop is formed: the power supply positive pole, switch on piece two, contact one, contact piece two, second coil, power negative pole, because contact piece four link power negative pole, switch on piece four link fourth coil, fourth coil link power positive pole, form following return circuit: the first armature block is repelled by the first permanent magnet, and the second armature block is attracted by the second permanent magnet, so that a resultant force that the first push rod and the second push rod synchronously move to the other side is formed.
The above-mentioned operation is repeated, so that the change of the switching speed can be realized according to the rotating speed of the switching wheel, and the wheel can be made to realize the rotating speed corresponding to the switching speed.
The balance car changes the hub motor adopted by the existing balance car, realizes the characteristics of small wheel, small integral size, light weight, convenient control, simple structure and the like of the balance car, has the advantages of simple structure, obvious characteristics of wading, dirt resistance and the like, does not have complex circuits and control programs, and improves the driving pleasure and the operability.
The mounting block is used for connecting the fixed frame and the mounting disc so that a power supply on the fixed frame is connected with the wires between the first trigger disc and the second trigger disc.
The manner of controlling the switching of the on/off of each coil and the switching of the current direction is common in the prior art, such as a delay circuit cooperating with a reverse circuit.
The control circuit can also be a plurality of electromagnetic valve switches, the electromagnetic valves are arranged on the movable frame, the first coil, the second coil, the third coil and the fourth coil respectively correspond to one electromagnetic valve switch, and each electromagnetic valve switch controls the on-off of the corresponding coil.
Drawings
Fig. 1 is a schematic structural view of the balance car.
Fig. 2 is a schematic structural diagram of the balance car after the protective sleeve is removed.
Fig. 3 is a sectional view of the balance car in the direction of the wheel surface of the driving sprocket (the structure of the movable frame is in the right state).
Fig. 4 is an enlarged view of a portion a in fig. 3.
Fig. 5 is a schematic structural view of the movable frame in a forward tilting state relative to the fixed frame.
Fig. 6 is an enlarged view of a portion B in fig. 5.
Fig. 7 is a schematic structural view of the movable frame in a state of being tilted backward relative to the fixed frame.
Fig. 8 is an enlarged view of a portion C in fig. 7.
Fig. 9 is an enlarged view of a portion D in fig. 7.
Fig. 10 is a perspective view of the mounting block.
Fig. 11 is a schematic view of the connection structure of the switching wheel, the first trigger disk and the second trigger disk.
Fig. 12 is a schematic circuit diagram of the magnetic drive mechanism.
Fig. 13 is a schematic view of a connection structure between the movable frame and the fixed frame.
In the figure, 11, the frame is fixed; 12. a movable frame; 13. a rotating shaft; 14. a wheel; 21. a drive sprocket; 22. a sliding cavity I; 23. a sliding cavity II; 24. a first sliding block; 25. a second sliding block; 26. a first push rod; 27. a second push rod; 28. a first transmission chain; 29. a second transmission chain; 31. a first permanent magnet; 32. a second permanent magnet block; 33. an armature block I; 34. a second armature block; 41. a return spring; 42. a brake disc; 43. a braking retainer ring; 44. mounting a disc; 45. shifting blocks; 46. a brake arm; 47. a tension spring; 51. mounting blocks; 52. a guide groove; 53. a guide bar; 54. a trigger plate I; 55. a second trigger plate; 56. a switching wheel; 61. an arc-shaped extrusion part; 62. an intermediate wheel; 63. a movable wheel; 64. a return spring; 65. a braking projection; 7. a protective sleeve; s1, a first coil; s2, a second coil; s3, a third coil; s4, a fourth coil; l, a power supply; a1, a first contact sheet; a2, contact sheet II; a3, contact sheet III; a4, contact sheet four; b1, conducting sheet I; b2, conducting sheet II; b3, conducting sheet III; b4, conducting sheet IV; w1, contact one; w2, contact two.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, fig. 2, fig. 3 and fig. 13, the balance car includes a fixed frame 11, two movable frames 12, two rotating shafts 13 respectively corresponding to the two movable frames 12, and two wheels 14, wherein the two movable frames 12 are respectively movably connected to two ends of the fixed frame 11, the two rotating shafts 13 are rotatably connected, the two wheels 14 are respectively fixedly connected to the two rotating shafts 13, the movable frame 12 and the fixed frame 11 are both rotatably connected to the two rotating shafts 13, and a magnetic driving mechanism is arranged between the rotating shafts 13 and the corresponding wheels 14; the magnetic driving mechanism comprises a transmission chain wheel 21 fixed on the rotating shaft 13, a first sliding cavity 22 and a second sliding cavity 23 which are symmetrically distributed on two sides of the rotating shaft 13 are arranged on the movable frame 12, a first sliding block 24 is connected in the first sliding cavity 22 in a sliding mode, a second sliding block 25 is connected in the second sliding cavity 23 in a sliding mode, a first push rod 26 and a second push rod 27 are fixedly connected between the first sliding block 24 and the second sliding block 25, a first short shaft 26 is fixedly arranged on the first push rod 26, a first chain wheel is connected to the first short shaft through a one-way bearing, a first transmission chain 28 is connected between the first chain wheel and the second transmission chain 27, a second short shaft 27 is fixedly arranged on the second push rod 27, a second chain wheel is connected to the second short shaft through a one-way bearing, a second transmission chain 29 is connected between the second two chain wheels, the transmission chain wheel 21; a first permanent magnet 31 is arranged on one side, close to the bottom of the first sliding cavity 22, of the first sliding block 24, a second permanent magnet 32 is arranged on one side, close to the bottom of the second sliding cavity 23, of the second sliding block 25, a first armature block 33 is arranged at the bottom of the first sliding cavity 22, a second armature block 34 is arranged at the bottom of the second sliding cavity 23, a first coil S1 and a second coil S2 are wound on the first armature block 33, a third coil S3 and a fourth coil S4 are wound on the second armature block 34, the first coil S1 and the second coil S2 have the same number of turns, the same winding direction and are selected for energization, and the third coil S3 and the fourth coil S4 have the same number of turns, the same winding direction and are selected for energization; the first coil S1 and the third coil S3 are electrified synchronously in opposite directions, the second coil S2 and the fourth coil S4 are electrified synchronously in opposite directions, the magnetic pole of the first permanent magnet block 31 facing the armature block I33 is the same as the magnetic pole of the second permanent magnet block 32 facing the armature block II 34, and when the armature block I33 and the permanent magnet block I31 are mutually exclusive, the armature block II 34 and the permanent magnet block II 32 mutually attract; when the armature block I33 and the permanent magnet block I31 attract each other, the armature block II 34 and the permanent magnet block II 32 repel each other; a power source L connected to the first coil S1, the second coil S2, the third coil S3, and the fourth coil S4 is provided in the stationary frame 11.
The two ends of the fixed frame 11 are respectively provided with a limiting part, the movable frame 12 is provided with a limiting cavity corresponding to the limiting parts, and a plurality of return springs 41 are connected between the limiting parts and the limiting cavities. The return spring 41 and the limiting part enable the two movable frames 12 to automatically return, and the swing inclination angle of the relative fixed frame 11 is limited.
A braking mechanism and a coil switching device are arranged between the movable frame 12 and the wheel 14 on the same side, the coil switching device is arranged on the movable frame 12 on one side of the advancing direction of the wheel 14, and the braking mechanism is positioned on the other side of the movable frame 12.
A protective sleeve 7 sleeved outside the brake retainer ring 43 is fixedly arranged on the movable frame 12, and the protective sleeve 7 is rotatably connected with the brake retainer ring 43.
The existence of the protective sleeve 7 can avoid potential safety hazards caused by high-speed rotation of the brake retainer ring 43.
As shown in fig. 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, the brake mechanism includes a brake disc 42 fixed inside the wheel 14, a brake retainer 43 extending from the outer edge of the brake disc 42 toward the wheel 14, a mounting disc 44 fixed on the fixed frame 11, a bearing connected between the mounting disc 44 and the brake disc 42, a shifting block 45 fixed at the bottom of the movable frame 12, a brake arm 46 hinged on the mounting disc 44, a tension spring 47 connected between the middle of the brake arm 46 and the mounting disc 44, a lower end of the brake arm 46 hinged on the mounting disc 44, a brake pad arranged outside the upper end of the brake arm 46, and when the movable frame 12 swings relative to the fixed frame 11, the shifting block 45 can drive the brake arm 46 to approach the brake retainer 43.
The brake block can be contacted with the brake retainer ring by controlling the movable frame 12 to tilt backwards, so as to realize braking.
The coil switching device comprises a mounting block 51 fixed on a mounting plate 44, a guide groove 52 is formed in the mounting block 51, the lower end of the guide groove 52 inclines away from the axis direction of a wheel 14, a rectangular guide rod 53 matched with the inner wall of the guide groove 52 is connected in a sliding manner in the guide groove 52, a first trigger plate 54 and a second trigger plate 55 are fixedly arranged on the guide rod 53, the first trigger plate 54 and the second trigger plate 55 are rotatably connected through a pin shaft, a switching wheel 56 is fixedly arranged on the pin shaft, a first contact piece A1, a second contact piece A2, a third contact piece A3 and a fourth contact piece A4 are arranged on the first trigger plate 54, the first contact piece A1 is connected with the negative pole of a power supply L, the second contact piece A2 is connected with a second coil S2, the second coil S2 is connected with the power supply L, the third contact piece A3 is connected with a third coil S3, the third coil S3 is connected with the negative pole of the power supply L, and the contact piece four A4 is connected with the negative pole of the power supply L; a first conducting sheet B1, a second conducting sheet B2, a third conducting sheet B3 and a fourth conducting sheet B4 are arranged on the second trigger disc 55, the first conducting sheet B1, the second conducting sheet B2, the third conducting sheet B3 and the fourth conducting sheet B4 are circumferentially and uniformly distributed on the second trigger disc 55, the first conducting sheet B1 is connected with a first coil S1, the first coil S1 is connected with the positive electrode of a power supply L, the second conducting sheet B2 is connected with the positive electrode of the power supply L, the third conducting sheet B3 is connected with the positive electrode of the power supply L, the fourth conducting sheet B4 is connected with a fourth coil S4, and the fourth coil S4 is connected with the positive electrode of the power supply L; a first contact W1 and a second contact W2 which penetrate through two side faces of the switching wheel 56 are fixedly arranged on the switching wheel 56, a first contact W1 and a second contact W2 are circumferentially and uniformly distributed on the switching wheel 56, an arc-shaped extrusion part 61 which can be abutted against the wheel face of the switching wheel 56 is arranged on the movable frame 12, an intermediate wheel 62 which is positioned below the switching wheel 56 is rotatably connected on the mounting block 51, the intermediate wheel 62 is abutted against the brake retainer ring 43, and a movable wheel 63 which extends out of the arc-shaped extrusion part 61 is rotatably connected above the arc-shaped extrusion part 61; the movable wheel 63 can abut against the switching wheel 56; a return spring 64 is connected between each end of the guide rod 53 and the mounting block 51, and the return spring 64 drives the guide rod 53 to translate towards the top of the guide groove 52.
The lower end of the arc pressing portion is provided with a braking protrusion 65 protruding out of the arc pressing portion 61, and the braking protrusion 65 can abut against the switching wheel 56.
The braking protrusions 65 can limit the rotation of the switching wheel 56, perform primary braking, stop the magnetic driving mechanism, enable the movable frame 12 to continuously tilt backwards, and achieve secondary braking through the braking mechanism, so that the braking difficulty is reduced, and the braking sensitivity is improved.
The principle of the magnetic drive mechanism provided on each of the two wheels 14 is as follows:
the movable frame 12 is controlled to tilt forwards around the corresponding rotating shaft 13, the arc-shaped extrusion part 61 is contacted with the switching wheel 56, and the arc-shaped extrusion part 61 moves relative to the switching wheel 56, so that the switching wheel 56 rotates slowly until the movable wheel 63 is contacted with the switching wheel 56, before that, the switching wheel 56 has a certain rotating speed, the action of a magnetic driving mechanism can be realized, the wheel 14 rotates, the brake retainer ring 43 rotates synchronously with the wheel, the intermediate wheel 62 abutted against the brake retainer ring 43 also rotates reversely with the brake retainer ring 43, and the steering direction of the intermediate wheel 62 is opposite to the steering direction before the switching wheel 56 moves downwards; the movable wheel 63 stirs the switching wheel 56, the first trigger disc 54, the second trigger disc 55 and the guide rod 53 to synchronously move downwards along the guide groove 52, the switching wheel 56 moves downwards to be in contact with the intermediate wheel 62 and then can be driven by the intermediate wheel 62 to rotate, the rotating direction at the moment is consistent with the rotating direction before the switching wheel 56 moves downwards, and the switching wheel 56 is indirectly driven to rotate by the rotation of the wheel 14.
Undoubtedly, before the switching wheel 56 is contacted with the intermediate wheel 62, the rotating speed of the switching wheel 56 is low, so that the balance car is suitable for starting of the balance car, potential safety hazards caused by high starting speed of the traditional balance car are avoided, after the linear speed of the wheels 14 is transferred to the switching wheel 56, the balance car runs at a relatively constant speed in the continuous contact process of the switching wheel 56 and the intermediate wheel 62, and the switching wheel 56 is separated from the intermediate wheel 62 through backward tilting of the movable frame 12 to realize speed reduction, and otherwise, acceleration is realized.
Rotation of the rotating shaft 13: the first coil S1 and the second coil S2 have the same number of turns and are alternatively electrified, and the third coil S3 and the fourth coil S4 have the same number of turns and are alternatively electrified; the first coil S1 and the third coil S3 are electrified synchronously in opposite directions, the second coil S2 and the fourth coil S4 are electrified synchronously in opposite directions, the magnetic pole of the first permanent magnet block 31 facing the armature block I33 is the same as the magnetic pole of the second permanent magnet block 32 facing the armature block II 34, and when the armature block I33 and the permanent magnet block I31 are mutually exclusive, the armature block II 34 and the permanent magnet block II 32 mutually attract; when the armature block I33 and the permanent magnet block I31 attract each other, the armature block II 34 and the permanent magnet block II 32 repel each other; the first slide block 24 and the second slide block 25 are in transverse reciprocating motion, the first transmission chain 28 is in a locking state for the two chain wheels when driving the transmission chain wheel 21 to rotate, at the moment, the two chain wheels are in a state of rotating relative to the second short shaft, and the two chain wheels rotate continuously around the same direction in the same way when reversing, so that the two wheels 14 can be driven to rotate at different speeds respectively, steering and turning are realized, and the balance car cannot be reversed.
How to control each coil to switch: the switching wheel 56 rotates to make the first contact W1 conduct the first contact a1 and the first conducting piece B1, the second contact W2 conduct the third contact A3 and the third conducting piece B3, because the first contact a1 is connected with the negative pole of the power supply L, the first conducting piece B1 is connected with the first coil S1, the first coil S1 is connected with the positive pole of the power supply L, and the following loop is formed: the power supply L positive pole, the first coil S1, the conducting sheet I B1, the contact I W1, the contact piece I A1 and the power supply L negative pole, because the contact piece III A3 is connected with the third coil S3, the third coil S3 is connected with the power supply L negative pole, and the conducting sheet III B3 is connected with the power supply L positive pole, the following loop is formed: the positive pole of a power supply L, a conducting sheet III B3, a contact II W2, a contact sheet III A3, a third coil S3 and the negative pole of the power supply L enable the armature block I33 to be adsorbed by the permanent magnet I31 and the armature block II 34 to be repelled by the permanent magnet II 32, and a resultant force that the push rod I26 and the push rod II 27 synchronously move to one side is formed;
when the switching wheel 56 rotates the first contact W1 to turn on the second contact a2 and the second conducting piece B2, and the second contact W2 turns on the fourth contact a4 and the fourth conducting piece B4, the second contact a2 is connected to the second coil S2, the second coil S2 is connected to the negative pole of the power supply L, and the second conducting piece B2 is connected to the positive pole of the power supply L, so that the following loop is formed: the positive pole of the power supply L, the second conducting sheet B2, the first contact W1, the second contact A2, the second coil S2 and the negative pole of the power supply L, the fourth contact A4 is connected with the negative pole of the power supply L, the fourth conducting sheet B4 is connected with the fourth coil S4, and the fourth coil S4 is connected with the positive pole of the power supply L, so that the following loop is formed: the positive pole of the power supply L, the fourth coil S4, the conducting sheet four B4, the contact point two W2, the contact sheet four A4, the fourth coil S4 and the negative pole of the power supply L enable the armature block one 33 to be repelled by the permanent magnet block one 31 and the armature block two 34 to be attracted by the permanent magnet block two 32, and a resultant force that the push rod one 26 and the push rod two 27 synchronously move to the other side is formed.
This repetition allows the switching speed to be changed in accordance with the rotation speed of the switching wheel 56, and the wheel 14 can be rotated at a rotation speed corresponding thereto.
The balance car changes the hub motor adopted by the existing balance car, realizes the characteristics of small wheel 14, small integral size, light weight, convenient control, simple structure and the like of the balance car, has the advantages of simple structure, obvious characteristics of wading, dirt resistance and the like, does not have complex circuits and control programs, and improves the driving pleasure and the operability.
The mounting block 51 is used for connecting the fixed frame 11 and the mounting plate 44, so as to facilitate the wire connection between the power source L on the fixed frame 11 and the first and second trigger plates 54 and 55.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. A magnetic balance car is characterized by comprising a fixed car frame (11), two movable car frames (12), two rotating shafts (13) and two wheels (14), wherein the two rotating shafts (13) and the two wheels (14) respectively correspond to the two movable car frames (12), the two movable car frames (12) are respectively movably connected to two ends of the fixed car frame (11), the two rotating shafts (13) are mutually connected and can respectively and independently rotate, the two wheels (14) are respectively and fixedly connected with the two rotating shafts (13), the movable car frames (12) and the fixed car frames (11) are respectively and rotatably connected to the two rotating shafts (13), and a magnetic driving mechanism is arranged between the rotating shafts (13) and the wheels (14) corresponding to the rotating shafts; the magnetic driving mechanism comprises a transmission chain wheel (21) fixed on the rotating shaft (13), a first sliding cavity (22) and a second sliding cavity (23) which are symmetrically distributed on two sides of the rotating shaft (13) are arranged on the movable frame (12), a first sliding block (24) is connected in the first sliding cavity (22), a second sliding block (25) is connected in the second sliding cavity (23), a first push rod (26) and a second push rod (27) are fixedly connected between the first sliding block (24) and the second sliding block (25), a first short shaft is fixedly arranged on the first push rod (26), a first chain wheel is connected on the first short shaft through a one-way bearing, a first transmission chain (28) is connected between the two first chain wheels, a second short shaft is fixedly arranged on the second push rod (27), a second chain wheel is connected on the second short shaft through a one-way bearing, and a second transmission chain (29) is connected between the two second chain, the transmission chain wheel (21) is positioned between the first push rod (26) and the second push rod (27), and the first transmission chain (28) and the second transmission chain (29) are meshed with the transmission chain wheel (21) simultaneously; a first permanent magnet (31) is arranged on one side, close to the bottom of a first sliding cavity (22), of a first sliding block (24), a second permanent magnet (32) is arranged on one side, close to the bottom of a second sliding cavity (23), of a second sliding block (25), a first armature block (33) is arranged at the bottom of the first sliding cavity (22), a second armature block (34) is arranged at the bottom of the second sliding cavity (23), a first coil (S1) and a second coil (S2) are wound on the first armature block (33), a third coil (S3) and a fourth coil (S4) are wound on the second armature block (34), the first coil (S1) and the second coil (S2) are the same in number of turns, the same in winding direction, and are selected for energization, and the third coil (S3) and the fourth coil (S4) are the same in number of turns, the same in winding direction and are selected for energization; the first coil (S1) and the third coil (S3) are synchronously electrified in opposite directions, the second coil (S2) and the fourth coil (S4) are synchronously electrified in opposite directions, the magnetic pole of the permanent magnet I (31) facing to the armature magnet I (33) is the same as the magnetic pole of the permanent magnet II (32) facing to the armature magnet II (34), and when the armature magnet I (33) and the permanent magnet I (31) are mutually exclusive, the armature magnet II (34) and the permanent magnet II (32) are mutually attracted; when the armature block I (33) and the permanent magnet block I (31) attract each other, the armature block II (34) and the permanent magnet block II (32) are mutually exclusive; a power supply (L) connected with the first coil (S1), the second coil (S2), the third coil (S3) and the fourth coil (S4) is arranged in the fixed frame (11).
2. The magnetic balance vehicle of claim 1, wherein the fixed frame (11) has a limiting portion at each of its two ends, the movable frame (12) has a limiting cavity corresponding to the limiting portion, and a plurality of return springs (41) are connected between the limiting portions and the limiting cavity.
3. The magnetic balance vehicle of claim 1 or 2, wherein a braking mechanism and a coil switching device are arranged between the movable frame (12) and the wheel (14) on the same side, the coil switching device is arranged on the movable frame (12) on one side of the advancing direction of the wheel (14), and the braking mechanism is arranged on the other side of the movable frame (12).
4. The magnetic balance vehicle of claim 3, wherein the braking mechanism comprises a brake disc (42) fixed on the inner side of the wheel (14), a braking retainer ring (43) extends from the outer edge of the brake disc (42) to the wheel (14), a mounting disc (44) is fixedly arranged on the fixed vehicle frame (11), the mounting disc (44) is in bearing connection with the brake disc (42), a shifting block (45) is fixedly arranged at the bottom of the movable vehicle frame (12), a braking arm (46) is hinged on the mounting disc (44), a tension spring (47) is connected between the middle part of the braking arm (46) and the mounting disc (44), the lower end of the braking arm (46) is hinged with the mounting disc (44), a braking pad is arranged on the outer side of the upper end of the braking arm (46), and when the movable vehicle frame (12) swings relative to the fixed vehicle frame (11), the shifting block (45) can drive the brake arm (46) to be close to the brake retainer ring (43).
5. The magnetic force balance vehicle of claim 4, wherein the coil switching device comprises a mounting block (51) fixed on the mounting disc (44), the mounting block (51) is provided with a guide groove (52), the lower end of the guide groove (52) inclines towards the direction far away from the axis of the wheel (14), a rectangular guide rod (53) matched with the inner wall of the guide groove (52) is connected in the guide groove (52) in a sliding manner, a first trigger disc (54) and a second trigger disc (55) are fixedly arranged on the guide rod (53), the first trigger disc (54) and the second trigger disc (55) are connected in a rotating manner through a pin shaft, a switching wheel (56) is fixedly arranged on the pin shaft, a first contact piece (A1), a second contact piece (A2), a third contact piece (A3) and a fourth contact piece (A4) are arranged on the first trigger disc (54), and a first contact piece (A1) and a second contact piece (A4) are arranged on the first contact piece (, The contact piece II (A2), the contact piece III (A3) and the contact piece IV (A4) are circumferentially and uniformly distributed on the trigger disc I (54), the contact piece I (A1) is connected with the negative pole of the power supply (L), the contact piece II (A2) is connected with the second coil (S2), the second coil (S2) is connected with the negative pole of the power supply (L), the contact piece III (A3) is connected with the third coil (S3), the third coil (S3) is connected with the negative pole of the power supply (L), and the contact piece IV (A4) is connected with the negative pole of the power supply (L); the trigger plate II (55) is provided with a first conducting plate (B1), a second conducting plate (B2), a third conducting plate (B3) and a fourth conducting plate (B4), the first conducting plate (B1), the second conducting plate (B2), the third conducting plate (B3) and the fourth conducting plate (B4) are circumferentially and uniformly distributed on the trigger plate II (55), the first conducting plate (B1) is connected with a first coil (S1), the first coil (S1) is connected with the positive pole of a power supply (L), the second conducting plate (B2) is connected with the positive pole of the power supply (L), the third conducting plate (B3) is connected with the positive pole of the power supply (L), the fourth conducting plate (B4) is connected with a fourth coil (S4), and the fourth coil (S4) is connected with the positive pole of the power supply (L); the switching wheel (56) is fixedly provided with a first contact (W1) and a second contact (W2) which penetrate through two side faces of the switching wheel (56), the first contact (W1) and the second contact (W2) are circumferentially and uniformly distributed on the switching wheel (56), the movable frame (12) is provided with an arc-shaped extrusion part (61) which can be abutted against the wheel face of the switching wheel (56), the mounting block (51) is rotatably connected with an intermediate wheel (62) which is positioned below the switching wheel (56), the intermediate wheel (62) is abutted against a brake check ring (43), and a movable wheel (63) which extends out of the arc-shaped extrusion part (61) is rotatably connected above the arc-shaped extrusion part (61); the movable wheel (63) can abut against the switching wheel (56); and a return spring (64) is connected between each of two ends of the guide rod (53) and the mounting block (51), and the return spring (64) drives the guide rod (53) to translate towards the top of the guide groove (52).
6. The magnetic balance vehicle of claim 5, wherein the lower end of the arc-shaped pressing part is provided with a braking protrusion (65) extending out of the arc-shaped pressing part (61), and the braking protrusion (65) can abut against the switching wheel (56).
7. The magnetic balance car according to claim 4, 5 or 6, characterized in that the movable car frame (12) is fixedly provided with a protective sleeve (7) sleeved outside the brake retainer ring (43), and the protective sleeve (7) is rotatably connected with the brake retainer ring (43).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011420109.2A CN112644620B (en) | 2019-12-30 | 2019-12-30 | Coil switching device on magnetic force balance car |
| CN201911388848.5A CN110979532B (en) | 2019-12-30 | 2019-12-30 | Magnetic force balance car |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911388848.5A CN110979532B (en) | 2019-12-30 | 2019-12-30 | Magnetic force balance car |
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| CN202011420109.2A Division CN112644620B (en) | 2019-12-30 | 2019-12-30 | Coil switching device on magnetic force balance car |
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| CN110979532B true CN110979532B (en) | 2021-04-13 |
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| CN202011420109.2A Active CN112644620B (en) | 2019-12-30 | 2019-12-30 | Coil switching device on magnetic force balance car |
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| CN205753928U (en) * | 2016-06-28 | 2016-11-30 | 广东顺德智勤智能技术有限公司 | A kind of micro generation equipment |
| CN106602822B (en) * | 2016-11-01 | 2019-03-12 | 东南大学 | Rotor permanent magnet type magnetic flux switches hub motor |
| CN106787308B (en) * | 2017-03-20 | 2019-01-22 | 山东理工大学 | A kind of electrodynamic balance vehicle magneto |
| US20190111995A1 (en) * | 2017-10-15 | 2019-04-18 | Roy Rosser | Reciprocating Action Drive with Uni-directional Output |
| CN108945234A (en) * | 2018-07-18 | 2018-12-07 | 胡俊 | A kind of magnetic support single wheel balance car |
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| CN1102812A (en) * | 1993-01-20 | 1995-05-24 | 李宜和 | Ultrathin rim type magnetic driving unit for bicycles |
| CN104662401A (en) * | 2012-07-31 | 2015-05-27 | 西卡姆有限公司 | Balancing machine for balancing vehicle wheels |
| CN204527464U (en) * | 2015-04-13 | 2015-08-05 | 重庆交通大学 | Safety-type single wheel balance truck |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112644620A (en) | 2021-04-13 |
| CN110979532A (en) | 2020-04-10 |
| CN112644620B (en) | 2021-11-02 |
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