CN111645789A - Independent linearization auxiliary adjustment type double-drive balance car based on sensing monitoring - Google Patents
Independent linearization auxiliary adjustment type double-drive balance car based on sensing monitoring Download PDFInfo
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- CN111645789A CN111645789A CN202010448842.9A CN202010448842A CN111645789A CN 111645789 A CN111645789 A CN 111645789A CN 202010448842 A CN202010448842 A CN 202010448842A CN 111645789 A CN111645789 A CN 111645789A
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- guide rod
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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
- 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
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
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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
- B62M11/00—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels
- B62M11/04—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio
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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
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- 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
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses an independent linearization auxiliary adjustment type double-drive balance car based on sensing monitoring, and relates to the technical field of balance car control. In the invention: an internal main body mounting frame plate is fixedly mounted in the balance car body, and a regulating hydraulic pipe body is mounted in the internal main body mounting frame plate; the regulating hydraulic pipe body is independently matched and connected with the first hydraulic upper source pipe and the second hydraulic upper source pipe; a main push guide rod in driving fit with the hydraulic adjusting pipe body is movably arranged on the inner main body mounting frame plate; a third movable guide rod with a damping rotating ring is movably arranged on the end side moving block; the resistance value installation base body is fixedly installed in the balance car body, and the position detection equipment is fixedly installed in the balance car body. According to the invention, the linear and precise differential speed adjustment is carried out according to the pressure change of the human body deviation force on the pressure sensing mechanism and the deviation state monitored by the photoelectric monitoring mechanism, so that the running stability of the balance car during deviation, steering and human body inclination is improved.
Description
Technical Field
The invention belongs to the technical field of balance car control, and particularly relates to an independent linear auxiliary adjusting type double-drive balance car based on sensing monitoring.
Background
The electric balance car is also called a body-sensing car, a thinking car, a camera car and the like. The market mainly comprises a single wheel and two wheels. Nowadays, a two-wheel electric balance car is a new type of vehicle, which is different from the front-back arrangement mode of electric bicycle and motorcycle wheels, and adopts a mode of fixing two wheels side by side. The two-wheel electric balance vehicle adopts the driving control of mechanisms such as two-wheel support, storage battery power supply, brushless motor drive and the like.
The novel electric power-assisted tool of the electric balance car has some potential safety hazards, the balance car needs to be deviated, turned or the human body inclines to some extent in the driving process, the stability of the balance car is reduced, under the conditions, the car body of the balance car is subjected to balance adjustment and adaptive stability control, and the electric power-assisted tool becomes an important technical means for reducing the potential safety hazards of driving of the balance car.
According to the method, the pressure change generated by the pressure sensing mechanism and the real-time deviation state of the balance car body monitored by the photoelectric monitoring mechanism in the running process of the balance car are linearly and accurately adjusted according to the human body deviation force, and the running stability of the balance car in deviation, steering and human body inclination is improved.
Disclosure of Invention
The invention aims to provide an independent linearization auxiliary adjustment type double-drive balance car based on sensing monitoring, so that linearization and precise differential adjustment are performed according to pressure change of a human body deviation force on a pressure sensing mechanism and an offset state monitored by a photoelectric monitoring mechanism, and the running stability of the balance car during deviation, steering and human body inclination is improved.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to an independent linear auxiliary adjusting type double-drive balance car based on sensing monitoring, which comprises a balance car body, wherein the bottom of the balance car body is provided with a first side wheel and a second side wheel, a first driving device and a second driving device are fixedly installed in the balance car body, a main processing controller is arranged in the balance car body, a servo driving controller for synchronously adjusting and controlling the first driving device and the second driving device is arranged in the balance car body, a power gear, a middle transmission gear and a wheel driving gear are matched between the first driving device and the first side wheel and between the second driving device and the second side wheel, and an independent first side pressure sensing mechanism and an independent second side pressure sensing mechanism are arranged at the upper side part of the balance car body.
A first micro driving force device and a second micro driving force device which are arranged on opposite sides are fixedly arranged in the balance car body; a first hydraulic upper source pipe in driving fit with the first micro-driving force device is fixedly arranged in the balance car body; a second hydraulic upper source pipe in driving fit with the second micro-driving force device is fixedly arranged in the balance vehicle body; an internal main body mounting frame plate is fixedly mounted in the balance car body, and a regulating hydraulic pipe body is mounted in the internal main body mounting frame plate; the adjusting hydraulic pipe body comprises a first driving hydraulic pipe and a second driving hydraulic pipe which are independent; the regulating hydraulic pipe body is independently matched and connected with the first hydraulic upper source pipe and the second hydraulic upper source pipe; a main push guide rod in driving fit with the hydraulic adjusting pipe body is movably arranged on the inner main body mounting frame plate; an end side moving block is arranged at the outer end side of the main push guide rod, and a third movable guide rod with a damping rotating ring is movably arranged on the end side moving block.
One side of the middle transmission gear is connected with a middle inner frame body matched with the damping swivel; a resistance value mounting base body is fixedly mounted in the balance car body, and a fourth sliding guide rod matched with the end side moving block is movably mounted on the resistance value mounting base body; and a position detection device is fixedly arranged in the balance car body.
As a preferred technical scheme of the invention, a first driving hydraulic pipe is connected with a first hydraulic upper source pipe through a hydraulic connecting pipe; the second driving hydraulic pipe is connected with the second hydraulic upper source pipe through a hydraulic connecting pipe.
As a preferred technical scheme of the invention, the output side of the first micro-driving force device is connected with a first micro-driving guide rod matched with the first hydraulic upper source pipe; the end side of the first micro-driving guide rod is provided with a first micro-driving inner piston positioned in the first hydraulic upper source pipe; the output side of the second micro-driving force device is connected with a second micro-driving guide rod matched with a second hydraulic upper source pipe; the end side of the second micro-driving guide rod is provided with a second micro-driving inner piston positioned in the second hydraulic upper source pipe.
As a preferred technical scheme of the invention, the inner side of the inner main body installation frame plate is fixedly connected with a first upper side fixed connecting rod and a second lower side fixed connecting rod; the first upper side fixed connecting rod and the second lower side fixed connecting rod are positioned in opposite side directions in the inner main body mounting frame plate; the adjusting hydraulic pipe body is fixedly connected between the first upper side fixed connecting rod and the second lower side fixed connecting rod; the first driving hydraulic pipe is movably connected with a first driving guide rod; a first guide rod piston connected with the inner side end of the first driving guide rod is arranged in the first driving hydraulic pipe; the outer end side of the first driving guide rod is fixedly connected with a first driving slide block which is slidably arranged on the first upper side fixed connecting rod; the first driving slide block is movably connected with a first driving outer connecting rod;
a second driving guide rod is movably connected to the second driving hydraulic pipe; a second guide rod piston connected with the inner side end of the second driving guide rod is arranged in the second driving hydraulic pipe; the outer end side of the second driving guide rod is fixedly connected with a second driving slide block which is slidably arranged on a second lower side fixed connecting rod; the second driving slide block is movably connected with a second driving outer connecting rod.
An external connection push plate is movably arranged in the internal main body mounting frame plate; one of the externally connected push plates is movably connected with the first driving external connecting rod, and the other externally connected push plate is movably connected with the second driving external connecting rod; the inner main body mounting frame plate is internally and fixedly provided with side fixed guide rods which are used for the directional movement of the external connection push plate in pairs; the main body edge surrounding through groove matched with the main push guide rod is formed in the inner main body mounting frame plate.
As a preferred technical scheme of the invention, an end side block inner groove is formed on the end side moving block; a third fixed inner plate is fixedly arranged in an end side block inner groove of the end side moving block; the third movable guide rod is movably arranged on an end side block inner groove of the end side movable block; the inner side end of the third movable guide rod movably penetrates through the third fixed inner plate; a third fixed ring plate positioned in the end side block inner groove is arranged on the third movable guide rod; a third inner side spring positioned between the third fixed inner plate and the third fixed ring plate is sleeved on the third movable guide rod; and a third outer side spring positioned between the third fixed ring plate and the plate block at the opening position of the inner groove of the end side block of the end side moving block is sleeved on the third movable guide rod.
As a preferred technical scheme of the invention, one side of the middle position inner frame body is provided with a conical middle position deceleration matching groove; the damping swivel on the end side of the third movable guide rod is in contact fit with the groove body surface of the middle deceleration fit groove in a deceleration state.
As a preferred technical scheme of the invention, a fourth internal groove is formed in the resistance value mounting base body; the fourth sliding guide rod is movably matched and connected with the resistance value mounting base body/the fourth inner groove; the upper end of the fourth sliding guide rod is connected with a fourth end side plate positioned in the fourth inner groove; a pair of independent side resistance plates is embedded in the fourth inner groove of the resistance mounting base body; both sides of the fourth end side plate are provided with conductor elastic sheets which are in contact fit with the side resistance plate; each side resistance plate is provided with an end side connection post point which is electrically connected with the first driving device/the second driving device in series; a fourth outer end guide wheel is arranged at the lower end of the fourth sliding guide rod; the upper side of the end side moving block is provided with an inclined surface; and a slope matching guide groove matched with the fourth outer end guide wheel is formed in the inclined plane of the upper side of the end side moving block.
As a preferred technical scheme of the invention, a detection inner cavity is arranged in the position detection equipment; the position detection equipment is provided with photoelectric monitoring mechanisms positioned on two sides of the detection inner cavity; an inner cavity guide rod is fixedly arranged in the position detection equipment; an inner shading sliding plate is slidably arranged on the inner cavity guide rod; a part of plate blocks of the inner shading sliding plate are matched with the sensing monitoring position of the photoelectric monitoring mechanism; the sensing monitoring positions of the inner cavity guide rod and the photoelectric monitoring mechanism are different.
The invention has the following beneficial effects:
1. according to the invention, the pressure sensing mechanisms in the multi-side directions are arranged, the photoelectric monitoring device is arranged, the deflection and the steering of the balance car and the human body inclination state generated on the balance car are sensed and monitored, and the linear and precise differential speed adjustment is carried out according to the pressure change generated by the human body deflection force on the pressure sensing mechanisms and the deviation state monitored by the photoelectric monitoring mechanism, so that the running stability of the balance car during deflection, steering and human body inclination is improved;
2. according to the invention, the resistance mounting base body is arranged, the hydraulically-driven end side moving block is adopted to link the fourth sliding guide rod, the resistance conducted on the resistance mounting base body is dynamically and linearly adjusted, the output rotating speed of the driving device is changed, and therefore the wheel rotating speed is adaptively and accurately regulated;
3. according to the invention, the damping rotating ring is arranged on the third movable guide rod, the middle position inner frame body is arranged on one side of the middle position transmission gear in a matched mode, the speed reduction groove body matched with the damping rotating ring is formed in the middle position inner frame body, and when the end side moving block pushes outwards, the middle position transmission gear is matched and decelerated through the elasticization and damping, so that the differential speed/deceleration response efficiency of the wheels at the corresponding side positions is improved.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of an independent linear auxiliary adjusting type double-drive balance vehicle according to the present invention;
FIG. 2 is a partially enlarged view of M in FIG. 1;
FIG. 3 is an enlarged view of a portion of the structure of FIG. 2 at C;
FIG. 4 is a schematic structural diagram of the position detecting apparatus shown in FIG. 2;
FIG. 5 is a partially enlarged structural view of the part N in FIG. 1;
FIG. 6 is an enlarged view of a portion of the structure of FIG. 5 at D;
FIG. 7 is a schematic diagram of a system control for an independent linearized auxiliary regulated dual drive balance car according to the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-balancing the vehicle body; 2-a first side wheel; 3-a second side wheel; 4-a first drive; 5-a second drive; 6-a main processing controller; 7-a servo drive controller; 8-a first micro-actuation force device; 9-a first micro-drive guide rod; 10-a second micro-actuation force device; 11-a second micro-drive guide rod; 12-a first hydraulic upper source pipe; 13-a second hydraulic upper source pipe; 14-a first micro-drive inner piston; 15-a second micro-drive inner piston; 16-inner body mounting frame plate; 17-a first upper fixed link; 18-a second lower fixed link; 19-adjusting the hydraulic pipe body; 20-a first drive hydraulic line; 21-a first drive guide; 22-a first guide rod piston; 23-a first drive slide; 24-a first drive outer link; 25-a second drive hydraulic line; 26-a second drive guide; 27-a second guide rod piston; 28-a second drive slide; 29-a second drive outer link; 30-connecting a push plate externally; 31-side fixed guide rod; 32-a through groove is surrounded on the edge of the main body; 33-main push guide rod; 34-a position detection device; 35-a photoelectric monitoring mechanism; 36-detection lumen; 37-lumen guide rod; 38-inner shading slide plate; 39-sliding plate through groove; 40-end side moving block; 41-end side block inner groove; 42-a third fixed inner plate; 43-a third movable guide bar; 44-a third stationary ring plate; 45-a third inner spring; 46-a third outboard spring; 47-a power gear; 48-a middle position transmission gear; 49-wheel drive gear; 50-middle inner frame; 51-a median deceleration fit groove; 52-damping swivel; 53-resistance mounting substrate; 54-a fourth inner slot; 55-a fourth sliding guide; 56-fourth end side plate; 57-side resistance plate; 58-conductor elastic sheet; 59-end side post points; 60-a fourth outer-end guide wheel; 61-slope surface matching guide groove; r-a first side pressure sensing mechanism; l-second side pressure sensing mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "angle," "inner," "vertical," "end," "inner," "peripheral side," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.
Example one
Referring to fig. 1, 2, 3, 5 and 6, a first micro-driving force device 8 and a second micro-driving force device 10 are fixedly installed in the balance car body 1, the first micro-driving force device 8 is driven to cooperate with a first hydraulic upper source pipe 12 to regulate and control the hydraulic pressure, and the second micro-driving force device 10 is driven to cooperate with a second hydraulic upper source pipe 13 to regulate and control the hydraulic pressure.
The adjusting hydraulic pipe 19 inside the inner body mounting frame plate 16 includes a first driving hydraulic pipe 20 and a second driving hydraulic pipe 25 which are independent, an end side moving block 40 is connected to the outer end of the main push guide rod 33, a third movable guide rod 43 is movably mounted on the end side moving block 40, and a damping rotating ring 52 is arranged on the end side of the third movable guide rod 43.
One side of the middle transmission gear 28 is connected with a middle inner frame 50 matched with the damping rotating ring 52 in a matching mode, a resistance value installation base body 53 is fixedly installed in the balance car body 1, and a fourth sliding guide rod 55 matched with the end side moving block 40 is movably installed on the resistance value installation base body 53.
Referring to fig. 2, the adjusting hydraulic tube 19 is located between the first upper fixed link 17 and the second lower fixed link 18, the first driving hydraulic tube 20 is movably connected with a first driving guide rod 21, the first driving slider 23 is slidably mounted on the first upper fixed link 17, and the first driving slider 23 is movably connected with a first driving outer link 24. A second driving guide rod 26 is movably connected to the second driving hydraulic pipe 25, a second driving slider 28 is slidably mounted on the second lower fixed connecting rod 18, and a second driving outer connecting rod 29 is movably connected to the second driving slider 28.
Referring to fig. 5, a tapered middle deceleration matching groove 51 is formed at one side of the middle inner frame 50, and the damping swivel at the end of the third movable guide rod 43 contacts and matches with the groove surface of the middle deceleration matching groove 51 in a deceleration state, wherein the damping swivel 52 may adopt a damping bearing.
Referring to fig. 6, a pair of independent side resistance plates 57 are embedded in the fourth inner groove 54, conductive elastic pieces 58 contacting and matching with the side resistance plates 57 are mounted on two sides of the fourth end plate 56, and each side resistance plate 57 is provided with an end side terminal point 59 electrically connected in series with a corresponding driving device.
Example two
Referring to fig. 1, 2, 3, 4, 5, 6 and 7, the photoelectric monitoring mechanism is divided into a stable region P and an unstable region A, B, and when the internal light-shielding sliding plate 38 is located in the stable region P, the servo driving controller operates to synchronously output and adjust the first driving device 4 and the second driving device 5, so that the first side wheel 2 and the second side wheel 3 keep rotating synchronously.
When the inner shading sliding plate 38 is in the uneven region A, B, the servo drive controller stops synchronous output adjustment control of the first drive device 4 and the second drive device 5, the sides of the first drive device 4 and the second drive device 5 are independently driven and adjusted, the first micro drive force device 8 and the second micro drive force device 10 are output controlled according to the variation of the treading deflection pressure generated on the first side pressure sensing mechanism R and the second side pressure sensing mechanism L, the first hydraulic upper source pipe 12 and the second hydraulic upper source pipe 13 are hydraulically regulated and controlled, so that the first drive hydraulic pipe 20 and the second drive hydraulic pipe 25 are hydraulically driven to be linked with the first drive outer connecting rod 24 and the second drive outer connecting rod 29 to move to push the end side moving block 40 to move, so that the resistance value conducted on the resistance value mounting base 53 is changed, and the corresponding drive rotating speed of the first drive device 4 or the second drive device 5 is changed, therefore, according to the pressure change of the human body deviation force generated by the pressure sensing mechanism and the deviation state monitored by the photoelectric monitoring mechanism 35, the linear and precise differential speed adjustment is carried out, and the running stability of the balance car during deviation, steering and human body inclination is improved.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides a two balance cars that drive of independent linearization auxiliary regulation formula based on sensing monitoring, includes balanced automobile body (1), the bottom of balanced automobile body (1) is provided with first limit side wheel (2) and second limit side wheel (3), balanced automobile body (1) internal fixation installs first drive arrangement (4) and second drive arrangement (5), be provided with main treatment controller (6) in balanced automobile body (1), be provided with servo drive controller (7) that are used for synchronous regulation and control first drive arrangement (4) and second drive arrangement (5) in balanced automobile body (1), power gear (47), meso position drive gear (28), wheel drive gear (49) have been installed in the cooperation between first drive arrangement (4) and first limit side wheel (2), between second drive arrangement (5) and second limit side wheel (3), balanced automobile body (1) upside position is equipped with independent first side pressure sensing mechanism (R), Second side pressure sensing mechanism (L), its characterized in that:
a first micro-driving force device (8) and a second micro-driving force device (10) which are arranged on opposite sides are fixedly arranged in the balance car body (1);
a first hydraulic upper source pipe (12) in driving fit with the first micro driving force device (8) is fixedly arranged in the balance car body (1);
a second hydraulic pressure source pipe (13) in driving fit with the second micro driving force device (10) is fixedly arranged in the balance car body (1);
an internal main body installation frame plate (16) is fixedly installed in the balance car body (1), and a regulating hydraulic pipe body (19) is installed in the internal main body installation frame plate (16);
the adjusting hydraulic pipe body (19) is internally provided with a first driving hydraulic pipe (20) and a second driving hydraulic pipe (25) which are independent;
the adjusting hydraulic pipe body (19) is independently matched and connected with the first hydraulic upper source pipe (12) and the second hydraulic upper source pipe (13);
a main push guide rod (33) which is in driving fit with the adjusting hydraulic pipe body (19) is movably arranged on the inner main body mounting frame plate (16);
an end side moving block (40) is arranged at the outer end side of the main push guide rod (33), and a third movable guide rod (43) with a damping rotating ring (52) is movably arranged on the end side moving block (40);
one side of the middle transmission gear (28) is connected with a middle inner frame body (50) matched with the damping swivel (52) in a matching way;
a resistance value mounting base body (53) is fixedly mounted in the balance car body (1), and a fourth sliding guide rod (55) matched with the end side moving block (40) is movably mounted on the resistance value mounting base body (53);
and a position detection device (34) is fixedly arranged in the balance car body (1).
2. The independent linearization auxiliary regulation type double-drive balance car based on sensing monitoring as claimed in claim 1, wherein:
the first driving hydraulic pipe (20) is connected with the first hydraulic upper source pipe (12) through a hydraulic connecting pipe;
and the second driving hydraulic pipe (25) is connected with the second hydraulic upper source pipe (13) through a hydraulic connecting pipe.
3. The independent linearization auxiliary regulation type double-drive balance car based on sensing monitoring as claimed in claim 1, wherein:
the output side of the first micro-driving force device (8) is connected with a first micro-driving guide rod (9) matched with a first hydraulic upper source pipe (12);
a first micro-driving inner piston (14) positioned in the first hydraulic upper source pipe (12) is arranged at the end side of the first micro-driving guide rod (9);
the output side of the second micro-driving force device (10) is connected with a second micro-driving guide rod (11) matched with a second hydraulic upper source pipe (13);
and a second micro-driving inner piston (15) positioned in a second hydraulic upper source pipe (13) is arranged at the end side of the second micro-driving guide rod (11).
4. The independent linearization auxiliary regulation type double-drive balance car based on sensing monitoring as claimed in claim 1, wherein:
a first upper side fixed connecting rod (17) and a second lower side fixed connecting rod (18) are fixedly connected to the inner side of the inner main body mounting frame plate (16);
the first upper side fixed connecting rod (17) and the second lower side fixed connecting rod (18) are positioned in opposite side directions in the inner main body mounting frame plate (16);
the adjusting hydraulic pipe body (19) is fixedly connected between the first upper side fixed connecting rod (17) and the second lower side fixed connecting rod (18);
a first driving guide rod (21) is movably connected to the first driving hydraulic pipe (20);
a first guide rod piston (22) connected with the inner side end of a first driving guide rod (21) is arranged in the first driving hydraulic pipe (20);
the outer end side of the first driving guide rod (21) is fixedly connected with a first driving slide block (23) which is slidably arranged on the first upper side fixed connecting rod (17);
a first driving outer connecting rod (24) is movably connected to the first driving sliding block (23);
a second driving guide rod (26) is movably connected to the second driving hydraulic pipe (25);
a second guide rod piston (27) connected with the inner side end of a second driving guide rod (26) is arranged in the second driving hydraulic pipe (25);
the outer end side of the second driving guide rod (26) is fixedly connected with a second driving slide block (28) which is slidably arranged on the second lower side fixed connecting rod (18);
a second driving outer connecting rod (29) is movably connected to the second driving sliding block (28);
a pair of external connection push plates (30) are movably arranged in the internal main body mounting frame plate (16);
one of the externally connected push plates (30) is movably connected with the first driving external connecting rod (24), and the other externally connected push plate (30) is movably connected with the second driving external connecting rod (29);
the inner main body mounting frame plate (16) is internally and fixedly provided with side fixed guide rods (31) which are used for the directional movement of the external connection push plate (30) in pairs;
and a main body edge surrounding through groove (32) matched with the main push guide rod (33) is formed in the inner main body mounting frame plate (16).
5. The independent linearization auxiliary regulation type double-drive balance car based on sensing monitoring as claimed in claim 1, wherein:
an end side block inner groove (41) is formed in the end side moving block (40);
a third fixed inner plate (42) is fixedly arranged in an end side block inner groove (41) of the end side moving block (40);
the third movable guide rod (43) is movably arranged on an end side block inner groove (41) of the end side moving block (40);
the inner side end of the third movable guide rod (43) movably penetrates through the third fixed inner plate (42);
a third fixed ring plate (44) positioned in the end side block inner groove (41) is arranged on the third movable guide rod (43);
a third inner side spring (45) positioned between the third fixed inner plate (42) and the third fixed ring plate (44) is sleeved on the third movable guide rod (43);
and a third outer spring (46) positioned between the third fixed ring plate (44) and a plate block at the opening position of the end side inner groove (41) of the end side moving block (40) is sleeved on the third movable guide rod (43).
6. The independent linearization auxiliary regulation type double-drive balance car based on sensing monitoring as claimed in claim 1, wherein:
one side of the middle position inner side frame body (50) is provided with a conical middle position deceleration matching groove (51);
the damping swivel on the end side of the third movable guide rod (43) is in contact fit with the groove body surface of the middle deceleration fit groove (51) in a deceleration state.
7. The independent linearization auxiliary regulation type double-drive balance car based on sensing monitoring as claimed in claim 1, wherein:
a fourth inner groove (54) is formed in the resistance value mounting base body (53);
the fourth sliding guide rod (55) is movably matched and connected with the resistance value mounting base body (53)/the fourth inner groove (54);
the upper end of the fourth sliding guide rod (55) is connected with a fourth end side plate (56) positioned in a fourth inner groove (54);
a pair of independent side resistance plates (57) is embedded in a fourth inner groove (54) of the resistance mounting base body (53);
both sides of the fourth end side plate (56) are provided with conductor elastic sheets (58) which are in contact fit with the side resistance plate (57);
each side resistance plate (57) is provided with an end side connection post point (59) which is electrically connected with the first driving device (4)/the second driving device (5) in series;
a fourth outer end guide wheel (60) is arranged at the lower end of the fourth sliding guide rod (55);
the upper side of the end side moving block (40) is provided with an inclined surface;
and a slope matching guide groove (61) matched with the fourth outer end guide wheel (60) is formed on the inclined surface of the upper side of the end side moving block (40).
8. The independent linearization auxiliary regulation type double-drive balance car based on sensing monitoring as claimed in claim 1, wherein:
a detection inner cavity (36) is arranged in the position detection equipment (34);
the position detection equipment (34) is provided with photoelectric monitoring mechanisms (35) positioned at two sides of the detection inner cavity (36);
an inner cavity guide rod (37) is fixedly arranged in the position detection equipment (34);
an inner shading sliding plate (38) is slidably arranged on the inner cavity guide rod (37);
a part of plates of the inner shading sliding plate (38) is matched with the sensing monitoring position of the photoelectric monitoring mechanism (35);
the sensing and monitoring positions of the inner cavity guide rod (37) and the photoelectric monitoring mechanism (35) are different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010448842.9A CN111645789A (en) | 2020-05-25 | 2020-05-25 | Independent linearization auxiliary adjustment type double-drive balance car based on sensing monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010448842.9A CN111645789A (en) | 2020-05-25 | 2020-05-25 | Independent linearization auxiliary adjustment type double-drive balance car based on sensing monitoring |
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| Publication Number | Publication Date |
|---|---|
| CN111645789A true CN111645789A (en) | 2020-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010448842.9A Withdrawn CN111645789A (en) | 2020-05-25 | 2020-05-25 | Independent linearization auxiliary adjustment type double-drive balance car based on sensing monitoring |
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| Country | Link |
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| CN (1) | CN111645789A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105398522A (en) * | 2015-11-04 | 2016-03-16 | 深圳市迪比科电子科技有限公司 | Method and system for controlling multi-pressure identifying electric balancing car |
| CN105501356A (en) * | 2016-01-15 | 2016-04-20 | 厉学战 | Two-wheel balance car |
| CN108298003A (en) * | 2018-04-11 | 2018-07-20 | 李峰 | A kind of balance car |
| US10144478B2 (en) * | 2016-11-25 | 2018-12-04 | Hangzhou Chic Intelligent Technology Co., Ltd. | Pressure control steering |
| US20200031423A9 (en) * | 2015-08-04 | 2020-01-30 | Shane Chen | Two-wheel self-balancing vehicle with platform borne sensor control |
-
2020
- 2020-05-25 CN CN202010448842.9A patent/CN111645789A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200031423A9 (en) * | 2015-08-04 | 2020-01-30 | Shane Chen | Two-wheel self-balancing vehicle with platform borne sensor control |
| CN105398522A (en) * | 2015-11-04 | 2016-03-16 | 深圳市迪比科电子科技有限公司 | Method and system for controlling multi-pressure identifying electric balancing car |
| CN105501356A (en) * | 2016-01-15 | 2016-04-20 | 厉学战 | Two-wheel balance car |
| US10144478B2 (en) * | 2016-11-25 | 2018-12-04 | Hangzhou Chic Intelligent Technology Co., Ltd. | Pressure control steering |
| CN108298003A (en) * | 2018-04-11 | 2018-07-20 | 李峰 | A kind of balance car |
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Application publication date: 20200911 |