CN114940228A - Balance car and supporting framework thereof - Google Patents
Balance car and supporting framework thereof Download PDFInfo
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- CN114940228A CN114940228A CN202210606968.3A CN202210606968A CN114940228A CN 114940228 A CN114940228 A CN 114940228A CN 202210606968 A CN202210606968 A CN 202210606968A CN 114940228 A CN114940228 A CN 114940228A
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- Prior art keywords
- balance car
- mounting part
- supporting framework
- support frame
- cross bar
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application discloses a balance car and a supporting framework thereof, wherein the supporting framework is provided with a strain sensor, the strain sensor comprises a first mounting part and a second mounting part which are respectively arranged at the left side and the right side of the supporting framework, a first cross bar for detecting the deformation of the supporting framework is arranged between the first mounting part and the second mounting part, and the first cross bar is used for being provided with a first strain gauge capable of sensing the deformation of the first cross bar; through the setting of first installation department and second installation department in the inductive transducer, form the arm of force that has certain length, will support the torsional deformation on the skeleton and enlarge for the increase of the measured data signal of first foil gage, the first foil gage detects the torsion of supporting the skeleton more easily more accurately, and turn control is more sensitive, and balance car turns and experiences well.
Description
Technical Field
The application relates to a balance car, concretely relates to balance car and supporting framework thereof.
Background
Self-balancing electric vehicles (self-balancing vehicles), called balance vehicles for short, are well known to those skilled in the art for balancing principle and straight-going control (including forward and backward), turning is a basic function required by most balance vehicles, but turning control methods are different among different types of vehicles.
Two-wheeled balance car among the prior art includes that two parts footboard about includes that the support chassis can pivoted swing car relatively, through controlling two parts turned angle's difference, control turns, still includes about two parts support chassis structure can not pivoted balance car relatively, and the turn principle is different from the swing car, also includes no pole and has two kinds of turn control modes of pole, and the balance car that has the pole judges the intention of turning through the state of pole to realize turning.
The two-wheeled balance car of no pole has the mode of multiple detection user's intention of turning, leads to the state change of pedal subassembly or its relevant subassembly through the effect of riding passerby to pedal subassembly, and then control balance car and turn. Such as: the gravity center of a rider is adjusted to apply different gravity to the left pedal assembly and the right pedal assembly, and the vehicle is controlled to turn through gravity difference; through paste on support chassis and be no less than two foil gages, ride the moment of torsion that the driving transmitted the running-board, probably lead to support chassis to produce small distortion to by the foil gage detection, change difference control vehicle according to two foil gages data and turn. However, the strain gauge measures the tiny distortion deformation caused by the torque of the rider on the supporting framework, and is interfered by various factors, such as the selection of the supporting framework structure and the material, and is limited by the large influence of the measuring range and the measuring precision of the strain gauge, so that the data change is difficult to detect, or the data change range is small, and is difficult to distinguish from other fluctuations, and the data processing is complex. In addition, the bearing performance of the supporting framework must be considered, so that the structural design and material selection range of the supporting framework is narrow, and the popularization and the use are limited.
The prior art has the following disadvantages:
the torsion generated by turning is not enough to enable the supporting framework to generate obvious elastic distortion deformation, and the strain gauge directly adhered to the supporting framework is weak in change and unstable and is used as a signal for judging turning, so that a large error exists.
Disclosure of Invention
In order to solve the technical problem, the application aims to provide a balance car supporting framework and a balance car which are simple in structure and sensitive in control.
In order to achieve the above object, the present application provides the following technical solutions:
the utility model provides a balance car supporting framework, supporting framework are equipped with strain sensor, strain sensor is equipped with the first horizontal bar that detects supporting framework deformation including locating the first installation department and the second installation department that supporting framework left and right sides position respectively between first installation department and the second installation department, first horizontal bar is used for being equipped with the first foil gage that can the deformation of the first horizontal bar of sensing.
Optionally, the first horizontal bar is connected with the first mounting portion and the second mounting portion in a manner that at least one end of the first horizontal bar is fixedly connected and the other end of the first horizontal bar is fixedly connected or abutted. The meaning of butt stated in this scheme be when first installation department takes place to rotate with the atress of second installation department, first horizontal bar and first installation department and the at least one end of second installation department are the butt, indicate that can take place the butt in the atress deformation process, and the unrestricted initial condition is the butt, and is specific, the initial condition is conflict or non-contact etc..
Optionally, the first strain gauge is disposed in a middle position of the first cross bar.
Optionally, the first mounting portion and the second mounting portion are arranged on the support framework in a bilateral symmetry manner.
Optionally, strain sensor is still including setting up third installation department and the fourth installation department on supporting the skeleton, is equipped with the second horizontal bar that detects supporting the skeleton deformation between third installation department and the fourth installation department, the second horizontal bar is used for being equipped with the second foil gage that can sense the deformation of second horizontal bar.
Optionally, the second horizontal bar is connected with the third mounting part and the fourth mounting part in a manner that at least one end of the second horizontal bar is fixedly connected and the other end of the second horizontal bar is fixedly connected or abutted against the third mounting part and the fourth mounting part.
Optionally, the second strain gauge is arranged at the middle position of the second transverse bar.
Optionally, the third mounting portion and the fourth mounting portion are arranged on the support framework in a bilateral symmetry manner.
Optionally, the first mounting portion and the third mounting portion are of an integral structure and/or the second mounting portion and the fourth mounting portion are of an integral structure.
Optionally, a third strain gauge is further disposed on the support framework.
Optionally, the support frame is tubular, plate-shaped or a combination of the two.
The application also discloses a balance car, including any one of the aforesaid balance car support chassis.
Optionally, the balance car support frame further comprises a top cover, a bottom cover, a power supply arranged between the top cover and the bottom cover, a controller, wheels mounted at two ends of the support frame, and a driving motor for driving the wheels; a gyroscope and an acceleration sensor are installed on the controller; the controller is electrically connected with the power supply, the strain sensor and the driving motor.
Optionally, at least one of the first mounting portion, the second mounting portion, the third mounting portion, and the fourth mounting portion is fixedly connected to the top cover and/or the bottom cover.
Optionally, the vehicle further comprises two wheels and a driving motor, wherein the two wheels and the driving motor are fixedly connected with the supporting framework, the supporting framework is of an integral structure, a power supply, a controller and a sensor are arranged in the supporting framework, and the controller controls the driving motor to drive the wheels according to signals sensed by the strain sensor, so that the vehicle turns.
Through the setting of first installation department and second installation department in the inductive transducer, form the arm of force that has certain length, will support the torsional deformation on the skeleton and enlarge for the increase of the measured data signal of first foil gage, the first foil gage detects the torsion of supporting the skeleton more easily more accurately, and turn control is more sensitive, and balance car turns and experiences well.
Drawings
FIG. 1 is an exploded view of example 1;
FIG. 2 is a first perspective view of the support frame of embodiment 1;
FIG. 3 is a second perspective view of the support frame of example 1;
FIG. 4 is a schematic view of the support frame of FIG. 3 showing torsion (the arrows indicate the direction of torsion of the support frame);
FIG. 5 is a partially assembled schematic view of the balance car of embodiment 2;
FIG. 6 is a first perspective view of the support frame of example 4 (with corresponding strain gauges attached);
FIG. 7 is a front view of the support frame of example 4;
FIG. 8 is an enlarged view taken at A in FIG. 7;
FIG. 9 is a second perspective view of the supporting frame in example 4 (with the corresponding strain gauge attached);
FIG. 10 is a partially assembled view of the balance car of the embodiment 5;
in the figures, the reference numbers are: 1-a first mounting part, 2-a second mounting part, 3-a first strain gauge, 11-a first transverse bar, 12-a second transverse bar, 21-a third mounting part, 22-a fourth mounting part, 23-a second strain gauge, 24-a third strain gauge, 4-a top cover, 5-a bottom cover, 6-a power supply, 7-a controller, 41-a wheel, 81-a pedal part, 82-a fixing part, 83-a gland and 9-a support framework.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present application and are not to be construed as limiting the application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless explicitly defined otherwise.
In this application, the terms "mounted," "connected," "fixedly connected," "retained," and the like are to be construed broadly unless otherwise specifically stated or limited. For example, a fixed connection, which may be a detachable connection, or an integrally connected connection, including an integrally formed connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be connected internally between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the application, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact not directly but via another feature in between. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and do not limit the present application.
For convenience of description, the straight-ahead direction of the balance car in fig. 1 is taken as the front-back direction, the direction of a power switch of the balance car is taken as the rear side of the car, the horizontal direction perpendicular to the straight-ahead direction of the balance car is taken as the left-right direction, and the vertical direction perpendicular to the straight-ahead direction of the balance car is taken as the up-down direction.
This application the meaning of butt be when first installation department takes place to rotate with the atress of second installation department, first horizontal bar is the butt with first installation department and the at least one end of second installation department, when third installation department takes place to rotate with the atress of fourth installation department, the second horizontal bar is the butt with the at least one end of third installation department and fourth installation department, indicate that the atress deformation in-process can take place the butt, and the non-restricted initial condition is the butt, specific, the initial condition is conflict or non-contact etc..
Example 1
1-4, the supporting framework 9 of the balance car is provided with a strain sensor, the strain sensor comprises a first mounting part 1 and a second mounting part 2 which are respectively arranged at the left side and the right side of the supporting framework 9, a first cross bar 11 for detecting the deformation of the supporting framework 9 is arranged between the first mounting part 1 and the second mounting part 2, and the first cross bar 11 is used for being provided with a first strain gauge 3 capable of sensing the deformation of the first cross bar; in this embodiment, a first mounting part 1 and a second mounting part 2 are welded on a support framework 9, a first transverse bar 11 is a hard material capable of deforming, and can be in a sheet shape, and a first strain gauge 3 for detecting the deformation of the first transverse bar 11 is fixedly adhered on the transverse bar; the first strain gage 3 is adhered to the upper portion of the first horizontal bar 11, in other embodiments, the first horizontal bar 11 may be a sheet, a strip or a rod made of other materials with elasticity, and the first strain gage 3 may be adhered to the lower portion of the first horizontal bar 11.
The first transverse bar 11 is connected with the first mounting part and the second mounting part in a manner that at least one end is fixedly connected and the other end is fixedly connected or abutted; in this embodiment, the first horizontal bar 11 is welded and fixed at the lower end of the first mounting portion, and the other end of the first horizontal bar abuts against the lower portion of the second mounting portion, which is an implementation manner of abutment, that is, the initial state is abutment; in other embodiments, the first bar 11 may be fixed to the lower portion of the first mounting portion by other means, and the other end is fixedly connected to the upper or lower portion of the second mounting portion; the first horizontal bar 11 can be fixed on the upper part of the first mounting part in other ways, and the other end is butted against or fixedly connected with the upper part or the lower part of the second mounting part.
The first strain gauge 3 is arranged in the middle of the first transverse bar 11; in this embodiment, the middle position is the middle area of the left and right ends of the first horizontal bar 11, and the first strain gauge is adhered above the middle position of the first horizontal bar 11; in other embodiments, the first strain gage 3 may be adhered under the middle of the first cross bar 11.
The first mounting part 1 and the second mounting part 2 are arranged on the support framework 9 in a bilateral symmetry manner; in this embodiment, a first mounting portion. In the embodiment, the first installation part 1 and the second installation part 2 are metal plates or rod pieces fixed on the upper part of the support framework 9 by welding, the first installation part 1 is close to the right side of the balance car, and the second installation part 2 is close to the left side of the balance car, and is connected with the top cover 4 of the balance car in the actual use process, so that a certain load bearing effect can be achieved; in other embodiments, the first mounting portion 1 and the second mounting portion 2 may be fixed to the lower portion or the middle portion of the supporting framework 9 by fasteners or integrally formed; in other embodiments, the first and second mounting portions 1, 2 may not bear weight; in other embodiments, the first and second mounting portions may be asymmetrically disposed.
In this embodiment, one end of the first cross bar 11 abuts against the lower portion of the second installation portion 2, that is, there is extrusion with the lower portion of the second installation portion, the first cross bar 11 is in a pre-bending state when the balance car does not turn, the first strain gauge 3 is adhered to the upper portion of the first cross bar 11, when a user operates the balance car to turn right, the left foot is stepped forward, the right foot is naturally stepped backward, the supporting framework 9 is twisted under the influence of force to drive the first installation portion 1 to rotate forward, the second installation portion 2 rotates backward, further, the first cross bar 11 reduces elastic bending deformation under the common effect of the first installation portion 1 and the second installation portion 2, the resistance value of the first strain gauge 3 is correspondingly reduced, and the controller 7 controls the rotation speed difference of the two wheels 41 according to the resistance value change of the first strain gauge 3 to make the balance car turn right; when the balance car rotates left, the first mounting part 1 rotates backwards, the second mounting part 2 rotates forwards, the first transverse bar 11 starts to aggravate bending deformation under the action of the first mounting part 1 and the second mounting part 2, the resistance value of the first strain gauge 3 is correspondingly increased, and the controller 7 controls the balance car to rotate left according to the resistance value change of the first strain gauge 3; through the arrangement of the first mounting part 1 and the first transverse bar 11, the distortion deformation of the supporting framework 9 can be converted into the bending deformation of the first transverse bar 11, the deformation amount can be effectively amplified, the change of the first strain gauge 3 is more obvious, the controller 7 can sense more subtle turning action, and the controllability of the balance car is improved; in other embodiments, the first strain gage 3 may be adhered to the lower portion of the first cross bar 11.
A third strain gage 24 is also arranged on the support framework 9; in this embodiment, a third strain gauge 24 is adhered to the surface of the middle position of the supporting framework 9, so as to sense whether a user stands on the balance car, and control whether the balance car (hub motor) is powered on to enter an operating state.
The supporting framework 9 is tubular, plate-shaped or a combination of the tubular and plate-shaped supporting frameworks; in the embodiment, the supporting framework 9 is in a circular tube shape, so that the bearing capacity of the balance car can be improved; in other embodiments, the tubular shape may include a circular tubular shape, a polygonal tubular shape, or a tubular shape of any other cross-sectional shape, as viewed in cross-sectional shape; the tubular shape is not limited to a tubular shape extending in an equal proportion in terms of the manner of extension in the left-right direction, but may be a tubular shape extending irregularly, for example, partially expanded, partially contracted, rotated, displaced, or the like; the supporting framework 9 can also be a combined mechanism with a tubular middle part and plate-shaped two sides; in other embodiments, the support frame 9 may be formed integrally with the top cover 4 in the form of a rib as a single structure.
Example 2
The application also discloses a balance car, including above-mentioned embodiment 1's balance car supporting framework 9.
As shown in fig. 4, the balance car further includes a top cover 4 and a bottom cover 5, a power supply 6 disposed between the top cover 4 and the bottom cover 5, a controller 7, wheels 41 mounted at two ends of the supporting frame 9, and a driving motor for driving the wheels 41; a gyroscope and an acceleration sensor are mounted on the controller 7 (the gyroscope and the acceleration sensor are actually positioned in the controller 7 and are not shown in the figure); in this embodiment, the top cover 4 is further provided with a pedal portion 81, the pedal portion 81 is directly or indirectly mounted on the supporting framework 9, and the driving motor is a wheel built-in hub motor; the driving motor, the controller 7, the first strain gauge 3, the second strain gauge 23 and the third strain gauge 24 are electrically connected. The user prevents the left and right feet from being placed on the pedal assembly of the supporting framework 9, and the weight information of the human body is transmitted to the supporting framework 9 through the pedal assembly; the left side and the right side of the supporting framework 9 are provided with fixed seats 82, each fixed seat 82 is provided with a gland 83, and the glands 83 are matched with the fixed seats 82 to fix the wheel axle on the supporting framework 9; the bottom cover is provided with a power switch 51.
Example 3
The application also discloses a balance car, including above-mentioned embodiment 1's balance car supporting framework 9.
The balance car still includes two wheels and driving motor with supporting framework 9 fixed connection, supporting framework 9 is an overall structure, is equipped with power 6, controller 7, strain sensor in it, and controller 7 is connected with power 6, strain sensor, driving motor electricity, and the signal that the controller sensed according to strain sensor controls driving motor drive wheel, realizes that the vehicle turns.
Example 4
As shown in fig. 5-7, a balance car supporting framework 9 is characterized in that the supporting framework 9 is provided with a strain sensor, the strain sensor includes a first mounting part 1 and a second mounting part 2 respectively disposed at the left and right sides of the supporting framework 9, a first cross bar 11 for detecting deformation of the supporting framework 9 is disposed between the first mounting part 1 and the second mounting part 2, and the first cross bar 11 is used for providing a first strain gauge 3 capable of sensing deformation of the first cross bar 11; in this embodiment, a first mounting part 1 and a second mounting part 2 are welded on a support framework 9, a first transverse bar 11 is a hard material capable of deforming, and can be in a sheet shape, and a first strain gauge 3 for detecting the deformation of the first transverse bar 11 is fixedly adhered on the transverse bar; the first strain gage 3 is adhered to the upper portion of the first horizontal bar 11, in other embodiments, the first horizontal bar 11 may be a sheet, a strip or a rod made of other materials with elasticity, and the first strain gage 3 may be adhered to the lower portion of the first horizontal bar 11.
The first transverse bar 11 is connected with the first mounting part 1 and the second mounting part 2 in a manner that at least one end is fixedly connected and the other end is fixedly connected or abutted; in the embodiment, the first transverse bar 11 is welded and fixed at the lower end of the first mounting part 1, and the other end of the first transverse bar is in non-contact with the lower part of the second mounting part 2; in other embodiments, the first bar 11 may be fixed to the lower portion of the first mounting portion 1 in other manners, and the other end is fixedly connected to the upper or lower portion of the second mounting portion 2; the first bar 11 may be fixed to the upper portion of the first mounting portion 1 in other ways, and the other end of the first bar may abut or be fixedly connected to the upper or lower portion of the second mounting portion 2.
The first strain gauge 3 is arranged in the middle of the first transverse bar 11; in this embodiment, the middle position is a middle area between the left and right ends of the first transverse bar 11, and the first strain gauge 3 is adhered below the middle position of the first transverse bar 11; in other embodiments, the first strain gage 3 may be adhered over a central portion of the first cross bar 11.
The first mounting part 1 and the second mounting part 2 are arranged on the support framework 9 in a bilateral symmetry manner; in this embodiment, a first mounting portion. In the embodiment, the first mounting part 1 and the second mounting part 2 are metal plates or rods fixed on the upper part of the support framework 9 by welding, the first mounting part 1 is close to the right side of the balance car, and the second mounting part 2 is close to the left side of the balance car, and is connected with the top cover 4 of the balance car in the actual use process, so that a certain load bearing effect can be achieved; in other embodiments, the first mounting portion 1 and the second mounting portion 2 may be fixed to the lower portion or the middle portion of the supporting framework 9 by fasteners or integrally formed; in other embodiments, the first and second mounting portions 1, 2 may not bear weight; in other embodiments, the first mounting portion 1 and the second mounting portion 2 may be disposed asymmetrically.
The strain sensor further comprises a third installation part 21 and a fourth installation part 22 which are arranged on the supporting framework 9, a second transverse bar 12 for detecting the deformation of the supporting framework 9 is arranged between the third installation part 21 and the fourth installation part 22, and the second transverse bar 12 is used for being provided with a second strain gauge 23 capable of sensing the deformation of the second transverse bar 12; in this embodiment, the second cross bar 12 is located at the rear side of the balance car and fixed to the lower part of the third mounting part 21 by welding or fastening, and the second strain gauge 23 is adhered to the lower part of the second cross bar 12; in other embodiments, the second cross bar 12 may be located on the front side of the balance car; the second horizontal bar 12 can be fixed on the upper part of the first mounting part 1; a second strain gage 23 may be attached to the upper portion of the second cross bar 12.
The second transverse bar 12 is connected with the third mounting part 21 and the fourth mounting part 22 in a manner that at least one end is fixedly connected and the other end is fixedly connected or abutted; in the present embodiment, one end of the second horizontal bar 12 is fixed to the lower portion of the third mounting portion 21, and the other end is in non-contact with the fourth mounting portion 22 at the lower portion of the fourth mounting portion 22; in this embodiment, one end of the second cross bar 12 is disposed at the lower portion of the fourth mounting portion 22, a small gap is formed between the second cross bar 12 and the lower portion of the fourth mounting portion 22 when the balance car is not turning, no extrusion force is generated, the strain gauge adhered to the second cross bar 12 is not pre-strained, when a user operates the balance car to turn right, the left foot is stepped forward, the right foot is stepped backward, the supporting framework 9 is twisted under the influence of the force, the third mounting portion 21 is driven to rotate forward, the fourth mounting portion 22 is rotated backward, further, the second cross bar 12 starts to elastically bend and deform under the combined action of the third mounting portion 21 and the fourth mounting portion 22, the resistance value of the second strain gauge 23 is correspondingly increased, the first cross bar 11 is not bent and deformed, the controller 7 controls the difference between the rotation speeds of the two wheels 41 according to the change of the resistance value of the second strain gauge 23 on the second cross bar 12, enabling the balance car to rotate to the right; when the balance car is turned left, the first mounting part 1 is turned backwards, the second mounting part 2 is turned forwards, the first cross bar 11 starts to bend under the action of the first mounting part 1 and the second mounting part 2, the resistance value of the first strain gauge adhered to the first cross bar 11 is correspondingly increased, the second cross bar 12 is not subjected to bending deformation, and the controller 7 controls the balance car to turn left according to the resistance value change of the first strain gauge 3; through the arrangement of the first mounting part 1, the first cross bar 11, the second mounting part 2 and the second cross bar 12, the distortion deformation of the supporting framework 9 can be converted into the bending deformation of the first cross bar 11 and the second cross bar 12, the deformation quantity can be effectively amplified, the change of the first strain gauge 3 is more obvious, the controller 7 can sense more subtle turning action, the controllability of the balance car is improved, in addition, the utilization rate of the first cross bar 11 and the second cross bar 12 is lower, the frequency of the bending deformation is low, fatigue is not easy to occur, the service lives of the first cross bar 11 and the second cross bar 12 are effectively prolonged, and the error is reduced; in other embodiments, second rail 12 may be fixedly attached to or abut fourth mounting portion 22.
The second strain gauge 23 is arranged in the middle of the second transverse bar 12; in this embodiment, the middle position is a middle area between the left and right ends of the second horizontal bar 12, and the second strain gauge 23 is adhered below the middle position of the second horizontal bar 12; in other embodiments, the second strain gage 23 may be adhered over a central portion of the second cross bar 12.
The third mounting part 21 and the fourth mounting part 22 are arranged on the support framework 9 in a bilateral symmetry manner; in the present embodiment, the third mounting portion 21; in this embodiment, the third mounting portion 21 and the fourth mounting portion 22 are metal plates or rods fixed on the upper portion of the supporting framework 9 by welding, the third mounting portion 21 is close to the left side of the balance car, and the fourth mounting portion 22 is close to the right side of the balance car, and in the actual use process, the third mounting portion is connected with the top cover 4 of the balance car, so that a certain load bearing effect can be achieved; in other embodiments, the third mounting portion 21 and the fourth mounting portion 22 may be fixed to the lower portion or the middle portion of the supporting frame 9 by fasteners or integrally formed; in other embodiments, the third and fourth mounting portions 21, 22 may not bear weight; in other embodiments, the third and fourth mounting portions 21 and 22 may be asymmetrically disposed.
The first mounting part 1 and the third mounting part 21 are of an integral structure and/or the second mounting part 2 and the fourth mounting part 22 are of an integral structure; in the present embodiment, the first mounting portion 1 and the third mounting portion 21 are an integral structure, and the second mounting portion 2 and the fourth mounting portion 22 are an integral structure; in other embodiments, the first mounting portion 1 and the third mounting portion 21 may be provided separately, and the second mounting portion 2 and the fourth mounting portion 22 may be configured separately.
A third strain gage 24 is also arranged on the support framework 9; in this embodiment, a third strain gauge 24 is adhered to the surface of the middle position of the supporting framework 9, so as to sense whether a user stands on the balance car, and control whether the balance car (hub motor) is powered on to enter an operating state.
The supporting framework 9 is tubular, plate-shaped or a combination of the tubular and plate-shaped supporting frameworks; in this embodiment, the supporting framework 9 is in a circular tube shape, so that the bearing capacity of the balance car can be improved; in other embodiments, the tubular shape may include a circular tubular shape, a polygonal tubular shape, or a tubular shape of any other cross-sectional shape when viewed in cross-sectional shape; the tubular shape is not limited to a tubular shape extending in an equal proportion in terms of the manner of extension in the left-right direction, but may be a tubular shape extending irregularly, for example, partially expanded, partially contracted, rotated, displaced, or the like; the supporting framework 9 can also be a combined mechanism with a tubular middle part and plate-shaped two sides; in other embodiments, the support frame 9 may be formed integrally with the top cover 4 in the form of a rib as a single structure.
Example 5
The application also discloses a balance car, including above-mentioned balance car supporting framework 9 of embodiment 3.
As shown in fig. 7, the balance car further includes a top cover 4 and a bottom cover 5, a power supply 6 disposed between the top cover 4 and the bottom cover 5, a controller 7, wheels 41 mounted at two ends of the supporting frame 9, and a driving motor for driving the wheels 41; a gyroscope and an acceleration sensor are mounted on the controller 7 (the gyroscope and the acceleration sensor are actually positioned in the controller 7 and are not shown in the figure); the driving motor, the controller 7, the first strain gauge 3, the second strain gauge 23 and the third strain gauge 24 are electrically connected; in this embodiment, the top cover 4 is further provided with a pedal portion 81, the pedal portion 81 is directly or indirectly mounted on the supporting framework 9, and the driving motor is a wheel built-in hub motor; the user prevents the left and right feet from being placed on the pedal assembly of the supporting framework 9, and the weight information of the human body is transmitted to the supporting framework 9 through the pedal assembly; the left side and the right side of the supporting framework 9 are provided with fixing seats 82, each fixing seat 82 is provided with a pressing cover 83, the pressing covers 83 are matched with the fixing seats 82 to fix the wheel axle on the supporting framework 9, and the bottom cover is provided with a power switch 51.
At least one of the first mounting part 1, the second mounting part 2, the third mounting part 21 and the fourth mounting part 22 is fixedly connected with the top cover 4 and/or the bottom cover 5; in the embodiment, the first mounting part 1, the second mounting part 2, the third mounting part 21 and the fourth mounting part 22 are fixedly connected with the top cover 4; in other embodiments, at least one of the first, second, third and fourth mounting portions 1, 2, 21 and 22 is fixedly connected to the top cover 4 and/or the bottom cover 5.
Example 6
The application also discloses a balance car, including above-mentioned embodiment 1's balance car supporting framework 9.
The balance car still includes two wheels and driving motor with supporting framework 9 fixed connection, supporting framework 9 is an overall structure, is equipped with power 6, controller 7, strain sensor in it, and controller 7 is connected with power 6, strain sensor, driving motor electricity, and the controller is according to the signal of strain sensor sensing, control driving motor drive wheel, realizes that the vehicle turns.
The first strain gauge 3, the second strain gauge 23, and the third strain gauge 24 in this specification are all related art, and the structure is not described in detail.
In the present application, the abutment, the interference, and the non-contact are used only for defining the connection relationship in the vertical direction.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. 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.
Although embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that various changes, modifications, substitutions and alterations can be made therein by those skilled in the art without departing from the spirit and scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (15)
1. The utility model provides a balance car supporting framework, its characterized in that, supporting framework (9) are equipped with strain sensor, strain sensor is equipped with first horizontal bar (11) that detect supporting framework (9) deformation including first installation department (1) and second installation department (2) of locating supporting framework (9) left and right sides position respectively between first installation department (1) and second installation department (2), first horizontal bar (11) are used for being equipped with first foil gage (3) that can sense first horizontal bar deformation.
2. The balance car support frame of claim 1, wherein the first cross bar (11) is connected to the first and second mounting portions in a manner such that at least one end is fixedly connected and the other end is fixedly connected or abutted.
3. The balance car supporting framework according to claim 1, wherein the first strain gauge (3) is arranged at the middle position of the first cross bar (11).
4. Balance car support frame according to claim 1 or 3, characterized in that the first (1) and second (2) mounting part are arranged side-to-side symmetrically on the support frame (9).
5. The balance car supporting framework of claim 1, wherein the strain sensor further comprises a third mounting part (21) and a fourth mounting part (22) which are arranged on the supporting framework (9), a second cross bar (12) for detecting the deformation of the supporting framework (9) is arranged between the third mounting part and the fourth mounting part, and the second cross bar (12) is used for being provided with a second strain gauge (23) capable of sensing the deformation of the second cross bar.
6. The balance car support frame of claim 5, wherein the second cross bar (12) is fixedly connected to the third mounting portion (21) and the fourth mounting portion (22) at least at one end and fixedly connected or abutted to the other end.
7. The balance car support frame of claim 5, wherein the second strain gauge (23) is provided at a central position of the second cross bar (12).
8. The balance car support frame according to claim 5 or 7, wherein the third mounting portion (21) and the fourth mounting portion (22) are arranged on the support frame (9) in bilateral symmetry.
9. Balance car support frame according to claim 5, characterized in that the first mounting part (1) and the third mounting part (21) are of one piece construction and/or the second mounting part (2) and the fourth mounting part (22) are of one piece construction.
10. Balance vehicle support frame according to claim 1, characterized in that a third strain gauge (24) is provided on the support frame (9).
11. Balance car support frame according to claim 1, characterized in that the support frame (9) is tubular, plate-like or a combination of both.
12. Balance vehicle, characterized in that it comprises a balance vehicle support skeleton (9) according to any of claims 1 to 11.
13. The balance car of claim 12, further comprising a top cover (4) and a bottom cover (5), a power source (6) arranged between the top cover (4) and the bottom cover (5), a controller (7), wheels (8) mounted at two ends of the supporting framework (9), and a driving motor for driving the wheels (8); a gyroscope and an acceleration sensor are arranged on the controller (7); and the controller (7) is electrically connected with the power supply (6), the strain sensor and the driving motor.
14. A balance vehicle according to claim 13, wherein at least one of the first (1), second (2), third (21) and fourth (22) mounting portions is fixedly connected to the top cover (4) and/or the bottom cover.
15. The balance vehicle of claim 12, further comprising two wheels (8) and a driving motor fixedly connected to the supporting frame (9), wherein the supporting frame (9) is an integral structure, and a power source (6), a controller (7) and a sensor are arranged in the supporting frame, and the controller (7) controls the driving motor to drive the wheels according to signals sensed by the strain sensor, so as to realize vehicle turning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210606968.3A CN114940228A (en) | 2022-05-31 | 2022-05-31 | Balance car and supporting framework thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210606968.3A CN114940228A (en) | 2022-05-31 | 2022-05-31 | Balance car and supporting framework thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114940228A true CN114940228A (en) | 2022-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210606968.3A Pending CN114940228A (en) | 2022-05-31 | 2022-05-31 | Balance car and supporting framework thereof |
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| CN (1) | CN114940228A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117876378A (en) * | 2024-03-13 | 2024-04-12 | 东莞虹日金属科技有限公司 | Intelligent detection method for quality of new energy automobile seat framework |
-
2022
- 2022-05-31 CN CN202210606968.3A patent/CN114940228A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117876378A (en) * | 2024-03-13 | 2024-04-12 | 东莞虹日金属科技有限公司 | Intelligent detection method for quality of new energy automobile seat framework |
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