CN115140225B - Electrodynamic balance car with brake protection tests speed - Google Patents
Electrodynamic balance car with brake protection tests speed Download PDFInfo
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- CN115140225B CN115140225B CN202210750480.8A CN202210750480A CN115140225B CN 115140225 B CN115140225 B CN 115140225B CN 202210750480 A CN202210750480 A CN 202210750480A CN 115140225 B CN115140225 B CN 115140225B
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- magnetic induction
- induction element
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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
- B62J45/412—Speed sensors
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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
-
- 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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Electromagnetism (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses an electric balance car with speed measurement and braking protection, which comprises a supporting table and a telescopic rod, wherein a supporting box is arranged at the bottom of the supporting table, supporting walls are arranged on two sides of the supporting box, a supporting ring is arranged on the inner side of the supporting wall, a bearing ring is arranged on the inner side of the supporting ring, the telescopic rod is arranged on the outer wall of the supporting ring in a penetrating manner, the telescopic rod is positioned on the inner side of the supporting wall, and a brake block is arranged at the output end of the telescopic rod. According to the invention, the magnetic induction element and the speed measuring sensor are arranged, the magnetic induction element on the outer side is driven to rotate in the rotating process of the bearing rod, the current change can be generated in the process of passing through the lower part of the speed measuring sensor in the rotating process of the magnetic induction element, the magnetic induction element transmits the detected current to the controller, so that the number of rotations of the magnetic induction element is calculated, the speed of the device is calculated, the controller controls the expansion rod to extend to drive the brake pad on the output end to move forwards, and the brake pad is tightly attached to the outer side of the wear-resisting ring to reduce the speed.
Description
Technical Field
The invention relates to the technical field of electric balance vehicles, in particular to an electric balance vehicle with speed measurement braking protection.
Background
The electric balance car has its operation principle built on the basic principle called dynamic stability, and uses gyroscope and acceleration sensor inside car body to detect the change of car body posture, and uses servo control system to accurately drive motor to make correspondent regulation so as to retain the balance of the system.
The existing electrodynamic balance car has the defects that:
1. patent document CN205952174U discloses a connecting device for electrodynamic balance car and be used for drawing electrodynamic balance car of goods, wherein, electrodynamic balance car includes the automobile body and fixes wheel on the automobile body, the automobile body is two, two the automobile body passes through slewing mechanism and connects, slewing mechanism includes the pivot, connecting device include connecting piece, holding piece and be used for fixing to pivot epaxial mounting, holding piece one end can dismantle fixedly through first pin and mounting, the holding piece other end can dismantle fixedly through second pin and connecting piece one end, the connecting piece other end is used for fixedly connected to on the goods shelves. The electric balance car of (2) can be connected to the goods shelf through the connecting device, so that goods can be placed on the goods shelf, and the goods can be conveniently transported. The electric balance car realizes multiple functions, is convenient for a user to pull goods and is convenient for the user to use, but the electric balance car in the above publication lacks a speed measuring structure and a braking structure, so that the moving speed of the device is too high and the device is easy to damage the user;
2. patent document CN208993840U discloses an electrodynamic balance car, which comprises wheels, a frame mechanism and a supporting mechanism. The frame mechanism is connected with the wheels, and the wheels can rotate relative to the frame mechanism. The supporting mechanism comprises a supporting frame and supporting wheels, one end of the supporting frame is connected with the frame mechanism, the other end of the supporting frame extends towards the front part of the electric balance car along the length direction of the electric balance car and protrudes out of the wheels, the supporting wheels are arranged at the other end of the supporting frame, the lower peripheral edge of each supporting wheel is higher than the lower peripheral edge of each wheel, when the electric balance car runs horizontally relative to the ground, the supporting wheels are not contacted with the ground, and when the electric balance car inclines towards the front of the electric balance car, the supporting wheels can be contacted with the horizontal plane to support the electric balance car, but the electric balance car in the above publication lacks an assembly structure, so that a user cannot assemble the device conveniently;
3. patent document CN205707040U provides an electric balance car with arm, including the electric balance car that has balance car control circuit and balance car built-in power supply, balance car control circuit and balance car built-in power supply link to each other, the electric balance car on be equipped with at least one arm, the arm link to each other with electric balance car through detachable construction, the arm control circuit of arm link to each other and realize the signal exchange with balance car control circuit through wireless communication mode and/or wired communication mode, the arm by arm built-in power supply and/or the arm by balance car built-in power supply. The advantages are that: the structure is simple and reasonable, the mechanical arm can be detachably arranged on the electric balance car, so that the electric balance car is not limited to a riding function, has novel functions and display and camera shooting functions, but the supporting structure of the electric balance car in the above-mentioned publication is simple, and some people cannot grasp the balance and easily fall down;
4. patent document CN216580833U discloses a two-wheeled electrodynamic balance car that can single foot controlled, but single foot controlled two-wheeled electrodynamic balance car includes: a first wheel having a first motor; a second wheel having a second motor; a first pedal; a second pedal; a controller; wherein, the first pedal and/or the second pedal is/are provided with a straight sensor electrically connected with the controller; the two-wheel electric balance car is provided with a single-foot control mode, and in the single-foot control mode, the controller only controls the first motor and the second motor to be synchronous according to the information of a certain straight-running sensor, so that the two-wheel electric balance car can directly run. The two-wheeled electrodynamic balance car of (2) has the beneficial effects that: the single-foot control is realized, but the electric balance car user positioning structure in the above publication cannot realize the following function.
Disclosure of Invention
The invention aims to provide an electric balance car with speed measurement and braking protection so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the electric balance car with the speed measuring and braking protection comprises a supporting table and a telescopic rod, wherein a supporting box is arranged at the bottom of the supporting table, supporting walls are arranged on two sides of the supporting box, supporting rings are arranged on the inner sides of the supporting walls, bearing rings are arranged on the inner sides of the supporting rings, the outer walls of the supporting rings are provided with the telescopic rod in a penetrating mode, the telescopic rod is located on the inner sides of the supporting walls, a brake block is arranged at the output end of the telescopic rod, and the brake block is located between two groups of bearing rings;
the supporting frame is symmetrically arranged at the bottom of the supporting table, the bottom of the supporting frame is arranged at the inner side of the supporting box, the control motor is arranged at the inner side of the supporting frame, the bearing rod is arranged at the output end of the control motor, the wear-resisting ring is arranged at the outer side of the bearing rod, and the wear-resisting ring is positioned at the inner side of the brake block.
Preferably, a lantern ring is installed on one side of the supporting ring, and a speed measuring sensor is installed on the inner side of the lantern ring.
Preferably, the outside of the bearing rod is provided with a magnetic induction element, the magnetic induction element is positioned at one side of the wear-resisting ring, the magnetic induction element corresponds to the speed measuring sensor, and one end of the bearing rod is provided with a forward moving wheel.
Preferably, the mounting bracket is installed to the bottom of brace table, the controller is installed to the inboard of mounting bracket, signal locator is installed to the inboard of mounting bracket, and signal locator is located one side of controller, the spirit level is installed to the inboard of mounting bracket, and the spirit level is located the opposite side of controller.
Preferably, the brake pad is made of anti-slip materials, and corresponds to the wear-resistant ring, and when the brake pad needs to be decelerated, the brake pad is clung to the outer side of the wear-resistant ring so as to obtain the deceleration effect;
the speed measuring sensor corresponds to the magnetic induction element, when the magnetic induction element passes through the lower part of the speed measuring sensor, the current can be changed, and the number of turns of the magnetic induction element is calculated according to the speed generated by the current, so that the speed of the device is estimated.
Preferably, a fixing frame is arranged on the bottom wall of the inner side of the supporting box, the fixing frame is positioned between the two groups of supporting frames, and a storage battery is arranged at the top of the fixing frame.
Preferably, the radar sensor is installed in the front of brace table, the supporting seat is installed at the top of brace table, the inboard movable mounting of supporting seat has the connector, the push rod is installed at the top of connector, the top both sides movable mounting of push rod has the control handle, two sets of symmetrically arranged cameras are installed at the top of brace table, and the camera is located the both sides of supporting seat.
Preferably, the back of brace table installs the draw-in groove, the inboard gomphosis of draw-in groove is installed and is inlayed the board, the inboard of draw-in groove runs through and installs the connecting rod, and the connecting rod runs through the inboard of draw-in groove and inlays the board, the footboard is installed to the rear end of gomphosis board, the slipmat is installed at the top of footboard, two sets of bearing frames are installed to the bottom of footboard, two sets of the inboard movable mounting of bearing frames has the back to remove the wheel.
Preferably, the working steps of the electrodynamic balance car are as follows:
s1, a user can step on the upper part of the supporting table by feet, the user grasps the two groups of control handles by hands, after stepping on the top of the supporting table, the level gauge detects the inclination angle of the supporting table, then the level gauge transmits detected data to the controller, the controller controls the operation of the motor, and the supporting frame, the control motor, the bearing rod and the front moving wheel are matched to adjust the device angle and stabilize the device angle;
s2, a user controls the rotating speeds of the two groups of forward moving wheels through the amplitude of the rotating control handle, when the device is moved, the motor is controlled to operate to drive the bearing rod at the output end to rotate, the bearing rod rotates to drive the forward moving wheel at one end to rotate, the front moving wheel rotates to drive the device to move, the outer magnetic induction element is driven to rotate in the rotating process of the bearing rod, current change can be generated in the rotating process of the magnetic induction element passing through the lower part of the speed measuring sensor, the magnetic induction element transmits detected current to the controller, the controller calculates the rotating number of the magnetic induction element through the current, the speed of the device is estimated, the user presets the highest speed through the controller in advance, when the speed is detected to exceed a specified value, the controller controls the expansion rod to extend to drive the brake pad at the output end to move forwards, the brake pad is tightly attached to the outer side of the wear ring, the friction force between the brake pad and the wear ring is increased through the expansion rod, the speed of the output speed is controlled, and the moving speed of the device is ensured to be in a safe range;
s3, when some people cannot stably stand above the supporting table, a user inserts the embedded plate on the pedal into the clamping groove, then penetrates the connecting rod through the clamping groove and the inner side of the embedded plate, the connection compactness of the device is improved, the device is convenient to assemble by the user, the pedal and the rear moving wheel are installed at the rear of the supporting table, the supporting structure of the device is increased, the device is more stable, the user can conveniently and stably tread on the upper side of the pedal, and the situation that the user falls down due to unstable tread is prevented;
s4, when the user needs the device to move along, the user is connected with the signal positioner through the mobile phone signal, the signal positioner receives the signal transmitted by the mobile phone, the position of the user is determined, meanwhile, the radar sensor operates to send radar signals to the front, whether an obstacle exists in the front or not is sensed, the camera operates to acquire images of the front, the position of the user is determined, whether the obstacle exists or not is determined again, the angle is adjusted by the control device when the obstacle exists, and the user can avoid the obstacle in time;
s5, when a user needs to turn, the two groups of control handles rotate by different angles, so that the output speeds of the two groups of control motors are controlled, and turning operation is realized through different rotating speeds of the two groups of forward moving wheels.
In the step S1, the method further includes the following steps:
s11, an internally-installed fixing frame of the supporting box is used for fixing a storage battery at the top, and the storage battery stores electric power to provide power for the operation of equipment, so that the cruising ability of the equipment is guaranteed.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the magnetic induction element and the speed measuring sensor are arranged, the magnetic induction element on the outer side is driven to rotate in the rotating process of the bearing rod, the current change can be generated in the process of passing through the lower part of the speed measuring sensor in the rotating process of the magnetic induction element, the magnetic induction element transmits the detected current to the controller, the speed of the magnetic induction element is calculated through the speed generated by the current, so that the speed of the device is estimated, a user presets the highest speed through the controller, when the speed exceeding a specified value is monitored, the controller controls the telescopic rod to extend to drive the brake pad on the output end to move forwards, the brake pad is tightly attached to the outer side of the wear ring, the friction force between the brake pad and the wear ring is increased through the telescopic rod extension, the speed of the motor is controlled to be output, and the moving speed of the device is ensured to be in a safe range.
2. According to the invention, the connecting rod, the clamping groove and the embedded plate are arranged, the embedded plate on the pedal is inserted into the clamping groove, and then the connecting rod penetrates through the clamping groove and the inner side of the embedded plate, so that the connection tightness of the device is improved, and a user can conveniently assemble the device.
3. According to the invention, the pedal and the rear moving wheel are arranged, the bottom bearing seat of the pedal is connected with the rear moving wheel, and after the pedal is arranged at the rear of the supporting table, the front moving wheel is matched with the rear moving wheel, so that the contact area of the device and the ground is enlarged, the supporting structure of the device is increased, the device is more stable, a user can conveniently and stably tread on the upper part of the pedal, and the situation that the user falls down due to unstable tread is prevented.
4. The invention is provided with the signal locator, the radar sensor and the camera, is connected with the signal locator through the mobile phone signal, receives the signal transmitted by the mobile phone through the signal locator, determines the position of a user, simultaneously the radar sensor operates to send radar signals to the front, senses whether an obstacle exists in the front, the camera operates to acquire images of the front, determines the position of the user, determines whether the obstacle exists again, controls the angle adjustment of the device to avoid in time when the obstacle exists, and realizes the automatic following function of the device.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the supporting box of the present invention;
FIG. 3 is a schematic view of a pedal structure according to the present invention;
FIG. 4 is a schematic view of a support table according to the present invention;
FIG. 5 is a schematic view of the structure of the support ring of the present invention;
FIG. 6 is a schematic diagram of a control motor according to the present invention;
FIG. 7 is a schematic illustration of a putter in accordance with the present invention;
fig. 8 is a flow chart of the velocimetry braking protection of the present invention.
In the figure: 1. a support table; 2. a mounting frame; 3. a controller; 4. a signal locator; 5. a supporting box; 6. a support wall; 7. a fixing frame; 8. a storage battery; 9. a support ring; 10. a bearing ring; 11. a telescopic rod; 12. a brake pad; 13. a collar; 14. a speed sensor; 15. a support frame; 16. controlling a motor; 17. a bearing rod; 18. a wear ring; 19. a forward moving wheel; 20. a radar sensor; 21. a support base; 22. a camera; 23. a connector; 24. a push rod; 25. a control handle; 26. a pedal; 27. an anti-slip pad; 28. a bearing seat; 29. a rear moving wheel; 30. an embedded plate; 31. a clamping groove; 32. a connecting rod; 33. a level gauge; 34. a magnetically susceptible element.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, 2, 3, 4, 5, 6, 7 and 8, one embodiment of the present invention is provided: the utility model provides an electrodynamic balance car with speed measurement braking protection, includes brace table 1 and telescopic link 11, supporting box 5 is installed to the bottom of brace table 1, supporting wall 6 is installed to the both sides of supporting box 5, and brace table 1 is fixed supporting box 5 and supporting wall 6 of bottom, guarantees the firm of device structure, support ring 9 is installed to the inboard of supporting wall 6, bearing ring 10 is installed to the inboard of support ring 9, telescopic link 11 is installed in the outer wall penetration of support ring 9, and telescopic link 11 is located the inboard of supporting wall 6, brake block 12 is installed to the output of telescopic link 11, and brake block 12 is located between two sets of bearing rings 10, support frame 15 is installed to the bottom symmetry of brace table 1, and the bottom of support frame 15 is installed in the inboard of supporting box 5, control motor 16 is installed to the inboard of support frame 15, bearing rod 17 is installed to the output of control motor 16, the outer side of the bearing rod 17 is provided with a wear-resistant ring 18, the wear-resistant ring 18 is positioned at the inner side of the brake pad 12, the supporting table 1 and the supporting box 5 fix the inner side supporting frame 15, the stability of the supporting frame 15 is ensured, the supporting frame 15 is convenient for fixing the inner side control motor 16, the control motor 16 can stably run, the bearing rod 17 at the output end of the control motor 16 penetrates through the inner side of the bearing ring 10, the supporting wall 6 fixes the inner side supporting ring 9, the supporting ring 9 supports the inner side bearing ring 10, the bearing ring 10 limits and supports the inner side bearing rod 17, when equipment is required to move, the control motor 16 operates to drive the bearing rod 17 at the output end to rotate, the bearing rod 17 rotates to drive the front moving wheel 19 at one end to rotate, the front moving wheel 19 rotates to drive the device to move, and simultaneously drives the outer side wear-resistant ring 18 to rotate, the support ring 9 is fixed to the telescopic rod 11 on the outer side, when the speed is required to be reduced, the telescopic rod 11 stretches to drive the brake block 12 at the output end to move forwards, the brake block 12 is clung to the outer side of the wear-resistant ring 18, and the friction force between the brake block 12 and the wear-resistant ring 18 is increased through the stretching of the telescopic rod 11, so that the speed reduction effect is achieved.
The sleeve ring 13 is installed on one side of the supporting ring 9, the speed measuring sensor 14 is installed on the inner side of the sleeve ring 13, the magnetic induction element 34 is installed on the outer side of the bearing rod 17, the magnetic induction element 34 is located on one side of the wear-resisting ring 18, the magnetic induction element 34 corresponds to the speed measuring sensor 14, the front moving wheel 19 is installed at one end of the bearing rod 17, the supporting ring 9 fixes the sleeve ring 13, stability of the sleeve ring 13 is guaranteed, the sleeve ring 13 supports the inner side of the speed measuring sensor 14, meanwhile, limiting support of the bearing rod 17 is carried out, stable rotation of the bearing rod 17 is guaranteed, the magnetic induction element 34 on the outer side is driven to rotate in the rotating process of the bearing rod 17, current change is generated in the rotating process of the magnetic induction element 34 through the lower side of the speed measuring sensor 14, the detected current is transmitted to the controller 3, the speed of the controller 3 through the current is estimated, the number of turns of the magnetic induction element 34 is estimated, the speed of the device is estimated, a user sets the highest speed in advance through the controller 3 in advance, and when the speed is monitored to a designated value, the controller is controlled to exceed the speed, the controller controls the controller to drive the brake disc 11 to stretch out and stretch out the brake disc 12.
The mounting bracket 2 is installed to the bottom of brace table 1, controller 3 is installed to the inboard of mounting bracket 2, signal locator 4 is installed to the inboard of mounting bracket 2, and signal locator 4 is located one side of controller 3, spirit level 33 is installed to the inboard of mounting bracket 2, and spirit level 33 is located the opposite side of controller 3, and brace table 1 fixes mounting bracket 2, guarantees the stability of mounting bracket 2, and mounting bracket 2 supports controller 3, by the operation of controller 3 controlling means, signal locator 4 through with cell-phone signal connection, confirm the user position, spirit level 33 is used for detecting brace table 1's inclination, and whether detection device angle can all require.
The mount 7 is installed to the inboard diapire of supporting box 5, and mount 7 is located between two sets of support frames 15, battery 8 is installed at the top of mount 7, and supporting box 5 is fixed mount 7, guarantees the stability of mount 7, makes things convenient for mount 7 to fix battery 8, and battery 8 stores electric power, improves the electric energy for the operation of equipment.
The radar sensor 20 is installed in the front of brace table 1, two sets of symmetrically arranged's camera 22 are installed at the top of brace table 1, and camera 22 is located the both sides of supporting seat 21, and radar sensor 20 moves and sends the radar signal to the place ahead, and whether there is the barrier the place ahead is responded to, and camera 22 moves and carries out image acquisition to the place ahead to confirm the user position to confirm whether there is the barrier again, control device adjustment angle in time dodges when there is the barrier, supporting seat 21 is installed at the top of brace table 1, the inboard movable mounting of supporting seat 21 has connector 23, push rod 24 is installed at the top of connector 23, the top both sides movable mounting of push rod 24 has control handle 25, and brace table 1 supports top supporting seat 21, and supporting seat 21 is connected to the connector 23 at the inboard adjustment angle of supporting seat 21, and the convenience of use when not using equipment, folding device, user have turning angle through the speed of controlling handle 25 controlling device.
The back of brace table 1 installs draw-in groove 31, the inboard gomphosis of draw-in groove 31 is installed and is inlayed the plywood 30, the inboard of draw-in groove 31 runs through and installs connecting rod 32, and connecting rod 32 runs through the inboard of draw-in groove 31 and gomphosis board 30, footboard 26 is installed to the rear end of gomphosis board 30, slipmat 27 is installed at the top of footboard 26, two sets of bearing frames 28 are installed to the bottom of footboard 26, two sets of inboard movable mounting of bearing frames 28 moves round 29 after, brace table 1 fixes draw-in groove 31, guarantees the stability of draw-in groove 31, and the user inserts the inboard of draw-in groove 31 with the gomphosis board 30 on the footboard 26, then runs through the inboard of draw-in groove 31 and gomphosis board 30, improves the compactness of device connection, and the user assembles the device at the rear of brace table 1 installs footboard 26 and moves round 29 after, has increased the bearing structure of device for the device is more steady, and the user steps on the top of footboard 26 steadily, prevents that the user from taking place steady condition of falling down, and the friction between the device and the user increases the friction between the device and the user.
Further, the brake pad 12 is made of an anti-slip material, the brake pad 12 corresponds to the wear-resistant ring 18, and when the brake pad 12 is required to be decelerated, the brake pad 12 is clung to the outer side of the wear-resistant ring 18 so as to obtain a deceleration effect;
the tachometer sensor 14 corresponds to the magnetic induction element 34, and when the magnetic induction element 34 passes under the tachometer sensor 14, a change of current is generated, and the number of turns of the magnetic induction element 34 is calculated according to the speed generated by the current, so that the speed of the device is estimated.
Further, the working steps of the electrodynamic balance car are as follows:
s1, a user can step on the upper side of the supporting table 1 by feet, the user grasps the two groups of control handles 25 by hands, after stepping on the top of the supporting table 1, the level gauge 33 detects the inclination angle of the supporting table 1, then the level gauge 33 transmits detected data to the controller 3, the controller 3 controls the motor 16 to run, the supporting frame 15, the motor 16, the bearing rod 17 and the forward moving wheel 19 are matched, the device angle is adjusted, and the device angle is stabilized;
s2, a user controls the rotating speeds of the two groups of forward moving wheels 19 through rotating a control handle 25, when the device is moved, a motor 16 is controlled to operate to drive a bearing rod 17 at an output end to rotate, the bearing rod 17 rotates to drive a forward moving wheel 19 at one end to rotate, the forward moving wheel 19 rotates to drive the device to move, a magnetic induction element 34 at the outer side is driven to rotate in the rotating process of the bearing rod 17, current change can be generated in the rotating process of the magnetic induction element 34 through a speed measuring sensor 14, the magnetic induction element 34 transmits detected current to a controller 3, the controller 3 calculates the rotating circle number of the magnetic induction element 34 through the current generated speed, the speed of the device is estimated, the user presets the highest speed through the controller 3 in advance, when the speed is detected to exceed a specified value, the controller 3 controls a brake pad 12 at the extension driving output end of a telescopic rod 11 to move forwards, the brake pad 12 is tightly attached to the outer side of a wear-resistant ring 18, the friction force between the brake pad 12 and the wear-resistant ring 18 is increased through the extension of the telescopic rod 11, meanwhile, the speed of the controller 16 is controlled to be in a safe speed range;
s3, when some people cannot stably stand above the supporting table 1, a user inserts the embedded plate 30 on the pedal 26 into the clamping groove 31, then penetrates the connecting rod 32 through the clamping groove 31 and the inner side of the embedded plate 30, the connection compactness of the device is improved, the device is convenient to assemble by the user, the pedal 26 and the rear movable wheel 29 are arranged behind the supporting table 1, the supporting structure of the device is increased, the device is more stable, the user can stably tread above the pedal 26, and the phenomenon that the user falls down due to unstable tread is prevented;
s4, when a user needs to move the device, the user is connected with the signal positioner 4 through a mobile phone signal, the signal positioner 4 receives a signal transmitted by the mobile phone, and the position of the user is determined, meanwhile, the radar sensor 20 operates to send a radar signal to the front, senses whether an obstacle exists in the front, the camera 22 operates to acquire an image of the front, determines the position of the user, determines whether the obstacle exists again, controls the device to adjust the angle and avoid in time;
s5, when a user needs to turn, the two groups of control handles 25 rotate at different angles, so that the output speeds of the two groups of control motors 16 are controlled, and turning operation is realized through different rotating speeds of the two groups of forward moving wheels 19.
In the step S1, the method further includes the following steps:
s11, the internal installation fixing frame 7 of the supporting box 5, the storage battery 8 at the top is fixed by the fixing frame 7, and the storage battery 8 stores electric power to provide power for the operation of equipment, so that the cruising ability of the equipment is ensured.
Working principle: the user can step on the upper part of the supporting table 1 by feet, the user holds the two groups of control handles 25 by hands, after stepping on the top of the supporting table 1, the level gauge 33 detects the inclination angle of the supporting table 1, then the level gauge 33 transmits detected data to the controller 3, the controller 3 controls the control motor 16 to operate, the supporting frame 15, the control motor 16, the bearing rod 17 and the forward moving wheels 19 are matched, the device angle is adjusted, the device angle is stabilized, the user controls the rotating speed of the two groups of forward moving wheels 19 by rotating the control handles 25 in an amplitude manner, when the device is moved, the control motor 16 operates to drive the bearing rod 17 at the output end to rotate, the bearing rod 17 rotates to drive the forward moving wheels 19 at one end to rotate, the forward moving wheels 19 rotate to drive the device to move, the outer magnetic induction element 34 is driven to rotate in the process of the rotation of the bearing rod 17, in the process that the magnetic induction element 34 passes under the speed measuring sensor 14 in the rotating process, current change can be generated, the magnetic induction element 34 transmits detected current to the controller 3, the controller 3 calculates the rotating circle number of the magnetic induction element 34 through the speed generated by the current, the device speed is estimated, a user presets the highest speed in advance through the controller 3, when the speed exceeding a specified value is detected, the controller 3 controls the telescopic rod 11 to extend to drive the brake pad 12 at the output end to move forwards, the brake pad 12 is tightly attached to the outer side of the wear-resisting ring 18, the friction force between the brake pad 12 and the wear-resisting ring 18 is increased through the extension of the telescopic rod 11, the speed reduction effect is achieved, meanwhile, the control motor 16 is controlled to output the speed, the moving speed of the device is ensured to be in a safe range, and when a certain person can not stably stand above the supporting table 1, the user inserts the inside of draw-in groove 31 with the gomphosis board 30 on the footboard 26, then run through draw-in groove 31 and the inboard of gomphosis board 30 with connecting rod 32, improve the compactness that the device is connected, the user assembles the device, install footboard 26 and back movable wheel 29 at the rear of brace table 1, the bearing structure of device has been increased, make the device more steady, the user steady steps on the top of footboard 26 conveniently, prevent that the user from stepping on the unstable condition that takes place to empty, when the user needs the device to follow the removal, the user passes through the cell-phone signal and is connected with signal locator 4, receive the signal of cell-phone transmission through signal locator 4, and confirm the position of user, radar sensor 20 operation is sent the radar signal to the place ahead simultaneously, whether the response place ahead has the barrier, camera 22 operation is carried out the image acquisition to the place ahead, and confirm the barrier again, control angle is controlled in time, when the user needs to turn, through two sets of control handles 25 rotation different angles, thereby control two sets of control motor 16 output, the speed is realized through two sets of different rotation speeds, 19 are moved in time.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. Electric balance car with speed measurement braking protection, including brace table (1) and telescopic link (11), its characterized in that: the supporting platform is characterized in that a supporting box (5) is arranged at the bottom of the supporting table (1), supporting walls (6) are arranged on two sides of the supporting box (5), supporting rings (9) are arranged on the inner sides of the supporting walls (6), bearing rings (10) are arranged on the inner sides of the supporting rings (9), telescopic rods (11) are arranged on the outer walls of the supporting rings (9) in a penetrating mode, the telescopic rods (11) are located on the inner sides of the supporting walls (6), brake blocks (12) are arranged at the output ends of the telescopic rods (11), and the brake blocks (12) are located between two groups of the bearing rings (10);
the bottom of the supporting table (1) is symmetrically provided with a supporting frame (15), the bottom of the supporting frame (15) is arranged on the inner side of the supporting box (5), the inner side of the supporting frame (15) is provided with a control motor (16), the output end of the control motor (16) is provided with a bearing rod (17), the outer side of the bearing rod (17) is provided with a wear-resisting ring (18), and the wear-resisting ring (18) is positioned on the inner side of the brake pad (12);
a lantern ring (13) is arranged on one side of the supporting ring (9), and a speed measuring sensor (14) is arranged on the inner side of the lantern ring (13);
a magnetic induction element (34) is arranged on the outer side of the bearing rod (17), the magnetic induction element (34) is positioned on one side of the wear-resisting ring (18), the magnetic induction element (34) corresponds to the speed measuring sensor (14), and a front moving wheel (19) is arranged at one end of the bearing rod (17);
the brake pad (12) is made of an anti-slip material, the brake pad (12) corresponds to the wear-resistant ring (18), and when the brake pad (12) is required to be decelerated, the brake pad is clung to the outer side of the wear-resistant ring (18) so as to obtain a deceleration effect;
the speed measuring sensor (14) corresponds to the magnetic induction element (34), when the magnetic induction element (34) passes below the speed measuring sensor (14), current change is generated, and the number of turns of the magnetic induction element (34) is calculated according to the speed generated by the current, so that the speed of the device is estimated.
2. The electrodynamic balance car with speed measurement braking protection of claim 1, wherein: the utility model discloses a water level meter, including supporting bench (1), signal locator (4), spirit level (33) are installed to the bottom of supporting bench (1), controller (3) are installed to the inboard of installing frame (2), signal locator (4) are installed to the inboard of installing frame (2), and signal locator (4) are located one side of controller (3), spirit level (33) are located the opposite side of controller (3).
3. The electrodynamic balance car with speed measurement braking protection of claim 1, wherein: the fixing frame (7) is installed on the inner side bottom wall of the supporting box (5), the fixing frame (7) is located between two groups of supporting frames (15), and the storage battery (8) is installed at the top of the fixing frame (7).
4. The electrodynamic balance car with speed measurement braking protection of claim 1, wherein: the radar sensor is characterized in that the radar sensor (20) is arranged on the front surface of the supporting table (1), the supporting seat (21) is arranged at the top of the supporting table (1), the connector (23) is movably arranged on the inner side of the supporting seat (21), the push rod (24) is arranged at the top of the connector (23), the control handles (25) are movably arranged on two sides of the top of the push rod (24), the two groups of symmetrically arranged cameras (22) are arranged at the top of the supporting table (1), and the cameras (22) are positioned on two sides of the supporting seat (21).
5. The electrodynamic balance car with speed measurement braking protection of claim 1, wherein: the utility model discloses a rear wheel type support table, including supporting bench (1), embedded plate (30) are installed in the inboard gomphosis of supporting bench (1), connecting rod (32) are installed in the inboard of embedded plate (31) run through, connecting rod (32) run through the inboard of embedded plate (30) and embedded plate (31), footboard (26) are installed to the rear end of embedded plate (30), slipmat (27) are installed at the top of footboard (26), two sets of bearing frame (28) are installed to the bottom of footboard (26), two sets of inboard movable mounting of bearing frame (28) have back movable wheel (29).
6. An electrodynamic balance car with speed measurement braking protection according to any one of claims 1-5, which comprises the following working steps:
s1, a user can step on the upper portion of a supporting table (1), the user grasps two groups of control handles (25) by hands, after stepping on the top of the supporting table (1), the level meter (33) detects the inclination angle of the supporting table (1), then the level meter (33) transmits detected data to the controller (3), the controller (3) controls the control motor (16) to run, and the supporting frame (15), the control motor (16), the bearing rod (17) and the front moving wheel (19) are matched, so that the device angle is adjusted, and the device angle is stabilized;
s2, a user controls the rotating speed of two groups of forward moving wheels (19) through a rotating control handle (25), when the device is moved, a control motor (16) operates to drive a bearing rod (17) at an output end to rotate, the bearing rod (17) rotates to drive a forward moving wheel (19) at one end to rotate, the forward moving wheel (19) rotates to drive the device to move, a magnetic induction element (34) at the outer side is driven to rotate in the rotating process of the bearing rod (17), current change can be generated in the rotating process of the magnetic induction element (34) through the lower part of a speed measuring sensor (14), the magnetic induction element (34) transmits detected current to a controller (3), the speed of the controller (3) is calculated through the speed generated by the current, so that the number of turns of the magnetic induction element (34) rotates is estimated, the speed of the device is estimated, the user presets the highest speed through the controller (3), when the speed is monitored to exceed a specified value, the controller (3) controls a brake pad (12) at the outer side of a stretching driving output end to move forwards, the brake pad (12) is stretched, the brake pad (12) is in the stretching state, the friction resistance is ensured, and the friction resistance is ensured to be in the range between the outer side of the brake pad (18) and the brake pad (18) is in the friction resistance range, and the friction resistance is ensured;
s3, when a person cannot stably stand above the supporting table (1), the user inserts the embedded plate (30) on the pedal (26) into the clamping groove (31), then the connecting rod (32) penetrates through the clamping groove (31) and the inner side of the embedded plate (30), the connection compactness of the device is improved, the user can conveniently assemble the device, the pedal (26) and the rear moving wheel (29) are arranged behind the supporting table (1), the supporting structure of the device is increased, the device is more stable, the user can conveniently and stably step on the upper side of the pedal (26), and the situation that the user falls down due to unstable stepping is prevented;
s4, when a user needs to move the device, the user is connected with the signal positioner (4) through mobile phone signals, the signal positioner (4) receives signals transmitted by the mobile phone, the position of the user is determined, meanwhile, the radar sensor (20) operates to send radar signals to the front, whether an obstacle exists in the front or not is sensed, the camera (22) operates to acquire images of the front, the position of the user is determined, whether the obstacle exists or not is determined again, the angle of adjustment of the device is controlled, and the user is timely avoided when the obstacle exists;
s5, when a user needs to turn, the two groups of control handles (25) rotate at different angles, so that the output speeds of the two groups of control motors (16) are controlled, and turning operation is realized through different rotating speeds of the two groups of front moving wheels (19).
7. The electrodynamic balance car with speed measurement braking protection of claim 6, wherein: in the step S1, the method further includes the following steps:
s11, an internally-mounted fixing frame (7) of the supporting box (5), a storage battery (8) at the top is fixed by the fixing frame (7), and the storage battery (8) stores electric power to provide power for the running of equipment, so that the cruising ability of the equipment is ensured.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210750480.8A CN115140225B (en) | 2022-06-28 | 2022-06-28 | Electrodynamic balance car with brake protection tests speed |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210750480.8A CN115140225B (en) | 2022-06-28 | 2022-06-28 | Electrodynamic balance car with brake protection tests speed |
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| CN115140225B true CN115140225B (en) | 2023-08-01 |
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| CN112298427A (en) * | 2020-11-24 | 2021-02-02 | 成都倒立摆科技有限公司 | Independent suspension balance car |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203186511U (en) * | 2013-04-14 | 2013-09-11 | 西北农林科技大学 | Segway without handle |
| CN104494749A (en) * | 2014-12-25 | 2015-04-08 | 李陈 | Electric self-balancing two-wheeled vehicle |
| WO2018040088A1 (en) * | 2016-09-05 | 2018-03-08 | 尚艳燕 | Self-balancing scooter control mechanism based on handlebar, and control method |
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