CN120024438A - An electric balancing vehicle - Google Patents
An electric balancing vehicle Download PDFInfo
- Publication number
- CN120024438A CN120024438A CN202510386059.7A CN202510386059A CN120024438A CN 120024438 A CN120024438 A CN 120024438A CN 202510386059 A CN202510386059 A CN 202510386059A CN 120024438 A CN120024438 A CN 120024438A
- Authority
- CN
- China
- Prior art keywords
- pedal
- vehicle body
- sensor
- wheel
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- 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
-
- 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
- B62J45/414—Acceleration sensors
-
- 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
- B62J45/415—Inclination sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
本发明提出一种电动平衡车，包括车体；相对设置且均可转动地安装在所述车体上的第一踏板和第二踏板；可转动地安装在所述第一踏板上的第一车轮和可转动地安装在所述第二踏板上的第二车轮；电源；包括控制所述第一车轮的第一控制单元和控制所述第二车轮的第二控制单元的控制电路；被配置为检测所述第一踏板相对于所述车体的转动信息且至少一部分位于所述第一踏板上的第一传感器和被配置为检测所述第二踏板相对于所述车体的转动信息的且至少一部分位于所述第二踏板上的第二传感器；以及被配置为检测所诉车体相对于地面的转动信息的第三传感器。该平衡车车体整体稳固，与传统的左右扭动式扭扭车相比没有中间轴比较细小脆弱的部分，避免了扭扭车中轴易损坏甚至脱落的问题，安全性提高；平衡车的系统控制更加简单，车体响应更加灵敏。
The present invention proposes an electric balancing vehicle, comprising a vehicle body; a first pedal and a second pedal that are arranged oppositely and both rotatably mounted on the vehicle body; a first wheel rotatably mounted on the first pedal and a second wheel rotatably mounted on the second pedal; a power source; a control circuit comprising a first control unit for controlling the first wheel and a second control unit for controlling the second wheel; a first sensor configured to detect rotation information of the first pedal relative to the vehicle body and at least a part thereof is located on the first pedal and a second sensor configured to detect rotation information of the second pedal relative to the vehicle body and at least a part thereof is located on the second pedal; and a third sensor configured to detect rotation information of the vehicle body relative to the ground. The body of the balancing vehicle is overall stable, and compared with the traditional left-right twisting vehicle, there is no relatively small and fragile part of the middle shaft, which avoids the problem that the middle shaft of the twisting vehicle is easily damaged or even falls off, and the safety is improved; the system control of the balancing vehicle is simpler, and the vehicle body response is more sensitive.
Description
Technical Field
The invention belongs to the field of balance cars, and particularly relates to an electric balance car.
Background
Balance cars, also called somatosensory cars, thinking cars, etc., are mainly one-wheel and two-wheel in the market. The operation principle is mainly established on a basic principle called dynamic stability, and the change of the posture of the vehicle body is detected by using a gyroscope and an acceleration sensor in the vehicle body, and a servo control system is used for accurately driving a motor to carry out corresponding adjustment so as to keep the balance of the system.
Dual wheel balance car structures typically include a car body over which a rider steps. Wheels are connected to two sides of the vehicle body, an electronic gyroscope, an electronic acceleration sensor and a controller are arranged in the vehicle body, and the front-back movement of the vehicle body is realized by detecting the front-back inclination of the vehicle body. In order to realize turning of the vehicle body, a handle is generally vertically arranged on the vehicle body, and the steering of the vehicle body is controlled by rotating the handle left and right, however, the occupied space of the balance car is greatly increased by the handle, and the balance car is inconvenient to transport or store. There is also a twist car without a handle on the market, which divides a car body into two parts capable of rotating relatively left and right, and detects the inclination of a left second pedal through two sets of inertial units (usually an electronic gyroscope and an acceleration sensor) respectively, so as to control the running of two wheels respectively to realize steering. However, the left second pedal is connected through a rotating shaft, so that the structure is complex, and the frame strength is greatly reduced. Because the middle shaft bears larger torque, the rotation inflexibility fault and even the falling-off of the middle shaft can easily occur after long-term use.
Disclosure of Invention
Aiming at the technical problem that the middle shaft of the existing swing car is easy to damage, the invention provides an electric balance car with a compact and stable overall structure.
In order to achieve the above purpose, the invention adopts the following technical scheme:
An electrodynamic balance car, comprising:
A vehicle body;
a first pedal and a second pedal which are oppositely arranged and are rotatably arranged on the vehicle body;
a first wheel rotatably mounted on the first pedal and a second wheel rotatably mounted on the second pedal;
A power supply;
a control circuit including a first control unit that controls the first wheel and a second control unit that controls the second wheel;
A first sensor configured to detect rotational information of the first pedal relative to the vehicle body and at least a portion thereof is located on the first pedal, and a second sensor configured to detect rotational information of the second pedal relative to the vehicle body and at least a portion thereof is located on the second pedal;
Wherein the rotation information detected by the third sensor is configured to be transmitted to the first control unit and the second control unit at the same time;
Wherein the rotation information detected by the first sensor is configured to be transmitted only to the first control unit and the rotation information detected by the second sensor is configured to be transmitted only to the second control unit.
Preferably, the first sensor and the second sensor are one or two of a potentiometer, a magnetic encoder, a photoelectric encoder or a linear hall sensor.
Preferably, the first sensor comprises a magnet and a Hall plate, wherein the magnet is mounted on the first pedal, and the Hall plate is mounted on the vehicle body;
The second sensor includes a magnet mounted on the second pedal and a hall plate mounted on the vehicle body, or the hall plate is mounted on the second pedal and the magnet is mounted on the vehicle body.
Compared with the prior art, the invention has the advantages and positive effects that:
1. The electric balance car comprises a car body, a first pedal and a second pedal, wherein the car body is of an integrated structure, and a connecting structure between the first pedal and the car body and between the second pedal and the car body is arranged below the pedals. The structure has the advantages that the whole body of the structure is stable, compared with the traditional left-right twisting type twisting vehicle, the structure has no tiny and fragile part of the middle shaft, the problem that the middle shaft of the twisting vehicle is easy to damage or even fall off is avoided, and the safety is improved.
2. The wheel axle of wheel is fixed on the footboard, and people's both feet pressure directly acts on the motor shaft through the footboard, consequently the people of different weight need not to set up different spring strength, and same spring strength can guarantee that all people of weight can both turn smoothly, has avoided the balance car to the restriction of user's weight because of elastomer intensity.
3. The bicycle body is symmetrically arranged left and right, and can be ridden forwards and backwards, so that the use fun is increased.
4. The novel balance car has compact overall structure, the gravity center of the car body is lowered, and the novel balance car is easy to master.
5. The first sensor detects the rotation information of the first pedal relative to the vehicle body, the second sensor detects the rotation information of the second pedal relative to the vehicle body, the third sensor detects the rotation information of the vehicle body relative to the ground, and the signals are respectively processed and controlled through the control unit, so that the system control of the balance vehicle is simpler, and the response of the vehicle body is more sensitive.
Drawings
FIG. 1 is a perspective view of an electrodynamic balance car of the present invention;
FIG. 2 is a partial exploded view of the electrodynamic balance car of the present invention;
FIG. 3 is a front view of the electrodynamic balance car of the present invention;
FIG. 4 is a top view of the electrodynamic balance car of the present invention;
FIG. 5 is a cross-sectional view taken along the direction AA in FIG. 4;
FIG. 6 is a partial cross-sectional view taken along the BB direction in FIG. 4;
FIG. 7 is an electrical control relationship diagram of the electric balance car of the present invention;
in the above figures, 1, pedal, 11, first pedal, 12, second pedal, 13, pedal fixing frame, 14, body fixing frame, 15, boss, 16, switch mounting hole, 17, spindle, 2, body, 21, handle, 3, wheel, 31, wheel body, 32, axle, 321, axle hole, 33, axle fixing piece, 331, fixing plate, 332, center groove, 333, connecting bolt, 4, elastic device, 41, spring fixing frame, 411, fixing frame plate, 412, fixing frame post, 42, spring, 5, main control plate, 51, angle sensor, 511, magnet frame, 512, magnet, 513, hall plate frame, 514, hall plate, 6, power off switch, 61, boss, 62, elastic skirt, 7, battery pack.
Detailed Description
For a better understanding of the present invention, reference will now be made in detail to the drawings and examples.
Examples:
In the description of the present invention, it should be noted that the wheel axis direction of the balance car is the left-right direction, the forward direction of the balance car is the front-rear direction, the azimuth or positional relationship indicated by the terms "front", "rear", "left", "right", etc. are based on the positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 5, an electrodynamic balance car comprises a pedal 1 and a car body 2, the pedal 1 is divided into two pieces, namely a first pedal 11 and a second pedal 12. The first pedal 11 and the second pedal 12 are rotatably arranged on the vehicle body 2, an elastic device 4 is connected between the first pedal 11 and the second pedal 12 and the vehicle body 2, the outer sides of the first pedal 11 and the second pedal 12 are provided with wheels 3, and an in-wheel motor is arranged in the wheels 3.
The device also comprises a driving system, wherein the driving system comprises a power supply, a controller and a sensor. The controller includes a first control unit that controls the first wheel and a second control unit that controls the second wheel, the sensors including a first sensor configured to detect rotational information of the first pedal relative to the vehicle body and at least a portion thereof is located on the first pedal, a second sensor configured to detect rotational information of the second pedal relative to the vehicle body and at least a portion thereof is located on the second pedal, and a third sensor configured to detect rotational information of the vehicle body relative to the ground.
Wherein the rotation information detected by the third sensor is configured to be transmitted to the first control unit and the second control unit simultaneously, the rotation information detected by the first sensor is configured to be transmitted to only the first control unit and the rotation information detected by the second sensor is configured to be transmitted to only the second control unit.
The first sensor and the second sensor may be potentiometers, magnetic encoders, photoelectric encoders or linear hall sensors, and in this embodiment, the first sensor and the second sensor are linear hall sensors, and the third sensor includes an electronic gyroscope and an acceleration sensor. The specific first sensor comprises a magnet and a Hall plate, wherein the magnet is arranged on the first pedal, the Hall plate is arranged on the vehicle body, and the Hall plate can be arranged on the first pedal, and the magnet is arranged on the vehicle body. Also, the second sensor includes a magnet mounted on the second pedal and a hall plate mounted on the vehicle body, or the hall plate is mounted on the second pedal and the magnet is mounted on the vehicle body.
The one end that is close to second footboard 12 of specific first footboard 11 is installed magnet frame 511, installs a ring magnet 512 on the magnet frame 511, ring magnet 512 annular face and wheel 3 annular face parallel arrangement, and ring magnet 512 is divided into two parts along the diameter when magnetizing, and half is the N utmost point and is the S utmost point, and during the installation, N utmost point and S utmost point are located the front and back both sides respectively, make the magnetic induction line from N utmost point horizontal direction S utmost point. The car body 2 is provided with a Hall plate frame 513, the Hall plate frame 513 is provided with a Hall plate 514, the Hall plate 514 is electrically connected with the main control board 5, is powered by a power supply, and transmits output voltage to the controller. When the first pedal 11 rotates relative to the vehicle body 2, the annular magnet 512 rotates along with the first pedal 11, the hall plate 514 rotates by a certain angle under the driving of the vehicle body 2, and the detection surface of the hall plate 514 is correspondingly close to the side of the S pole or the N pole, so that the magnetic field intensity is changed. According to the characteristics of the Hall sensor, the output voltage of the Hall sensor is correspondingly increased or reduced, the controller converts the voltage change into a driving signal to control the forward rotation or the reverse rotation and the acceleration or the deceleration of the left and right hub motors, and therefore the steering of the balance car is realized. The second pedal 12 has the same structure as the first pedal 11, and will not be described again. The ring-shaped magnet 512 may be replaced by two oppositely arranged bar magnets 512, wherein the N pole and the S pole of the two bar magnets 512 are oppositely arranged, and the Hall plate 514 penetrates into the space between the two bar magnets 512.
The wheel 3 comprises a wheel body 31 and an axle 32, the axle 32 is mounted on the bottom surfaces of the first and second pedals 11 and 12 through an axle fixing member 33, and the wheel body 31 extends to two sides of the pedal 1. The axle fixing member 33 includes a fixing plate 331, a central groove 332 is disposed in the middle of the fixing plate 331, and 2-4 connecting bolts 333 are disposed at four corners of the fixing plate 331. When mounted, the axle 32 is placed in the central recess 332, and then four connecting bolts 333 are fixed to the first and second pedals 11, 12. The axle 32 is provided with an axle hole 321 along the axial direction, and a power wire for supplying power to the hub motor in the wheel 3 can pass through the axle hole 321 to reach the inside of the wheel 3, so that external wiring is reduced, a circuit can be well protected, and the circuit is prevented from being damaged.
The first and second pedals 11, 12 are rotatably mounted to the vehicle body 2 in a rotation direction that coincides with the rotation direction of the wheels 3. The bottom surfaces of the first pedal 11 and the second pedal 12 are fixedly provided with a pedal fixing frame 13, the vehicle body 2 is fixedly provided with a rotating shaft 17, and two ends of the rotating shaft 17 are inserted into the pedal fixing frame 13 to realize rotatable connection of the pedal 1 and the vehicle body 2. In this embodiment, for easy assembly and processing, a pedal fixing frame 13 is mounted on the bottom surfaces of the first and second pedals 11 and 12, the pedal fixing frame 13 includes two protrusions 15 on the left and right, and a vehicle body fixing frame 14 is mounted on the vehicle body 2, the vehicle body fixing frame 14 includes one protrusion 15, and a rotating shaft 17 is inserted into the protrusions 15 of the pedal fixing frame 13 and the vehicle body fixing frame 14 to form a rotatable structure for connecting the pedal 1 and the vehicle body 2. The pedal fixing frame 13 is provided with a groove through which lines such as a power line pass.
The middle shaft of the traditional swing car is positioned between the first pedal 11 and the second pedal 12, a certain distance is reserved between the feet of a person and the rotating shaft 17, so that the middle shaft bears a relatively large moment, the requirement on the machining precision of the middle shaft is very high, and the situation that the middle shaft is blocked and the rotation is inflexible frequently occurs in practical application. The rotating shaft 17 between the pedal 1 and the vehicle body 2 is positioned under the pedal 1, so that the torque is small, the requirement on the machining precision of the rotating shaft 17 is low, the product safety is improved, and the production cost of the product is reduced.
The elastic device 4 comprises a spring fixing frame 41 and a spring 42 sleeved on the spring fixing frame 41, the elastic device 4 plays a role in supporting the pedal 1, so that the pedal 1 can freely rotate on the vehicle body 2, and a structure capable of resetting in time when no external force is applied is formed. The elastic means 4 may be provided as other elastic bodies than the spring 42, such as elastic rubber, or may be mounted between the pedal 1 and the vehicle body 2 in other structures, such as providing an elastic body sleeve on the pedal 1 and the vehicle body 2, and mounting the elastic body in the sleeve.
In this embodiment, a set of elastic devices 4 are disposed on the first pedal 11 and the second pedal 12, the elastic devices 4 include a spring fixing frame 41, the spring fixing frame 41 includes a fixing frame plate 411, two fixing frame posts 412 are disposed on the fixing frame body 2, and a spring 42 is sleeved on each fixing frame post 412. The fixing bracket 411 is mounted on the vehicle body 2 by screws so that the springs 42 are positioned below both left corners of the first pedal 11, and gives the first pedal 11a supporting force in the front-rear direction. Two sets of elastic devices 4 can be arranged according to the requirement, and springs 42 are arranged at four corners of the first pedal 11.
The first pedal 11 and the second pedal 12 are provided with switch mounting holes 16, the switch mounting holes 16 are internally provided with a power-off switch 6, the power-off switch 6 is used for detecting whether two feet of a rider step on the pedal 1 or not, and the hub motor starts to rotate after the two feet step on the pedal 1 so as to facilitate the rider to get on or off the vehicle easily. The power-off switch 6 may be provided as one of the first and second pedals 11 and 12, or may be provided in plural as necessary. The power-off switch 6 may be an infrared photoelectric switch or an ultrasonic induction switch. As shown in fig. 6, the power-off switch 6 of this embodiment includes an elastic body provided with a protruding column 61, and a hall plate 514, the protruding column 61 is connected with an elastic skirt 62 around, the edge portion of the elastic skirt 62 is installed in the switch installation hole 16, and a magnet is installed on the elastic body. The hall plate 514 is installed in the bottom of switch mounting hole 16, and when the rider's both feet stand on first, second footboard 11, 12, the elastomer is pushed down, and the magnet moves to the direction that is close to hall plate 514 this moment, and hall plate 514 is connected with the controller electricity, and the voltage of hall plate 514 changes this moment, and the controller is according to the change control in signal in-wheel motor circular telegram, and the balance car begins normal operating. When the rider gets off the vehicle, one of the feet leaves the pedal 1, the magnet is away from the hall plate 514, and the controller determines that the rider gets off the vehicle, and at this time, the in-wheel motor stops running. The arrangement of the power-off switch 6 avoids the problem that a rider is difficult to get on due to the fact that the balance car in the prior art starts an hub motor immediately after being powered on, one foot of the riding car stands on the pedal 1, and the side wheel 3 immediately starts to rotate, so that the riding car body turns. The hall plate 514 is matched with the switch structure of the magnet, so that the detection reliability is high and the damage is not easy to damage compared with an infrared photoelectric switch.
In order to facilitate carrying of the balance car, the car body 2 is further provided with a handle 21, the handle 21 can be directly perforated on the car body 2 to form an integrated handle, and the external handle can be installed outside the car body 2 or the handle can be directly cast when the car body 2 is molded. Compared with the conventional first and second pedals 11 and 12, the handle 21 is arranged on one pedal 1, and when the handle 21 is lifted, the other pedal 1 can twist, so that the hand is easily injured by squeezing. The body 2 of the balance car is of an integrated structure, so that the problem of crush injury is avoided, and the balance car is convenient to carry.
The power supply is set as a battery pack 7, the battery pack 7 is arranged on the vehicle body 2, and is specifically positioned between the first pedal 11 and the second pedal 12, so that the limited space on the pedal 1 is fully utilized, and the whole pedal 1 has a compact structure. The battery pack 7 comprises a battery box, the lithium battery is arranged in the battery box, and the battery is modularized, so that the battery is convenient to overhaul and can be well protected.
Fig. 7 is an electrical control diagram of the novel balance car according to this embodiment, as shown in the drawing, the controller may be logically divided into a first control unit and a second control unit, on the electrical connection, the signal of the third sensor is simultaneously transmitted to the first control unit and the second control unit of the controller, the rotation information detected by the first sensor is configured to be transmitted to only the first control unit, and the rotation information detected by the second sensor is configured to be transmitted to only the second control unit, that is, the first control unit and the second control unit individually control the hub motors in the left wheel 3 and the right wheel 3, respectively. Therefore, the control of the two wheels 3 is more accurate and steering sensitive.
The balance car will naturally topple forward and backward before being started, and when a person does not stand the pedal 1 after being started, the third sensor fixed on the car body 2 can measure the inclination angle between the car body 2 and the ground level and send the angle information to the controller. If the angle value is not zero at this time, the controller can drive the motor to rotate in the corresponding direction, namely, the relative rotation is generated between the hub motor and the motor shaft, and as the motor shaft is connected with the pedal 1 and the vehicle body 2 into a whole, the rotation of the motor shaft can drive the pedal 1 and the vehicle body 2 to rotate, and finally, the vehicle body 2 reaches the position of being horizontal relative to the bottom surface, namely, the relative angle between the vehicle body 2 and the ground horizontal surface returns to the zero point. The balance car can keep the car body horizontal by itself, and is convenient for a rider to get on the car.
When the balance car body 2 returns to be relatively parallel to the ground level, a person can ride the car, and when the two feet of the person stand on the two pedals 1, the controller receives the change of signals of the power-off switches 6 on the first pedal 11 and the second pedal 12, namely, the person can judge that the two feet are on the car, and at the moment, the hub motor is started to enter a riding state. The rider can forcefully rotate the pedal 1 around the vehicle body 2, and the rotating process can compress the elastic device 4 positioned on the bottom surfaces of the first pedal 11 and the second pedal 12 and drive the vehicle body 2 to incline forwards and backwards to a certain extent. After the controller receives the three angle signals, the corresponding motor is driven to rotate in the corresponding direction, so that the whole balance car can move forwards, backwards, turn leftwards and turn rightwards.
The following describes in detail how the rider performs forward, backward, and turning. Here we define that the output angle of the inertial sensor is positive when the vehicle body 2 is tilted forward, negative backward, a, the angle sensor 51 is positive when the pedal 1 rotates forward relative to the vehicle body 2, negative when the pedal rotates backward, BL is the left sensor output, and BR is the right sensor output. The angle information obtained by the first control unit is tl=a+bl, the angle information obtained by the second control unit is tr=a+br, the left second control unit drives the motor hub to rotate in different directions according to the obtained angle information, and the motor hub rotates forwards when TL (or TR) is positive and rotates backwards when TL (or TR) is negative.
And in the forward state, when the person wants to advance, according to walking habit and ergonomics of the person, the person can press the pedal plate 1 forward by two feet simultaneously, BL and BR are positive numbers at the moment, and the pedal plate 1 can press the car body 2 forward by the elastic device 4, and A is positive number at the moment. It can be seen that TL >0 and tr >0, the controller drives both the left and right wheels 3 to rotate forward, so that the balance car is always in dynamic balance.
The principle of the backward state is the same as that of the forward state, but TL <0, TR <0 and the wheels 3 rotate backward.
When a person turns left according to walking habit, the front sole of the left foot is naturally slightly lifted, the heel is pressed downwards, the front sole of the right foot is pressed downwards, and the heel is slightly lifted, so that BL <0, BR >0 can be known, and the vehicle body 2 basically has no inclination under the pressing state of the left side, the right side and the front side, and the rear side, and can be considered as A=0. Therefore, the left motor hub rotates backwards, and the right motor hub rotates forwards, so that the aim of turning leftwards is fulfilled.
Turning right turning is the same principle as turning left, except that BL >0 and BR <0 at this time. It should be noted that it is not necessary to turn left or right "BL >0 and BR <0" or "BL <0 and BR >0", and turning may be performed as long as the differential condition is satisfied.
The novel balance car of this embodiment, the automobile body includes first, second footboard 11, 12 and automobile body 2, and automobile body 2 is integrated into an organic whole structure, and pivot 17 between first, second footboard 11, 12 and the automobile body 2 sets up with footboard 1 below. The structure has the advantages that the whole body of the structure is stable, compared with the traditional left-right twisting type twisting vehicle, the structure has no tiny and fragile part of the middle shaft, the problem that the middle shaft of the twisting vehicle is easy to damage or even fall off is avoided, and the safety is improved. The wheel shaft of the wheel 3 is fixed on the pedal 1, the pedal 1 is connected with the vehicle body 2 through the elastic device 4, the pressure of feet of a person directly acts on the motor shaft through the pedal 1, and the elastic device 4 does not need to support the gravity of the human body, so that people with different weights do not need to set different spring strengths, the same spring strength can ensure that people with all weights can smoothly turn, and the limitation of the balance car to the weight of the user due to the strength of the elastic body is avoided. The bicycle body is symmetrically arranged left and right, and can be ridden forwards and backwards, so that the use fun is increased.
The novel balance car has compact overall structure, the gravity center of the car body is lowered, and the novel balance car is easy to master. The internal structure is simplified, the number of parts is greatly reduced, only one group of inertial sensors is needed, and the manufacturing cost is reduced. The vehicle body is thinner, the ground clearance can be increased, the trafficability characteristic is improved, the volume of the vehicle body is reduced, the weight is lighter, and the vehicle body is more convenient to carry and transport.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present invention without departing from the technical content of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510386059.7A CN120024438A (en) | 2020-10-20 | 2020-10-20 | An electric balancing vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011122556.XA CN112124481A (en) | 2020-10-20 | 2020-10-20 | A new type of two-wheeled electric balance car |
| CN202510386059.7A CN120024438A (en) | 2020-10-20 | 2020-10-20 | An electric balancing vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011122556.XA Division CN112124481A (en) | 2020-10-20 | 2020-10-20 | A new type of two-wheeled electric balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN120024438A true CN120024438A (en) | 2025-05-23 |
Family
ID=73853816
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011122556.XA Pending CN112124481A (en) | 2020-10-20 | 2020-10-20 | A new type of two-wheeled electric balance car |
| CN202510386059.7A Pending CN120024438A (en) | 2020-10-20 | 2020-10-20 | An electric balancing vehicle |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011122556.XA Pending CN112124481A (en) | 2020-10-20 | 2020-10-20 | A new type of two-wheeled electric balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112124481A (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896393A (en) * | 2021-02-27 | 2021-06-04 | 湖北邦步晨康智能科技有限公司 | Novel double-rod electric balance car |
| CN112960057B (en) * | 2021-04-15 | 2022-04-08 | 浙江普瑞圣工贸有限公司 | Easy dismounting's balance car |
| CN115871847B (en) * | 2021-09-29 | 2025-09-12 | 浙江群英车业有限公司 | Balance bike |
| CN115871848B (en) * | 2021-09-29 | 2025-09-12 | 浙江群英车业有限公司 | A balancing vehicle with a split pedal part |
| CN221563319U (en) * | 2023-11-20 | 2024-08-20 | 深圳市跃视通科技有限公司 | Self-balancing scooter |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017054764A1 (en) * | 2015-10-01 | 2017-04-06 | 杭州骑客智能科技有限公司 | Human-machine interaction body-sensing vehicle |
| CN205292953U (en) * | 2015-12-21 | 2016-06-08 | 杭州锣卜科技有限公司 | Detection apparatus for be applied to balance car |
| CN106926949B (en) * | 2017-05-05 | 2020-09-08 | 深圳车泰斗科技有限公司 | Novel two-wheeled electrodynamic balance car |
| CN207241897U (en) * | 2017-08-04 | 2018-04-17 | 深圳市动平衡科技有限公司 | Statokinetic car |
| CN210212630U (en) * | 2019-02-02 | 2020-03-31 | 杭州骑客智能科技有限公司 | Car is felt to human-computer interaction body and upper cover thereof |
| CN110562372A (en) * | 2019-05-07 | 2019-12-13 | 胡烨 | Pedal component, driving system and electric balance car |
| CN213502746U (en) * | 2020-10-20 | 2021-06-22 | 深圳车泰斗科技有限公司 | A new type of two-wheeled electric balance car |
-
2020
- 2020-10-20 CN CN202011122556.XA patent/CN112124481A/en active Pending
- 2020-10-20 CN CN202510386059.7A patent/CN120024438A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN112124481A (en) | 2020-12-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN120024438A (en) | An electric balancing vehicle | |
| US9956474B2 (en) | Four-wheel sensor controlled vehicle | |
| CN105329387B (en) | Electric balance car | |
| CN104494750B (en) | A self-balancing two-wheeled vehicle | |
| CN106926949B (en) | Novel two-wheeled electrodynamic balance car | |
| US20180148120A1 (en) | Balancing vehicle | |
| WO2017054764A1 (en) | Human-machine interaction body-sensing vehicle | |
| CN105346651B (en) | Electric balance car | |
| CN205186322U (en) | Electrodynamic balance car | |
| CN205186321U (en) | Electrodynamic balance car | |
| TWM326504U (en) | Force detection system of electric bike | |
| CN205186320U (en) | Electrodynamic balance car | |
| CN205150007U (en) | Electrodynamic balance car | |
| CN105416486A (en) | electric balance car | |
| CN105416484B (en) | electric balance car | |
| CN105416485B (en) | Electric balance car | |
| CN213502746U (en) | A new type of two-wheeled electric balance car | |
| CN107826195A (en) | A kind of Novel balance car for being easy to grasp | |
| CN108791620B (en) | Intelligent balance steering folding electric tricycle capable of tilting and control method thereof | |
| CN213735366U (en) | A pedal-controlled steering two-wheeled balance car | |
| CN112124480A (en) | A new type of electric scooter | |
| CN213502748U (en) | A new type of electric scooter | |
| CN213502747U (en) | An improved electric balance car | |
| CN213502749U (en) | A new type of electric balance car | |
| CN213502750U (en) | A new type of foot-controlled two-wheeled balance car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |