CN202657171U - Intelligent self-balancing electric vehicle and direction control rod thereof - Google Patents
Intelligent self-balancing electric vehicle and direction control rod thereof Download PDFInfo
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- CN202657171U CN202657171U CN 201220321805 CN201220321805U CN202657171U CN 202657171 U CN202657171 U CN 202657171U CN 201220321805 CN201220321805 CN 201220321805 CN 201220321805 U CN201220321805 U CN 201220321805U CN 202657171 U CN202657171 U CN 202657171U
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Abstract
The utility model relates to an intelligent self-balancing electric vehicle and a direction control rod thereof. The intelligent self-balancing electric vehicle comprises two wheels, a cross beam, a vertical rod and an intelligent balance control device, wherein the two wheels are arranged transversely. By adopting a driving control chip capable of conducting multiway and parallel control and increasing an intelligent speed limiting processing, a certain guarantee is provided for the safety and comfortableness of a driver while the vehicle body realizes self balance; and the direction control rod consists of the vertical rod and the cross beam, the vertical rod consists of a fixed rod and a lifting rod, one end of the lifting rod is connected with the cross beam, one end of the fixed rod is movably connected with the vehicle body, and a device capable of lifting the lifting rod is arranged on the direction control rod. One device can complete the functions of two devices through the direction control rod, so that the production cost is lowered, and the direction control rod falls transversely to reduce the space and facilitate storage in various situations and arrangement in a car trunk.
Description
Technical field
The utility model relates to electric automobiles, is specifically related to a kind of Intelligent self-balancing battery-driven car and direction control stalk thereof.
Background technology
Along with the development of science and technology, battery-driven car is simple to operate with it, the characteristic of easy to use and flexible, becomes the selected walking-replacing tool of trip of most people.Present electric motor car with two wheels on the market mainly contains following deficiency:
1, its wheel distributes before and after mostly being, and in servicely can only lean on driver self to keep balance, in case driver's lack of equilibrium, just easy cause danger;
2, direction control stalk and car body leg divide and are arranged, and its manufacturer needs simultaneously production control bar and car leg, and need to design the position of car leg;
3, consumption of current is large, causes the battery degree of utilization low, not environmental protection.
This traditional battery-driven car can not satisfy people to the requirement of walking-replacing tool, a kind ofly can pass through the vehicle body self-balancing, use the appearance of the walking-replacing tool of convenient, environmental protection, becomes inevitable.
The utility model content
The technical problems to be solved in the utility model provides a kind of Intelligent self-balancing battery-driven car, in the operational process, by can automatically keeping car body balance.
Another technical matters to be solved in the utility model provides a kind of direction control stalk of described Intelligent self-balancing battery-driven car, and described direction control stalk merges conventional direction control stalk and two kinds of functions of car leg.
Accordingly, the utility model adopts following technical scheme to realize:
A kind of Intelligent self-balancing battery-driven car comprises:
(1) two of lateral arrangement wheels are connected with separately drive motor, and described wheel laterally is fixed on the axletree, and described axletree is connected with the manned pedal that freely rotates around axletree, and wheel, axletree and manned pedal are mutually permanently connected in aggregates;
(2) crossbeam, the left and right sides of described crossbeam is equipped with handle, and pressure sensor is housed respectively between left and right handle and the crossbeam;
(3) vertical rod, described bottom of upright rod links to each other with manned pedal, and the top is connected with crossbeam;
(4) intelligent balance control setup, described intelligent balance control setup, comprise sensor acquisition system, left motor driven systems and right motor driven systems, the sensors such as the electric current of sensor acquisition system input end and pressure sensor and vehicle body, voltage, acceleration/accel link to each other, left motor driven systems links to each other with left motor, and right motor driven systems links to each other with right motor.
Described intelligent balance control setup also comprises main control singlechip, CPLD module, power circuit, the mouth of sensor acquisition system links to each other with the main control singlechip input end, the two-way connection between main control singlechip and the CPLD module, CPLD module mouth links to each other with right motor driven systems with left motor driven systems respectively, described intelligent balance control setup can be adjusted speed, the direction of car body, realizes the vehicle body self-balancing.
Described sensor acquisition system comprises the A/D acquisition module, and it act as the sensor signals such as voltage to the outside, electric current, pressure, acceleration/accel and carries out Real-time Collection, sends the position that collects and status signal to main control singlechip again and carries out analyzing and processing.
Described main control singlechip, use 4 IO mouths and sensor acquisition system to carry out data bus communication, it act as extraction, computing, the analysis and control of the data that the sensor acquisition system is transmitted, and in time be sent in the CPLD module, main control singlechip receives the motor Hall state that the CPLD module detects in real time simultaneously.
Described CPLD module, be connected with left and right motor driven systems on the one hand, be connected with the main control singlechip respective pin on the one hand, it act as direction, phase place and the PWM data that receive the electric machine control that calculates through main control singlechip, and data are exported simultaneously by 12 road IO mouths, and then motor is carried out phase transformation; Simultaneously, the CPLD module links to each other with the hall signal collection terminal of left and right motor, the Hall state of Real-time Collection motor, and send main control singlechip to and process.
Described left and right motor driven systems, electric machine control adopts the three-phase bridge control circuit, each system arranges 6 high-power MOS tubes, each needs one tunnel control signal each metal-oxide-semiconductor, left and right motor driven systems needs 12 road IO control signals altogether, all link to each other with CPLD module respective pin, by the CPLD module it is carried out multichannel, concurrent control.
Described Intelligent self-balancing battery-driven car is controlled and is adjusted by speed and angle of inclination to himself, and then reaches the purpose of control car body balance.Speed for balance truck detects, common scheme is as adding coder or adding linear Hall in the intelligent balance control setup, calculate velocity amplitude by coder being calculated or linear Hall being carried out the AD collection, further calculate again velocity amplitude, this has increased hardware cost to a certain extent, increase signal and connected the reliability that also will inevitably reduce car load, and must there be additional space that these devices are installed, increase weight and the size of portable set, also increased normal operating power consumption.Directly gather the method computation speed of motor internal Hall among the present invention.The measurement of Hall is the necessary observed reading of electric machine rotation, therefore only needs one-shot measurement Hall state, is used on the one hand the control electric machine rotation, on the other hand for speed acquisition.
Described speed detects and calculates, link to each other with motor hall signal collection terminal respective pins by CPLD module pin, the Real-time Collection pin level, motor in the running, the regular variation of level meeting of pin, be combined into different data, the commutation of control motor, simultaneously, the main control singlechip timer begins timing when the Hall value changes, when next time Hall value change, read this count value, and empty time meter, beginning is counting next time, then according to the distance L of two Hall points, with the time t that obtains according to time meter, just can draw velocity amplitude V=L/t under microstate according to formula; Because in the situation that microcosmic, the numerical value disturbance a bit will affect very large, so, need to carry out first-order filtering to it,
V=V
2*K+V
1*(1-K)
Wherein V1 is filtered value last time, and V2 is this value that calculates, and V is this filtered velocity amplitude, and K is filter factor (scope of K is (0,1)).After the correction, obtain than routine to the method for Hall point counting velocity amplitude more accurately, precision can reach the effect of using coding disk.
The detection of described body inclination angle and calculating, the general gyroscope value that adopts is calculated, but described gyroscope temperature influence is larger, easily produce zero creep, so data of the utility model collecting temperature sensor, be used for to revise top gyrostatic zero point, the gyroscope value that collects is carried out integration, can obtain the angle value of tilting of car body.Described gyroscope value is only accurate at short notice, and the acceleration/accel evaluation is accurate in long-time, so the utility model adopts the value of horizontal acceleration to revise gyrostatic value: the gravitational effect of at first using acceleration pick-up, obtain the angle value that a car body when static accurately tilts in the vertical direction, but work as car body in the process of travelling, the angle value that acceleration pick-up collects is a resultant acceleration on the horizontal and vertical direction, in order to obtain the angle of inclination of vertical direction, just need to calculate first the acceleration/accel of horizontal direction; Because car body moves in the horizontal direction, produced in the horizontal direction a speed, so according to formula
Horizontal velocity is carried out differential, just obtain the horizontal acceleration value of current time, after gyrostatic value is revised, and then obtain relatively accurate angle value.
Described Intelligent self-balancing battery-driven car carries out intelligent speed-limiting to speed and processes for guaranteeing driver's safety, namely according to motor and car body parameter, the peak V of speed is set in program
Max, make its lower in the requirement of satisfying speed, make again speed leave one survival space, make it reach never the limit of car body.When driver's drive speed had reached the maxim of restriction, the survival space of car body by leaving increased certain motor-driven power in survival space, make car body that a process of accelerating be arranged under steam, and the driver is because inertia, and the variation of hysteresis car body produces a pulling force backward.According to the feedback of sensor and speed, make car body produce the effect of slowing down, car body reaches new velocity balance.In the actual test, the accelerator in the survival space, the time is short, and amplitude is little, and the driver is almost imperceptible, and this method is than direct speed limit adjustment commonly used, safety and comfort more,
Also be provided with mass sensor on the manned pedal of described Intelligent self-balancing battery-driven car, the other end of mass sensor links to each other with sensor acquisition system input end, can detect the power of intelligent control motor to different driver's body weight, improve driver's comfort level, improve the degree of utilization of battery.When the driver stand on the car body, car body detects driver's body weight automatically when keeping balance, then according to detected value, adjust P (ratio phase) parameter in the PID adjusting, the output torque of control motor, when driver's body weight is heavier, increase the output torque of motor by the value that increases P, otherwise, the value that then reduces P reduces the moment of motor, dynamically-adjusting parameter, increase driver's comfort level, the degree of utilization of raising battery.
Intelligent self-balancing battery-driven car of the present utility model mainly contains following beneficial effect:
1, the intelligent balance control setup of the utility model intelligent balance car is than the conventional balanced control setup, employing can multichannel, the driving control chip of concurrent control, in conjunction with easy speed signal acquisition scheme, the control signal time difference of multichannel is controlled at nanosecond, promoted operation efficiency, shorten time of run, reduce cost, the larger Systems balanth that improved;
2, described Intelligent self-balancing battery-driven car has adopted the intelligent speed-limiting processing, the maximum speed in the motion process is limited, and leave certain rising space, for driver's safety and traveling comfort provides certain assurance;
3, described Intelligent self-balancing battery-driven car can detect different driver's body weight, and the power of intelligent control motor improves driver's comfort level, improves the degree of utilization of battery.
4, described Intelligent self-balancing battery-driven car framework is simple, easy to operate, can automatically keep balance in the motion process, relatively is fit to large-scale place, adrm, golf course, the related personnel's such as police patrol use.
A kind of direction control stalk of described Intelligent self-balancing car, be comprised of vertical rod and crossbeam, described vertical rod comprises fixed link and lifting bar, and lifting bar one end is connected with crossbeam, fixed link one end and car body are flexibly connected, and described direction control stalk is provided with the device that can make lifter rod lifting.
Described direction control stalk, its crossbeam can be designed to various shape, such as triangle, rectangle etc., no matter adopt which kind of shape, makes things convenient for driver's controlling party to getting final product.
Described direction control stalk, the cross-sectional plane of lifting bar and vertical rod can be designed to various shape, such as round rectangle, cylindrical etc., no matter adopt which kind of shape, is conducive to increase its cross-sectional area and gets final product.
Preferably, it is described that can to make the device of lifter rod lifting can be the middle ring of " Ω " shape, lifting bar is inserted in the middle ring, fixed link is provided with fastening screw, encircle in " Ω " shape in fastening screw and the fixed link and link to each other, rotate fastening screw and encircle tightly in can driving or loosen fixed link, when middle ring loosens fixed link, the lifting bar lower end passes until kiss the earth plays the effect of car leg from fixed link.
Preferably, described balance truck direction control stalk, the lower end of fixed link adopts the bending joint to be connected with car body, be provided with snap close on the bending joint, open snap close, control stalk can arbitrarily angledly laterally be toppled over, after toppling over, crossbeam becomes the handle of guiding and supporting vehicle, can be convenient for carrying.
Need to prove, various ways can be adopted with being connected of car body in the lower end of fixed link, is not limited to adopt the bending joint to connect.
Device of the direction control stalk of described Intelligent self-balancing battery-driven car has been finished the function of two devices, can play controlling party to effect, can also play the effect of car leg when transferring, simple to operate, reduced productive costs, and the direction control stalk after laterally toppling over has dwindled the space, is convenient to leave in various occasions and inserts in the automobile trunk.
Description of drawings
Fig. 1 is Intelligent self-balancing battery-driven car direction control structure figure
Fig. 2 is the integral structure figure of the intelligent balance control setup of Intelligent self-balancing battery-driven car
Fig. 3 is the integrated circuit diagram of the intelligent balance control setup of Intelligent self-balancing battery-driven car
Fig. 4 is the pin schematic diagram of the sensor acquisition system of described Intelligent self-balancing control setup
Fig. 5 is the angle of inclination algorithm flow chart of Intelligent self-balancing battery-driven car
Fig. 6 is the pin schematic diagram that the right motor driven systems of described Intelligent self-balancing control setup is connected with the CPLD module
Fig. 7 is the pin schematic diagram that the hall signal of described Intelligent self-balancing control setup gathers
Fig. 8 is the constructional drawing of the utility model direction control stalk embodiment during as the car leg
Fig. 9 is the constructional drawing after the utility model direction control stalk embodiment laterally topples over
The specific embodiment
As shown in Figure 1, the utility model direction control part comprises vertical rod 6, crossbeam 3, left handle 2, right handle 4, between left and right handle and crossbeam, left pressure sensor 1 and right pressure sensor 5 is housed respectively.Left handle 2 and right handle 4 can drive direction lever and swing, and then assist the driver to keep balance.Left pressure sensor 1 and right pressure sensor 5 can detect the force value of left and right handle, and send it to main control singlechip, carry out data analysis by main control singlechip, the left/right rotation of control balance truck to, improve the stability of direction control.
The utility model Intelligent self-balancing battery-driven car also comprises the intelligent balance control setup, such as Fig. 2, shown in Figure 3, it is by sensor acquisition system 8, main control singlechip 7, CPLD module 9, left motor driven systems 11, right motor driven systems 10, power circuit forms, the mouth of sensor acquisition system 8 links to each other with main control singlechip 7 input ends, the two-way connection between main control singlechip 7 and the CPLD module 9, CPLD module 9 mouths link to each other with right motor driven systems 12 with left motor driven systems 11 respectively, speed to car body, direction, safety is adjusted, and realizes the vehicle body self-balancing.Workflow is as follows:
The signal transducers such as 8 pairs of voltages of sensor acquisition system, electric current, pressure, acceleration/accel carry out Real-time Collection, send the position that collects and status signal to main control singlechip again and carry out analyzing and processing.Main control singlechip 7 passes position and the status signal of coming by sensor acquisition system 8, calculate, draw direction, phase place and the PWM data of electric machine control, and in time be sent in the CPLD module 9, the direction of 9 pairs of electric machine control of CPLD module, phase place and PWM data are processed, then export simultaneously corresponding clock signal by 12 road IO mouths, the status information that upgrades in time is in order to carry out phase transformation to motor 12 and 13.Main control singlechip 7 receives the motor Hall state that CPLD module 9 detects in real time simultaneously.，
As shown in Figure 4, pin DOUT, the BUSY of sensor acquisition system 8, DIN, DLK link to each other with DOUT, BUSY, DIN, the DLK of main control chip respectively, form an easy spi bus communication, 1 to 8 pin of sensor acquisition system 8 is 8 sensor input pins, connects respectively corresponding sensor.When initial, main control singlechip 7 by bus write sensor acquisition system 8 mode of operation, sampling precision, etc. command word, when the pin BUSY of sensor acquisition system 8 end shows the free time, can write corresponding channel address by bus, read again the sensing data of this channel address, and carry out computational analysis by 7 pairs of data of main control singlechip, draw direction, phase place and the PWM data of left motor 12,13 controls of right motor.
As shown in Figure 6, it is the pin schematic diagram that right motor driven systems 10 is connected with the CPLD module, electric machine control adopts the three-phase bridge control circuit, left motor driven systems 11 respectively needs 6 high-power MOS tubes with right motor driven systems 10, each needs one tunnel control signal each metal-oxide-semiconductor, left and right sides drive-system altogether needs 12 road IO control, all links to each other with CPLD module 9 respective pin.The now explanation as an example of right motor driven systems 10 example: MOTORR_AO, MOTORR_A1 are a pair of driving control output pin of bridge signal up and down, control is metal-oxide-semiconductor conducting and the cut-off of bridge up and down, in like manner MOTORR_BO and MOTORL_B, MOTORL_CO and MOTORL_CO also are the up and down control output pin of bridge signal of a pair of driving, control corresponding up and down conducting and the cut-off of bridge metal-oxide-semiconductor.
As shown in Figure 7, it is the pin schematic diagram of right motor 13 hall signal collection terminals, the pin of left motor 12 hall signal collection terminals is identical with the pin of right motor 13 hall signal collection terminals, the now explanation as an example of the pin schematic diagram of right motor 13 hall signal collection terminals example: R_AIN, R_BIN, R_CIN pin are connected to the R_HALL[A..C of CPLD module 9] the IN pin, right motor 13 pin level of CPLD module 9 Real-time Collections.Motor in the running, the level of these three pins can regular variation, is combined into different data, the commutation of control motor, simultaneously, the main control singlechip timer begins timing when the Hall value changes, when next time Hall value change, read this count value, and emptying time meter, beginning is counting next time, then according to the distance L of two Hall points, with the time t that obtains according to time meter, just can draw velocity amplitude V=L/t under microstate according to formula; For accurate institute value, again it is carried out first-order filtering, obtain accurate velocity amplitude such as the coding disk effect.
As shown in Figure 4, according to the calculating of main control singlechip to speed, draw the horizontal acceleration in the utility model motion process, again according to the data of acceleration pick-up, calculate the angle of inclination of vertical direction, and then the angle of inclination that gyroscope detects revised, obtain comparatively accurately angle of inclination value.
The utility model Intelligent self-balancing battery-driven car carries out intelligent speed-limiting to speed to be processed, and namely according to motor and car body parameter, the peak V of speed is set in program
Max, make its lower in the requirement of satisfying speed, make again speed leave one survival space, make it reach never the limit of car body.When driver's drive speed has reached the maxim of restriction, the survival space of car body by leaving, in survival space, left motor driven systems 11 and right motor driven systems 10 increased certain propulsive effort, make car body that a process of accelerating be arranged under steam, and the driver is because inertia, the variation of hysteresis car body produces a pulling force backward.According to the feedback of sensor and speed, make car body produce the effect of slowing down, car body reaches new velocity balance.
Direction, phase place and the PWM data of the left motor 12 that main control singlechip 7 will calculate, 13 controls of right motor are sent in the CPLD module 9, CPLD module 9 is through processing, then via pin shown in Figure 6, export simultaneously corresponding clock signal by 12 road IO mouths, the status information that upgrades in time is carried out phase transformation to motor 12 and 13.Main control singlechip 7 receives CPLD module 9 simultaneously according to the motor Hall status data of detection shown in Figure 7, through computational analysis, draws the speed in the utility model motion process, and according to method step shown in Figure 4, calculates angle of inclination of the present utility model.According to velocity amplitude and tilting of car body angle value balance truck of the present utility model is carried out Based Intelligent Control.
As shown in Figure 8, described direction control stalk is comprised of vertical rod 6 and crossbeam 3, and wherein vertical rod 6 is divided into fixed link 61 and lifting bar 63 two parts, and lifting bar 63 upper ends are connected with crossbeam 3, and fixed link 61 lower ends are connected with car body, and the lower end of lifting bar 63 places in the fixed link 61.As the utility model preferred embodiment, be provided with the middle ring of " Ω " shape in the fixed link 61, lifting bar 63 is inserted in the middle ring, fixed link 61 is provided with fastening screw 62, encircle in " Ω " shape in fastening screw 62 and the fixed link and link to each other, rotate fastening screw 62 and encircle tightly in can driving or loosen fixed link 6.
Need to prove, in the present embodiment, the diameter of lifting bar should be less than the diameter of fixed link, and the length of lifting bar should be more than or equal to the length of fixed link and fixed link by the height sum of car body fixed end to ground.
Described balance truck direction control stalk, the length of lifting bar 63 more than or equal to the length of fixed link 61 and fixed link 61 during perpendicular to ground the lower end apart from the length sum on ground, when rotation fastening screw 62, middle ring loosens fixed link 61, lifting bar 63 lower ends pass until kiss the earth plays the effect of car leg from fixed link 61.
Preferably, described balance truck direction control stalk, the lower end employing bending joint 64 of fixed link 61 and being connected of car body, be provided with snap close on the bending joint 64, open snap close, control stalk can arbitrarily angledly laterally be toppled over, shape after control stalk is toppled over as shown in Figure 9, after laterally toppling over, crossbeam 3 becomes the handle of guiding and supporting vehicle, is convenient to leave in various occasions and inserts in the automobile trunk.
The above is preferred embodiment of the present invention only, is not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.
Claims (13)
1. an Intelligent self-balancing battery-driven car is characterized in that, described Intelligent self-balancing battery-driven car comprises:
(1) two of lateral arrangement wheels are connected with separately drive motor, and described wheel laterally is fixed on the axletree, and described axletree is connected with the manned pedal that freely rotates around axletree, and wheel, axletree and manned pedal are mutually permanently connected in aggregates;
(2) crossbeam, the left and right sides of described crossbeam is equipped with handle, and pressure sensor is housed respectively between left and right sides handle and the crossbeam;
(3) vertical rod, described bottom of upright rod links to each other with manned pedal, and the top is connected with crossbeam;
(4) intelligent balance control setup, described intelligent balance control setup, comprise sensor acquisition system, left motor driven systems and right motor driven systems, the sensors such as the electric current of sensor acquisition system input end and pressure sensor and vehicle body, voltage, acceleration/accel link to each other, left motor driven systems links to each other with left motor, and right motor driven systems links to each other with right motor.
2. Intelligent self-balancing battery-driven car as claimed in claim 1, it is characterized in that, described intelligent balance control setup also comprises main control singlechip, CPLD module, power circuit, the mouth of sensor acquisition system links to each other with the main control singlechip input end, the two-way connection between main control singlechip and the CPLD module, CPLD module mouth links to each other with right motor driven systems with left motor driven systems respectively.
3. Intelligent self-balancing battery-driven car as claimed in claim 1, it is characterized in that, described sensor acquisition system, comprise the A/D acquisition module, can carry out Real-time Collection to sensor signals such as the voltage of outside, electric current, pressure, acceleration/accels, send the position that collects and status signal to main control singlechip again and carry out analyzing and processing.
4. Intelligent self-balancing battery-driven car as claimed in claim 2, it is characterized in that, described main control singlechip, use 4 IO mouths and sensor acquisition system to carry out data bus communication, extraction, computing, the analysis and control of the data that can transmit the sensor acquisition system, and in time be sent in the CPLD module, described main control singlechip receives the motor Hall state that the CPLD module detects in real time simultaneously.
5. Intelligent self-balancing battery-driven car as claimed in claim 2, it is characterized in that, described CPLD module, be connected with left and right motor driven systems on the one hand, be connected with the main control singlechip respective pin on the one hand, can receive direction, phase place and the PWM data of the electric machine control that calculates through main control singlechip, and data are exported simultaneously by 12 road IO mouths, and then the control motor drive module; Simultaneously, described CPLD module links to each other with the hall signal collection terminal of left and right motor, the Hall state of Real-time Collection motor, and send main control singlechip to and process.
6. Intelligent self-balancing battery-driven car as claimed in claim 1, it is characterized in that, described left and right motor driven systems, electric machine control adopts the three-phase bridge control circuit, each system arranges 6 high-power MOS tubes, and each needs one tunnel control signal each metal-oxide-semiconductor, and left and right motor driven systems needs 12 road IO control signals altogether, 12 road IO control signals all link to each other with CPLD module respective pin, by the CPLD module 12 road IO control signals are carried out multichannel, concurrent control.
7. Intelligent self-balancing battery-driven car as claimed in claim 1 is characterized in that, also is provided with mass sensor on the manned pedal, and the other end of mass sensor links to each other with sensor acquisition system input end.
8. Intelligent self-balancing battery-driven car as claimed in claim 1 is characterized in that, described main control singlechip is by the propulsive effort of control motor driven systems, and then the maximum speed of control vehicle body in motion process.
9. direction control stalk of Intelligent self-balancing battery-driven car as claimed in claim 1, formed by vertical rod and crossbeam, it is characterized in that: described vertical rod comprises fixed link and lifting bar, lifting bar one end is connected with crossbeam, fixed link one end and car body are flexibly connected, and described direction control stalk is provided with the device that can make lifter rod lifting.
10. direction control stalk as claimed in claim 9, it is characterized in that: described can to make the device of lifter rod lifting be the middle ring of " Ω " shape, lifting bar is inserted in the middle ring, fixed link is provided with fastening screw, encircle in " Ω " shape of fastening screw and fixed link and link to each other, encircle tight during the rotation fastening screw can drive or loosen thick bar.
11. direction control stalk as claimed in claim 9 is characterized in that: the other end of fixed link adopts the bending joint that is provided with snap close to be connected with car body, opens snap close, and control stalk can arbitrarily angledly laterally be toppled over.
12. balance truck direction control stalk as claimed in claim 10, it is characterized in that: described lifting bar is less than the diameter of fixed link.
13. balance truck direction control stalk as claimed in claim 10 is characterized in that: the length of described lifting bar should be more than or equal to the length of fixed link and fixed link by the height sum of car body fixed end to ground.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220321805 CN202657171U (en) | 2012-07-04 | 2012-07-04 | Intelligent self-balancing electric vehicle and direction control rod thereof |
| PCT/CN2013/076728 WO2014005475A1 (en) | 2012-07-04 | 2013-06-04 | Smart balanced vehicle system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220321805 CN202657171U (en) | 2012-07-04 | 2012-07-04 | Intelligent self-balancing electric vehicle and direction control rod thereof |
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| CN202657171U true CN202657171U (en) | 2013-01-09 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014005475A1 (en) * | 2012-07-04 | 2014-01-09 | 上海跑酷机器人科技有限公司 | Smart balanced vehicle system |
| CN104765942A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Speed fusion method of two-wheeled balance car |
| CN106275174A (en) * | 2016-09-05 | 2017-01-04 | 尚艳燕 | A kind of balance car controlling organization based on handlebar and control method |
| WO2018039911A1 (en) * | 2016-08-30 | 2018-03-08 | 尚艳燕 | Balancing vehicle control mechanism, control method and balancing vehicle |
| WO2018039910A1 (en) * | 2016-08-30 | 2018-03-08 | 尚艳燕 | Balancing vehicle control mechanism, balancing vehicle and control method |
-
2012
- 2012-07-04 CN CN 201220321805 patent/CN202657171U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014005475A1 (en) * | 2012-07-04 | 2014-01-09 | 上海跑酷机器人科技有限公司 | Smart balanced vehicle system |
| CN104765942A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Speed fusion method of two-wheeled balance car |
| WO2018039911A1 (en) * | 2016-08-30 | 2018-03-08 | 尚艳燕 | Balancing vehicle control mechanism, control method and balancing vehicle |
| WO2018039910A1 (en) * | 2016-08-30 | 2018-03-08 | 尚艳燕 | Balancing vehicle control mechanism, balancing vehicle and control method |
| CN106275174A (en) * | 2016-09-05 | 2017-01-04 | 尚艳燕 | A kind of balance car controlling organization based on handlebar and control method |
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