CN203032845U - Double-wheel self-balance carrying scooter - Google Patents

Double-wheel self-balance carrying scooter Download PDF

Info

Publication number
CN203032845U
CN203032845U CN 201320029842 CN201320029842U CN203032845U CN 203032845 U CN203032845 U CN 203032845U CN 201320029842 CN201320029842 CN 201320029842 CN 201320029842 U CN201320029842 U CN 201320029842U CN 203032845 U CN203032845 U CN 203032845U
Authority
CN
China
Prior art keywords
wheel
circuit
photoelectric code
brushless motor
wheel shaft
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.)
Expired - Fee Related
Application number
CN 201320029842
Other languages
Chinese (zh)
Inventor
雷震
李庆全
杨宏伟
王建平
王青海
王铁宁
李治国
王英梅
张志勇
张嘉忠
朱铭强
王强军
Original Assignee
雷震
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 雷震 filed Critical 雷震
Priority to CN 201320029842 priority Critical patent/CN203032845U/en
Application granted granted Critical
Publication of CN203032845U publication Critical patent/CN203032845U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a double-wheel self-balance carrying scooter comprising a left wheel, a right wheel, wheel shafts, a base, an operation rod, a power battery and a control circuit board, wherein the wheel shaft of the left wheel is provided with a left brushless motor and a left photoelectric code disc, the wheel shaft of the right wheel is provided with a right brushless motor and a right photoelectric code disc, the power battery and the control circuit board are arranged above the wheel shafts, a luggage box and an expansion board are arranged on the base, the operation rod can stretch and retract, and the upper end of the operation rod is provided with an operation handle. The control circuit board is provided with a control chip circuit, a posture detecting circuit, a speed detecting circuit, a power circuit and a double-direct-current brushless motor drive circuit. Besides, the left photoelectric code disc is provided with a left encoder, the right photoelectric code disc is provided with a right encoder, and the upper end of the operation rod is provided with a seat plate. The double-wheel self-balance carrying scooter is suitable for walking replacement and can carry things, a control circuit is simple, functions are complete, operation is flexible, people can stand and sit on the scooter, and the scooter can be folded and is convenient to carry.

Description

The two-wheel self-balancing load-carrying vehicle of riding instead of walk
Technical field
The utility model belongs to a kind of technical field of transport facilities, the self-balancing that is arranged in parallel about a kind of two-wheel load-carrying vehicle of riding instead of walk, but can also be simultaneously the model experiment platform of the various automatic control theory characteristics of check as walking-replacing tool and loading.
Background technology
At present, both at home and abroad mostly the two-wheel self-balancing of the research and development car of riding instead of walk is to adopt traditional PID control.Control is comparatively complicated, forms the limit controlling quantity that controlling quantity surpasses actuating unit possibility maximum actuation scope correspondence easily, finally causes the overshoot that system is bigger, even cause and the vibration of system cause the shakiness of travelling, and the driving of can only standing, can only singlely travel, can not loading.Therefore, need improve the existing two-wheel self-balancing car of riding instead of walk.
Summary of the invention
In order to overcome ride instead of walk the technical deficiency of car of above-mentioned two-wheel self-balancing, the utility model provides a kind of two-wheel self-balancing load-carrying vehicle of riding instead of walk, this load-carrying vehicle structure of riding instead of walk is improved, and adopts comparatively simple control circuit, perfect in shape and function, can not only be manned, can also loading, people's manipulation of not only can standing, and can also be sitting in operational drive on the car, collapsible, be easy to carry, easy to operate.
The technical solution adopted in the utility model is:
The two-wheel self-balancing load-carrying vehicle of riding instead of walk, be provided with left and right two-wheel, connect the wheel shaft of left and right two-wheel, the base of left and right two-wheel and wheel shaft top, with wheel shaft and the vertically arranged joystick of base, electrokinetic cell and control circuit board, it is characterized in that: the wheel shaft of revolver side is provided with left brushless motor and left photoelectric code disk, the wheel shaft of right wheel side is provided with right brushless motor and right photoelectric code disk, and the wheel shaft top arranges electrokinetic cell and control circuit board; Be provided with baggage container and expansion board above the described base, described joystick is Collapsible structure, and its upper end is provided with handlebar;
The utility model further improves and the additional project of enforcement is:
Described control circuit board is provided with: control chip circuit, attitude detection circuit, velocity checking circuits, power circuit, two driven by Brush-Less DC motor circuit are provided with left coder at left photoelectric code disk, right photoelectric code disk is provided with right coder in addition; Described control chip circuit carries out signal with described attitude detection circuit and velocity checking circuits and is connected, and controls with signal with described left coder and right coder and two driven by Brush-Less DC motor circuit and to be connected; Described power circuit is powered with left and right coder with above-mentioned whole circuit and is connected; Described pair of driven by Brush-Less DC motor circuit drives with left and right brushless motor and is connected, left and right brushless motor with left and right take turns to drive be connected.
Be provided with seat in described joystick upper end.
The beneficial effects of the utility model: two-wheel self-balancing of the present utility model is ridden load-carrying vehicle instead of walk can not only be manned, the baggage container that also has the energy loading, expansion board under the baggage container can stretch as required outward, with the zone that enlarges load space or place both feet as the people when the sitting posture.The people not only can be in the state lower-pilot of standing, and can also be sitting on the car and travel, and the joystick retractable is done the manipulation under the stance state during stretching, can be seat behind the retraction, saves the space, designs ingenious.The center of gravity of car is positioned at the top of axletree, keeps the vehicle body balance by seesawing of wheel, and can travel under the situation that keeps balance, and is collapsible, be easy to carry, easy to operate, driving power is little, battery can be powered for a long time, and the feature of environmental protection is good; Turn flexibly, can realize original place zero turn radius.Having broken away from originally can only be according to 3 equilibrium principles and low center of gravity, big and steady chassis design, and surface structure is simple, flexible operation.
Description of drawings
Fig. 1 is Facad structure scheme drawing of the present utility model;
Fig. 2 is construction profile scheme drawing of the present utility model;
Fig. 3 is control circuit structural representation of the present utility model.
Profile of the present utility model is not subjected to the restriction of this figure, and only the change of profile also belongs to the protection domain of this patent.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing the utility model is described further, embodiment: referring to accompanying drawing, the two-wheel self-balancing load-carrying vehicle of riding instead of walk, be provided with left and right two-wheel 8, connect the wheel shaft 13 of left and right two-wheel, the base 4 of left and right two-wheel and wheel shaft top, with wheel shaft and the vertically arranged joystick 3 of base, electrokinetic cell 7 and control circuit board 6, the wheel shaft of revolver side is provided with left brushless motor 9 and left photoelectric code disk 10, the wheel shaft of right wheel side is provided with right brushless motor 12 and right photoelectric code disk 11, and the wheel shaft top arranges electrokinetic cell and control circuit board; Be provided with baggage container 14 and expansion board 5 above the described base, described joystick is Collapsible structure, and its upper end is provided with handlebar 1; Be provided with seat 2 in described joystick upper end; Described control circuit board is provided with: control chip circuit, attitude detection circuit, velocity checking circuits, power circuit, two driven by Brush-Less DC motor circuit are provided with left coder at left photoelectric code disk, right photoelectric code disk is provided with right coder in addition; Described control chip circuit carries out signal with described attitude detection circuit and velocity checking circuits and is connected, and controls with signal with described left coder and right coder and two driven by Brush-Less DC motor circuit and to be connected; Described power circuit is powered with left and right coder with above-mentioned whole circuit and is connected; Described pair of driven by Brush-Less DC motor circuit drives with left and right brushless motor and is connected, left and right brushless motor with left and right take turns to drive be connected.
Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model principle, can also make some improvement and change, these improvement and change also should be considered as the protection domain of this patent.

Claims (3)

1. two-wheel self-balancing load-carrying vehicle of riding instead of walk, be provided with left and right two-wheel (8), connect the wheel shaft (13) of left and right two-wheel, the base (4) of left and right two-wheel and wheel shaft top, with wheel shaft and the vertically arranged joystick of base (3), electrokinetic cell (7) and control circuit board (6), it is characterized in that: the wheel shaft of revolver side is provided with left brushless motor (9) and left photoelectric code disk (10), the wheel shaft of right wheel side is provided with right brushless motor (12) and right photoelectric code disk (11), and the wheel shaft top arranges electrokinetic cell and control circuit board; Be provided with baggage container (14) and expansion board (5) above the described base, described joystick is Collapsible structure, and its upper end is provided with handlebar (1).
2. the two-wheel self-balancing according to claim 1 load-carrying vehicle of riding instead of walk, it is characterized in that: described control circuit board is provided with: control chip circuit, attitude detection circuit, velocity checking circuits, power circuit, two driven by Brush-Less DC motor circuit are provided with left coder at left photoelectric code disk, right photoelectric code disk is provided with right coder in addition; Described control chip circuit carries out signal with described attitude detection circuit and velocity checking circuits and is connected, and controls with signal with described left coder and right coder and two driven by Brush-Less DC motor circuit and to be connected; Described power circuit is powered with left and right coder with above-mentioned whole circuit and is connected; Described pair of driven by Brush-Less DC motor circuit drives with left and right brushless motor and is connected, left and right brushless motor with left and right take turns to drive be connected.
3. the two-wheel self-balancing according to claim 1 load-carrying vehicle of riding instead of walk is characterized in that: be provided with seat (2) in described joystick upper end.
CN 201320029842 2013-01-21 2013-01-21 Double-wheel self-balance carrying scooter Expired - Fee Related CN203032845U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320029842 CN203032845U (en) 2013-01-21 2013-01-21 Double-wheel self-balance carrying scooter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201320029842 CN203032845U (en) 2013-01-21 2013-01-21 Double-wheel self-balance carrying scooter

Publications (1)

Publication Number Publication Date
CN203032845U true CN203032845U (en) 2013-07-03

Family

ID=48684985

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201320029842 Expired - Fee Related CN203032845U (en) 2013-01-21 2013-01-21 Double-wheel self-balance carrying scooter

Country Status (1)

Country Link
CN (1) CN203032845U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103676650A (en) * 2013-11-29 2014-03-26 上海交通大学 Method for PID (proportion integration differentiation) optimization control with dead zone for two-wheeled self-balancing intelligent vehicle
US9393483B2 (en) 2014-09-05 2016-07-19 Dynamic Labs, Llc Motorized vehicle
CN106005161A (en) * 2016-08-04 2016-10-12 尚艳燕 Balance vehicle wheel fixing structure and balance vehicle
WO2018014279A1 (en) * 2016-07-21 2018-01-25 尚艳燕 Self-balancing electric vehicle

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103676650A (en) * 2013-11-29 2014-03-26 上海交通大学 Method for PID (proportion integration differentiation) optimization control with dead zone for two-wheeled self-balancing intelligent vehicle
US9393483B2 (en) 2014-09-05 2016-07-19 Dynamic Labs, Llc Motorized vehicle
WO2018014279A1 (en) * 2016-07-21 2018-01-25 尚艳燕 Self-balancing electric vehicle
CN106005161A (en) * 2016-08-04 2016-10-12 尚艳燕 Balance vehicle wheel fixing structure and balance vehicle

Similar Documents

Publication Publication Date Title
CN203032845U (en) Double-wheel self-balance carrying scooter
CN202879694U (en) Single wheel self-balancing electric vehicle
CN203876934U (en) Electric one-wheeled scooter
CN205186428U (en) Foldable electric scooter with frame after bradyseism
CN204399433U (en) Self-balancing type sightseeing scooter
CN104828184A (en) Intelligent luggage box human-carrying robot
CN103600796A (en) Two-wheel self-balance vehicle in single shaft driving
CN203844935U (en) Quasi-two-wheeled electric vehicle
CN203698533U (en) Double-wheel balance bike with frame type structure
CN204587210U (en) Segway Human Transporter
WO2017101737A1 (en) Novel portable electric vehicle and method for controlling drive thereof
CN204037725U (en) Battery-driven car automatic lifting stick blocking device
CN103963877A (en) Auxiliary balancing mechanism of parallel two-wheeled electric vehicle
CN203612144U (en) Energy-saving environment-friendly balance car
CN203211442U (en) Electric bicycle
CN204956704U (en) Close coupled type area stabilising arrangement's two -wheeled moving platform
CN205131473U (en) Multi -functional only wheel -track takes car
CN205769813U (en) A kind of handle assemblies on electric single-wheel slide plate balance car
CN205345238U (en) Novel portable electric car
CN201863947U (en) Single-wheel electric energy vehicle
CN206407024U (en) Side wheel mechanism before a kind of electric bicycle
CN203996659U (en) Ultralight solar energy electric slide plate
CN205730262U (en) A kind of electric single-wheel slide plate balance car with hauling wheel
CN204623676U (en) A kind of Intelligent luggage carrier manned robot
CN205113589U (en) IL folds electric bicycle

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130703

Termination date: 20140121