CN203032845U - Double-wheel self-balance carrying scooter - Google Patents
Double-wheel self-balance carrying scooter Download PDFInfo
- 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
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- wheel
- circuit
- wheel shaft
- photoelectric code
- brushless motor
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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
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.
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 (5)
| 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 |
| CN106985945A (en) * | 2016-11-15 | 2017-07-28 | 孙红星 | A kind of Multifunctional scooter |
| WO2018014279A1 (en) * | 2016-07-21 | 2018-01-25 | 尚艳燕 | Self-balancing electric vehicle |
-
2013
- 2013-01-21 CN CN 201320029842 patent/CN203032845U/en not_active Expired - Fee Related
Cited By (5)
| 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 |
| CN106985945A (en) * | 2016-11-15 | 2017-07-28 | 孙红星 | A kind of Multifunctional scooter |
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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 |