CN203186511U - Segway without handle - Google Patents

Segway without handle Download PDF

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Publication number
CN203186511U
CN203186511U CN 201320184311 CN201320184311U CN203186511U CN 203186511 U CN203186511 U CN 203186511U CN 201320184311 CN201320184311 CN 201320184311 CN 201320184311 U CN201320184311 U CN 201320184311U CN 203186511 U CN203186511 U CN 203186511U
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CN
China
Prior art keywords
segway
car
wheel
control
shaft
Prior art date
Application number
CN 201320184311
Other languages
Chinese (zh)
Inventor
刘辉
刘志勇
Original Assignee
西北农林科技大学
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 西北农林科技大学 filed Critical 西北农林科技大学
Priority to CN 201320184311 priority Critical patent/CN203186511U/en
Application granted granted Critical
Publication of CN203186511U publication Critical patent/CN203186511U/en

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Abstract

The utility model discloses a Segway without a handle. The Segway without the handle comprises a Segway body, wherein Segway wheels are installed on the two sides of the Segway body. Each Segway wheel is connected with one end of a main shaft through an insert bearing. The other end of each main shaft is connected with a direct-current speed reduction motor through a plum shaft coupler. Each direct-current speed reduction motor is installed on the lower side of the Segway body through a motor fixing support. An incremental encoder is installed on each direct-current speed reduction motor. Two pedals used for treading are arranged on the Segway body. A storage battery is installed in the middle of the two pedals through a battery fixing support. A protective outer shell is installed outside the storage battery. A driving motor is installed on each Segway wheel. A three-shaft tilt angle sensor is arranged at the position where each Segway wheel is connected with the Segway body. The three-shaft tilt angle sensors and a control system are further installed on the Segway body. The control system is sequentially connected with the incremental encoders, the three-shaft tilt angle sensors and three-shaft tilt angle sensor data lines. In the moving process of the Segway, data are collected through a sensor module, and the objective that balancing of the Segway body can be automatically kept is achieved after the data are processed by the control system.

Description

A kind of no handle self-balancing electric motor car with two wheels
Technical field
The utility model belongs to mechanical control technology field, is specifically related to a kind of no handle self-balancing electric motor car with two wheels.
Background technology
Distribute before and after the wheel of traditional Electrical Bicycle, the turn inside diameter radius is big, can't be in little spatial dimension flexible motion, and rely on driver's health control ability to keep the car body balance fully, turn on one's side easily.Occurred two-wheeled balance truck (Segway) in the market, its wheel distributes about being, the speed that the control setup of vehicle is regulated vehicle automatically according to driver's attitude is so that vehicle reaches balance.Driver's forward lean speed of a motor vehicle is accelerated, and leaning back then, the speed of a motor vehicle slows down.The impassable difficult problems of occasion automobile such as this behaviour is ridden instead of walk, flexible operation, control convenient and the small and exquisite Self-Balancing vehicle of volume can well solve in the shopping mall, square, recreation ground and large-scale meeting-place.
Summary of the invention
At above-mentioned problems of the prior art and defective, the purpose of this utility model is to provide a kind of no handle self-balancing electric motor car with two wheels, this car by the sensing module image data, handles to realize to keep automatically the car body balance through control system in motion process.
The related self-balancing electric motor car with two wheels of the utility model comprises: a kind of no handle self-balancing electric motor car with two wheels, comprise that both sides are equipped with the car body of wheel, described wheel is connected with an end of main shaft by bearing with spherical outside surface, the other end of described main shaft is connected with direct-flow deceleration electric motor by the plum blossom coupler, and described direct-flow deceleration electric motor is installed in the bottom of car body by motor fixing frame; On the described direct-flow deceleration electric motor incremental encoder is installed; Described car body is provided with two for the pedal of trampling;
The centre of described two pedals is equipped with storage battery by battery mounting, and the outside of described storage battery is equipped with protecting sheathing;
On the described wheel drive motor is installed;
In the junction of described wheel and described car body three shaft inclination sensors are arranged, three shaft inclination sensors, control system also are installed on the described car body;
Described control system is connected with described incremental encoder, described three shaft inclination sensors, described three shaft inclination sensing data lines successively.
Car body, about the wheel, wheel drive motors, sensor assembly and the control system that distribute.For rotating shaft is connected, the shaft centerline of left and right wheels is located on the same line between wheel and the car body, is provided with for the platform that supports human body at car body, and car body can be around the shaft swing of wheel; Sensor assembly comprises wheel speed sensor and pose checking system; Storage or solidified the corresponding program that is used for the control balance in the control system circuit.The driver controls the running velocity of battery-driven car by self attitude adjustment, the signal that control system reception wheel speed sensor and pose checking system are imported, go out the needed control signal of wheel drive motors according to above-mentioned calculated signals, and then control wheel drive motors make battery-driven car can regulate the car body attitude automatically, finally realize the self-balancing of car body.
It is to rely on to recognize both legs and realize that the human body of described car body supports, and there is no shaft-like handle.That is to say that the utility model is to utilize program to realize the self-equalizing of car body, thereby has simplified the structure of car body.
Structure of the present utility model only comprises car body, wheel and power drive system etc.Its wheel adopts the ordinary bicycle spoke wheel, and wheel is installed in the car body both sides, forms two-wheeled left and right sides distributed architecture, to reduce the turn radius of vehicle.For rotating shaft is connected, be that car body can form horizontal hunting around the rotating shaft of wheel between wheel and the car body.Car body has only vehicle body and should have enough loading strengths.Vehicle body is board-like, the placement of this suitable power supply, control system.Sensor is arranged on the car body, so that directly experience operation and the balance of car body.The core devices of control circuit adopts the PIC micro controller system, and driving circuit then adopts suitable form to make motor can just change, also can reverse.
The sensor that the utility model adopts comprises speed sensor and angular transducer, by they can measure car body operation conditions and equilibrium condition, comprise the corner of two-wheeled and the obliquity information of car body, feed back to control system, calculate cireular frequency and the angular acceleration of two-wheeled and car body, thereby calculate the needed motor torque of two-wheeled, realize the control to car body.
The mode that the utility model adopts is:
When car body does not tilt not move, angular transducer obtains car body dip angle signal (almost nil) and sends into the control control system, the control system speed sensor signal (almost nil) of signal and comprehensive left and right wheel accordingly calculates the required motor torque controlling quantity of two-wheeled, in this controlling quantity input driving circuit, after processing such as power gain, be sent in the drive motor, make car body keep the original place balance.When car body is advanced, the driver turns forward car body slightly, angular transducer obtains dip angle signal and sends into control system, control system signal and comprehensive left and right vehicle-wheel speed sensor signal is accordingly calculated the required motor torque controlling quantity of two-wheeled, in this controlling quantity input driving circuit, be sent in the drive motor after processing such as power gain, the control wheel rotates and remains the car body balance forward.The inclination angle is more big, accelerates more fast.When needs slowed down, brake or retreat, the driver receded car body a little, and control system equally also can calculate required counter torque, and then the control wheel turns round to send out troops to fight and remains the car body balance.The inclination angle is more big, oppositely accelerates more fast.When needing to turn, the left-leaning left-hand rotation of driver, Right deviation are turned right.
In sum, the utility model is compared with existing battery-driven car and is had the following advantages:
1. two wheels distribute about being, the turn radius of vehicle is zero, can be in little spatial dimension flexible motion;
2. calculate the output controlling quantity by program, control the both sides wheel respectively by control circuit, not only make car body can keep balance automatically, and do not need brake, reversing, the balanced system of physical structure, make mechanism simple;
3. of many uses.For example: can be used as the Walking People of large-scale square or public place of entertainment, the related personnel that keeps order of place, golf course staff's walking-replacing tool on a large scale; Also can be applicable to the quick electric vehicle in densely populated city and area.
Description of drawings:
Fig. 1 is the oblique side figure that the utility model does not have handle self-balancing electric motor car with two wheels.
Fig. 2 is the upward view that the utility model does not have handle self-balancing electric motor car with two wheels.
Fig. 3 is the front view that the utility model does not have handle self-balancing electric motor car with two wheels.
The specific embodiment
Fig. 1 is the oblique side figure that the utility model does not have handle self-balancing electric motor car with two wheels, comprise that both sides are equipped with the car body 1 of wheel 3, described wheel 3 is connected with an end of main shaft 7 by bearing with spherical outside surface 8, the other end of described main shaft 7 is connected with direct-flow deceleration electric motor 5 by plum blossom coupler 6, and described direct-flow deceleration electric motor 5 is installed in the bottom of car body 1 by motor fixing frame 9; On the described direct-flow deceleration electric motor 5 incremental encoder 14 is installed; Described car body 1 is provided with two for the pedal of trampling 2;
The centre of described two pedals 2 is equipped with storage battery 10 by battery mounting 13, and the outside of described storage battery 10 is equipped with protecting sheathing 4;
On the described wheel 3 drive motor is installed;
There are three shaft inclination sensors junction at described wheel 3 and described car body 1, and three shaft inclination sensors, control system also are installed on the described car body 1;
Described control system is connected with described incremental encoder 14, described three shaft inclination sensors, described three shaft inclination sensing data lines successively.
Wherein control system can be microprocessors such as micro controller system, the signal that control system reception speed sensors and three shaft inclination sensors are imported, calculate direct-flow deceleration electric motor and the required control signal of wheel drive motors respectively according to above-mentioned signal, this control signal direct-flow deceleration electric motor and wheel movement, thereby make battery-driven car can regulate the posture of car body according to the speed of importing automatically, finally realize the self-balancing of battery-driven car.Described three shaft inclination sensors are used for measuring car body with respect to the attitude of ground level.
As shown in Figure 1, described left and right wheels 3 is by different motor-driven, the rotating shaft difference of left and right wheels 3, and the line of centers of two rotation shaft of wheel is positioned on the same line, and car body can be equipped with control system in car body inside around the shaft swing of wheel.In order to protect Electrical Safety, in the storage battery outside charger protecting sheathing 4 is installed.
As shown in Figure 2, open pedal 2 after, can see the inner member that is fixed on chassis 1.At battery mounting 13 storage battery 10 is installed, other has incremental encoder 14.Whole energy of dolly are the oblique side figure that the utility model does not have handle self-balancing electric motor car with two wheels by the Fig. 1 as power supply.
Storage battery 10 provides.Incremental encoder 14 converts displacement to periodic electric signal, again this electric signal is transformed into count pulse, represents the size of displacement pulse to be delivered to control system with the number of pulse, is convenient to the control of enforcement speed. 
As shown in Figure 3, storage battery 10 is positioned at chassis 1 bottom midway location, can reduce the center of gravity of car body like this, and car is tended towards stability more.Wheel 3 is connected with an end of main shaft 7 by bearing with spherical outside surface 8, and the other end of described main shaft 7 is connected with direct-flow deceleration electric motor 5 by plum blossom coupler 6, can slow down the vibrations of car body, plays the effect of bumper and absorbing shock.Direct-flow deceleration electric motor 5 connects the plum blossom coupler, forms actuating device, and actv. is saved the space so more, makes dolly more portable.

Claims (1)

1. no handle self-balancing electric motor car with two wheels, comprise that both sides are equipped with the car body of wheel (3) (1), it is characterized in that: described wheel (3) is connected with an end of main shaft (7) by bearing with spherical outside surface (8), the other end of described main shaft (7) is connected with direct-flow deceleration electric motor (5) by plum blossom coupler (6), and described direct-flow deceleration electric motor (5) is installed in the bottom of car body (1) by motor fixing frame (9); Incremental encoder (14) is installed on the described direct-flow deceleration electric motor (5); Described car body (1) is provided with two for the pedal of trampling (2);
The centre of described two pedals (2) is equipped with storage battery (10) by battery mounting (13), and the outside of described storage battery (10) is equipped with protecting sheathing (4);
Described wheel is equipped with drive motor on (3);
There are three shaft inclination sensors junction at described wheel (3) and described car body (1), and three shaft inclination sensors, control system also are installed on the described car body (1);
Described control system is connected with described incremental encoder (14), described three shaft inclination sensors, described three shaft inclination sensing data lines successively.
CN 201320184311 2013-04-14 2013-04-14 Segway without handle CN203186511U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320184311 CN203186511U (en) 2013-04-14 2013-04-14 Segway without handle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201320184311 CN203186511U (en) 2013-04-14 2013-04-14 Segway without handle

Publications (1)

Publication Number Publication Date
CN203186511U true CN203186511U (en) 2013-09-11

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ID=49103390

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201320184311 CN203186511U (en) 2013-04-14 2013-04-14 Segway without handle

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CN (1) CN203186511U (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103600800A (en) * 2013-10-17 2014-02-26 上海交通大学 Self-balancing trolley steering instructing device based on pressure sensor
CN103600799A (en) * 2013-10-17 2014-02-26 上海交通大学 Steering control system based on pressure sensor and self-balancing bicycle thereof
CN104029769A (en) * 2014-06-13 2014-09-10 杭州骑客智能科技有限公司 Electric balance swingcar
CN104386183A (en) * 2014-11-17 2015-03-04 韩莹光 Two-wheeled balance car
CN104922893A (en) * 2014-06-13 2015-09-23 杭州骑客智能科技有限公司 Improved electric balance car
CN105329380A (en) * 2015-11-23 2016-02-17 刁会芳 Flat scooter
CN106218778A (en) * 2016-08-17 2016-12-14 尚艳燕 A kind of electrodynamic balance car
FR3041597A1 (en) * 2015-09-29 2017-03-31 Jannick Jacques Simeray Platform stabilized with two wheels and at least one engine
WO2017128808A1 (en) * 2016-01-27 2017-08-03 张照 Electric balancing vehicle
CN107021167A (en) * 2016-01-27 2017-08-08 陈云飞 Dual-purpose two-wheel electric balance car

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103600799B (en) * 2013-10-17 2015-12-23 上海交通大学 Based on steering control system and the balanced car with two wheels thereof of pressure sensor
CN103600799A (en) * 2013-10-17 2014-02-26 上海交通大学 Steering control system based on pressure sensor and self-balancing bicycle thereof
CN103600800A (en) * 2013-10-17 2014-02-26 上海交通大学 Self-balancing trolley steering instructing device based on pressure sensor
CN103600800B (en) * 2013-10-17 2016-04-13 上海交通大学 Based on the self-balancing trolley steering order device of pressure sensor
AT518313B1 (en) * 2014-06-13 2017-12-15 Hangzhou Chic Intelligent Tech Co Ltd Electric balance vehicle
CN104922891A (en) * 2014-06-13 2015-09-23 杭州骑客智能科技有限公司 Novel electric balanced vehicle
CN104029769B (en) * 2014-06-13 2015-11-25 杭州骑客智能科技有限公司 Electrodynamic balance turns round car
WO2015188599A1 (en) * 2014-06-13 2015-12-17 杭州骑客智能科技有限公司 Electric balance scooter
CN104922893A (en) * 2014-06-13 2015-09-23 杭州骑客智能科技有限公司 Improved electric balance car
US10696348B2 (en) 2014-06-13 2020-06-30 Hangzhou Chic Intelligent Technology Co., Ltd. Electric vehicle
US10850788B2 (en) 2014-06-13 2020-12-01 Hangzhou Chic Intelligent Technology Co., Ltd. Electric vehicle
US9376155B2 (en) 2014-06-13 2016-06-28 Hangzhou Chic Intelligent Technology Co., Ltd Electric balance vehicle
JP2016527115A (en) * 2014-06-13 2016-09-08 杭州騎客智能科技有限公司Hangzhou Chic Intelligent Technology Co.,Ltd Electric standing car
US9452802B2 (en) 2014-06-13 2016-09-27 Hangzhou Chic Intelligent Technology Co., Ltd Electric balance vehicle
US10696347B2 (en) 2014-06-13 2020-06-30 Hangzhou Chic Intelligent Technology Co., Ltd. Electric vehicle
US10597107B2 (en) 2014-06-13 2020-03-24 Hangzhou Chic Intelligent Technology Co., Ltd. Electric vehicle
CN104029769A (en) * 2014-06-13 2014-09-10 杭州骑客智能科技有限公司 Electric balance swingcar
RU2619683C1 (en) * 2014-06-13 2017-05-17 Ханчжоу Шик Интеллиджэнт Текнолоджи Ко., Лтд Electric balanced vehicle
CN104922891B (en) * 2014-06-13 2017-07-11 应佳伟 Electric balances car
CN104922893B (en) * 2014-06-13 2017-07-11 应佳伟 One kind improvement electrodynamic balance car
US10336392B2 (en) 2014-06-13 2019-07-02 Hangzhou Chic Intelligent Technology Co., Ltd Electric vehicle
CN108275229A (en) * 2014-06-13 2018-07-13 杭州骑客智能科技有限公司 Electrodynamic balance vehicle and its rotating mechanism
AT518313A5 (en) * 2014-06-13 2017-09-15 Hangzhou Chic Intelligent Tech Co Ltd Electric balance vehicle
JP2017077887A (en) * 2014-06-13 2017-04-27 杭州騎客智能科技有限公司Hangzhou Chic Intelligent Technology Co., Ltd Electric standing riding car
US10988200B2 (en) 2014-06-13 2021-04-27 Hangzhou Chic Intelligent Technology Co., Ltd. Electric vehicle
CN104386183A (en) * 2014-11-17 2015-03-04 韩莹光 Two-wheeled balance car
FR3041597A1 (en) * 2015-09-29 2017-03-31 Jannick Jacques Simeray Platform stabilized with two wheels and at least one engine
CN105329380A (en) * 2015-11-23 2016-02-17 刁会芳 Flat scooter
US20180118297A1 (en) * 2016-01-27 2018-05-03 Dongguan Jomo Electronics Co., Ltd. Self-balancing vehicle
CN107021167B (en) * 2016-01-27 2020-08-18 永康市鼎昌工贸有限公司 Dual-purpose two-wheeled electrodynamic balance car
CN107021167A (en) * 2016-01-27 2017-08-08 陈云飞 Dual-purpose two-wheel electric balance car
WO2017128808A1 (en) * 2016-01-27 2017-08-03 张照 Electric balancing vehicle
CN106218778A (en) * 2016-08-17 2016-12-14 尚艳燕 A kind of electrodynamic balance car

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C14 Grant of patent or utility model
GR01 Patent grant
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130911

Termination date: 20150414