CN204323594U - Two-wheeled balance truck - Google Patents
Two-wheeled balance truck Download PDFInfo
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- CN204323594U CN204323594U CN201420688491.9U CN201420688491U CN204323594U CN 204323594 U CN204323594 U CN 204323594U CN 201420688491 U CN201420688491 U CN 201420688491U CN 204323594 U CN204323594 U CN 204323594U
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- balance truck
- sensor
- wheeled balance
- tread plate
- wheeled
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Abstract
The utility model is about a kind of two-wheeled balance truck, relates to balance truck field, and main purpose is the structure simplifying two-wheeled balance truck, improves the experience of user.The technical scheme of main employing is: two-wheeled balance truck, comprises balance truck main body, attaching parts, steering hardware, sensor and signal conditioning package; Balance truck main body upper end is provided with left-hand tread plate and right-hand tread plate; Steering hardware controls two-wheeled balance truck after being used for receiving turn sign and turns to; Sensor comprises the first rang sensor and second distance sensor, and the first rang sensor is arranged on attaching parts near left-hand tread plate side; Second distance sensor setting is close right-hand tread plate side on attaching parts; The input end of signal conditioning package is connected with the first rang sensor and second distance sensor respectively, and the mouth of signal conditioning package is connected with steering hardware.The two-wheeled balance truck of the utility model embodiment can realize auto-steering.
Description
Technical field
The utility model relates to balance truck technical field, particularly relates to a kind of two-wheeled balance truck.
Background technology
The manned balance truck of traditional two-wheeled mainly by a swing arm that can swing realize turn, wherein, for this swing arm, there are two kinds of operating mode: a kind of is that the length of this swing arm is longer, user when riding by bimanualness swing arm, and realize turning to two-wheeled balance truck; Another kind is that the length of this swing arm is shorter, and user clamps swing arm when riding by both legs and swings to the left or to the right, and realizes turning to two-wheeled balance truck.
In above-mentioned two schemes, user needs both hands hold up swing arm always or clamp swing arm with both legs always, its inconvenient operation when riding, the both hands of user or both legs are always in tension, and easily tired, the experience of user is poor; In addition, the control that above-mentioned two-wheeled balance truck realizes direction owing to adopting swing arm, its structure is comparatively complicated.
Utility model content
In view of this, the utility model provides a kind of two-wheeled balance truck, and main purpose is the structure simplifying two-wheeled balance truck, makes user convenient in use, improves the experience of user.
For achieving the above object, the utility model mainly provides following technical scheme:
Embodiment of the present utility model provides a kind of two-wheeled balance truck, comprising:
Balance truck main body, its upper end is provided with left-hand tread plate and right-hand tread plate;
Attaching parts, is arranged at the upper end of described balance truck main body, and is placed between described left-hand tread plate and described right-hand tread plate;
Steering hardware, is arranged at described balance truck main body, turns to for controlling described two-wheeled balance truck after receiving turn sign;
Sensor, comprises the first rang sensor and second distance sensor, and described first rang sensor is arranged on described attaching parts near left-hand tread plate side; Described second distance sensor setting is close right-hand tread plate side on described attaching parts; And
Signal conditioning package, be arranged in described balance truck main body, comprise input end and mouth, its input end is connected with described first rang sensor and described second distance sensor respectively, its mouth is connected with described steering hardware, described signal conditioning package is configured to described sensor to form the second data in the first data processing of synchronization collection, and described second data are sent to the signal conditioning package of described steering hardware.
The purpose of this utility model and solve its technical matters and also can be applied to the following technical measures to achieve further.
Aforesaid two-wheeled balance truck, wherein,
Described first rang sensor and described second distance sensor be respectively in ultrasonic transduter, laser sensor, infradred sensor any one.
Aforesaid two-wheeled balance truck, wherein,
Described sensor also comprises gyroscope;
Described gyroscope is arranged at described balance truck main body;
Described gyroscope is connected with the input end of described signal conditioning package.
Aforesaid two-wheeled balance truck, wherein,
Described gyroscope is arranged at the center of described balance truck main body.
Aforesaid two-wheeled balance truck, wherein,
Described steering hardware comprises first wheel motor and the second wheel hub motor;
Described first wheel motor drives with the first wheel of described two-wheeled balance truck and is connected;
Described second wheel hub motor drives with the second wheel of described two-wheeled balance truck and is connected.
Aforesaid two-wheeled balance truck, wherein,
The quantity of described first distance-sensor and described second distance inductor is multiple.
Aforesaid two-wheeled balance truck, wherein,
Described attaching parts is provided with the handle Gong holding.
By technique scheme, the utility model two-wheeled balance truck at least has following beneficial effect:
One, the technical scheme that the utility model embodiment provides passes through sensor and the signal conditioning package of setting, sensor can be formed the second data in the first data processing of synchronization collection and the second data be sent to steering hardware by signal conditioning package, two-wheeled balance truck can be controlled after steering hardware receives turn sign to turn to, realize turning to by swing arm relative in prior art, the structure of the utility model embodiment is more simple, and volume is also less.
Two, the technical scheme that the utility model embodiment provides is monitored by the attitude of sensor to user, and turned to by signal conditioning package control steering hardware, make the two-wheeled balance truck of the utility model embodiment more intelligent, user just can control to turn to by means of only the attitude of self in use, more convenient to operate, the experience of user is better.
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, in order to better understand technological means of the present utility model, and can be implemented according to the content of specification sheets, coordinates accompanying drawing to be described in detail as follows below with preferred embodiment of the present utility model.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the course changing control of a kind of two-wheeled balance truck that an embodiment of the present utility model provides;
Fig. 2 is the structural representation of a kind of two-wheeled balance truck that an embodiment of the present utility model provides;
Fig. 3 is the structural representation at another visual angle of a kind of two-wheeled balance truck that an embodiment of the present utility model provides;
Fig. 4 is that a kind of user that an embodiment of the present utility model provides rides the status architecture schematic diagram of two-wheeled balance truck when turning left;
Fig. 5 is that a kind of user that an embodiment of the present utility model provides rides the status architecture schematic diagram of two-wheeled balance truck when bending to right.
Detailed description of the invention
For further setting forth the utility model for the technological means reaching predetermined utility model object and take and effect, below in conjunction with accompanying drawing and preferred embodiment, to according to the detailed description of the invention of the utility model application, structure, feature and effect thereof, be described in detail as follows.In the following description, the not necessarily same embodiment that different " embodiment " or " embodiment " refers to.In addition, special characteristic, structure or feature in one or more embodiment can be combined by any suitable form.
As depicted in figs. 1 and 2, a kind of two-wheeled balance truck that an embodiment of the present utility model proposes, comprises balance truck main body 1, attaching parts 2, steering hardware 5, sensor and signal conditioning package 4.
Balance truck main body 1 upper end is provided with left-hand tread plate 11 and right-hand tread plate 12, and left-hand tread plate 11 and right-hand tread plate 12 are for standing for user and realize manned.
Attaching parts 2 is arranged at the upper end of balance truck main body 1, and attaching parts 2 is placed between left-hand tread plate 11 and right-hand tread plate 12.Wherein, attaching parts 2 will exceed the height of left-hand tread plate 11 and right-hand tread plate 12, and when user stands on left-hand tread plate 11 and right-hand tread plate 12, attaching parts 2 is between two legs of user.
Steering hardware 5 is arranged at balance truck main body 1, and steering hardware 5 turns to for controlling two-wheeled balance truck after receiving turn sign, such as controls two-wheeled balance truck and turns left or turn right.
Sensor comprises the first rang sensor 31 and second distance sensor 32, and as shown in Figure 2, the first rang sensor 31 is arranged near left-hand tread plate 11 side on attaching parts 2, and second distance sensor 32 is arranged on attaching parts 2 near right-hand tread plate 12 side.
Signal conditioning package 4 is arranged at balance truck main body 1, the input end of signal conditioning package 4 is connected with the first rang sensor 31 and second distance sensor 32 respectively, the mouth of signal conditioning package 4 is connected with steering hardware 5, sensor can be formed the second data in the first data processing of synchronization collection by signal conditioning package 4, and the second data are sent to steering hardware 5.
Wherein, as shown in Figure 4 and Figure 5, when user stands on left-hand tread plate 11 and right-hand tread plate 12, the first rang sensor 31 can be corresponding with the left inboard leg of user, and second distance sensor 32 can be corresponding with the right inboard leg of user.
The principle of work of the two-wheeled balance truck that the utility model embodiment provides is: user rides the two-wheeled balance truck of the utility model embodiment, when straight ahead, two legs of user are erectility, now the first rang sensor 31 is close apart from the distance of right leg with second distance sensor 32 apart from the distance of left leg, and now vehicle forward is not turned; As shown in Figure 4, when needs turnon left, user can swing both legs left, the left leg of user can away from attaching parts 2, the right leg of user can near attaching parts 2, now the first rang sensor 31 is greater than the distance of second distance sensor 32 apart from right leg apart from the distance of left leg, and the data of collection are sent to signal conditioning package 4 by the first rang sensor 31 and second distance sensor 32, sends signal to after signal conditioning package 4 receives signal steering hardware 5 and controls two-wheeled balance truck; As shown in Figure 5, when needs right-hand corner, user can swing both legs to the right, the left leg of user can near attaching parts 2, the right leg of user can away from attaching parts 2, now the first rang sensor 31 is less than the distance of second distance sensor 32 apart from right leg apart from the distance of left leg, and the data of collection are sent to signal conditioning package 4 by the first rang sensor 31 and second distance sensor 32, sends signal to after signal conditioning package 4 receives signal steering hardware 5 and controls two-wheeled balance truck and turn right.
The technical scheme that the utility model embodiment provides passes through sensor and the signal conditioning package 4 of setting, sensor can be formed the second data in the first data processing of synchronization collection and the second data be sent to steering hardware 5 by signal conditioning package 4, two-wheeled balance truck can be controlled after steering hardware 5 receives turn sign to turn to, realize turning to by swing arm relative in prior art, the structure of the utility model embodiment is more simple, and volume is also less.In addition, the technical scheme that the utility model embodiment provides is monitored by the attitude of sensor to user, and control steering hardware 5 by signal conditioning package 4 and turn to, make the two-wheeled balance truck of the utility model embodiment more intelligent, user just can control to turn to by means of only the attitude of self in use, more convenient to operate, the experience of user is better.
Here you need to add is that: the signal conditioning package 4 in the utility model embodiment can adopt conventional message processing module, and such as CPU, also can adopt the digital signal processing chips such as special digital processor.Connection between the input end of signal conditioning package 4 and sensor is by wired or wireless connection, and such as can adopt serial ports wire communication or the RF radio frequency identification communication technology etc., the related data transmission collected by sensor is to signal conditioning package 4.Same, the connection between the mouth of signal conditioning package 4 and steering hardware 5 also can adopt wired or wireless connection, such as, can adopt serial ports wire communication or the RF radio frequency identification communication technology etc., by coherent signal command to steering hardware 5.
Specifically when implementing, both aforesaid first rang sensor 31 and second distance sensor 32 can be respectively in ultrasonic transduter, laser sensor, infradred sensor any one.Wherein, ultrasonic transduter is the sensor utilizing hypracoustic characteristic to develop.Super sonic is the mechanical wave of a kind of oscillation frequency higher than sound wave, is occurred to vibrate to produce by transducing wafer under the excitation of voltage, and it has, and frequency is high, wavelength is short, diffraction phenomenon is little, particularly good directionality, ray and the features such as direction propagation can be become.Super sonic is very large to the penetrating power of liquid, solid, and especially in the opaque solid of sunlight, it can penetrate the degree of depth of tens meters.Super sonic is encountered impurity or dividing range and can be produced significantly to reflect to form and be reflected into echo, encounters Live Animals physical efficiency and produces Doppler effect.Laser sensor utilizes laser technology to carry out the sensor measured.It is made up of laser, laser detector and metering circuit.Laser sensor is new type measuring instrument table, and its advantage to realize no touch long distance measurement, and speed is fast, and precision is high, and range is large, and anti-light, electric noise ability is strong.Infradred sensor utilizes ultrared physical property to carry out the sensor measured.Infrared ray is also known as infrared light, and it has the character such as reflection, refraction, scattering, interference, absorption.Any material, as long as itself has certain temperature (higher than absolute zero), can infrared radiation.Infradred sensor does not directly contact with testee when measuring, and thus there is not friction, and has highly sensitive, reacts the advantage such as fast.Wherein, the selection of the particular type of sensor can be arranged according to the actual demand of user.
Further, as shown in Figure 1, aforesaid sensor also comprises gyroscope 33.Gyroscope 33 is arranged at balance truck main body 1, and gyroscope 33 is connected with the input end of signal conditioning package 4.Gyroscope 33 is a kind of instruments accurately can determining the orientation of mobile.Gyroscope 33 can be monitored the horizontality of the two-wheeled balance truck of the utility model embodiment, when the two-wheeled balance truck of the utility model embodiment travels on a road surface tilted, the both legs of user also can tilt thereupon together, gyroscope 33 detects the angle of inclination information of two-wheeled balance truck, and by this information feed back to signal conditioning package 4, signal conditioning package 4 can be corrected the data that the first rang sensor 31 and second distance sensor 32 gather according to this angle of inclination information, the steering order that signal conditioning package 4 is sent more presses close to the true intention of user, thus make the course changing control of the two-wheeled balance truck in the utility model embodiment more accurate.
Further, aforesaid gyroscope 33 is arranged at the center of balance truck main body 1.The data that such gyroscope 33 collects can be more accurate, also more can reflect the angle state of the two-wheeled balance truck of the utility model embodiment truly.
The steering hardware 5 of the two-wheeled balance truck of the utility model embodiment can be realized by following embodiment.As shown in Figure 3, aforesaid steering hardware 5 comprises first wheel motor 51 and the second wheel hub motor 52.First wheel motor 51 drives with the first wheel 101 of two-wheeled balance truck and is connected.Second wheel hub motor 52 drives with the second wheel 102 of two-wheeled balance truck and is connected.Specifically when implementing, when the rotating speed that first wheel motor 51 drives the first wheel 101 to rotate is identical with the rotating speed that the second wheel hub motor 52 drives the second wheel 102 to rotate, then two-wheeled balance truck does not turn to; When the rotating speed of the first wheel 101 is greater than the rotating speed of the second wheel 102, then two-wheeled balance truck turns to the second wheel side; When the rotating speed of the first wheel 101 is less than the rotating speed of the second wheel 102, then two-wheeled balance truck turns to the first wheel side; When first wheel motor 51 and the second wheel hub motor 52 reverse, then two-wheeled balance truck retreats.Wherein, signal conditioning package 4 can by sending signal to this first wheel motor 51 and the second wheel hub motor 52, to regulate the rotating speed of first wheel motor 51 and the second wheel hub motor 52 and to reach the object controlling two-wheeled balance truck and turn to, its structure is comparatively simple, controls more convenient.
Further, the quantity of aforesaid first distance-sensor and second distance inductor can be multiple.Specifically when implementing, the data that the plurality of first rang sensor 31 and multiple second distance sensor 32 gather can be averaged, signal conditioning package can process the data of sensor collection better, and makes the course changing control of steering hardware 5 pairs of two-wheeled balance trucks can reflect the true intention of user better.
Further, as shown in Figures 2 and 3, aforesaid attaching parts 2 can arrange the handle 21 Gong holding.The two-wheeled balance truck that the utility model embodiment can be provided by this handle by user has been carried and has moved to desired location, operates more convenient.
The two-wheeled balance truck that the utility model embodiment provides, user only needs to swing both legs to the left or to the right and can control the left-hand rotation of two-wheeled balance truck or turn right when riding, thus achieve the auto-steering of two-wheeled balance truck, operate more convenient, the experience of user is better.
The above, it is only preferred embodiment of the present utility model, not any pro forma restriction is done to the utility model, the any simple modification done above embodiment according to technical spirit of the present utility model, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.
Claims (7)
1. a two-wheeled balance truck, is characterized in that, comprising:
Balance truck main body, its upper end is provided with left-hand tread plate and right-hand tread plate;
Attaching parts, is arranged at the upper end of described balance truck main body, and is placed between described left-hand tread plate and described right-hand tread plate;
Steering hardware, is arranged at described balance truck main body, turns to for controlling described two-wheeled balance truck after receiving turn sign;
Sensor, comprises the first rang sensor and second distance sensor, and described first rang sensor is arranged on described attaching parts near described left-hand tread plate side; Described second distance sensor setting is close described right-hand tread plate side on described attaching parts; And
Signal conditioning package, be arranged in described balance truck main body, comprise input end and mouth, its input end is connected with described first rang sensor and described second distance sensor respectively, its mouth is connected with described steering hardware, described signal conditioning package is configured to described sensor to form the second data in the first data processing of synchronization collection, and described second data are sent to the signal conditioning package of described steering hardware.
2. two-wheeled balance truck as claimed in claim 1, is characterized in that,
Described first rang sensor and described second distance sensor be respectively in ultrasonic transduter, laser sensor, infradred sensor any one.
3. two-wheeled balance truck as claimed in claim 1 or 2, is characterized in that,
Described sensor also comprises gyroscope;
Described gyroscope is arranged at described balance truck main body;
Described gyroscope is connected with the input end of described signal conditioning package.
4. two-wheeled balance truck as claimed in claim 3, is characterized in that,
Described gyroscope is arranged at the center of described balance truck main body.
5. two-wheeled balance truck as claimed in claim 1 or 2, is characterized in that,
Described steering hardware comprises first wheel motor and the second wheel hub motor;
Described first wheel motor drives with the first wheel of described two-wheeled balance truck and is connected;
Described second wheel hub motor drives with the second wheel of described two-wheeled balance truck and is connected.
6. two-wheeled balance truck as claimed in claim 1 or 2, is characterized in that,
The quantity of described first distance-sensor and described second distance inductor is multiple.
7. two-wheeled balance truck as claimed in claim 1 or 2, is characterized in that,
Described attaching parts is provided with the handle Gong holding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420688491.9U CN204323594U (en) | 2014-11-17 | 2014-11-17 | Two-wheeled balance truck |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420688491.9U CN204323594U (en) | 2014-11-17 | 2014-11-17 | Two-wheeled balance truck |
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| CN204323594U true CN204323594U (en) | 2015-05-13 |
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| CN201420688491.9U Expired - Fee Related CN204323594U (en) | 2014-11-17 | 2014-11-17 | Two-wheeled balance truck |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386183A (en) * | 2014-11-17 | 2015-03-04 | 韩莹光 | Two-wheeled balance car |
| CN104914868A (en) * | 2015-06-24 | 2015-09-16 | 深圳乐行天下科技有限公司 | Method and device for controlling driving of balance car and servo control system |
| CN108609095A (en) * | 2018-05-08 | 2018-10-02 | 纳恩博（北京）科技有限公司 | Vehicle frame, connection structure and balance car |
| CN111801558A (en) * | 2018-01-08 | 2020-10-20 | 本特利内华达有限责任公司 | Integration of proximity sensor with magnetostrictive torque sensor |
-
2014
- 2014-11-17 CN CN201420688491.9U patent/CN204323594U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386183A (en) * | 2014-11-17 | 2015-03-04 | 韩莹光 | Two-wheeled balance car |
| CN104914868A (en) * | 2015-06-24 | 2015-09-16 | 深圳乐行天下科技有限公司 | Method and device for controlling driving of balance car and servo control system |
| CN104914868B (en) * | 2015-06-24 | 2017-11-10 | 深圳乐行天下科技有限公司 | Control method, device and the servo-control system of balance car traveling |
| CN111801558A (en) * | 2018-01-08 | 2020-10-20 | 本特利内华达有限责任公司 | Integration of proximity sensor with magnetostrictive torque sensor |
| CN108609095A (en) * | 2018-05-08 | 2018-10-02 | 纳恩博（北京）科技有限公司 | Vehicle frame, connection structure and balance car |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150513 Termination date: 20151117 |
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| EXPY | Termination of patent right or utility model |