CN204527460U - A kind of Self-balancing electronic two-wheel car - Google Patents
A kind of Self-balancing electronic two-wheel car Download PDFInfo
- Publication number
- CN204527460U CN204527460U CN201520152651.2U CN201520152651U CN204527460U CN 204527460 U CN204527460 U CN 204527460U CN 201520152651 U CN201520152651 U CN 201520152651U CN 204527460 U CN204527460 U CN 204527460U
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- wheel
- pedal
- controller
- mount pad
- wheel car
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Abstract
The utility model discloses a kind of Self-balancing electronic two-wheel car, include two wheels, wheel inner circumferential is torque motor, the internal stator side of torque motor is fixedly connected on a mount pad, side away from wheel on mount pad is connected with pedal, mount pad is positioned at pedal rotated down and is connected with Connection Block, between the Connection Block described in two by one interlock seat connect, and interlock seat two ends and two Connection Blocks all hinged; Be provided with an angular transducer in articulated position between described interlock seat one end and one of them Connection Block, angular transducer is connected with the signal input part of described controller; The moving velocity that controller tackles wheel mutually according to the angle that angular transducer records limits, and angular transducer detects that the angle of interlock seat and wheel surface reduces, and described setting speed increases.This two-wheel car is easy to use, and is beneficial to safety when fair speed travels.
Description
Technical field
The utility model belongs to electric automobiles, is specifically related to the two-wheel car field with Self-balancing.
Background technology
Electrodynamic balance car, is again body sense car, thinking car etc.Its operation principles is mainly based upon one and is called as in the groundwork of " dynamic stability " (Dynamic Stabilization), utilize gyroscope and the acceleration pick-up of vehicle body, detect the change of vehicle body attitude, and utilize servo control unit, accurately drive motor adjusts accordingly, with the balance of keeping system.Common are the self-balancing wheelbarrow of single wheel at present, and the two-wheel car that two, left and right wheel is arranged side by side.Wherein self-balancing wheelbarrow is balanced by control system automatically at fore-and-aft direction, left and right directions still will balance by user, produce in the longitudinal direction to prevent single wheel and topple over and cause danger, its moving velocity is limited in reduced levels, and the speed limit of 14 cun of common on the market at present wheelbarrows is 16km/h.Two-wheel car due to by handle controlling party to and speed, and two, left and right wheel, do not need human body to control the balance of left and right, therefore its speed limit can reach 30-40km/h, right current this two-wheel car needs manually to control, not as wheelbarrow controls conveniently by health completely.
Utility model content
Technical problem to be solved in the utility model is: the deficiency existed for prior art, provide a kind of drive simple, speed and be beneficial to health and keep balance, comfortable Self-balancing electronic two-wheel car of riding.
For realizing the object of the utility model, be achieved by the following technical solutions: a kind of Self-balancing electronic two-wheel car, include two wheels, wheel inner circumferential is torque motor, torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end; The internal stator side of torque motor is fixedly connected on a mount pad, side away from wheel on mount pad is connected with pedal, mount pad is positioned at pedal rotated down and is connected with Connection Block, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel; Between Connection Block described in two by one interlock seat connect, and interlock seat two ends and two Connection Blocks all hinged; Be provided with two stepping motors in order to control to link seat length direction and Connection Block corner dimension in articulated position between described interlock seat and the Connection Block of both sides, two stepping motors are electrically connected with the mouth of controller respectively.
Described mount pad is fixedly connected with the housing covering wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing or links in seat; Described interlock seat or housing are provided with a spreading-retracting button be electrically connected with controller.
When described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, described at least one, pedal upper surface is provided with inductive switch, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.
Be provided with storage battery in described interlock seat, storage battery is electrically connected with controller.
Described pedal is rotatably connected to a screw mandrel, be provided with a motor in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller, when two-wheel car speed is lower than the first command speed, motor driving screw mandrel rotates forward and pedal is moved to two-wheel car direct of travel front, when two-wheel car speed is higher than the second command speed, motor driving screw mandrel rotates backward and pedal is moved to the rear of two-wheel car direct of travel, and described second command speed is greater than the first command speed.
The top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively.
Compared with prior art, the beneficial effects of the utility model are: two-wheel car of the present utility model automatically can adjust two wheels in left and right and pull open a segment distance in the longitudinal direction when moving velocity is higher, even if a wheel breaks down instantaneously like this, car load can not produce in the longitudinal direction topples over, and ensure that the safety of user; Simultaneously when two-wheel car higher speed travels, the double-legged front and back position that user steps down on two pedals also pulls open a segment distance, is more conducive to like this keep the stable of health.The utility model with by compared with hand-guided two-wheel balance truck, do not need hand to go control, turn up that rear volume is little to be easy to carry; Compared with single wheel balance truck, then there is higher stability and speed faster.
Accompanying drawing explanation
Structural representation when Fig. 1 is the utility model low-speed running state.
Structural representation when Fig. 2 is the utility model high-speed travel state.
Fig. 3 is the structural representation of pedal part.
Fig. 4 is the another kind of structural representation of pedal part.
1, wheel; 11, housing; 12, mount pad; 13, Connection Block; 2, pedal; 20, inductive switch; 21, motor; 22, screw mandrel; 23, linear reciprocating motor; 24, adapter shaft; 3, link seat.
Detailed description of the invention
With reference to the accompanying drawings detailed description of the invention of the present utility model is made a detailed explanation below.
embodiment 1
According to Fig. 1, Fig. 2, a kind of Self-balancing electronic two-wheel car described in the present embodiment, includes two wheels 1, and wheel inner circumferential is torque motor, torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end, the internal stator side of torque motor is fixedly connected on a mount pad 12, mount pad is connected with pedal 2 away from the side of wheel, mount pad is positioned at pedal rotated down and is connected with Connection Block 13, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel, between Connection Block 13 described in two by one interlock seat 3 connect, and interlock seat two ends and two Connection Blocks all hinged, in articulated position, two stepping motors in order to control to link seat length direction and Connection Block corner dimension are installed between described interlock seat and the Connection Block of both sides, two stepping motors are electrically connected with the mouth of controller respectively, controller control step motor action makes the wheel of both sides be in parastate, and, when two-wheel car moving velocity is less than 15km/h, controller controls two stepping motor actions, make interlock seat length direction and two Connection Blocks perpendicular, when two-wheel car moving velocity is greater than 15km/h, controller controls two stepping motor actions, the angle between interlock seat length direction and Connection Block is made to become acute angle, and along with the increase of two-wheel car moving velocity, described sharp angle successively decreases, when two-wheel car moving velocity reaches 35km/h, the angle of acute angle is 45 °.
Described mount pad forms the joint pin be rotationally connected with Connection Block, torsion spring or elastic-like part is also installed between Connection Block and joint pin, torsion spring in the raw time, Connection Block and mount pad perpendicular.Such two wheels have certain rotational freedom, are beneficial to the speed that bipod controls two wheels respectively and realize keeping straight on or turning.When a wheel occurs to skid, because Connection Block and mount pad relatively rotate the restriction of angle and the existence of torsion spring, two-wheel car still can continue normal traveling under the driving of another wheel.As shown in Figure 2, on mount pad, the upper position of joint pin forms one in order to limit the retaining wall of Connection Block slewing area.
When two described Connection Blocks turn to parallel with the seat that links, between the end that two wheels are mutually close, leave gap.Like this when two-wheel car does not use, two wheels can turn to the side (Connection Block side fits with interlock seat side) of interlock seat under driving stepper motor, arrange handle, be beneficial to and carry two-wheel car in the middle of interlock seat.Described Connection Block is processed into L shape, and linking seat when such wheel is turned up can be bonded to each other with Connection Block.Magnet can be installed in interlock seat and Connection Block two surfaces of fitting or VELCRO or buckle etc. are connected and fixed.
Described mount pad is fixedly connected with the housing covering wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing or links in seat; Described interlock seat or housing are provided with a spreading-retracting button be electrically connected with controller, when once pressing spreading-retracting button, controller controls two stepping motor actions, two Connection Blocks are made to be expanded to the seat that links perpendicular, when again pressing spreading-retracting button, controller controls two stepping motor actions, two Connection Blocks is turned to and fits with the seat that links.
When described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, pedal upper surface described at least one is provided with inductive switch 20, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.When emergency situation, user jumps off from pedal like this, and inductive switch loss signal thus controller control wheel reversing immediately and realize braking.Described inductive switch is push type contact switch or switching regulator pressure sensor.
Be provided with storage battery in described interlock seat, storage battery is electrically connected with controller.Storage battery can form battery pack by 16 joint 18650 serial battery, two above-mentioned battery pack parallel connections can be used to use in order to increase flying power.
Often organize described sensor and include gyro sensor and acceleration pick-up, gyro sensor controller is controlled state of equilibrium that wheel fore-and-aft direction is in level, when body gravity deflection front or rear, controller is control torque motor forward or reverse correspondingly, when the amplitude of user's body forward, rear-inclined is larger, the side-play amount that acceleration pick-up detects is larger, then controller correspondingly control torque motor rotating speed increase.
The using method of this two-wheel car is similar to self-balancing wheelbarrow, and the center of gravity relying on user's health to act on wheel carrys out control rate.Before riding, because the inductive switch on pedal does not have signal, two-wheel car is standby, and after on user's both feet step on two pedals respectively, two-wheel car is just in by manipulation state, and then namely the center of gravity of adjustable health drives two-wheel car to move ahead.Two wheels are directly manipulated by bipod respectively, and alerting ability is strong, can realize flipper turn, and the technology that is suitable for good car fan use.
embodiment 2
The present embodiment, compared with embodiment 1, also comprises following characteristics:
Shown in composition graphs 3, described pedal is rotatably connected to a screw mandrel 22, be provided with a motor 21 in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller, when two-wheel car moving velocity is lower than 10km/h, motor driving screw mandrel rotates forward and pedal is moved to two-wheel car working direction front, when two-wheel car moving velocity is higher than 30km/h, motor driving screw mandrel rotates backward and pedal is moved to the rear of two-wheel car direct of travel.
When needing brake like this in higher speed driving process, because pedal is automatically moved to wheel rear positions, as long as user's health is swung back a little, center of gravity at once moves to wheel rear portion, can realize braking in time and ensure that user's amplitude of leaning back can not be excessive and cause falling down; When comparatively low speed driving, pedal is automatically moved to wheel forward position, and such user health that do not need to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively; The difference of pressure recorded when two pressure sensors is less than 100N, two controllers control two wheel constant speed and advance, the difference of pressure recorded when two pressure sensors is greater than 100N, and the force value that two pressure sensors record is when being greater than zero, the wheel velocity of the larger side of controller control presssure is accelerated to realize turning.
The technical characteristic that the relative embodiment 1 of the present embodiment increases, make two-wheel car can conveniently keep keeping straight in ride, need the center of gravity shifting health significantly to drive during turning, applicable new hand or safety performance require that high user uses.
embodiment 3
The present embodiment, compared with embodiment 1, also comprises following characteristics:
Shown in composition graphs 4, described pedal is rotatably connected to an adapter shaft 24, the middle part of adapter shaft is passed mount pad and is fixedly connected on erection column by screw, pedal one end is installed with linear reciprocating motor 23, the output shaft of linear reciprocating motor is coaxially connected with adapter shaft, described linear reciprocating motor is electrically connected with controller, when two-wheel car speed is lower than 10km/h, linear reciprocating motor drives pedal to move to two-wheel car direct of travel front, when two-wheel car speed is higher than 30km/h, linear reciprocating motor drives pedal to move to the rear of two-wheel car direct of travel.
Specifically, described linear reciprocating motor can select publication number linear reciprocating motor disclosed in CN103715858A, is adjusted the relative position of pedal and adapter shaft by linear reciprocating motor, thus the position of the relative car body of adjustment pedal.
When needing brake like this in higher speed driving process, because pedal is automatically moved to wheel rear positions, as long as user's health is swung back a little, center of gravity at once moves to wheel rear portion, can realize braking in time and ensure that user's amplitude of leaning back can not be excessive and cause falling down; When comparatively low speed driving, pedal is automatically moved to wheel forward position, and such user health that do not need to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively; The difference of pressure recorded when two pressure sensors is less than 100N, two controllers control two wheel constant speed and advance, the difference of pressure recorded when two pressure sensors is greater than 100N, and the force value that two pressure sensors record is when being greater than zero, the wheel velocity of the larger side of controller control presssure is accelerated to realize turning.
The technical characteristic that the relative embodiment 1 of the present embodiment increases, make two-wheel car can conveniently keep keeping straight in ride, need the center of gravity shifting health significantly to drive during turning, applicable new hand or safety performance require that high user uses.
Claims (6)
1. a Self-balancing electronic two-wheel car, is characterized in that: include two wheels, and wheel inner circumferential is torque motor, and torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end; The internal stator side of torque motor is fixedly connected on a mount pad, side away from wheel on mount pad is connected with pedal, mount pad is positioned at pedal rotated down and is connected with Connection Block, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel; Between Connection Block described in two by one interlock seat connect, and interlock seat two ends and two Connection Blocks all hinged; Be provided with two stepping motors in order to control to link seat length direction and Connection Block corner dimension in articulated position between described interlock seat and the Connection Block of both sides, two stepping motors are electrically connected with the mouth of controller respectively.
2. a kind of Self-balancing electronic two-wheel car according to claim 1, is characterized in that: the housing described mount pad being fixedly connected with cover wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing or links in seat; Described interlock seat or housing are provided with a spreading-retracting button be electrically connected with controller.
3. a kind of Self-balancing electronic two-wheel car according to claim 2, it is characterized in that: when described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, described at least one, pedal upper surface is provided with inductive switch, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.
4. a kind of Self-balancing electronic two-wheel car according to claim 1 or 2 or 3, is characterized in that: be provided with storage battery in described interlock seat, storage battery is electrically connected with controller.
5. a kind of Self-balancing electronic two-wheel car according to claim 1 and 2, it is characterized in that: described pedal is rotatably connected to a screw mandrel, be provided with a motor in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller, when two-wheel car speed is lower than the first command speed, motor driving screw mandrel rotates forward and pedal is moved to two-wheel car direct of travel front, when two-wheel car speed is higher than the second command speed, motor driving screw mandrel rotates backward and pedal is moved to the rear of two-wheel car direct of travel, and described second command speed is greater than the first command speed.
6. a kind of Self-balancing electronic two-wheel car according to claim 5, is characterized in that: the top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520152651.2U CN204527460U (en) | 2014-12-25 | 2015-03-18 | A kind of Self-balancing electronic two-wheel car |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2014208426455 | 2014-12-25 | ||
| CN201420842645 | 2014-12-25 | ||
| CN201520152651.2U CN204527460U (en) | 2014-12-25 | 2015-03-18 | A kind of Self-balancing electronic two-wheel car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204527460U true CN204527460U (en) | 2015-08-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520152651.2U Expired - Fee Related CN204527460U (en) | 2014-12-25 | 2015-03-18 | A kind of Self-balancing electronic two-wheel car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204527460U (en) |
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2015
- 2015-03-18 CN CN201520152651.2U patent/CN204527460U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Gang Inventor before: Li Chen |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160711 Address after: 210000 Jiangsu City, Jiangning, Qilin District, science and Technology Innovation Park, Hui Chi Road, unit B, building 300, building two Patentee after: Jiangsu Wan Wan Intelligent Technology Co., Ltd. Address before: Straight street 312400 Zhejiang city in Shaoxing Province, Shengzhou City, No. 297 building two room 103 Patentee before: Li Chen |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20190318 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |