CN205387169U - Electrodynamic balance car - Google Patents
Electrodynamic balance car Download PDFInfo
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- CN205387169U CN205387169U CN201520978933.8U CN201520978933U CN205387169U CN 205387169 U CN205387169 U CN 205387169U CN 201520978933 U CN201520978933 U CN 201520978933U CN 205387169 U CN205387169 U CN 205387169U
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Abstract
The utility model provides an electrodynamic balance car, including automobile body, a plurality of wheel and control mechanism, the automobile body including be the flat running -board and set up in the support chassis of running -board lower part, a plurality of wheels with support chassis connects, a plurality of wheels are triangular arrangement or polygonally arranged, and the bottom surface of a plurality of wheels is located the coplanar, the plane at the bottom surface of a plurality of wheels place with the running -board is parallel, the control mechanism basis user's on the running -board center -of -gravity position information control the motion of a plurality of wheels. The utility model discloses an electrodynamic balance car since the automobile body of main part component be flat -plate -shaped, consequently, its compact structure, portable with deposit. Simultaneously, because this electrodynamic balance car has threely or four wheels, consequently, its equilibrium of car is ridden instead of walk than higher to its relative other two -wheeled, and the user stands and played the equilibrium last time at this electrodynamic balance car and control more easily.
Description
Technical field
This utility model belongs to field of mechanical technique, relates to a kind of electrodynamic balance car.
Background technology
Two-wheeled vehicle is built upon one and is referred to as in the ultimate principle of " dynamic stability ", namely the autobalance ability of vehicle itself.Judge the posture state residing for vehicle body with built-in accurate solid-state gyroscope, after calculating suitable instruction through accurate and central microprocessor at a high speed, drive motor to accomplish the effect of balance.
Assume that we are using the overall center of gravity longitudinal axis of station driver onboard and vehicle as reference line.When this axle is toward top rake, built-in electro-motor in vehicle body can produce strength forward, the moment of torsion that balance people and car are toppled over forward on the one hand, produce the acceleration allowing vehicle advance on the one hand, contrary, when gyroscope finds the center of gravity of driver toward hypsokinesis, also the strength that can produce backward reaches counterbalance effect.Therefore, as long as driver changes the angle of oneself health forward or toward hypsokinesis, will according to the side tilted forward or backward, speed is then proportional with the degree of driver's body inclination.In principle, as long as having correct opening power and can keeping the electric power of enough runnings, the people on car does not just worry having and topples over the possibility fallen, this with it is generally required to the vehicles such as the scooter that is balanced by driver oneself are different greatly.
But, existing two-wheeled vehicle changes what direct of travel realized mainly by twist grip.It can be seen that arrange handle on two-wheeled vehicle to cause that its structure is complicated, and cost increases.
For this, people have devised two-wheeled vehicle not with handles, and this scooter is mainly made up of the support of two energy relative motion, and each support is connected to a wheel of correspondence.Although, this scooter eliminates handle, but, owing to stent size is less, when using this scooter, balance is not easy to grasp.
Chinese patent its publication number CN203958471U provides " a kind of split rotary type balanced car with two wheels ", it includes main frame of vehicle body, main frame of vehicle body both sides are provided with wheel, it is provided with motor in main frame of vehicle body and the gyroscope of motor speed can be controlled, described main frame of vehicle body includes two split vehicle frames being separated from each other, two split central frame beams are provided with a connecting shaft, two split vehicle frames rotate alone with connecting shaft for center of rotation, gyroscope and motor individually it is provided with in each split vehicle frame, split vehicle frame includes a upper cover pedal and lower house, gyroscope is fixed on bottom upper cover pedal, gyroscope connects circuit board, circuit board connects motor, motor driving wheel.
Two wheeler energy realization foot in above-mentioned patent is accelerated deceleration, turning function and simple in construction.But, it is mainly made up of the support of two energy relative motion, and in use procedure, its balance is not easily controlled.Being additionally, since it to take up room, it is very not convenient to carry yet.
Utility model content
A kind of electrodynamic balance car that this utility model proposes to overcome prior art.
To achieve these goals, this utility model is provided a kind of electrodynamic balance car, including vehicle body, multiple wheel and controlling organization；Described vehicle body includes being flat pedal and the support frame being arranged at described pedal bottom, the plurality of wheel is connected with described support frame, the plurality of wheel is triangle arrangement or polygonal array, and in the bottom surface of the plurality of wheel is generally aligned in the same plane, the plane at the place, bottom surface of the plurality of wheel is parallel with described pedal；Described controlling organization controls the plurality of wheel movement according to the position of centre of gravity information of the user on described pedal.
Further, described electrodynamic balance car also includes position induction device, and described position induction device is folded between described pedal and described support frame, and for sensing the position of centre of gravity information of the user on pedal；Described controlling organization is connected with described position induction device, and the position of centre of gravity information of the user that described controlling organization senses according to described position induction device controls the plurality of wheel movement.
Further, the plurality of wheel includes two driving wheels, two driving wheels are symmetrically disposed on the front end of described vehicle body or the rear end of vehicle body, described controlling organization includes drive motor and is connected with described drive motor and for controlling the controller of the driving force of described drive motor output, described position induction device is connected with described controller, described drive motor is used for driving said two driving wheel to rotate, the position of centre of gravity information of the user that described controller senses according to described position induction device judges the position of centre of gravity of described user, described drive motor exports corresponding driving force to said two driving wheel to drive said two driving wheel to rotate according to the position of centre of gravity of described user.
Further, the quantity of described drive motor is two, two drive motors drive two driving wheels to rotate respectively, described controller is after the position of centre of gravity judging described user, and described controller controls two described drive motors and exports corresponding driving force to said two driving wheel to drive said two driving wheel to rotate.
Further, the quantity of described drive motor is one, described controlling organization also includes differential mechanism, described drive motor is connected with said two driving wheel by described differential mechanism, and described drive motor is exported driving force distribution to said two driving wheel to drive said two driving wheel to rotate according to the position of centre of gravity of described user by described differential mechanism.
Further, the quantity of the plurality of wheel is four, and the plurality of wheel includes two deflecting rollers, said two deflecting roller and the rectangular arrangement of said two driving wheel, and said two deflecting roller is oppositely arranged with said two driving wheel.
Further, the quantity of the plurality of wheel is three, and the plurality of wheel also includes a deflecting roller, and described deflecting roller and said two driving wheel are triangle arrangement, and when said two driving wheel is arranged on the rear end of described vehicle body, described deflecting roller is arranged on the front center of described vehicle body；When said two driving wheel is arranged on the front end of described vehicle body, described deflecting roller is arranged in the middle part of the rear end of described vehicle body.
Further, the quantity of the plurality of wheel is four and rectangular arrangement, described four wheels are universal wheel, described controlling organization includes drive motor and is connected with described drive motor and for controlling the controller of the driving force of described drive motor output, the quantity of described drive motor is four, each drive motor drives a described vehicle wheel rotation, described position induction device is connected with described controller, described drive motor is used for driving said two driving wheel to rotate, the position of centre of gravity information of the user that described controller senses according to described position induction device judges that the position of centre of gravity of described user the position of centre of gravity information according to described user control four vehicle wheel rotations corresponding to the corresponding drive force of described drive motors output.
Further, described support frame top has recessed installation cavity, and described pedal covers installation cavity, and position induction device is positioned at installation cavity and bears against the diapire of installation cavity and the bottom of position induction device.
Further, described pedal front portion is convexly equipped with downwards and protects edge for what protect the wheel being positioned at body forward structure.
Due to the utilization of technique scheme, this utility model possesses advantages below:
Electrodynamic balance car of the present utility model is tabular due to the car body of main component, therefore, and its compact conformation, it is simple to carry and deposit.Simultaneously as this electrodynamic balance car has three or four wheels, therefore, relatively other its balance of two-wheeled vehicle is higher for it, and user plays balance and is easier to control when standing on this electrodynamic balance car.
Accompanying drawing explanation
Fig. 1 is the structural representation of the electrodynamic balance car of this utility model first embodiment.
Fig. 2 is the cross-sectional schematic of the electrodynamic balance car shown in Fig. 1.
Fig. 3 is the side view of the electrodynamic balance car shown in Fig. 1.
Fig. 4 is the upward view of the electrodynamic balance car shown in Fig. 1.
Fig. 5 is the structural representation of the electrodynamic balance car of this utility model the second embodiment.
The cross-sectional schematic of the electrodynamic balance car shown in Fig. 6 Fig. 5.
Fig. 7 is the structural representation of the electrodynamic balance car of this utility model the 3rd embodiment.
The cross-sectional schematic of the electrodynamic balance car shown in Fig. 8 Fig. 7.
Fig. 9 is the structural representation of the electrodynamic balance car of this utility model the 3rd embodiment.
The cross-sectional schematic of the electrodynamic balance car shown in Figure 10 Fig. 9.
Figure 11 is the upward view of the electrodynamic balance car of the another embodiment of this utility model.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, this utility model embodiment is further described.
Embodiment one
Referring to Fig. 1-4, the electrodynamic balance car that this utility model embodiment provides includes vehicle body 1, multiple wheel 2, position induction device and controlling organization.Wherein, the plurality of wheel 2 is connected with described vehicle body 1, and the plurality of wheel 2 is arrangement or polygonal array in triangle, and in the bottom surface of the plurality of wheel 2 is generally aligned in the same plane.
Described position induction device is for sensing the position of centre of gravity information of user on described vehicle body 1.
Described controlling organization is connected with described position induction device, and the position of centre of gravity information of the user that described controlling organization senses according to described position induction device controls the plurality of wheel 2 and moves.
Described vehicle body 1 includes being flat pedal 11 and the support frame 13 being located at described pedal 11 bottom, the plane at the place, bottom surface of the plurality of wheel 2 is parallel with described pedal 11, described position induction device is folded between described pedal 11 and described support frame 13, and for sensing the position of centre of gravity information of the user on pedal 11.Specifically, in the present embodiment, position induction device is gravity sensor 101, gravity sensor 101 is for the position of centre of gravity information of the user on pedal 11, and the position of centre of gravity information of the user that described controlling organization senses according to described gravity sensor 101 controls the plurality of wheel 2 and moves.
Specifically, in the present embodiment, pedal 11 being formed with two symmetrically arranged foot-operated regions 110, foot-operated region 110 contacts with position induction device, so that user is stood when foot-operated region 110, position induction device can accurately sense the position of centre of gravity change of user.Support frame 13 top has recessed installation cavity 130, described pedal 11 covers installation cavity 130, foot-operated region 110 projects in installation cavity 130, and position induction device is positioned at installation cavity 130 and bears against the diapire of installation cavity 130 and the bottom in foot-operated region 110.Pedal 11 and support frame 13 all can be rectangle tabular.Such structure makes whole electrodynamic balance car be long plate shape, and its shape size is suitable with notebook computer.And, the thickness of electrodynamic balance car is also suitable with notebook computer.
It is understandable that, when pedal 11 has been stood user time, gravity sensor 101 can induce the position of centre of gravity information of user, when the center of gravity that gravity sensor 101 senses user tilts to dead ahead or dead astern, controlling organization controls multiple wheels 2 and advances to dead ahead or fall back to dead astern；When gravity sensor 101 senses that the center of gravity dead ahead to the left of user or right front tilt, controlling organization controls multiple wheel 2 dead aheads to the left or advances in right front；When the center of gravity that gravity sensor 101 senses user tilts to left back front or right back, controlling organization controls multiple wheels 2 and falls back to left back or right back.
The quantity of the plurality of wheel 2 is four and rectangular arrangement, in the direction of advance of described electrodynamic balance car, that the plurality of wheel 2 includes being located at symmetrically vehicle body 1 front end or rear end two driving wheels and two deflecting rollers relative with two driving wheels, the rear end of vehicle body 1 it is symmetrically disposed at the present embodiment driving wheel, deflecting roller can be symmetrically arranged the front end of vehicle body 1, namely the pattern of rear wheel drive is adopted to be driven at the present embodiment, certainly, two driving wheels are symmetrically arranged the front end of vehicle body 1, two deflecting rollers are symmetrically arranged the rear end of vehicle body 1, namely the pattern of front-wheel drive can be adopted；In other embodiments, as shown in figure 11, the quantity of the plurality of wheel 2 is 3, and it is triangle arrangement that the plurality of wheel 2 includes the deflecting roller being positioned at vehicle body 1 front end and two driving wheels being positioned at vehicle body 1 rear end, deflecting roller and two driving wheels, it is understandable that, in order to ensure the balance of electrodynamic balance car, deflecting roller is located at the medium position of vehicle body 1 front end, certainly, two driving wheels can also be arranged on the front end of vehicle body, and deflecting roller can also arrange the medium position of the rear end of vehicle body 1.It should be noted that in the above-described embodiments, deflecting roller is universal wheel.
Described controlling organization includes drive motor and is connected with described drive motor and for controlling the controller of driving force of drive motor output, described position induction device is connected with described controller, and drive motor is used for driving two driving wheels rotations.The position of centre of gravity information of the user that described controller senses according to described position induction device (gravity sensor 101) judges the position of centre of gravity of user, and described drive motor controls to export corresponding driving force to said two driving wheel to drive said two driving wheel to rotate according to the position of centre of gravity of user.It is understood that when balance car moves to dead ahead or dead astern, the driving force of drive motor output makes two driving wheel rotating speeds identical, when balance car needs to turn to, the driving force of drive motor output makes two driving wheels have certain speed discrepancy.
Specifically, in the present embodiment, the quantity of drive motor is two, two drive motors drive two driving wheels to rotate respectively, described controller is after the position of centre of gravity judging described user, and described controller controls two described drive motors and exports corresponding driving force to said two driving wheel to drive said two driving wheel to rotate.More specifically, when the position of centre of gravity information of the user that controller senses according to position induction device judges that the center of gravity of user turns forward, controller controls two drive motor output size driving force to two driving wheels that are identical and that drive forwards and two driving wheels is travelled forward；When the position of centre of gravity information of the user that controller senses according to position induction device judges that the center of gravity of user retreats, two drive motors output sizes of controller control are identical and make two driving wheel rearward movement to the driving force of rear drive to two driving wheels；When the center of gravity that the position of centre of gravity information of the user that controller senses according to position induction device judges user rolls to one, namely now balance car needs to turn, driving force to two driving wheels that two drive motors outputs of controller control vary in size make two driving wheels all have certain speed difference, so that balance car can be turned.
In other embodiments, the quantity of drive motor is one, and described controlling organization also includes differential mechanism, and drive motor is connected by differential mechanism and two driving wheels.It is understood that the position of centre of gravity information of user that controller senses according to position induction device is judged when the center of gravity of user turns forward, drive motor driving force that is identical by differential mechanism output size and that drive forwards controls multiple wheels 2 and travels forward；When controller retreats according to the user center of gravity that position induction device senses, drive motor is identical by differential mechanism output size and controls multiple wheel 2 rearward movement to the driving force of rear drive；When the position of centre of gravity information of the user that controller senses according to position induction device judges the center of gravity of user to lopsidedness, namely now balance car needs to turn, driving force to the left and right sides driving wheel that drive motor is varied in size by differential mechanism output makes driving wheel have different speed, so that balance car can be turned.
Specifically, described differential mechanism is gear differential, including the internal case for cavity and the planetary gear being positioned at case, planetary wheel carrier, left half axle gear, right axle shaft gear, left half axle and right axle shaft, described planetary wheel carrier is located in case, planetary gear is connected on planetary wheel carrier, the input (i.e. driving gear on planetary wheel carrier) of above-mentioned planetary wheel carrier is connected with the power transmission shaft of drive motor, described left half axle gear is all connected with planetary gear in right axle shaft gear, left half axle and right axle shaft are affixed with left half axle gear and right axle shaft gear respectively, two driving wheels are connected with left half axle and right axle shaft.Power enters differential mechanism through power transmission shaft, directly drives planetary wheel carrier, then is driven left and right two semiaxis by planetary gear, drives left and right wheel respectively.The designing requirement of differential mechanism meets: (left half axle rotating speed)+(right axle shaft rotating speed)=2 (planetary wheel carrier rotating speed).When electrodynamic balance car is kept straight on, left and right wheel be in poised state equal to the rotating speed of planetary wheel carrier three, and when electrodynamic balance car is turned, three's poised state is destroyed, and causes that nearside wheel rotating speed reduces, outboard wheel rotating speed increases.
In other embodiments, the quantity of the plurality of wheel 2 is four and rectangular arrangement, described four wheels 2 are universal wheel, the quantity of described drive motor is four, each drive motor drives a wheel 2 to rotate, described controller controls four wheels 2 corresponding to the corresponding drive force of drive motors output according to the position of centre of gravity information of the person of standing and rotates so that the movement locus required for the direction of motion synthesis of four wheels 2.When the position of centre of gravity information of the user that controller senses according to position induction device judges that the center of gravity of user turns forward, controller controls four drive motor output corresponding driving force to four driving wheels and makes four driving wheels drive balance car to travel forward；When the position of centre of gravity information of the user that controller senses according to position induction device judges that the center of gravity of user retreats, controller controls four drive motor output corresponding driving force to four driving wheels and makes four driving wheels drive balance car rearward movement；When the center of gravity that the position of centre of gravity information of the user that controller senses according to position induction device judges user rolls to one, namely now balance car needs to turn, and controller controls four drive motor output corresponding driving force to four driving wheels and makes four driving wheels drive balance car to turn.Need explanation, when the center of gravity that the position of centre of gravity information of the user that controller senses according to position induction device judges user offsets to front-left or front-right, controller can control the driving force of four drive motor outputs and then the rotating speed of four wheels 2 of control and rotation direction makes balance car offset to front-left or front-right.
In other embodiments, the quantity of the plurality of wheel 2 is four and rectangular arrangement, described four wheels 2 are driving wheel, the quantity of described drive motor is four, each drive motor drives a wheel 2 to rotate, described controller controls four wheels 2 corresponding to the corresponding drive force of drive motors output according to the positional information of the person of standing and rotates so that the movement locus required for the direction of motion synthesis of four wheels 2.Body ground, when the position of centre of gravity information of the user that controller senses according to position induction device judges that the center of gravity of user turns forward, controller four drive motors of control export two groups of size driving forces that are identical and that drive forwards and to two driving wheels of front end and two driving wheels of rear end, four driving wheels are travelled forward；When the position of centre of gravity information of the user that controller senses according to position induction device judges that the center of gravity of user retreats, controller controls four drive motors, and to export two groups of sizes identical and make four driving wheel rearward movement to the driving force of rear drive to two driving wheels of the two of rear end driving wheels Yu front end；When the center of gravity that the position of centre of gravity information of the user that controller senses according to position induction device judges user rolls to one, namely now balance car needs to turn, driving force to four driving wheels that four drive motors outputs of controller control vary in size make four driving wheels all have certain speed difference, so that balance car can be turned.It should be noted that two the driving force sizes being transferred to two driving wheels in front end that the driving force that two groups of sizes are identical refers to are identical, two the driving force sizes being transferred to two driving wheels in rear end are identical.
In other embodiments, the quantity of the plurality of wheel 2 is four and rectangular arrangement, described four wheels 2 are driving wheel, the quantity of described drive motor is one, described controlling organization also includes two differential mechanisms, being connected by two differential mechanisms and four driving wheels of drive motor, particularly, being connected with two anterior driving wheels by one of them differential mechanism of drive motor, drive motor is connected with two driving wheels at rear portion also by another differential mechanism.It is understandable that, when the position of centre of gravity information of the user that controller senses according to position induction device judges that the center of gravity of user turns forward, drive motor exports two groups of size driving forces that are identical and that drive forwards by two differential mechanisms and to anterior two driving wheels and two, rear end driving wheel, multiple wheel 2 is travelled forward；When the position of centre of gravity information of the user that controller senses according to position induction device judges that the center of gravity of user retreats, drive motor is identical by two differential mechanisms output size and makes multiple wheel 2 rearward movement to the driving force of rear drive to multiple wheels 2；When the center of gravity that the position of centre of gravity information of the user that controller senses according to position induction device judges user rolls to one, namely now balance car needs to turn, driving force to multiple wheels 2 that drive motor is varied in size by two differential mechanism outputs make multiple wheel 2 to turn to, so that balance car can be turned.It should be noted that two the driving force sizes being transferred to two driving wheels in front end that the driving force that two groups of sizes are identical refers to are identical, two the driving force sizes being transferred to two driving wheels in rear end are identical.
In the present embodiment, in order to realize automatically powering on and power-off of balance car, described pedal 11 is provided with inductive switch 10, inductive switch 10 is connected between controlling organization and electric supply installation, and whether described inductive switch 10 has user to control powering on and power-off of described controlling organization by sensing on car.Preferably, inductive switch 10 is such as pressure switch, and when user is stood on vehicle body 1, inductive switch 10 turns on, and the electric supply installation within vehicle body 1 starts the electricity consumption power elements to vehicle body 1.Preferably, electric supply installation is such as accumulator.
The port of described installation cavity 130 is provided with support level 132, described pedal 11 cover after installation cavity 130 with support level 132 against, it is to avoid pedal 11 enters in installation cavity 130.
In the present embodiment, pedal 11 front portion is convexly equipped with downwards for protecting the protecting along 112 of the wheel being positioned at vehicle body 1 front portion.To extend the service life of electrodynamic balance car.
In the present embodiment, the element being electrodynamic balance car and also including the composition electrodynamic balance cars such as such as electric supply installation, balanced controls (acceleration transducer, Hall element etc.) of the present utility model, these electronic components can be installed within installation cavity 130, and the function of these elements does not repeat them here.
Embodiment 2
Incorporated by reference to reference Fig. 5-6,
The structure of the electrodynamic balance car of this utility model the second embodiment is essentially identical with the structure of the electrodynamic balance car of this utility model first embodiment and principle respectively, it is different in that, position induction device includes four displacement transducers 102 and four flexible members 104.The two ends of described four flexible members 104 are connected and rectangular arrangement with described pedal 11 and described support frame 13 respectively, described four displacement transducers 102 and described four flexible member 104 one_to_one corresponding are also used for sensing the deformation quantity of four flexible members 104, described four displacement transducers 102 and described four flexible members 104 constitute a four-quadrant displacement induction system, and for sensing the position of centre of gravity information of the user on pedal 11.
It is understandable that, when on user stands pedal 11, flexible member 104 is compressed by user, when the centre-of gravity shift of user, the deformation quantity of each flexible member 104 necessarily changes, such displacement transducer 102 just can collect the displacement variable of the flexible member 104 of correspondence, controlling organization collects the deformation quantity of flexible member 104 of correspondence by displacement transducer 102 and judges the displacement of center of gravity information of user, thus controlling the plurality of wheel 2 to move (as described below).
Described pedal 11 is provided with four foot-operated regions 111, four extensible vertical directions in foot-operated region 111 move up and down, in other words, namely the body of four foot-operated regions 111 and pedal 11 is Split type structure, for instance can be provided with four openings on the body of pedal 11, it is separately installed with pedal in four openings, to form foot-operated region, it is to be understood that pedal is convex shape, the top of opening is such as provided with stop flange, to avoid pedal to depart from from opening.More specifically, four flexible members 104 are positioned at installation cavity 130 and connect the diapire of installation cavity 130 and the bottom in four foot-operated regions 111 respectively, four displacement transducers 102 be arranged on the diapire of 130 of behaveing affectedly and with four flexible member 104 one_to_one corresponding.
nullFour-quadrant displacement induction system in this utility model electrodynamic balance car gathers the concrete principle of displacement information: the left foot front portion that four flexible members 4 are corresponding respectively、Left foot heel、Right crus of diaphragm front portion and right crus of diaphragm heel，When user is stood on pedal 11，If center of gravity does not offset，Left foot is anterior、Left foot heel、The anterior power suffered by position trampled with right crus of diaphragm heel of right crus of diaphragm is substantially identical，Namely now balance car is in poised state，When the centre-of gravity shift of user，Left foot is anterior、Left foot heel、The anterior power being subject to right crus of diaphragm heel of right crus of diaphragm can change，Now anterior with left foot、Left foot heel、The deformation quantity of the anterior flexible member 4 corresponding with right crus of diaphragm heel of right crus of diaphragm is by difference，Four displacement transducers 3 can collect the deformation quantity information of corresponding flexible member 4，Namely the position of centre of gravity information of user is obtained，Now the position of centre of gravity information (deformation quantities of four flexible members 4) of the user that controlling organization obtains according to four displacement transducers 3 can judge the position of centre of gravity of user.
Specifically, four displacement transducer respectively left upper quadrant displacement transducers, right upper quadrant displacement transducers, left lower quadrant displacement transducer and right lower quadrant displacement transducer.The left upper quadrant displacement transducer received when controlling organization is identical with the displacement that right upper quadrant displacement transducer collects, the displacement that left lower quadrant displacement transducer and right lower quadrant displacement sensing collect is identical, but the displacement that the displacement that left upper quadrant displacement transducer and right upper quadrant displacement transducer collect collects more than left lower quadrant displacement transducer and right lower quadrant displacement transducer, now controlling organization judges that the person's of standing center of gravity tilts to dead ahead, controlling organization controls multiple wheels 2 and travels forward, contrary then controlling organization judges that the person's of standing center of gravity tilts to dead astern, controlling organization controls multiple wheel 2 rearward movement.
The left upper quadrant displacement transducer received when controlling organization is identical with the displacement that left lower quadrant displacement transducer collects, the displacement that right upper quadrant displacement transducer and right lower quadrant displacement transducer collect is identical, but the displacement that the displacement that left upper quadrant displacement transducer and left lower quadrant displacement transducer collect collects more than right upper quadrant displacement transducer and right lower quadrant displacement transducer, now controlling organization judge the person's of standing center of gravity to front-left tilt time, on the contrary then front-right tilt.Certainly, in that case, if controlling organization can control multiple wheel 2 can to front-left or right move time (this kind of situation is that multiple wheel 2 is universal wheel), controlling organization control multiple wheels 2 move to front-left or right.
Certainly, when the shift value of any one quadrant displacement transducer that controlling organization receives is maximum, can judging that the center of gravity of this person of standing is positioned at this quadrant, controlling organization can control multiple wheel 2 and make corresponding start.Such as, when controlling organization, to receive the shift value of left upper quadrant displacement transducer bigger than normal, and controlling organization may determine that the center of gravity of the person of standing is positioned at left upper quadrant, and now, controlling organization controls multiple wheels 2 and turns to the left.
Incorporated by reference to reference Fig. 7-8,
The structure of the electrodynamic balance car of this utility model the 3rd embodiment is essentially identical with the structure of the electrodynamic balance car of this utility model first embodiment and principle respectively, it is different in that, position induction device includes four pressure transducers 105, described four pressure transducers 105 are folded between described pedal 11 and described support frame 13 and rectangular arrangement, described four pressure transducers 105 constitute a four-quadrant pressure sensitive system, and for sensing the position of centre of gravity information of the user on pedal 11.nullThe concrete principle of the four-quadrant pressure sensitive system induction pressure in this utility model electrodynamic balance car is: the left foot front portion that four pressure transducers 3 are corresponding respectively、Left foot heel、Right crus of diaphragm front portion and right crus of diaphragm heel，When user is stood on pedal 11，If center of gravity does not offset，Left foot is anterior、Left foot heel、The anterior power suffered by position trampled with right crus of diaphragm heel of right crus of diaphragm is substantially identical，Namely now balance car is in poised state，When the centre-of gravity shift of user，Left foot is anterior、Left foot heel、The anterior power being subject to right crus of diaphragm heel of right crus of diaphragm can change，Now anterior with left foot、Left foot heel、The pressure collected of the anterior pressure transducer 3 corresponding with right crus of diaphragm heel of right crus of diaphragm will change，Namely the position of centre of gravity information of user is obtained，Now the position of centre of gravity information (pressure informations collected of four pressure transducers 3) of the user that controlling organization obtains according to four pressure transducers 3 can judge the position of centre of gravity of user.
Described pedal 11 is provided with four foot-operated regions 113, four extensible vertical directions in foot-operated region 113 move up and down, in other words, namely the body of four foot-operated regions 113 and pedal 11 is Split type structure, for instance can be provided with four openings on the body of pedal 11, it is separately installed with pedal in four openings, to form foot-operated region, it is to be understood that pedal is convex shape, the top of opening is such as provided with stop flange, to avoid pedal to depart from from opening.More specifically, four pressure transducers 105 are positioned at installation cavity 130 and bear against the diapire of installation cavity 130 and the bottom in four foot-operated regions 113.
It is understood that four pressure transducer respectively left upper quadrant pressure transducers, right upper quadrant pressure transducers, left lower quadrant pressure transducer and right lower quadrant pressure transducer.The left upper quadrant pressure transducer received when controlling organization is identical with the pressure that right upper quadrant pressure transducer collects, the pressure that left lower quadrant pressure transducer and right lower quadrant pressure transducer collect is identical, but the pressure that the pressure that left upper quadrant pressure transducer and right upper quadrant pressure transducer collect collects more than left lower quadrant pressure transducer and right lower quadrant pressure transducer, and the pressure component of direction of advance is more than the pressure component of direction of retreat, now controlling organization judges that the person's of standing center of gravity tilts to dead ahead, controlling organization controls multiple wheels 2 and travels forward, contrary then controlling organization judges that the person's of standing center of gravity tilts to dead astern, controlling organization controls multiple wheel 2 rearward movement.
The left upper quadrant pressure transducer received when controlling organization is identical with the pressure that left lower quadrant pressure transducer collects, the pressure that right upper quadrant pressure transducer and right lower quadrant pressure transducer collect is identical, but the pressure that the pressure that left upper quadrant pressure transducer and left lower quadrant pressure transducer collect collects more than right upper quadrant pressure transducer and right lower quadrant pressure transducer, it is specially the pressure component pressure component more than front-right of front-left, now controller judge the person's of standing center of gravity to front-left tilt time, on the contrary then front-right tilt.Certainly, in that case, if controlling organization can control multiple wheel 2 can to front-left or right move time (this kind of situation is that multiple wheel 2 is universal wheel), controlling organization control multiple wheels 2 move to front-left or right.
It is, of course, understood that when the force value of any one quadrant pressure transducer that controller receives is bigger than normal, can judge that the center of gravity of this person of standing is positioned at this quadrant, controlling organization can control multiple wheel 2 and make corresponding start.Such as, when controlling organization, to receive the force value of left upper quadrant pressure transducer maximum, and controlling organization may determine that the center of gravity of the person of standing is positioned at left upper quadrant, and now, controlling organization controls multiple wheels 2 and turns to the left.
Refer to Fig. 9-10
The structure of the electrodynamic balance car of this utility model the 4th embodiment is essentially identical with the structure of the electrodynamic balance car of this utility model first embodiment and principle with principle, it is different in that, position induction device includes photoelectric sensor 106 and four resilient support members 107, it is connected by resilient support members 107 between pedal 11 with support frame 13, photoelectric sensor 106, for sensing the rotational angle of pedal 11 relative motion plane, obtains the positional information of described user.Specifically, when user is stood on pedal 11, resilient support members 107 can be compressed, during the centre-of gravity shift of user, pedal 11 can tilt, and namely the angle of inclination of the pedal 11 that photoelectric sensor 106 collects has collected the position of centre of gravity information of user.It is understandable that, when pedal 11 has been stood user time, position induction device can induce the position of centre of gravity information of user, when position induction device senses that the center of gravity dead ahead to the left of user or right front tilt, controlling organization controls multiple wheel 2 dead aheads to the left or advances in right front；When the center of gravity that position induction device senses user tilts to left back front or right back, controlling organization controls multiple wheels 2 and falls back to left back or right back.
In the present embodiment, the angle of inclination of pedal 11 at 10 degree 30 degree, control the angle of inclination of pedal 11 to make between 10 degree 30 degree pedal 11 stable tilt while, moreover it is possible to ensure the stability of whole electrodynamic balance car.
In the present embodiment, vehicle body 1 also includes joint pin 15, and joint pin 15 is arranged between pedal 11 with support frame 13 and the periphery of joint pin 15 contacts with the bottom surface of pedal 11 and the diapire of installation cavity 130, in order to pedal 11 tilts.Concrete, the bottom surface of pedal 11 is provided with locating slot 115, and the diapire of installation cavity 130 is provided with lower locating slot 135, and the upper and lower of the periphery of joint pin 15 is respectively positioned in locating slot 115 and lower locating slot 135.
It should be noted that in the present embodiment, the top of installation cavity 130 is not arranging support level 132, is so easy to pedal 11 and moves.
In sum, electrodynamic balance car of the present utility model is owing to the vehicle body 1 of main component is in tabular, therefore, and its compact conformation, it is simple to carry and deposit.Simultaneously as this electrodynamic balance car has three or four wheels 2, therefore, relatively other its balance of two-wheeled vehicle is higher for it, and user plays balance and is easier to control when standing on this electrodynamic balance car.
Although this utility model is disclosed above by preferred embodiment; but it is not limited to this utility model; any know this those skilled in the art; without departing from spirit and scope of the present utility model; can doing a little change and retouching, therefore protection domain of the present utility model is when being as the criterion depending on claims scope required for protection.
Claims (10)
1. an electrodynamic balance car, it is characterised in that include vehicle body, multiple wheel and controlling organization；Described vehicle body includes being flat pedal and the support frame being arranged at described pedal bottom, the plurality of wheel is connected with described support frame, the plurality of wheel is triangle arrangement or polygonal array, and in the bottom surface of the plurality of wheel is generally aligned in the same plane, the plane at the place, bottom surface of the plurality of wheel is parallel with described pedal；Described controlling organization controls the plurality of wheel movement according to the position of centre of gravity information of the user on described pedal.
2. electrodynamic balance car according to claim 1, it is characterized in that, described electrodynamic balance car also includes position induction device, and described position induction device is folded between described pedal and described support frame, and for sensing the position of centre of gravity information of the user on pedal；Described controlling organization is connected with described position induction device, and the position of centre of gravity information of the user that described controlling organization senses according to described position induction device controls the plurality of wheel movement.
3. electrodynamic balance car according to claim 2, it is characterized in that, the plurality of wheel includes two driving wheels, two driving wheels are symmetrically disposed on the front end of described vehicle body or the rear end of vehicle body, described controlling organization includes drive motor and is connected with described drive motor and for controlling the controller of the driving force of described drive motor output, described position induction device is connected with described controller, described drive motor is used for driving said two driving wheel to rotate, the position of centre of gravity information of the user that described controller senses according to described position induction device judges the position of centre of gravity of described user, described drive motor exports corresponding driving force to said two driving wheel to drive said two driving wheel to rotate according to the position of centre of gravity of described user.
4. electrodynamic balance car according to claim 3, it is characterized in that, the quantity of described drive motor is two, two drive motors drive two driving wheels to rotate respectively, described controller is after the position of centre of gravity judging described user, and described controller controls two described drive motors and exports corresponding driving force to said two driving wheel to drive said two driving wheel to rotate.
5. electrodynamic balance car according to claim 3, it is characterized in that, the quantity of described drive motor is one, described controlling organization also includes differential mechanism, described drive motor is connected with said two driving wheel by described differential mechanism, and described drive motor is exported driving force distribution to said two driving wheel to drive said two driving wheel to rotate according to the position of centre of gravity of described user by described differential mechanism.
6. the electrodynamic balance car according to claim 3-5 any one, it is characterized in that, the quantity of the plurality of wheel is four, the plurality of wheel includes two deflecting rollers, said two deflecting roller and the rectangular arrangement of said two driving wheel, and said two deflecting roller is oppositely arranged with said two driving wheel.
7. the electrodynamic balance car according to claim 3-5 any one, it is characterized in that, the quantity of the plurality of wheel is three, the plurality of wheel also includes a deflecting roller, described deflecting roller and said two driving wheel are triangle arrangement, and when said two driving wheel is arranged on the rear end of described vehicle body, described deflecting roller is arranged on the front center of described vehicle body；When said two driving wheel is arranged on the front end of described vehicle body, described deflecting roller is arranged in the middle part of the rear end of described vehicle body.
8. electrodynamic balance car according to claim 2, it is characterized in that, the quantity of the plurality of wheel is four and rectangular arrangement, described four wheels are universal wheel, described controlling organization includes drive motor and is connected with described drive motor and for controlling the controller of the driving force of described drive motor output, the quantity of described drive motor is four, each drive motor drives a described vehicle wheel rotation, described position induction device is connected with described controller, the position of centre of gravity information of the user that described controller senses according to described position induction device judges that the position of centre of gravity of described user the position of centre of gravity information according to described user control four vehicle wheel rotations corresponding to the corresponding drive force of described drive motors output.
9. electrodynamic balance car according to claim 2, it is characterized in that, described support frame top has recessed installation cavity, and described pedal covers installation cavity, and position induction device is positioned at installation cavity and bears against the diapire of installation cavity and the bottom of position induction device.
10. electrodynamic balance car according to claim 1, it is characterised in that described pedal front portion is convexly equipped with downwards and protects edge for what protect the wheel being positioned at body forward structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520978933.8U CN205387169U (en) | 2015-12-01 | 2015-12-01 | Electrodynamic balance car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520978933.8U CN205387169U (en) | 2015-12-01 | 2015-12-01 | Electrodynamic balance car |
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| CN205387169U true CN205387169U (en) | 2016-07-20 |
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| CN201520978933.8U Active CN205387169U (en) | 2015-12-01 | 2015-12-01 | Electrodynamic balance car |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416486A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416486A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance vehicle |
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