CN205417909U - Two -wheeled electrodynamic balance car that single footboard can turn to - Google Patents
Two -wheeled electrodynamic balance car that single footboard can turn to Download PDFInfo
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- CN205417909U CN205417909U CN201620074629.5U CN201620074629U CN205417909U CN 205417909 U CN205417909 U CN 205417909U CN 201620074629 U CN201620074629 U CN 201620074629U CN 205417909 U CN205417909 U CN 205417909U
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- pedal
- balance car
- pivotal part
- turn
- axis
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Abstract
The utility model provides a two -wheeled electrodynamic balance car that single footboard can turn to, change through single footboard gesture realizes traveling or turning to of two -wheeled electrodynamic balance car, drive the unit including single footboard, two motor wheels, first pivotal part, second pivotal part, gesture appearance and electricity, the first pivot of first pivotal part utensil rotationally is fixed in between two motor wheels, the footboard is fixed in in the pivot of second pivotal part utensil second to spacing angle is rotated and is connected first pivotal part, first pivot and the setting of second pivot two dimension quadrature, the gesture appearance sets up in first pivot and second pivot cross point position, be fixed in the second pivotal part in, sensing footboard attitude signal, the electricity drives the unit and is fixed in the footboard, and gesture appearance and two motor wheels are connected to the electricity, response attitude signal, two motor wheels of control drive respectively. This electrodynamic balance car compact structure, control simple and convenient, the body and feel light.
Description
Technical field
This utility model relates to two wheeled electric balance car technical field.
Background technology
Electrodynamic balance car, on the basis of making again " body-sensing car ", its operation principle mainly be built upon " dynamic stability ", utilize gyroscope and the acceleration transducer of vehicle body, detect the change of vehicle body attitude, and utilize servo-control system, motor is accurately driven to be adjusted correspondingly, to keep the balance of car body.
Along with arrival and the development of rechargeable battery technology of intellectualization times, the application of Intellectualized electric balance car is increasingly extensive, as environmental protection ride instead of walk, movement entertainment and intellect service robot.
The space that the existing electrodynamic balance car existence that the present inventor is recognized at present improves further:
1), single-wheel electrodynamic balance car, single wheel drive, wayward turn to, be difficult to drive；
2), the two wheeled electric balance car of band stick, single pedal, control to turn to by stick, be referred to as " manual ", its feature: car body is relatively big, structure complexity；
3), two pedal electrodynamic balance car, two pedal car body, utilize foot to control to turn to, be referred to as " foot control ", its feature: car body is relatively big, structure complicated, and user's both legs are kept upright state for a long time, are easily generated fatigue.
Utility model content
This utility model purpose is to provide a kind of compact conformation, manipulation simplicity, body-sensing " body control " two-wheel electric balance car easily.
To achieve these goals, this utility model takes techniques below scheme:
The two-wheel electric balance car that a kind of single pedal can turn to, is realized the traveling of two-wheel electric balance car by the change of single pedal attitude or is turned to, and drives unit including single pedal, two motor wheels, the first pivotal part, the second pivotal part, attitude instrument and electricity.
Described single pedal includes pedal upper cover and the pedal lower cover of fixing connection；Said two motor wheel coaxial-symmetrical is arranged；Described first pivotal part is hollow housing, has the first rotating shaft, is rotatably fixed between said two motor wheel；Described second pivotal part is hollow housing, is stretched out by described first pivotal part, is fixed on described pedal, and tool the second rotating shaft, connects described first pivotal part with spacing angular turn；Described first rotating shaft is arranged with described second rotating shaft two-dimensional quadrature；Described attitude instrument is arranged at described first rotating shaft and the second rotating shaft position of intersecting point, is fixed in described second pivotal part, senses described pedal attitude signal；Described electricity drives unit and is fixed on described pedal, electrically connects described attitude instrument and two motor wheels, responds described attitude signal, controls respectively to drive said two motor wheel.
Further, two motor wheels of this electrodynamic balance car include wheel hub motor and fixing its outer wheel sheathed respectively, and said two motor wheel is arranged at lower section or the both sides in described pedal centre position.
Further, the wheel hub motor of this electrodynamic balance car includes motor shaft, and described motor shaft is fixing connects described first pivotal part.
Pivotal part of the present utility model and rotary shaft tool following two implementation:
The first: the first rotating shaft of this electrodynamic balance car is X-axis, and described second rotating shaft includes Y-axis；Described first pivotal part tool limit opening, the extension of described limit opening and described second pivotal part constitutes spacing around Y-axis rotational angle；The attitude instrument of this electrodynamic balance car includes gyroscope and acceleration transducer, senses the attitude signal that described pedal rotates around X-axis or Y-axis.
The second, the first rotating shaft of this electrodynamic balance car is X-axis, and described second rotating shaft includes Z axis；Described second pivotal part is disposed radially limited location block, and described first pivotal part is provided with the stopper slot corresponding with described positive stop, described positive stop and stopper slot composition and turns about the Z axis angle limit；The attitude instrument of this electrodynamic balance car includes gyroscope, acceleration transducer and rotary angle transmitter, senses the attitude signal that described pedal rotates around X-axis or Z axis；Described rotary angle transmitter is rotatably connected between described first pivotal part and attitude instrument.
Further, the electricity of this electrodynamic balance car drives unit and includes foot switch assembly, power supply module and control assembly.
Foot switch assembly includes one group or two groups, often two foot switchs of group, is fixed on described pedal upper surface, and whether sensing user stands on electrodynamic balance car to be turned on and off.
Power supply module includes rechargeable battery, on and off switch, charging inlet；Rechargeable battery is balancedly fixed in described pedal, and on and off switch is fixed on described pedal side, is used for being turned on and off power supply, and charging inlet is fixed on described pedal side, charges for battery.
Control assembly and include warning circuit, control circuit, drive circuit；Warning circuit, for the too low warning of electricity, the excessive warning of electric current, the too high warning of speed；Control circuit includes microprocessor, and attitude signal carries out computing, process, produces control signal；Drive circuit receives described control signal, drives the rotating speed of said two motor wheel respectively and turns to.
Further, the shape of the pedal of this electrodynamic balance car includes circle.
Effective effect of the present utility model: 1), use single circle or symmetric figure pedal and the equiblibrium mass distribution of battery, body gravity equilibrium, more compact structure；2), attitude instrument be arranged at the rotary shaft center of pedal, sensing attitude signal is more accurate；3), pedal is used conveniently by tilting, tilt or twist to manipulate advance and retreat before and after health or can to turn to around the two-dimensional rotary of X-axis, Y-axis or Z axis, user, be referred to as " body control ", manipulate easier, light.
Accompanying drawing explanation
The structural representation of the two-wheel electric balance car that the single pedal that Fig. 1 provides for this utility model one embodiment can turn to；
The two-wheel electric balance car structural profile schematic diagram that the single pedal that Fig. 2 provides for this utility model one embodiment can turn to；
The structural representation of the two-wheel electric balance car that the single pedal that Fig. 3 provides for another embodiment of this utility model can turn to；
The two-wheel electric balance car pivotal part partial structurtes explosive view that the single pedal that Fig. 4 provides for this utility model one embodiment can turn to；
The two-wheel electric balance car pivotal part partial structurtes explosive view that the single pedal that Fig. 5 provides for another embodiment of this utility model can turn to；
The two-wheel electric balance car systemic-function block schematic diagram that the single pedal that Fig. 6 provides for this utility model one embodiment can turn to；
The two-wheel electric balance car pedal that the single pedal that Fig. 7 provides for this utility model one embodiment can turn to turns about the X axis schematic diagram；
The two-wheel electric balance car pedal that the single pedal that Fig. 8 provides for this utility model one embodiment can turn to rotates schematic diagram around Y-axis；
The two-wheel electric balance car pedal that the single pedal that Fig. 9 provides for this utility model one embodiment can turn to turns about the Z axis schematic diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
With reference to Fig. 1, Fig. 2, Fig. 3, the two-wheel electric balance car that a kind of single pedal that this utility model provides can turn to, realize the traveling of two-wheel electric balance car by the change of single pedal attitude or turn to；Including: single pedal 10, two motor wheel the 20, first pivotal part the 30, second pivotal parts 40, attitude instrument 50, electricity drive unit 60.
Single pedal 10 includes pedal upper cover 11 and the pedal lower cover 12 of fixing connection；Two motor wheel 20 coaxial-symmetricals are arranged；First pivotal part 30 is hollow housing, has the first rotating shaft, is rotatably fixed between two motor wheels 20；Second pivotal part 40 is hollow housing, is stretched out by the first pivotal part 30, is fixed on pedal 10, and tool the second rotating shaft, connects the first pivotal part 30 with spacing angular turn；First rotating shaft is arranged with the second rotating shaft two-dimensional quadrature；Attitude instrument 50 is arranged at the first rotating shaft and the second rotating shaft position of intersecting point, is fixed in the second pivotal part 40, senses pedal attitude signal；Electricity drives unit 60 and is fixed in pedal 10, electrical connection attitude instrument 50 and two motor wheels 20, responds attitude signal, controls respectively to drive two motor wheels 20.
Two motor wheels 20 of this electrodynamic balance car include wheel hub motor 21 and fixing its outer wheel 22 sheathed respectively, and two motor wheels 20 are arranged at lower section or the both sides in pedal 10 centre position.
In this utility model one embodiment, two motor wheels 20 are arranged at the lower section (shown in Fig. 1) of pedal 10, and in another embodiment, two motor wheels 20 are arranged at the both sides (shown in Fig. 3) of pedal 10.
In above-described embodiment, pedal 10 uses circle, pedal upper cover 11 and pedal lower cover 12 all to use aluminum alloy material manufacture, it is ensured that the intensity of its entirety is more preferable, weight is lighter.
With reference to Fig. 4, for the pivotal part partial structurtes explosive view of this utility model one embodiment.
The wheel hub motor 21 of this electrodynamic balance car includes motor shaft 211, and motor shaft 211 is fixing connects the first pivotal part 30A.
Wheel hub motor 21, uses outer rotor brushless DC motor, and this motor can be accurately controlled rotating speed and turn to, fast response time.
First rotating shaft of this electrodynamic balance car is X-axis, and the second rotating shaft is Y-axis；First pivotal part 30A has limit opening 31A, and the extension of limit opening 31A and the second pivotal part 40A constitutes spacing around Y-axis rotational angle；The attitude instrument 50 of this electrodynamic balance car includes gyroscope 51 and acceleration transducer 52, the attitude signal that sensing pedal 10 rotates around X-axis or Y-axis.
With reference to Fig. 5, for the pivotal part partial structurtes explosive view of another embodiment of this utility model.
First rotating shaft of this electrodynamic balance car is X-axis, and the second rotating shaft is Z axis；Second pivotal part 40B be disposed radially limited location block 41B, the first pivotal part 30B be provided with the stopper slot 31B corresponding with positive stop 41B, positive stop 41B and stopper slot 31B constitute turn about the Z axis angle limit；The attitude instrument of this electrodynamic balance car includes gyroscope 51, acceleration transducer 52 and rotary angle transmitter 53, senses the attitude signal that described pedal 10 rotates around X-axis or Z axis；Rotary angle transmitter 53 is rotatably connected between the first pivotal part 30B and attitude instrument 50.
By upper, in another embodiment, attitude instrument with the addition of rotary angle transmitter 53, and in two embodiments, gyroscope 51 and acceleration transducer 52 can use identical model specification.
Above-described embodiment uses MEMS gyroscope 51 and the acceleration transducer 52 of at least two axles, and rotary angle transmitter 53 uses Hall non-contact sensor, can accurately detect the inclination angle of pedal 10, angular velocity signal, angular signal；In view of gyroscope, acceleration transducer, the function of rotary angle transmitter are known technologies, no longer it is further described at this.
Attitude instrument 50 of the present utility model is positioned at the center of rotation position of pedal 10, and when pedal 10 anglec of rotation is zero, i.e. attitude instrument 50 is in initial position, therefore, it is convenient to obtain accurate attitude signal initial value.
With reference to Fig. 6, Fig. 2, the electricity of this electrodynamic balance car drives unit 60 and includes: foot switch assembly 61, power supply module 62, control assembly 63.
Foot switch assembly 61, is made up of two groups of foot switchs 61X, 61Y, arranges with pedal 10 centrosymmetry, is fixed on pedal 10 upper surface, and whether sensing user stands on electrodynamic balance car to be turned on and off.
Power supply module 62, including rechargeable battery 621, on and off switch 622, charging inlet 623；Rechargeable battery 621 is balancedly fixed in pedal 10, and on and off switch 622 is fixed on pedal 10 side, is used for being turned on and off power supply, and charging inlet 623 is fixed on pedal 10 side, charges for battery.
Control assembly 63, including warning circuit 631, control circuit 632, drive circuit 633；Warning circuit 631 is for the too low warning of electricity, the excessive warning of electric current, the too high warning of speed；Control circuit 632 includes microprocessor, and attitude signal carries out computing, process, produces control signal；Drive circuit 633 receives control signal, drives the rotating speed of two motor wheels 20 respectively and turns to.
In this utility model one embodiment, foot switch assembly 61 uses Photoelectric infrared switch, rechargeable battery 621 uses high-capacity lithium battery, on and off switch 622 uses the key switch of metal-back, warning circuit uses buzzer and LED, microprocessor uses arm processor, and drive circuit 633 uses three phase bridge circuit.
Control assembly 63 of the present utility model, belongs to prior art, such as patent and the existing associated description of other patent of Chinese Patent Application No. 201310516158.X.The most reinflated at this repeat.
With reference to Fig. 7, Fig. 8, Fig. 9, below the duty of dual-purpose electric balance car of the present utility model is described further:
1) energising: power-on switch 622；
2) stand plate: both feet station upper footboard 10, foot switch assembly 61 is operated, and electrodynamic balance car is in unlatching holding state；
3) initial: car body 10 is in level, without tilting, without spin, attitude instrument 50 is output as setting initial value, and now, motor wheel 20 does not turns, and electrodynamic balance car is in original state；
4) retreating: forward lean or hypsokinesis, pedal 10 rotates around X-axis, and attitude instrument 50 exports the attitude signal around X-axis inclination angle, electricity drives unit 60 and controls respectively to drive two motor wheel 20 forward or reverse, and electrodynamic balance Herba Plantaginis enters or retreats, and rotating speed is corresponding with inclination angle size, inclination angle is the biggest, and rotating speed is the fastest；
5) turn to: an embodiment, body bilateral tilts, pedal 10 drives the second pivotal part 40A to rotate around Y-axis, attitude instrument 50 exports around X-axis, Y-axis weighting obliquity and attitude signal, electricity drives unit 60 and controls respectively to drive two motor wheels 20 to produce speed discrepancy, and electrodynamic balance car is turned, and turns to radian corresponding with the corner size of pedal 10, inclination angle is the biggest, turns to radian the least.
Another embodiment, twists health, and pedal 10 drives the second pivotal part 40B to rotate about the z axis, and attitude instrument 50 exports around X-axis inclination angle, the weighted signal of Z axis corner, and electricity drives unit 60 and controls respectively to drive two motor wheels 20 to produce speed discrepancy, and electrodynamic balance car is turned.
Above-described embodiment only illustrates this utility model, does not constitute any restriction of the present utility model, is made the technical scheme of equivalence or approximation all within this utility model protection domain by inspiration of the present utility model.
Claims (9)
1. the two-wheel electric balance car that a single pedal can turn to, it is characterised in that realize the traveling of two-wheel electric balance car by the change of single pedal attitude or turn to, including:
Single pedal, including the fixing pedal upper cover connected and pedal lower cover；
Two motor wheels, coaxial-symmetrical is arranged；
First pivotal part, hollow housing, have the first rotating shaft, be rotatably fixed between said two motor wheel；
Second pivotal part, hollow housing, is stretched out by described first pivotal part, is fixed on described pedal；And tool the second rotating shaft, connect described first pivotal part with spacing angular turn；Described first rotating shaft is arranged with described second rotating shaft two-dimensional quadrature；
Attitude instrument, is arranged at described first rotating shaft and the second rotating shaft position of intersecting point, is fixed in described second pivotal part, sense described pedal attitude signal；
Electricity drives unit, is fixed on described pedal, electrically connects described attitude instrument and two motor wheels, responds described attitude signal, controls respectively to drive said two motor wheel.
2. the two-wheel electric balance car that single pedal as claimed in claim 1 can turn to, it is characterised in that said two motor wheel includes wheel hub motor and fixing its outer wheel sheathed respectively, and said two motor wheel is arranged at lower section or the both sides in described pedal centre position.
3. the two-wheel electric balance car that single pedal as claimed in claim 2 can turn to, it is characterised in that described wheel hub motor includes motor shaft, described motor shaft is fixing connects described first pivotal part.
4. the two-wheel electric balance car that single pedal as claimed in claim 1 can turn to, it is characterised in that described first rotating shaft is X-axis, and described second rotating shaft includes Y-axis；Described first pivotal part tool limit opening, the extension of described limit opening and described second pivotal part constitutes spacing around Y-axis rotational angle.
5. the two-wheel electric balance car that the single pedal as described in claim 1 or 4 can turn to, it is characterised in that described attitude instrument includes gyroscope and acceleration transducer, senses the attitude signal that described pedal rotates around X-axis or Y-axis.
6. the two-wheel electric balance car that single pedal as claimed in claim 1 can turn to, it is characterised in that described first rotating shaft is X-axis, and described second rotating shaft includes Z axis；Described second pivotal part is disposed radially limited location block, and described first pivotal part is provided with the stopper slot corresponding with described positive stop, described positive stop and stopper slot composition and turns about the Z axis angle limit.
7. the two-wheel electric balance car that the single pedal as described in claim 1 or 6 can turn to, it is characterised in that described attitude instrument includes gyroscope, acceleration transducer and rotary angle transmitter, senses the attitude signal that described pedal rotates around X-axis or Z axis；Described rotary angle transmitter is rotatably connected between described first pivotal part and attitude instrument.
8. the two-wheel electric balance car that single pedal as claimed in claim 1 can turn to, it is characterised in that described electricity drives unit and includes:
Foot switch assembly, including one group or two groups, often two foot switchs of group, it is fixed on described pedal upper surface, whether sensing user stands on electrodynamic balance car to be turned on and off；
Power supply module, including rechargeable battery, on and off switch, charging inlet；
Control assembly, including warning circuit, control circuit, drive circuit.
9. the two-wheel electric balance car that single pedal as claimed in claim 1 can turn to, it is characterised in that the shape of described pedal includes circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620074629.5U CN205417909U (en) | 2016-01-27 | 2016-01-27 | Two -wheeled electrodynamic balance car that single footboard can turn to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620074629.5U CN205417909U (en) | 2016-01-27 | 2016-01-27 | Two -wheeled electrodynamic balance car that single footboard can turn to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205417909U true CN205417909U (en) | 2016-08-03 |
Family
ID=56540184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620074629.5U Withdrawn - After Issue CN205417909U (en) | 2016-01-27 | 2016-01-27 | Two -wheeled electrodynamic balance car that single footboard can turn to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205417909U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691505A (en) * | 2016-01-27 | 2016-06-22 | 陈云飞 | Single-pedal steerable two-wheel electric balance vehicle |
| CN108407942A (en) * | 2017-02-10 | 2018-08-17 | Robo3株式会社 | Sufficient ejector half distorts the hands-free balanced pedal vehicle of steering-type |
-
2016
- 2016-01-27 CN CN201620074629.5U patent/CN205417909U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691505A (en) * | 2016-01-27 | 2016-06-22 | 陈云飞 | Single-pedal steerable two-wheel electric balance vehicle |
| CN105691505B (en) * | 2016-01-27 | 2018-03-27 | 陈云飞 | The two-wheel electric balance car that single pedal can turn to |
| CN108407942A (en) * | 2017-02-10 | 2018-08-17 | Robo3株式会社 | Sufficient ejector half distorts the hands-free balanced pedal vehicle of steering-type |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160803 Effective date of abandoning: 20180327 |
|
| AV01 | Patent right actively abandoned |