CN205417931U - Dual -purpose two -wheeled electrodynamic balance car - Google Patents
Dual -purpose two -wheeled electrodynamic balance car Download PDFInfo
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- CN205417931U CN205417931U CN201620074628.0U CN201620074628U CN205417931U CN 205417931 U CN205417931 U CN 205417931U CN 201620074628 U CN201620074628 U CN 201620074628U CN 205417931 U CN205417931 U CN 205417931U
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Abstract
The utility model provides a dual -purpose two -wheeled electrodynamic balance car, its two kinds of directions that can realize the quadrature are stood and are controlled and travel, drive the unit including single footboard, two sets of foot switch, two motor wheels, pivot mechanism and electricity, a single footboard provides the pedal position of two orthogonal directions, whether two sets of foot switch are fixed in the footboard upper cover, respond to the user respectively and stand in order to open or to close on the electrodynamic balance car, two motors wheel with coaxial symmetry set up in footboard intermediate position below, pivot mechanism is hollow shell, rotationally connects between footboard and two motors wheel, the electricity drives the unit electricity and connects two sets of foot switch and two motor wheels, detects the footboard attitude signal, respectively two motor wheels of control drive. This electrodynamic balance car compact structure, control simple and convenient, the whole car is dual -purpose.
Description
Technical field
This utility model relates to two-wheel electric balance car technical field.
Background technology
Electrodynamic balance car, " body-sensing car ", its operation principle is made again to be mainly built upon " dynamic stability " substantially, 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.
The most several electrodynamic balance cars are single direction and stand traveling, or are forward, or are lateral, it is impossible to accomplishing not only can forward but also traveling of can laterally standing.
Utility model content
This utility model purpose is " body control " the two-wheel electric balance car providing a kind of compact conformation, manipulation is easy, a car is dual-purpose.
To achieve these goals, this utility model takes techniques below scheme:
A kind of dual-purpose two-wheel electric balance car, it can realize orthogonal two kind direction and stands and manipulate traveling；Unit is driven including single pedal, two groups of foot switchs, two motor wheels, privot mechanism and electricity.
Described single pedal provides the foot position of two orthogonal directions, including the fixing pedal upper cover connected and pedal lower cover；Described two groups of foot switchs, often organize at least two, orthogonal with described pedal centre, be symmetrically fixed on described pedal upper cover, and two of symmetric position is one group, is respectively induced whether user stands on electrodynamic balance car to be turned on and off；Said two motor wheel, is arranged at below described pedal centre position with coaxial-symmetrical, includes wheel hub motor and fixing its outer wheel sheathed respectively；Described privot mechanism is hollow housing, is rotatably connected between described pedal and two motor wheels；Described electricity drives unit, is fixed in described pedal, electrically connects described two groups of foot switchs and two motor wheels, detects described pedal attitude signal, controls respectively to drive said two motor wheel.
Further, the privot mechanism of this electrodynamic balance car includes that the first pivotal part and the second pivotal part, described first pivotal part have the first rotating shaft, be the most coaxially fixed between said two motor wheel；Described second pivotal part 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.
Further, the wheel hub motor of this electrodynamic balance car includes motor shaft, and described motor shaft is fixing connects described first pivotal part.
Electrodynamic balance car privot mechanism of the present utility model 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 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.
Further, the electricity of this electrodynamic balance car drives unit and includes: power supply module, attitude instrument and control assembly.
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.
Attitude instrument includes gyroscope, acceleration transducer, is fixed in described privot mechanism the second pivotal part, the first rotating shaft and the position of intersecting point of the second rotating shaft.
Controlling assembly and include warning circuit, control circuit, drive circuit, be fixed in described pedal, described electricity drives and electrically connects between each parts of unit；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 turn to.
Further, for the second implementation of above-mentioned privot mechanism, the attitude instrument of this electrodynamic balance car also includes rotary angle transmitter, senses the attitude signal that described second pivotal part turns about the Z axis；Described rotary angle transmitter is rotatably connected between described first pivotal part and attitude instrument.
Further, the shape of the pedal of this electrodynamic balance car includes circle.
Effective effect of the present utility model: 1), use the circular or single pedal of symmetric figure and the equiblibrium mass distribution of battery, body gravity equilibrium, more compact structure；2), 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；3), the optional forward with travel direction of user or traveling of laterally standing, a car is dual-purpose, and Consumer's Experience is more rich.
Accompanying drawing explanation
The structural representation of the dual-purpose two-wheel electric balance car that Fig. 1 provides for this utility model one embodiment；
The structural profile schematic diagram of the dual-purpose two-wheel electric balance car that Fig. 2 provides for this utility model one embodiment；
The privot mechanism structural blast figure of the dual-purpose two-wheel electric balance car that Fig. 3 provides for this utility model one embodiment；
The privot mechanism structural blast figure of the dual-purpose two-wheel electric balance car that Fig. 4 provides for another embodiment of this utility model；
The systemic-function block schematic diagram of the dual-purpose two-wheel electric balance car that Fig. 5 provides for this utility model one embodiment；
Fig. 6 turns about the X axis schematic diagram for the pedal of the dual-purpose two-wheel electric balance car that this utility model one embodiment provides；
Fig. 7 rotates schematic diagram for the pedal of the dual-purpose two-wheel electric balance car that this utility model one embodiment provides around Y-axis；
Fig. 8 turns about the Z axis schematic diagram for the pedal of the dual-purpose two-wheel electric balance car that this utility model one embodiment provides；
Two kinds of stance schematic diagrams of dual-purpose two-wheel electric balance car that Fig. 9 provides for this utility model one embodiment.
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, the one dual-purpose two-wheel electric balance car that this utility model one embodiment provides, it can realize orthogonal two kind direction and stands and manipulate traveling；Unit 50 is driven including single pedal 20, two motor wheels 30 of 10, two groups of foot switchs, privot mechanism 40 and electricity.
Single pedal 10 provides the foot position of two orthogonal directions, including the fixing pedal upper cover 11 connected and pedal lower cover 12；Two groups of foot switchs 20 are respectively 20X, 20Y, often group two, orthogonal with pedal 10 center, be symmetrically fixed on pedal upper cover 11, and two of symmetric position is one group, is respectively induced whether user stands on electrodynamic balance car to be turned on and off；Two motor wheel 30 coaxial-symmetricals are arranged at below pedal 10 centre position, include wheel hub motor 31 and fixing its outer wheel 32 sheathed respectively；Privot mechanism 40 is hollow housing, is rotatably connected between pedal 10 and two motor wheels 30；Electricity drives unit 50, electrically connects two groups of foot switchs 20 and two motor wheels 30, detects pedal 10 attitude signal, controls respectively to drive two motor wheels 30.
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, and two groups of foot switchs 20 use Photoelectric infrared switch.
With reference to Fig. 3, Fig. 4, for privot mechanism structural blast figure of the present utility model.
The privot mechanism 40 of this electrodynamic balance car includes the first pivotal part 41 and the second pivotal part 42, the first pivotal part 41, has the first rotating shaft, is the most coaxially fixed between two motor wheels 30；Second pivotal part 42, is stretched out by the first pivotal part 41, is fixed on pedal 10；And tool the second rotating shaft, connect the first pivotal part 41 with spacing angular turn；First rotating shaft is arranged with the second rotating shaft two-dimensional quadrature.
The wheel hub motor 31 of this electrodynamic balance car includes motor shaft 311, and motor shaft 311 is fixing connects the first pivotal part 41；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.
Privot mechanism 40 of the present utility model has a following two implementation:
Shown in Fig. 3, an embodiment: the first rotating shaft of this electrodynamic balance car is X-axis, described second rotating shaft includes Y-axis；First pivotal part 41A has limit opening 411A, and the extension of limit opening 411A and the second pivotal part 42A constitutes spacing around Y-axis rotational angle.
Shown in Fig. 4, another embodiment, the first rotating shaft of this electrodynamic balance car is X-axis, and the second rotating shaft includes Z axis；Second pivotal part 42B be disposed radially limited location block 421B, the first pivotal part 41B be provided with the stopper slot 411B corresponding with positive stop 421B, positive stop 421B and stopper slot 411B constitute turn about the Z axis angle limit.
With reference to Fig. 5, the electricity of this electrodynamic balance car drives unit 50 and includes power supply module 51, attitude instrument 52 and control assembly 53, and described electricity drives and electrically connects between each parts of unit 50.
Power supply module 51, including rechargeable battery 511, on and off switch 512, charging inlet 513；Rechargeable battery 511 is balancedly fixed in pedal 10, and on and off switch 512 is fixed on pedal 10 side, is used for being turned on and off power supply, and charging inlet 513 is fixed on pedal 10 side, charges for battery；Rechargeable battery 511 uses high-capacity lithium battery, on and off switch 512 to use the key switch of metal-back.
Attitude instrument 52 includes gyroscope 521, acceleration transducer 522, is fixed in privot mechanism 40 second pivotal part 42, the first rotating shaft and the position of intersecting point of the second rotating shaft.
Control assembly 53 and include warning circuit 531, control circuit 532, drive circuit 533, be fixed in pedal 10；Warning circuit 531 is for the too low warning of electricity, the excessive warning of electric current, the too high warning of speed；Control circuit 532 includes microprocessor, and attitude signal carries out computing, process, produces control signal；Drive circuit 533, receives control signal, drives the rotating speed of two motor wheels 30 respectively and turn to.
Control assembly 53 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.
Warning circuit 531 uses buzzer and LED, and microprocessor uses arm processor, and drive circuit 533 uses three phase bridge circuit.
Further, for another embodiment (shown in Fig. 4) of above-mentioned privot mechanism, the attitude instrument 52 of this electrodynamic balance car also includes rotary angle transmitter 523, senses the attitude signal that described second pivotal part 42 turns about the Z axis；Described rotary angle transmitter 523 is rotatably connected between described first pivotal part 41B and attitude instrument 52.
By upper, in another embodiment, attitude instrument 52 with the addition of rotary angle transmitter 523, and in two embodiments, gyroscope 521 and acceleration transducer 522 can use identical model specification.
Above-described embodiment uses MEMS gyroscope 521 and the acceleration transducer 522 of at least two axles, and rotary angle transmitter 523 uses Hall non-contact sensor, can accurately detect the inclination angle of pedal 10, angular velocity signal, angular signal；In view of gyroscope 521, acceleration transducer 522, the function of rotary angle transmitter 523 are known technologies, no longer it is further described at this.
Attitude instrument 52 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 52 is in initial position, therefore, it is convenient to obtain accurate attitude signal initial value.
With reference to Fig. 6, Fig. 7, Fig. 8, below the duty of dual-purpose electric balance car of the present utility model is described further:
1) energising: power-on switch 512；
2) stand plate: both feet station upper footboard 10, the one of which of foot switch 20 is operated, and electrodynamic balance car is in unlatching holding state；
3) initial: pedal 10 is in level, without tilting, without spin, attitude instrument 52 is output as setting initial value, and now, motor wheel 30 does not turns, and electrodynamic balance car is in original state；
4) retreat: shown in Fig. 6, forward lean or hypsokinesis, pedal 10 rotates around X-axis, attitude instrument 52 exports the attitude signal around X-axis inclination angle, controlling assembly 53 to control respectively to drive two motor wheel 30 forward or reverse, 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: shown in Fig. 7, one embodiment, body bilateral tilts, pedal 10 drives the second pivotal part 42A to rotate around Y-axis, and attitude instrument 52 exports around X-axis, Y-axis weighting obliquity and attitude signal, controls assembly 53 and controls respectively to drive two motor wheels 30 to produce speed discrepancy, electrodynamic balance car is turned, turning to radian corresponding with the corner size of pedal 10, inclination angle is the biggest, turns to radian the least.
Shown in Fig. 8, another embodiment, twist health, pedal 10 drives the second pivotal part 42B to rotate about the z axis, attitude instrument 52 exports around X-axis inclination angle, the weighted signal of Z axis corner, controls assembly 53 and controls respectively to drive two motor wheels 30 to produce speed discrepancy, and electrodynamic balance car is turned.
With reference to Fig. 9, for two kinds of stance schematic diagrams of this utility model, the optional traveling of standing with travel direction forward (X-direction) or lateral (Y direction) of user, an electrodynamic balance car has the Consumer's Experience of two balance cars, and this is one of obvious characteristic of the present utility model.
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 (8)
1. a dual-purpose two-wheel electric balance car, it is characterised in that it can realize orthogonal two kind direction and stands and manipulate traveling；Unit is driven including: single pedal, two groups of foot switchs, two motor wheels, privot mechanism and electricity；
Described single pedal provides the foot position of two orthogonal directions, including the fixing pedal upper cover connected and pedal lower cover；
Described two groups of foot switchs, often organize at least two, orthogonal with described pedal centre, be symmetrically fixed on described pedal upper cover, and two of symmetric position is one group, is respectively induced whether user stands on electrodynamic balance car to be turned on and off；
Said two motor wheel, is arranged at below described pedal centre position with coaxial-symmetrical, includes wheel hub motor and fixing its outer wheel sheathed respectively；
Described privot mechanism is hollow housing, is rotatably connected between described pedal and two motor wheels；
Described electricity drives unit, electrically connects described two groups of foot switchs and two motor wheels, detects described pedal attitude signal, controls respectively to drive said two motor wheel.
Dual-purpose two-wheel electric balance car the most as claimed in claim 1, it is characterised in that described privot mechanism includes that the first pivotal part and the second pivotal part, described first pivotal part have the first rotating shaft, be the most coaxially fixed between said two motor wheel；Described second pivotal part 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 the second rotating shaft two-dimensional quadrature.
Dual-purpose two-wheel electric balance car the most as claimed in claim 2, it is characterised in that described wheel hub motor includes motor shaft, described motor shaft is fixing connects described first pivotal part.
Dual-purpose two-wheel electric balance car the most as claimed in claim 2, it is characterised in that described first rotating shaft is X-axis, 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.
Dual-purpose two-wheel electric balance car the most as claimed in claim 2, it is characterised in that described first rotating shaft is X-axis, 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.
Dual-purpose two-wheel electric balance car the most as claimed in claim 1, it is characterised in that described electricity drives unit and includes:
Power supply module, including rechargeable battery, on and off switch, charging inlet, is fixed on described pedal；
Attitude instrument: include gyroscope, acceleration transducer, is fixed in described privot mechanism；
Control assembly, including warning circuit, control circuit, drive circuit, be fixed in described pedal；
Described electricity drives and electrically connects between each parts of unit.
Dual-purpose two-wheel electric balance car the most as claimed in claim 6, it is characterised in that described attitude instrument also includes rotary angle transmitter.
Dual-purpose two-wheel electric balance car the most as claimed in claim 1, it is characterised in that the shape of described pedal includes circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620074628.0U CN205417931U (en) | 2016-01-27 | 2016-01-27 | Dual -purpose two -wheeled electrodynamic balance car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620074628.0U CN205417931U (en) | 2016-01-27 | 2016-01-27 | Dual -purpose two -wheeled electrodynamic balance car |
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| CN205417931U true CN205417931U (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620074628.0U Expired - Fee Related CN205417931U (en) | 2016-01-27 | 2016-01-27 | Dual -purpose two -wheeled electrodynamic balance car |
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| CN107512348A (en) * | 2017-07-27 | 2017-12-26 | 纳恩博（北京）科技有限公司 | Electrodynamic balance car |
| KR20200020976A (en) * | 2017-07-27 | 2020-02-26 | 나인보트 (베이징) 테크 컴퍼니 리미티드 | Roller-skating device and electric balance vehicle |
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| KR102115845B1 (en) | 2017-07-27 | 2020-05-28 | 나인보트 (베이징) 테크 컴퍼니 리미티드 | Roller-skating device and electric balance vehicle |
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| CN107512348B (en) * | 2017-07-27 | 2020-11-24 | 纳恩博（北京）科技有限公司 | Electric balance car |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20190127 |
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| CF01 | Termination of patent right due to non-payment of annual fee |