CN205632808U - Self -balance vehicle - Google Patents
Self -balance vehicle Download PDFInfo
- Publication number
- CN205632808U CN205632808U CN201620474432.0U CN201620474432U CN205632808U CN 205632808 U CN205632808 U CN 205632808U CN 201620474432 U CN201620474432 U CN 201620474432U CN 205632808 U CN205632808 U CN 205632808U
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- CN
- China
- Prior art keywords
- wheel
- self
- pedal
- pressure sensor
- balancing vehicle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a self -balance vehicle, pressure sensor's footboard and controller are provided with including wheel, drive wheels pivoted motor, inside, the wheel includes preceding wheel and rear wheel, preceding wheel and rear wheel tandem set up on the footboard, pressure sensor is including the leading pressure sensor and the rearmounted pressure sensor of setting at the footboard back end that set up at the footboard anterior segment, motor, leading pressure sensor and rearmounted pressure sensor respectively with the controller is connected. The utility model discloses a self -balance vehicle, wheel and rear wheel before being provided with for when the motor did not have the electric power supply, the user also can trample on the automobile body smoothly, thereby it has improved the security of using to show to land. In addition, gathering gravity numerical value through leading pressure sensor and rearmounted pressure sensor, providing to the controller control motor and just reversing in order to keep the balance, this kind of balanced system has saved components such as gyroscope to can show reduction in production cost.
Description
Technical field
This utility model belongs to technical field of transportation means, particularly relates to a kind of Self-Balancing vehicle.
Background technology
Current, electrodynamic balance car, is again body-sensing car, thinking car, act as regent car etc..Single wheel is mainly had on market
With two-wheel two class.Its operation principles is mainly built upon one and is referred to as " dynamic stability " (Dynamic
Stabilization), in ultimate principle, utilize gyroscope and the acceleration transducer of vehicle body, examine
Survey the change of vehicle body attitude, and utilize servo-control system, accurately drive motor to be adjusted correspondingly, with
The balance of holding system.It it is modern's a kind of novel environmental protection of being used as walking-replacing tool, amusement and recreation
Product.But, current electrodynamic balance car has a following deficiency: 1) do not have electric power or electric hypodynamic time
Wait, be just unable to maintain that car body balances；2) needing the element such as gyroscope or angular transducer, manufacturing cost is higher.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of Self-Balancing vehicle, and this Self-Balancing vehicle eliminates top
The elements such as spiral shell instrument or angular transducer, the most in the event of a power failure, user also can stand in safely
Che Shang, considerably improves the safety and stability of car.
This utility model is by the techniques below means above-mentioned technical problem of solution:
Self-Balancing vehicle of the present utility model, including wheel, the motor of driving vehicle wheel rotation, is internally provided with pressure
The pedal of sensor and controller, described wheel includes front vehicle wheel and rear wheel, described front vehicle wheel and rear wheel
One in front and one in back it is arranged on pedal；Described pressure transducer includes the precondition pressure sensor being arranged on pedal leading portion
Be arranged on the rearmounted pressure transducer of pedal back segment, described motor, precondition pressure sensor and rearmounted pressure pass
Sensor is connected with described controller respectively.
Further, described motor is the wheel hub motor being built in wheel.
Further, also include battery and the attaching plug being connected with battery, described pedal side be provided with
The power interface that attaching plug connects, described power interface is connected with controller.
Further, described front vehicle wheel and rear wheel are each provided with two.
Further, width and the length of described pedal are corresponding to the width of human foot and length, on described pedal
Being provided with fixture, described fixture is for being fixed on pedal by the foot of user.
Further, described fixture is the belt body that can bundle user foot.
Further, described fixture is shoe body.
Further, described pedal being provided with balance plate, the middle part of described balance plate is stepped on described by jointed shaft
Plate is hinged, and described balance plate is separated out front plate and rear plate, described precondition pressure sensor by described jointed shaft
Being correspondingly arranged at the lower section of front plate, described rearmounted pressure transducer is correspondingly arranged at the lower section of rear plate.Preferably
, the rear side of the inclined balance plate of described jointed shaft is arranged so that jointed shaft is closer to the position of centre of gravity of foot.
Further, also include that acceleration transducer, described acceleration transducer are connected with described controller.
The beneficial effects of the utility model:
1) Self-Balancing vehicle of the present utility model, is provided with front vehicle wheel and rear wheel so that supply at motor unregulated power
To when, user smoothly can also be trampled on car body, thus considerably improve the safety of use.
2) Self-Balancing vehicle of the present utility model, is gathered by precondition pressure sensor and rearmounted pressure transducer
Gravity numerical value, can calculate the offset of gravity by controller, thus controls motor positive and inverse to maintain balance,
This kind of balance system eliminates the elements such as gyroscope, thus can significantly reduce production cost.
Accompanying drawing explanation
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
Fig. 1 is the side structure schematic diagram of this utility model Self-Balancing vehicle in embodiment 1；
Fig. 2 is the side structure schematic diagram of this utility model Self-Balancing vehicle in embodiment 2；
Fig. 3 is the side structure schematic diagram of this utility model Self-Balancing vehicle in embodiment 3.
Detailed description of the invention
Below with reference to accompanying drawing, this utility model is described in detail:
Embodiment 1 Self-Balancing vehicle
As it is shown in figure 1, the Self-Balancing vehicle in the present embodiment, the motor 2 including wheel, driving vehicle wheel rotation,
Being internally provided with pedal 3 and the controller of pressure transducer 5, described motor 2 is the wheel being built in wheel
Hub motor, described wheel includes front vehicle wheel 1a and rear wheel 1b, and described front vehicle wheel and rear wheel one in front and one in back set
Putting below pedal, width and the length of described pedal are corresponding to the width of human foot and length, described pedal
On be provided with fixture 4, described fixture for being fixed on pedal, described fixture by the foot of user
For the belt body of user foot can be bundled；Described pressure transducer includes the precondition pressure being arranged on pedal leading portion
Sensor and be arranged on the rearmounted pressure transducer of pedal back segment, described motor, precondition pressure sensor and rearmounted
Pressure transducer is connected with described controller respectively, and described precondition pressure sensor is for measuring before user
Trampling pressure at sole, described rearmounted pressure transducer is for measuring from trampling pressure at user heel
Power.Also including battery 6, in the present embodiment, described battery is arranged on below pedal, described battery and controller
Connect.Also include that acceleration transducer, described acceleration transducer are connected with described controller, acceleration sensing
Device is for gathering the acceleration information of Self-Balancing vehicle, in order to controller is regulated the speed in time.
Self-Balancing vehicle in the present embodiment, its principle is as follows: user can be trampled on Self-Balancing vehicle pedal by single foot,
Then the foot of user is fixed by fixture, after switching on power, by precondition pressure sensor and rearmounted
Pressure transducer gathers pressure data respectively, can determine whether that user center of gravity is to lean on after being processed by controller data
Before the most rearward, then by controller control motor positive and inverse to maintain balance, this kind of balance mode eliminates
The elements such as gyroscope, and production cost can be significantly reduced.More specifically, if precondition pressure sensor and rearmounted
Power on pressure transducer is respectively F1 and F2, assumes a startup coefficient R, as (F1-F2)/(F1+F2) simultaneously
Value more than or equal to R time, system then thinks that the center of gravity of operator there occurs reach, and controller controls motor and drives
Wheel rotates forward, and produces an acceleration so that the value of (F1-F2)/(F1+F2) is less than R；As (F1-F2)/(F1+F2)
Value be negative, and during less than negative R, system then thinks that the center of gravity of operator is moved after there occurs, controller controls
Power wheel inverts, and produces a negative acceleration so that the value of (F1-F2)/(F1+F2) is more than negative R；
The absolute value of F1-F2 is the biggest, and acceleration or rotating speed that wheel produces are the highest.
Embodiment 2 Self-Balancing vehicle
As in figure 2 it is shown, the Self-Balancing vehicle in the present embodiment, the motor 2 including wheel, driving vehicle wheel rotation,
Being internally provided with pedal 3 and the controller of pressure transducer 5, described motor 2 is the wheel being built in wheel
Hub motor, described wheel includes front vehicle wheel 1a and rear wheel 1b, and described front vehicle wheel and rear wheel one in front and one in back set
Putting below pedal, width and the length of described pedal are corresponding to the width of human foot and length, described pedal
On be provided with fixture 4, described fixture 4 is shoe body；Balance plate 7, described footwear it are provided with on described pedal
Body is arranged on the top of pedal, and the middle part of described balance plate is hinged with described pedal by jointed shaft 8, described hinge
Described balance plate is separated out front plate and rear plate by spindle；Described pressure transducer includes being arranged on pedal leading portion
Precondition pressure sensor 5a and be arranged on the rearmounted pressure transducer 5b of pedal back segment, described motor, preposition
Pressure transducer and rearmounted pressure transducer are connected with described controller respectively, and described precondition pressure sensor is used for
Measuring from the pressure of trampling at user forefoot, described rearmounted pressure transducer is for measuring from user
Trampling pressure at heel, described precondition pressure sensor is correspondingly arranged at the lower section of front plate, described rearmounted pressure
Force transducer is correspondingly arranged at the lower section of rear plate；The distance of described jointed shaft 8 and rearmounted pressure transducer 5b
More than the distance between described jointed shaft 8 and precondition pressure sensor 5a so that the position of jointed shaft is more sticked on
Center of gravity during person of modern times's body normal stand；Certainly as replacing, described precondition pressure sensor and rearmounted pressure sensing
Device can also be separately positioned on below balance plate, can also reach the purpose of this utility model equally.Also include
Battery and the attaching plug being connected with battery, described pedal side is provided with the power supply being connected with attaching plug
Interface, described power interface is connected with controller, it is preferred that can arrange snap fit on battery case, by card
Hook and battery is suspended on the belt of user.Also include acceleration transducer, described acceleration transducer and institute
State controller to connect.
Embodiment 3 Self-Balancing vehicle
As it is shown on figure 3, the Self-Balancing vehicle in the present embodiment, the motor 2 including wheel, driving vehicle wheel rotation,
Being internally provided with pedal 3 and the controller of pressure transducer, the length of described pedal allows user both feet same
In time, trample on above, and described wheel includes a pair front vehicle wheel and a pair rear wheel, and described front vehicle wheel and rear wheel set
Putting below pedal, described pressure transducer includes the precondition pressure sensor 5a being arranged on pedal leading portion and sets
Putting the rearmounted pressure transducer 5b at pedal back segment, described motor, precondition pressure sensor and rearmounted pressure pass
Sensor is connected with described controller respectively, and described precondition pressure sensor and rearmounted pressure transducer are respectively used to inspection
Survey and trample pressure from two feet.Also include acceleration transducer, described acceleration transducer and described control
Device connects.During use, when user center of gravity is amesiality, Self-Balancing vehicle will be to this lateral movement to balance center of gravity.
In the present embodiment, profile and the size of Self-Balancing vehicle are close with scooter the most on the market, can be as the most sliding
The substitute products of wooden handcart.
Finally illustrating, above example is only in order to illustrate the technical solution of the utility model and unrestricted, to the greatest extent
This utility model has been described in detail by pipe with reference to preferred embodiment, and those of ordinary skill in the art should manage
Solve, the technical solution of the utility model can be modified or equivalent, without deviating from this utility model
The objective of technical scheme and scope, it all should be contained in the middle of right of the present utility model.
Claims (9)
1. a Self-Balancing vehicle, including wheel, the motor of driving vehicle wheel rotation, is internally provided with pressure transducer
Pedal and controller, it is characterised in that: described wheel includes front vehicle wheel and rear wheel, described front vehicle wheel and
Rear wheel is one in front and one in back arranged on pedal；Described pressure transducer includes the precondition pressure being arranged on pedal leading portion
Sensor and be arranged on the rearmounted pressure transducer of pedal back segment, described motor, precondition pressure sensor and rearmounted
Pressure transducer is connected with described controller respectively.
Self-Balancing vehicle the most according to claim 1, it is characterised in that: described motor is for being built in wheel
Wheel hub motor.
Self-Balancing vehicle the most according to claim 2, it is characterised in that: also include battery and be connected with battery
Attaching plug, described pedal side is provided with the power interface being connected with attaching plug, and described power supply connects
Mouth is connected with controller.
Self-Balancing vehicle the most according to claim 3, it is characterised in that: described front vehicle wheel and rear wheel respectively set
It is equipped with two.
Self-Balancing vehicle the most according to claim 3, it is characterised in that: the width of described pedal and length with
The width of human foot and length are corresponding, and described pedal is provided with fixture, and described fixture will be for making
The foot of user is fixed on pedal.
Self-Balancing vehicle the most according to claim 5, it is characterised in that: described fixture makes for bundling
The belt body of user foot.
Self-Balancing vehicle the most according to claim 5, it is characterised in that: described fixture is shoe body.
Self-Balancing vehicle the most according to claim 1, it is characterised in that: it is provided with balance plate on described pedal,
The middle part of described balance plate is hinged with described pedal by jointed shaft, and described balance plate is separated by described jointed shaft
Going out front plate and rear plate, described precondition pressure sensor is correspondingly arranged at the lower section of front plate, described rearmounted
Pressure transducer is correspondingly arranged at the lower section of rear plate.
Self-Balancing vehicle the most according to claim 1, it is characterised in that: also include acceleration transducer, institute
State acceleration transducer to be connected with described controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620474432.0U CN205632808U (en) | 2016-05-23 | 2016-05-23 | Self -balance vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620474432.0U CN205632808U (en) | 2016-05-23 | 2016-05-23 | Self -balance vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205632808U true CN205632808U (en) | 2016-10-12 |
Family
ID=57054629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620474432.0U Expired - Fee Related CN205632808U (en) | 2016-05-23 | 2016-05-23 | Self -balance vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205632808U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140082A (en) * | 2017-06-15 | 2017-09-08 | 福州幻科机电科技有限公司 | A kind of electrodynamic balance car of front and back wheel arrangement |
| CN111686403A (en) * | 2019-03-15 | 2020-09-22 | 丰田自动车株式会社 | Balance training device and control program for balance training device |
-
2016
- 2016-05-23 CN CN201620474432.0U patent/CN205632808U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140082A (en) * | 2017-06-15 | 2017-09-08 | 福州幻科机电科技有限公司 | A kind of electrodynamic balance car of front and back wheel arrangement |
| CN111686403A (en) * | 2019-03-15 | 2020-09-22 | 丰田自动车株式会社 | Balance training device and control program for balance training device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20200523 |