CN205707034U - Forward and backward cart control of gradient system - Google Patents
Forward and backward cart control of gradient system Download PDFInfo
- Publication number
- CN205707034U CN205707034U CN201620569507.3U CN201620569507U CN205707034U CN 205707034 U CN205707034 U CN 205707034U CN 201620569507 U CN201620569507 U CN 201620569507U CN 205707034 U CN205707034 U CN 205707034U
- Authority
- CN
- China
- Prior art keywords
- backward
- cart
- motor
- control device
- hands
- Prior art date
- 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
Links
Landscapes
- Handcart (AREA)
Abstract
This utility model provides a kind of forward and backward cart control of gradient system, including detection device, control device, motor and hands handle, wherein detection device is used for detecting the whether run-off the straight of forward and backward cart, and is sent to inclination information when run-off the straight control device；Control device for according to inclination information, control driven by motor handle rotation, so that hands is driving the tire action of forward and backward cart when rotating, thus the gradient of forward and backward cart is controlled.This utility model is by detecting the tilt condition of forward and backward cart, and according to this tilt condition forward and backward cart hands handle turned to and to be adjusted, thus drive the tire action of forward and backward cart, the gradient of forward and backward cart can be automatically controlled, such that it is able to the safety improved in forward and backward cart driving process.
Description
Technical field
This utility model belongs to forward and backward cart field, is specifically related to a kind of forward and backward cart control of gradient system.
Background technology
Along with the development of the forward and backward cart such as bicycle, motorcycle, how to ensure that user takes turns in driving forward and backward two
Safety during car becomes the problem that people increasingly pay close attention to.At present, user is when driving forward and backward cart, it usually needs user
Oneself rule of thumb controlling the gradient of forward and backward cart, the safety thus causing user is relatively low.
Utility model content
This utility model provides a kind of forward and backward cart control of gradient system, exists solving current forward and backward cart
The problem that in driving procedure, safety is relatively low.
First aspect according to this utility model embodiment, it is provided that a kind of forward and backward cart control of gradient system, it is special
Levying and be, including detection device, control device, motor and hands handle, wherein said detection device is used for detecting forward and backward cart and is
No run-off the straight, and when run-off the straight, inclination information is sent to described control device；
Described control device, for according to described inclination information, controls handle rotation described in described driven by motor, so that institute
State hands driving the tire action of described forward and backward cart when rotating, thus the gradient of described forward and backward cart is carried out
Control.
In the optional implementation of one, described motor includes being symmetricly set on described hands on left and right two handles
The first motor and the second motor.
In the optional implementation of another kind, described control device is used for controlling described first motor and described second electricity
Handle rotation described in a driven by motor in machine, and if described detection device detects in Preset Time current tilt information
Not in default scope, then according to described current tilt information, control handle rotation described in another driven by motor.
In the optional implementation of another kind, the fixing end of described motor is fixed on described forward and backward by hold-down support
On cart.
In the optional implementation of another kind, described detection device is arranged on described hands handle or described forward and backward cart
Direction standpipe on.
In the optional implementation of another kind, described system also includes that velocity sensor, described velocity sensor are used for
Detect the travel speed of described forward and backward cart, and described travel speed is sent to described control device；
Described control device, for when described travel speed is zero, according to described inclination information, controls described motor belt motor
Dynamic described handle rotation.
In the optional implementation of another kind, described control device and the control system of described forward and backward cart self
Connect, for after described forward and backward cart is flame-out, according to described inclination information, control hands described in described driven by motor turning
Dynamic.
The beneficial effects of the utility model are:
1, this utility model is by detecting the tilt condition of forward and backward cart, and according to this tilt condition to front,
Rear turning to of cart hands handle is adjusted, thus drives the tire action of forward and backward cart, can be to forward and backward cart
Gradient automatically controls, such that it is able to the safety improved in forward and backward cart driving process；
2, this utility model is by being symmetricly set on two motors on left and right two handles of hands handle, it is ensured that front,
The balance of rear cart；
3, this utility model is by controlling each of device using one of them motor as work drive motor, and another motor is made
For standby motor, when work drive motor breaks down, control another standby driven by motor hands turning according to current tilt information
Dynamic, accuracy and the stability of control of gradient can be improved；
4, this utility model is by being fixed on the fixing end of motor on forward and backward cart by hold-down support, Ke Yibao
The output shaft of card motor stably drives handle rotation；
5, this utility model is by being arranged on detection device on hands handle or direction standpipe, it is ensured that detection device
Accuracy in detection；
6, this utility model is by arranging velocity sensor on the forward and backward cart of non-maneuver, and shows at velocity sensor
After showing that the forward and backward cart of non-maneuver stops, controlling driven by motor handle rotation according to inclination information, it is possible to achieve before non-maneuver,
Rear cart can also keep balance after a stop, such that it is able to simplify the parking operation of the forward and backward cart of non-maneuver；
7, this utility model is by being connected the control system controlling device and motor-driven forward and backward cart self, Ke Yi
After forward and backward cart is flame-out, according to inclination information, control driven by motor handle rotation, take turns such that it is able to simplify motor-driven forward and backward two
The parking operation of car.
Accompanying drawing explanation
Fig. 1 is an embodiment circuit diagram of this utility model forward and backward cart control of gradient system；
Fig. 2 is an embodiment schematic diagram of mounting position of motor；
Fig. 3 is another embodiment circuit diagram of this utility model forward and backward cart control of gradient system；
Fig. 4 is another embodiment circuit diagram of this utility model forward and backward cart control of gradient system.
Detailed description of the invention
For the technical scheme making those skilled in the art be more fully understood that in this utility model embodiment, and make this reality
Can become apparent from understandable by the above-mentioned purpose of new embodiment, feature and advantage, real to this utility model below in conjunction with the accompanying drawings
Execute technical scheme in example to be described in further detail.
In description of the present utility model, unless otherwise prescribed and limit, should do extensively it should be noted that term " connects "
Reason and good sense solution, for example, it may be mechanically connected or electrical connection, it is also possible to be the connection of two element internals, can be to be joined directly together,
Can also be indirectly connected to by intermediary, for the ordinary skill in the art, can understand as the case may be
The concrete meaning of above-mentioned term.
See Fig. 1, for an embodiment circuit diagram of this utility model forward and backward cart control of gradient system.
This forward and backward cart control of gradient system can include detecting device 110, control device 120, motor 130 and hands 140,
Wherein detection device 110 may be used for detecting the whether run-off the straight of forward and backward cart, and inclination information is sent out when run-off the straight
Giving control device 120, hereafter controlling device 120 can control motor 130 band start to rotate 140 according to this inclination information,
So that hands drives the tire action of forward and backward cart 140 when rotating, thus the gradient of forward and backward cart is controlled
System.
In the present embodiment, this detection device 110 can be gravity gyroscope, and motor 130 can be motor, and this electricity
The output shaft of machine 130 fixing can be connected 140 with hands.When detecting device 110 and forward and backward cart run-off the straight being detected,
Can be sent to inclination information control device 120, control device 120 and can prestore forward and backward cart in this locality
Corresponding relation between direction, inclination angle and motor 130 rotation direction, angle of rotation.Such as, it is tilted to the left when forward and backward cart
Angle be α1Time, motor 130 rotates clockwise accordingly, and angle of rotation is β1；When the angle that forward and backward cart is tilted to the right
For α2Time, motor 130 rotates counterclockwise accordingly, and angle of rotation is β2.Control device 120, can after receiving this inclination information
With the incline direction according to cart forward and backward in this inclination information, inclination angle, from this corresponding relation, find out the motor of correspondence
130 rotation directions, angle of rotation.Hereafter, control device 120 and can control motor 130 according to the rotation direction found out, angle of rotation
Rotate.
It addition, control device 120 can also prestore in this locality forward and backward cart incline direction, tilt angle ranges with
Corresponding relation between motor 130 rotation direction, angle of rotation.Now, control device 120 is after receiving inclination information, permissible
First the tilt angle ranges at the place, inclination angle of forward and backward cart in this inclination information is determined, then according to this tilt angle ranges
And the incline direction of forward and backward cart in this inclination information, from corresponding relation, find out motor 130 side of rotation of correspondence
To, angle of rotation.Hereafter, control device 120 to rotate according to the rotation direction found out, angle of rotation control motor 130.
Owing to output shaft and the hands of motor 130 fixing are connected 140, therefore motor 130 also can start handle by band when rotation
140 rotate, and make the tire action that hands drives forward and backward carts 140, thus control the gradient of forward and backward cart
System.It is known technology owing to hands drives the process of tire action of forward and backward carts 140, thus is no longer repeated at this.
As seen from the above-described embodiment, this utility model by the tilt condition of forward and backward cart is detected, and according to
Forward and backward cart hands handle is turned to and is adjusted by this tilt condition, thus drives the tire action of forward and backward cart, permissible
The gradient of forward and backward cart is automatically controlled, such that it is able to the safety improved in forward and backward cart driving process.
In order to ensure the balance of forward and backward cart, this motor 130 can be two, and the two motor is symmetricly set on
Hands is on left and right two handles of 140, as in figure 2 it is shown, the first motor 131 is arranged on hands on the left handle of 140, and the second electricity
Machine 132 is arranged on hands in the right handles of 140.Controlling device 120 every time can be in the first motor 131 and the second motor 132
A motor be controlled.The situation of fault or damage is in use there may exist due to motor, and when electricity
When machine fault or damage, it is impossible to drive handle rotation, thus the gradient of forward and backward cart is controlled, therefore this reality
Executing in example, detection device 110 can be when detecting forward and backward cart run-off the straight, in real time to controlling device 120 transmission inclination
Information, controls device 120 and sends control signal at a motor in the first motor 131 and the second motor 132, it can be determined that
Whether the current tilt information that detection device 110 detects in Preset Time is in default scope, if not at default model
In enclosing, then it represents that this motor is it may happen that fault or damage, and this timed unit 120 can be adopted according to current tilt information
Control another motor belt motor by above-mentioned identical mode to start to rotate 140.This utility model the most only will by controlling device
One of them motor is as work drive motor, and another motor is as standby motor, when work drive motor breaks down, according to currently
Inclination information controls another standby driven by motor handle rotation, can improve accuracy and the stability of control of gradient.
In order to ensure that the output shaft of motor stably drives handle rotation, the fixing end of motor 130 can be by fixing
Seat is fixed on forward and backward cart, and the fixing end of such as motor 130 can be fixed on forward and backward cart by hold-down support
On hands handle or direction standpipe.Owing to forward and backward cart is when tilting, its tilt phenomenon of the highest place becomes apparent from, and is therefore
Ensure that the accuracy of detection device 110 detection, detection device 110 can be arranged on hands on 140 or direction standpipe.
It addition, at present after forward and backward cart stops, user typically requires and puts down support foot rest, so that support foot rest is made
It is that a strong point ensures to make the not run-off the straight of forward and backward cart, it is clear that operate cumbersome.So far, non-for bicycle etc.
Motor-driven forward and backward cart, can be as it is shown on figure 3, increase and arrange velocity sensor 150, and velocity sensor 150 may be used for detection
The travel speed of forward and backward cart, and be sent to travel speed control device 120.Hereafter, control device 120 may determine that
Whether this travel speed is zero, if, then it represents that forward and backward cart has stopped, and this timed unit 120 is according to detection device
110 inclination information detected, control motor 130 band and start to rotate 140, thus can realize the forward and backward cart of non-maneuver
Balance can also be kept after a stop, such that it is able to simplify the parking operation of the forward and backward cart of non-maneuver.
For motor-driven forward and backward carts such as motorcycles, control device 120 and forward and backward cart can be made as shown in Figure 4
Self control system connects, and owing to can provide the various performance indications signals such as flame-out in this control system, therefore controls dress
Put 120 when receiving misfire signals (the most forward and backward cart stop working), the inclination letter that can detect according to detection device 110
Breath, controls motor 130 band and starts to rotate 140, thus can realize motor-driven forward and backward cart and can also keep flat after a stop
Weighing apparatus, such that it is able to simplify the parking operation of motor-driven forward and backward cart.
Those skilled in the art, after considering description and putting into practice utility model disclosed herein, will readily occur to this practicality
Other novel embodiment.The application is intended to any modification of the present utility model, purposes or adaptations, these
Modification, purposes or adaptations are followed general principle of the present utility model and include undocumented skill of this utility model
Common knowledge in art field or conventional techniques means.Description and embodiments is considered only as exemplary, of the present utility model
True scope and spirit are pointed out by claim below.
It should be appreciated that this utility model is not limited to accurate knot described above and illustrated in the accompanying drawings
Structure, and various modifications and changes can carried out without departing from the scope.Scope of the present utility model is only wanted by appended right
Ask and limit.
Claims (7)
1. a forward and backward cart control of gradient system, it is characterised in that include detecting device, controlling device, motor and hands
, wherein said detection device is used for detecting the whether run-off the straight of forward and backward cart, and when run-off the straight, inclination information is sent out
Give described control device；
Described control device, for according to described inclination information, controls handle rotation described in described driven by motor, so that described hands
Driving the tire action of described forward and backward cart when rotating, thus the gradient of described forward and backward cart is controlled
System.
System the most according to claim 1, it is characterised in that described motor includes being symmetricly set on described hands left and right
The first motor on two handles and the second motor.
System the most according to claim 2, it is characterised in that described control device is used for controlling described first motor and institute
State handle rotation described in a driven by motor in the second motor, and if in Preset Time described detection device detect current
Inclination information is not in default scope, then according to described current tilt information, control hands described in another driven by motor turning
Dynamic.
System the most according to claim 1, it is characterised in that the fixing end of described motor is fixed on institute by hold-down support
State on forward and backward cart.
System the most according to claim 1, it is characterised in that described detection device be arranged on described hands or described before,
On the direction standpipe of rear cart.
System the most according to claim 1, it is characterised in that described system also includes velocity sensor, described speed passes
Sensor is for detecting the travel speed of described forward and backward cart, and described travel speed is sent to described control device；
Described control device, for when described travel speed is zero, according to described inclination information, controls described driven by motor institute
State handle rotation.
System the most according to claim 1, it is characterised in that described control device and described forward and backward cart self
Control system connects, for, after described forward and backward cart is flame-out, according to described inclination information, controlling described driven by motor institute
State handle rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620569507.3U CN205707034U (en) | 2016-06-14 | 2016-06-14 | Forward and backward cart control of gradient system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620569507.3U CN205707034U (en) | 2016-06-14 | 2016-06-14 | Forward and backward cart control of gradient system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205707034U true CN205707034U (en) | 2016-11-23 |
Family
ID=57305093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620569507.3U Expired - Fee Related CN205707034U (en) | 2016-06-14 | 2016-06-14 | Forward and backward cart control of gradient system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205707034U (en) |
-
2016
- 2016-06-14 CN CN201620569507.3U patent/CN205707034U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11440618B2 (en) | Electric assist system and electric assist vehicle | |
| CN105460130B (en) | A kind of balance car | |
| EP3184406A1 (en) | Two-wheel electric vehicle | |
| US11577615B2 (en) | Electric assist system and electric assist vehicle | |
| CN111976881B (en) | Overload-proof electric bicycle | |
| CN104477052B (en) | A kind of control method of Self-balance manned electric unicycle | |
| EP3418106B1 (en) | Electric vehicle and method for controlling electric vehicle | |
| WO2017107320A1 (en) | Synchronous movement skateboard | |
| CN103600795A (en) | Self-balancing bicycle based on disk grating | |
| CN205872285U (en) | Control balancing unit | |
| CN110949596B (en) | Electric vehicle control system and electric vehicle | |
| WO2018120919A1 (en) | Vehicle, control method therefor and storage medium | |
| CN217100312U (en) | Two-wheeled double-gyroscope self-balancing electric vehicle | |
| CN212258822U (en) | Detection device of position sensor | |
| CN106249741A (en) | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method | |
| CN205707034U (en) | Forward and backward cart control of gradient system | |
| KR101295824B1 (en) | Power Assist System of Hybrid Bicycle | |
| CN109808698A (en) | A kind of calculation method of speed, device and mobile unit | |
| CN106267790B (en) | A kind of the twisting double-wheel scooter and control method of automatic control | |
| US11040756B2 (en) | Power control method and apparatus, vehicle and computer storage medium | |
| CN207607591U (en) | A kind of perambulator for function of spinning with original place | |
| JP2011046326A (en) | Coaxial motorcycle and method of controlling the same | |
| WO2017127979A1 (en) | Balancing vehicle | |
| CN206249093U (en) | A kind of dynamic equilibrium two-wheel robot for automatically controlling | |
| CN206202530U (en) | Attitude car |
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 |
Granted publication date: 20161123 Termination date: 20190614 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |