CN206087062U - Balance car control mechanism and balance car - Google Patents

Abstract

The utility model discloses a balance car control mechanism and balance car. This balance car control mechanism includes the handlebar, handlebar intermediate junction car pole, the automobile body is connected to car pole bottom, a serial communication port, the outer wall at handlebar two respectively is equipped with a pressure -sensitive device, pressure -sensitive device sets up respectively in handlebar top position, pressure -sensitive device includes the lug, with the pressure sensor of lug contact, be equipped with the recess that holds the lug in the handlebar, the recess gos forward, retreats the both sides wall that the direction corresponds and respectively is equipped with a pressure sensor with the balance car, the lug is rotatable to be fixed in the recess bottom, still be equipped with in the balance car with the pressure sensor coupling, be used for driven equilibrium car wheel control of motion ware. The utility model discloses simply reliably, need not not can control the balance car by mechanical structure.

Description

A kind of balance car controlling organization and balance car

Technical field

This utility model is related to balance car control field, in particular, is related to a kind of balance car controlling organization and balance Car.

Background technology

Electrodynamic balance car, is called balance car, thinking car, and its operation principles is mainly built upon one kind and is referred to as that " dynamic is steady In ultimate principle calmly ", using the gyroscope and acceleration transducer of vehicle body, the change of vehicle body attitude is detected, utilized Servo-control system, accurately motor be adjusted correspondingly, to keep the balance of system.

Existing electrodynamic balance car typically has two kinds, and one kind is that have an action bars on car body, and user station is electronic Action bars is operated on the foot platform of balance car, so as to advancing, retreating and stop, such control is also referred to as " manual control ". Another kind is that car body is made up of two parts, realizes mutually rotating by rotating mechanism, so as to realize between left half and right half " foot control ".

Conventional balanced car needs by the control of driver to keep vehicle balance in the process of moving completely, due to vehicle Balance can not be maintained itself, once driver's disequilibrium during traveling, just extremely easily causes danger, even meeting when serious Cause vehicle accident.

102774453 B of patent documentation CN disclose a kind of intelligent balance car system on May 20th, 2015.Which passes through Sensor is arranged at handlebar two ends to write controlling balance car car.But which will to the required precision of sensor and software algorithm Ask high, the possibility for not possessing substantially practicality.

Utility model content

Technical problem to be solved in the utility model is to provide a kind of balance that is simple and reliable, controlling without frame for movement Car controlling organization and balance car.

The purpose of this utility model is achieved through the following technical solutions：

According to one side of the present utility model, this utility model discloses a kind of balance car controlling organization, including handlebar, institute State connection car bar in the middle of handlebar；The car bar bottom connection body；Characterized in that, the outer wall at described handlebar two is respectively provided with one Individual pressure sensitive device；The pressure sensitive device is separately positioned on handlebar apical position, and the pressure sensitive device includes convex Block, the pressure transducer with bump contact；It is provided with the groove for accommodating projection in the handlebar, the groove and balance car advance, The corresponding two side of direction of retreat is respectively provided with a pressure transducer；The projection is rotatably fixed on bottom portion of groove；It is described flat Weighing apparatus in-car is additionally provided with controller couple with pressure transducer, for driving balance car wheel movement.

Further, the projection includes the protuberance for projecting groove surfaces；Rotatably it is fixedly connected with bottom portion of groove Connecting portion；The connecting portion both sides are respectively provided with a pressure transducer；The protuberance both sides are provided with elastomeric element.Pressure Sensor in bottom, respectively with two side contacts of connecting portion, trigger different pressure sensings when connecting portion swing respectively Device, controller can just induce the different directions of pressure value, turn to, advance or retreat so as to control balance car.

Further, the vehicle bottom is provided with support arm, and described support arm one end is rotatably fixed with vehicle bottom, separately One end is rotatably fixed with wheel；The support arm is provided with through hole, and the shank that can be moved along through hole is provided with through hole, described Vehicle bottom is additionally provided with the first location hole and the second location hole coordinated with shank, when the support arm rotates to deployed condition, The shank coordinates with the first location hole；When the support arm rotates to contraction state, the shank coordinates with the second location hole.

The technical program as a result of rotation support arm, can in folded state by wheel integral-rotation to car body bottom Portion is received, and is conducive to reducing taking up room under balance car folded state, using the cooperation of shank and location hole, Ke Yi The position of the support arm under deployed condition and folded state are easily found in rotary course, folds, launches easy to operate.

Further, the shank includes connecting pole, with the fixed column for being connected column end connection；The fixed column it is transversal Cross-sectional width of the face width more than connecting pole；The fixed column forms the first anchor ring with connecting pole junction；Accordingly, it is described Through hole includes the first hole being adapted to connecting pole, the second hole being adapted to fixed column；First hole and the second hole Junction forms the second anchor ring；Spring is socketed with the connecting pole；The both ends of the spring passes through the first anchor ring and second respectively Anchor ring is positioned.Due to the presence of spring, shank can prop up the plane of body bottom portion always, once rotate to the first location hole or The position of two location holes, shank are automatically inserted in the first location hole or the second location hole under spring force effect, Wu Xuren Work intervention is capable of achieving to be automatically positioned.

Further, the wheel includes wheel body and axle portion；The axle portion includes axis body, described axis body one end Wheel body is penetrated, the other end is provided with switching part；The switching part one side contrary with axis body be provided be flexibly connected with connector Support part；Supporting part is rotatably fixed with the support arm.In general, wheel shaft is all thinner, it is not easy to realized rotatable Fixed structure, the contact area of spindle portion can be increased by switching part, on the one hand easily fixed with connector, the opposing party Face contacts positioning in wheel deployed condition with vehicle body side, when wheel runs improves stability.

Further, the switching part is a round platform；The supporting part is fixed on the position of round platform disalignment.Supporting part Disalignment, in balance car running status, due to gravity and the left and right of human pressure, supporting part meeting nature runs to minimum Point, forms stable state location structure, and now, the integrated disc portions above supporting part have more areas to contact with vehicle body side, so Wheel has disk to position in vertical direction, and horizontal position is equipped with the connector of bottom and supports, and double side support can effectively disperse wheel Load-bearing, it is more firm durable.

Further, one end that the support arm is fixed with wheel shaft is provided with breach；The other end is curved portions；In the breach It is provided with rotating shaft；It is socketed with rotating shaft in the embedded breach of the supporting part.This is the fixed structure of a kind of specific support arm and wheel shaft, Due to the avoiding structure of breach so that whole rotational structure is all smaller, be conducive to reducing balance car volume.

Further, the vehicle bottom is provided with arc groove, and first location hole and the second location hole are respectively provided with At the two ends of arc groove；The vehicle bottom is additionally provided with the limiting section of arc；Wheel in a folded configuration, medial surface with it is spacing The top contact positioning in portion；The limiting section crown center site location highest, for the medial surface contact positioning with wheel；In Between position both sides be the inclined-plane for extending to vehicle bottom.Arc groove has guide function to shank, that is, define whole support arm Rotating range, it is to avoid slewing area is excessive to cause wheel to collide with miscellaneous part.Wheel passes through chamfered transition after folding, and rotates Tighten to limiting section crown center position, the wheel alignment after the stress realization folding tightened, buckle that need not be complicated are tied Structure, embodiment are simple, and fixed, are not afraid of slip and cause to come off.

Further, support arm one end relative with wheel is provided with fixing hole；The vehicle bottom is provided with and fixation The locating dowel of hole adaptation；Cooperation realization of the support arm by fixing hole with locating dowel is rotatably fixed with vehicle bottom.

According to other side of the present utility model, this utility model discloses a kind of balance car, including this utility model institute The balance car controlling organization stated.

Inventor's research finds that the sensor of prior art is arranged on handlebar two ends, vertical with the grip direction of driver, Which needs to hold part conducting pressure, therefore is transmitted to the decline of pressure of sensor than more serious, and to conduct past be whole handss The comprehensive pressure of grip, the actual intention judged by driver need complicated algorithm, carry out decomposition meter to comprehensive grip Calculate, algorithm is extremely complex.Summary reason, the technology do not obtain volume production application so far.Compared with prior art, this practicality New has the technical effect that：Using the individual pressure sensitive device at the top of car bar, each pressure sensitive device can be along flat Weighing apparatus Herba Plantaginis enter, two motions of direction of retreat；It is respectively used to detect the grip in two former and later two directions of handss, due to pressure sensitive Device is arranged on handlebar outer wall, and with handss directly contact, which senses, and direction is also identical with grip direction, as long as so according to maximum The pressure reduction of two pressure values, and the direction of corresponding pressure value can just drive balance car vehicle wheel rotation, realize balance car turn to, Accelerate and slow down control, significantly reduces the requirement and algorithm requirement of device.Technical solutions of the utility model are simple and reliable, implement It is with low cost.

Description of the drawings

Fig. 1 is this utility model embodiment balance car controlling organization structural representation；

Fig. 2 is the close-up schematic view of aminoacyl site in Fig. 1；

Fig. 3 is this utility model embodiment balance car structural representation；

Fig. 4 is the control method schematic diagram of this utility model embodiment balance car controlling organization；

Fig. 5 is planar structure schematic diagram of this utility model embodiment balance car in wheel folded state；

Fig. 6 is dimensional structure diagram of this utility model embodiment balance car in wheel folded state；

Fig. 7 is planar structure schematic diagram of this utility model embodiment balance car in wheel intermediateness；

Fig. 8 is dimensional structure diagram of this utility model embodiment balance car in wheel intermediateness；

Fig. 9 is planar structure schematic diagram of this utility model embodiment balance car in wheel intermediateness；

Figure 10 is dimensional structure diagram of this utility model embodiment balance car in wheel intermediateness；

Figure 11 is section decomposing schematic representations of the Fig. 9 along A-A；

Figure 12 is this utility model embodiment balance car in wheel securing structure decomposing schematic representation；

Figure 13 is this utility model embodiment car wheel structure schematic diagram.

Wherein：10th, car body；11st, locating dowel；12nd, shank；121st, connecting pole；122nd, fixed column；123rd, the first anchor ring； 124th, spring；20th, arc groove；21st, the first location hole；22nd, the second location hole；30th, support arm；31st, through hole；311st, the first hole Hole；312nd, the second hole；313rd, the second anchor ring；33rd, fixing hole；34th, breach；35th, curved portions；36th, rotating shaft；40th, limiting section； 50th, wheel body；51st, wheel shaft；52nd, axis body；53rd, round platform；54th, supporting part；60th, handlebar；61st, car bar；62nd, elastomeric element；63rd, it is convex Block；64th, pressure transducer；65th, groove；66th, protuberance；67th, connecting portion.

Specific embodiment

This utility model discloses a kind of balance car, and the balance car includes balance car controlling organization.Balance car controlling organization Including handlebar, in the middle of the handlebar, connect car bar；The car bar bottom connection body；Characterized in that, described handlebar two Outer wall is respectively provided with a pressure sensitive device；The pressure sensitive device is separately positioned on handlebar apical position, the feeling of stress Device is answered to include projection, the pressure transducer with bump contact；Be provided with the handlebar accommodate projection groove, the groove with Balance car advances, the corresponding two side of direction of retreat is respectively provided with a pressure transducer；The projection is rotatably fixed on groove Bottom；The balance in-car is additionally provided with controller couple with pressure transducer, for driving balance car wheel movement.

According to other side of the present utility model, this utility model is also disclosed a kind of based on described in the utility model flat The control method of weighing apparatus car controlling organization, including：

Read the pressure value of two pairs of pressure sensitive devices；

Obtain two maximum pressure values and its corresponding pressure sensitive device；

Balance car vehicle wheel rotation is driven according to the pressure reduction of two maximum pressure values, and the direction of two pressure values.

Inventor's research finds that the sensor of prior art is arranged on handlebar two ends, vertical with the grip direction of driver, Which needs to hold part conducting pressure, therefore is transmitted to the decline of pressure of sensor than more serious, and to conduct past be whole handss The comprehensive pressure of grip, the actual intention judged by driver need complicated algorithm, carry out decomposition meter to comprehensive grip Calculate, algorithm is extremely complex.Summary reason, the technology do not obtain volume production application so far.Compared with prior art, this practicality New has the technical effect that：Using the individual pressure sensitive device at the top of car bar, each pressure sensitive device can be along flat Weighing apparatus Herba Plantaginis enter, two motions of direction of retreat；It is respectively used to detect the grip in two former and later two directions of handss, due to pressure sensitive Device is arranged on handlebar outer wall, and with handss directly contact, which senses, and direction is also identical with grip direction, as long as so according to maximum The pressure reduction of two pressure values, and the direction of corresponding pressure value can just drive balance car vehicle wheel rotation, realize balance car turn to, Accelerate and slow down control, significantly reduces the requirement and algorithm requirement of device.Technical solutions of the utility model are simple and reliable, implement It is with low cost.

In description of the present utility model, it is to be understood that term " " center ", " horizontal ", " on ", D score, " left side ", The orientation or position relationship of the instruction such as " right side ", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " is based on shown in the drawings Orientation or position relationship, are for only for ease of description this utility model and simplify description, rather than indicate or imply the dress of indication Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this utility model Restriction.Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or Implicitly include one or more this feature.In description of the present utility model, unless otherwise stated, the implication of " multiple " It is two or more.In addition, term " including " and its any deformation, it is intended that cover non-exclusive including.

In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace Dress ", " being connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly Connection；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition Concrete meaning of the language in this utility model.

Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless Context clearly refers else, and singulative " one " otherwise used herein above, " one " also attempt to include plural number.Should also When being understood by, term " including " used herein above and/or "comprising" specify stated feature, integer, step, operation, The presence of unit and/or component, and do not preclude the presence or addition of one or more other features, integer, step, operation, unit, Component and/or its combination.

The utility model is described in further detail for 1-13 and preferred embodiment below in conjunction with the accompanying drawings.

According to one side of the present utility model, this utility model discloses a kind of balance car controlling organization, including handlebar 60, Connect car bar 61 in the middle of the handlebar 60；61 bottom connection body of the car bar；Characterized in that, 60 two of the handlebar is outer Wall is respectively provided with a pressure sensitive device；The pressure sensitive device is separately positioned on 60 apical position of handlebar, the feeling of stress Device is answered to include projection 63, the pressure transducer 64 contacted with projection 63；The groove 65 for accommodating projection 63 is provided with the handlebar, The groove 65 and balance car advance, the corresponding two side of direction of retreat is respectively provided with a pressure transducer 64；The projection 63 65 bottom of groove is fixed on rotatably；It is described balance in-car be additionally provided with it is coupling with pressure transducer 64, for driving balance car The controller of wheel movement.

Specifically, the projection 63 includes the protuberance 66 for projecting 65 surface of groove；Rotatably fix with 65 bottom of groove The connecting portion 67 of connection；67 both sides of the connecting portion are respectively provided with a pressure transducer 64；66 both sides of the protuberance set Flexible part 62.Pressure transducer 64 in bottom, respectively with 67 liang of side contacts of connecting portion, when 67 swing of connecting portion Different pressure transducers 64 are triggered respectively, and controller can just induce the different directions of pressure value, so as to control balance car Turn to, advance or retreat.Certainly, pressure sensitive device can also have other structures form, will not be described here.

This enforcement also mode also discloses a kind of balance car wheel securing structure, and the balance car includes car body 10, described 10 bottom of car body is provided with support arm 30, and 30 one end of the support arm is rotatably fixed with 10 bottom of car body, and the other end can with wheel Rotate and fix；The support arm 30 is provided with through hole 31, is provided with the shank 12 that can be moved along through hole 31, the car in through hole 31 10 bottom of body is additionally provided with the first location hole 21 and the second location hole 22 coordinated with shank 12, and the support arm 30 rotates to expansion During state, the shank 12 coordinates with the first location hole 21；When the support arm 30 rotates to contraction state, the shank 12 with Second location hole 22 coordinates.

Shank 12 includes connecting pole 121, the fixed column 122 being connected with 121 end of connecting pole；The horizontal stroke of the fixed column 122 Cross-sectional width of the cross-sectional width more than connecting pole 121；The fixed column 122 forms the first anchor ring with 121 junction of connecting pole 123；Accordingly, the through hole 31 includes the first hole 311 being adapted to connecting pole 121, the second hole being adapted to fixed column 122 Hole 312；First hole 311 and 312 junction of the second hole form the second anchor ring 313；It is socketed with the connecting pole 121 Spring 124；124 two ends of the spring pass through the first anchor ring 123 respectively and the second anchor ring 313 is positioned.Due to depositing for spring 124 , shank 12 can prop up the plane of body bottom portion always, once the position of the first location hole 21 or the second location hole 22 is rotated to, Shank 12 is automatically inserted in the first location hole 21 or the second location hole 22, without manual intervention under the effect of 124 elastic force of spring It is capable of achieving to be automatically positioned.

Wheel includes 51 part of wheel body 50 and wheel shaft；51 part of the wheel shaft includes axis body 52, and 52 one end of the axis body is worn Enter wheel body 50, the other end is provided with switching part；The switching part one side contrary with axis body 52 is provided with what is be flexibly connected with connector Supporting part 54；Supporting part 54 is rotatable with the support arm 30 fixed.In general, wheel shaft 51 is all thinner, it is not easy to Rotatable fixed structure is realized, the contact area of 36 part of rotating shaft can be increased by switching part, on the one hand easily with connection Part is fixed, and is on the other hand positioned with 10 contacts side surfaces of car body in wheel deployed condition, is improved stability when wheel runs. Switching part is a round platform 53；The supporting part 54 is fixed on the position of 53 disalignment of round platform.54 disalignment of supporting part, flat During weighing apparatus car running status, due to gravity and the left and right of human pressure, the meeting nature of supporting part 54 runs to minimum point, forms stable state fixed Bit architecture, now, the integrated disc portions above supporting part 54 have more areas and 10 contacts side surfaces of car body, and such wheel is vertical Direction has disk to position, and horizontal position is equipped with the connector of bottom and supports, and double side support can effectively disperse the load-bearing of wheel, more surely Gu it is durable.

10 bottom of the car body is provided with arc groove 20, and first location hole 21 and the second location hole 22 are separately positioned on The two ends of arc groove 20.Arc groove 20 has guide function to shank 12, that is, define the rotating range of whole support arm 30, Avoid that slewing area is excessive to cause wheel to collide with miscellaneous part.

10 bottom of car body is additionally provided with the limiting section 40 of arc；Wheel in a folded configuration, the top of medial surface and limiting section 40 Portion's contact positioning.One end that support arm 30 is fixed with wheel shaft 51 is provided with breach 34；The other end is curved portions 35；In the breach 34 It is provided with rotating shaft 36；The supporting part 54 is embedded in breach 34 and is socketed with rotating shaft 36.Due to the avoiding structure of breach 34 so that whole Rotational structure is all smaller, is conducive to reduction balance car body 10 to accumulate.Limiting section 40 is intrados towards the side of support arm 30, 30 curved portions of support arm 35 can be just avoided when rotation.

40 crown center site location highest of limiting section, for the medial surface contact positioning with wheel；Middle part both sides To extend to the inclined-plane of 10 bottom of car body.Wheel passes through chamfered transition after folding, and turns to 40 crown center position of limiting section and stretches tight Tightly, the stress by tightening realizes the wheel alignment after folding, and without complicated buckle structure, embodiment is simple, and fixed It is firm, it is not afraid of slip and causes to come off.

The one end relative with wheel of support arm 30 is provided with fixing hole 33；10 bottom of the car body is provided with and is adapted to fixing hole 33 Locating dowel 11；The support arm 30 is rotatably solid with the cooperation realization of locating dowel 11 and 10 bottom of car body by fixing hole 33 It is fixed.Locating dowel 11 can be realized using screw rod.

According to other side of the present utility model, present embodiment is also disclosed a kind of based on described in the utility model flat The control method of weighing apparatus car controlling organization, including：

S11, the pressure value for reading two pairs of pressure sensitive devices；

S12, two pressure values and its corresponding pressure sensitive device that obtain maximum；

S13, balance car wheel is driven to turn according to the pressure reduction of two maximum pressure values, and the direction of two pressure values It is dynamic.

Balance car wheel is driven to turn according to the pressure reduction of two pressure values of maximum absolute value, and the direction of corresponding pressure value Dynamic method substantially has following three kinds of situations.

If corresponding pressure value in the same direction, and is respectively positioned on balance car direction of advance, control balance car slows down.When balance vehicle speed Too fast, in inertia and instinct, the both hands of driver can be pulled a cart handle backward, i.e., positioned at two feelings of stress of balance car direction of advance Answer the pressure of device can be larger, now control balance car and slow down, to guarantee driving safety.

If corresponding pressure value in the same direction, and is respectively positioned on balance car direction of retreat, control balance car accelerates.When driver needs When control balance car accelerates, out of habit and instinct, driver can tend to the hands go-cart handle, i.e., positioned at balance car retrogressing side To the pressure of two pressure sensitive devices can be larger, now control balance car and accelerate.

If corresponding pressure value reversely, control balance car toward pressure value for balance car direction of advance pressure sensitive device institute In directional steering, and the angle for controlling to turn to according to pressure reduction.Specifically, the pressure of right side direction of advance is more than buffer brake； The pressure of left side direction of advance is less than buffer brake；Now, two maximum pressure values of selection are respectively right side direction of advance The pressure value of pressure value and left side direction of retreat, now, pressure sensitive device place side of the pressure value for balance car direction of advance Turn right to balance car for right side, is now controlled；Conversely, control balance car turns left.

Above content is with reference to specific preferred implementation further detailed description of the utility model, it is impossible to Identification is of the present utility model to be embodied as being confined to these explanations.For the ordinary skill of this utility model art For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should be all regarded To belong to protection domain of the present utility model.

Claims (10)

1. a kind of balance car controlling organization, including handlebar, connects car bar in the middle of the handlebar；The car bar bottom connection body； Characterized in that, the outer wall at described handlebar two is respectively provided with a pressure sensitive device；The pressure sensitive device is respectively provided with In handlebar apical position, the pressure sensitive device includes projection, the pressure transducer with bump contact；It is provided with the handlebar Accommodate the groove of projection, the corresponding two side of the advance of the groove and balance car, direction of retreat is respectively provided with a pressure transducer； The projection is rotatably fixed on bottom portion of groove；The balance in-car is additionally provided with coupling with pressure transducer, flat for driving The controller of weighing apparatus car wheel movement.

2. balance car controlling organization according to claim 1, it is characterised in that the projection includes projecting groove surfaces Protuberance；The connecting portion being rotatably fixedly connected with bottom portion of groove；The connecting portion both sides are respectively provided with a pressure sensing Device；The protuberance both sides are provided with elastomeric element.

3. balance car controlling organization according to claim 1, it is characterised in that the vehicle bottom is provided with support arm, institute State support arm one end rotatably to fix with vehicle bottom, the other end is rotatably fixed with wheel；The support arm is provided with through hole, The shank that can be moved along through hole is provided with through hole, the vehicle bottom is additionally provided with the first location hole and second coordinated with shank Location hole, when the support arm rotates to deployed condition, the shank coordinates with the first location hole；The support arm rotates to receipts During contracting state, the shank coordinates with the second location hole.

4. balance car controlling organization according to claim 3, it is characterised in that the shank includes connecting pole, and is connected The fixed column of column end connection；Cross-sectional width of the cross-sectional width of the fixed column more than connecting pole；The fixed column with Connecting pole junction forms the first anchor ring；Accordingly, the through hole includes the first hole being adapted to connecting pole, suitable with fixed column The second hole matched somebody with somebody；First hole and the second hole junction form the second anchor ring；Spring is socketed with the connecting pole； The both ends of the spring passes through the first anchor ring respectively and the second anchor ring is positioned.

5. balance car controlling organization according to claim 3, it is characterised in that the wheel includes wheel body and wheel axle portion Part；The axle portion includes axis body, and described axis body one end penetrates wheel body, and the other end is provided with switching part；The switching part and axle The anti-one side of body phase is provided with the supporting part being flexibly connected with connector；Supporting part is rotatably fixed with the support arm.

6. balance car controlling organization according to claim 5, it is characterised in that the switching part is a round platform；Described Support part is fixed on the position of round platform disalignment.

7. balance car controlling organization according to claim 6, it is characterised in that one end that the support arm is fixed with wheel shaft It is provided with breach；The other end is curved portions；Rotating shaft is provided with the breach；It is socketed with rotating shaft in the embedded breach of the supporting part.

8. balance car controlling organization according to claim 3, it is characterised in that the vehicle bottom is provided with arc groove, First location hole and the second location hole are separately positioned on the two ends of arc groove；The vehicle bottom is additionally provided with the limit of arc Position portion；In a folded configuration, medial surface is positioned wheel with the top contact of limiting section；The limiting section crown center site location Highest, for the medial surface contact positioning with wheel；Middle part both sides are the inclined-plane for extending to vehicle bottom.

9. balance car controlling organization according to claim 3, it is characterised in that support arm one end relative with wheel It is provided with fixing hole；The vehicle bottom is provided with the locating dowel being adapted to fixing hole；The support arm passes through fixing hole and locating dowel Cooperation realization rotatably fix with vehicle bottom.

10. a kind of balance car, it is characterised in that include the balance car controlling organization as described in claim 1-9 is arbitrary.