CN206856871U - Balance assistant device - Google Patents
Balance assistant device Download PDFInfo
- Publication number
- CN206856871U CN206856871U CN201720353983.6U CN201720353983U CN206856871U CN 206856871 U CN206856871 U CN 206856871U CN 201720353983 U CN201720353983 U CN 201720353983U CN 206856871 U CN206856871 U CN 206856871U
- Authority
- CN
- China
- Prior art keywords
- foot
- connecting rod
- ground
- rotor
- pedal
- 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.)
- Active
Links
Abstract
It the utility model is related to a kind of balance assistant device, two wheels including car body, positioned at car body both sides and the pedal for being connected to car body upper end, also include two the first ground-engaging elements, connection member and the second ground-engaging element, described two first ground-engaging elements are connected respectively to the both sides of the car body；The connection member is connected to one end of the pedal and can rotated relative to the pedal, and second ground-engaging element is connected to the connection member.By two the first ground-engaging elements of setting and the second ground-engaging element automatic up-down stairs can be achieved, easy to use, flexibility ratio is high, and controllability is good in the utility model.
Description
【Technical field】
Balance car technical field is the utility model is related to, relates particularly to a kind of two-wheel electric balance assistant device.
【Background technology】
Two-wheel electric balance car is a kind of electric car with self-balancing system of the parallel arrangement of two-wheeled or so, sharp
The high-tech intelligent artifact for advancing and retreating is controlled with principle of mobile equilibrium, with the inclination of body, can indiscriminately ad. as one wishes be controlled
Travel speed and direction of advance processed.Two-wheel electric balance car in the market, can only run on road surface, on automatic
The function of going downstairs, function are relatively simple.
【Utility model content】
The purpose of this utility model is to overcome the shortcomings of above-mentioned technology, there is provided it is a kind of can the two-wheel electric of stair activity put down
Weigh assistant device.
A kind of balance assistant device provided by the utility model, including car body, two wheels positioned at car body both sides and
It is connected to the pedal of car body upper end, in addition to two the first ground-engaging elements, connection member and the second ground-engaging element, described two
One ground-engaging element is connected respectively to the both sides of the car body；The connection member is connected to one end of the pedal and can be with respect to institute
Pedal rotation is stated, second ground-engaging element is connected to the connection member.
Further, first ground-engaging element includes the first foot, the drive mechanism, driven being installed in the first foot
Foot rotor and first connecting rod component, the first connecting rod component include connecting rod and be formed at connecting rod end be used for connect
The supporting point part of tread surface or step surface, described first foot one end are fixed to the car body, and the other end is turned by the foot
Kinetoplast connects the connecting rod, so that the supporting point part can occur relatively with first foot on the foot rotor
Rotate.
Further, the wheel is connected to the car body, the axletree and described the first of corresponding side by axletree
The coaxial heart of foot rotor of ground-engaging element, parallel or holding certain angle；The wheel and the first row of corresponding side
Walk do not interfere between the first connecting rod component of part it is overlapping.
Further, the connecting rod is one or two, described two connecting rods be located at the same side of first foot and
Driven by same drive mechanism or driven respectively by two drive mechanisms.
Further, the pivot center of described two connecting rods overlaps, and is not interfered between the connecting rod overlapping.
Further, described two connecting rods are divided into first level of connecting rod and second level even the rod, and the installation end of the first level of connecting rod can turn
First foot is connected to dynamicly, and the second level even the rod is pivotally connected to the end of the first level of connecting rod.
Further, second ground-engaging element includes the second foot, the drive mechanism, driven being installed in the second foot
Foot rotor and second connecting rod component, the second connecting rod component include connecting rod and be formed at connecting rod end be used for connect
The supporting point part of tread surface or step surface, second foot is fixed to the connection member, and one end of the second foot passes through
The foot rotor connects the connecting rod, so that the supporting point part can rotate with second foot on the foot
Body relatively rotates.
Further, one end of second foot is provided with wheel, when the connection member rotates relative to the pedal
During to horizontality, the bottom of the wheel and the bottom of the wheel are located in the same horizontal plane.
Further, the connection member includes connecting plate and turning part, and one end of the connecting plate connects the upset
Portion, the other end connect second ground-engaging element；Turning part includes turnover driving mechanism and driven upset rotor；
The turnover driving mechanism is connected to one end of the pedal or the connecting plate, and the upset rotor is connected to the connection
One end of plate or the pedal, so as to which the connecting plate can be rotated by overturning rotor relative to the pedal.
Further, the both sides of the pedal are connected to the upper end of the car body by flexible jumper respectively；The work
Movement connector includes being installed to the drive mechanism of the car body and two connection poles being set in parallel, the connection pole
Both ends the side of the pedal, car body is connected to by connecting rotor respectively, so as to two connection poles and pedal, car body
Form a quadrangle；The connection rotor is driven by the drive mechanism, so as to which the pedal can be described two with car body
Relative translation occurs under the drive of individual connection pole.
Automatic up/down stairs can be achieved by two the first ground-engaging elements of setting and the second ground-engaging element in the utility model
Ladder, easy to use, flexibility ratio is high, and controllability is good.
【Brief description of the drawings】
Fig. 1 is a kind of schematic diagram for balance assistant device that the utility model first embodiment provides；
Fig. 2 is schematic diagram when balance assistant device shown in Fig. 1 prepares top bar；
Schematic diagram when Fig. 3 is the first ground-engaging element top bar of balance assistant device shown in Fig. 1；
Fig. 4 is a kind of schematic diagram for balance assistant device that the utility model second embodiment provides；
Fig. 5 is schematic diagram when balance assistant device shown in Fig. 4 prepares top bar；
Schematic diagram when Fig. 6 is the first ground-engaging element top bar of balance assistant device shown in Fig. 4；
Fig. 7 is a kind of schematic diagram for balance assistant device that the utility model 3rd embodiment provides；
Fig. 8 is schematic diagram when balance assistant device shown in Fig. 7 prepares top bar；
Schematic diagram when Fig. 9 is the first ground-engaging element top bar of balance assistant device shown in Fig. 7.
【Embodiment】
The utility model will be further described with reference to the accompanying drawings and examples.
First embodiment
With reference to figure 1, a kind of balance assistant device provided by the utility model, is two-wheel electric balance car.Balance assistant
Device includes car body 10, two wheels 11 positioned at the both sides of car body 10,12, two the first rows of pedal for being connected to the upper end of car body 10
Walk part 20, the ground-engaging element 40 of connection member 30 and second.Two the first ground-engaging elements 20 are connected respectively to the both sides of car body 10.
Wheel 11 is connected to car body 10 by axletree 25.Connection member 30 is connected to the front end of pedal 12 and can vertically turned with respect to pedal 12
It is dynamic.Second ground-engaging element 40 is connected to connection member 30.Two the first ground-engaging elements 20 and the second ground-engaging element 40 are realized jointly
Walking motion.When on the ground, connection member 30 can be turned to plumbness with respect to pedal 12, it is real by two wheels 11
Now run on the ground.When needing stair activity, as shown in Fig. 2 connection member 30 is turned into proper states with respect to pedal 12,
Such as horizontality, realize up/down steps by two the first ground-engaging elements 20 and the second ground-engaging element 40.
Car body 10 is built with control system, for being controlled to vehicle.Pedal 12 is provided with handrail 14, and handrail 14 is close
Connection member 30.When running on the ground, user can grasp direction by handrail 14, can make car body 10 turn to it is steady and
Accurately, while it is also prevented from user and is fallen down because of body inclination.In stair activity, handrail 14 can prevent again user to
It is preceding or fall down backward.
The both sides of pedal 12 are connected to the upper end of car body 10 by flexible jumper 13 respectively.Flexible jumper 13 includes peace
It is attached to the drive mechanism of car body 10 and two connection poles 131 being set in parallel.The both ends of connection pole 131 pass through respectively
Connection rotor 132 is connected to pedal 12, the side of car body 10, so as to which two connection poles 131 are formed with pedal 12, car body 10
One quadrangle.In the present embodiment, connection pole 131 is inclined to set, so as to two connection poles 131 and pedal 12, car body
10 form a parallelogram.Connection rotor 132 is driven by drive mechanism.When drive mechanism drive connection rotor 132
During rotation, under the drive that two connect pole 131, with car body 10 relative translation can occur for pedal 12.With reference to shown in Fig. 2, when
Before connection member 30 is turned into horizontality preparation up/down steps with respect to pedal 12, first drive mechanism drive connection is controlled to turn
Kinetoplast 132 turns an angle to the front end of car body 10, such as rotates 60 degree of angles, and the rotation of connection rotor 132 drives two companies
Connect pole 131 and rotate 60 degree of angles to the front end of car body 10.The relative car body 10 under two drives for connecting pole 132 of pedal 12 is facing forward
The segment distances of Fang Pingyi mono-, so when up/down steps, it is ensured that the center of gravity of human body is located at two the first ground-engaging elements 20, second
In the delta-shaped region that ground-engaging element 40 surrounds, so the device will not overturn in up/down steps.
Connection member 30 includes connecting plate 31 and turning part.The rear end connection turning part of connecting plate 31, front end connection second
Ground-engaging element 40.Turning part includes turnover driving mechanism and driven upset rotor 33, and turnover driving mechanism includes motor
32 and driver, motor 32 is used to drive upset rotor 33.In the present embodiment, motor 32 is connected to pedal 12 by connector
Front end.Upset rotor 33 is connected to connecting plate 31.It is double shafts to overturn rotor 33, and upset rotor 33 is arranged on motor
On 32.One end of the close pedal 12 of connecting plate 31 has a connector, corresponding to the both ends of upset rotor 33 are connected respectively to
On the inwall of connector, so as to drive upset rotor 33 by motor 32, connecting plate 31 is set vertically to be rotated relative to pedal 12.
It will of course be understood that, upset rotor 33 can also be single shaft, and upset rotor 33 is connected to the wherein side of connector
Inwall on.Turnover driving mechanism is provided with sensor for detecting whether there is step, and testing result is fed back into control system
System.Turnover driving mechanism is connected with control system, can be according to the signal control motor 32 of control system.
In another alternative, motor 32 is connected to connecting plate 31 by connector.Upset rotor 33 connects
To the front end of pedal 12.Upset rotor 33 is double shafts and is arranged on motor 32.The front end of pedal 12 has connector, turns over
Walk around kinetoplast 33 both ends be connected respectively to corresponding to connector inwall on, so as to pass through motor 32 driving upset rotor
33, connecting plate 31 is vertically rotated relative to pedal 12.
First ground-engaging element 20 includes the first foot 21, the drive mechanism being installed in the first foot 21, driven foot
Rotor 24 and first connecting rod component.Drive mechanism includes motor, and is connected with control system, can be according to the signal of control system
Controlled motor, motor are used to drive foot rotor 24.First connecting rod component includes a connecting rod 22.The one end of first foot 21 is consolidated
Surely car body 10 is arrived, the other end connects connecting rod 22 by foot rotor 24, and the installation end of connecting rod 22 is fixed to foot rotor 24,
Rotated with the rotation of foot rotor 24.The end of connecting rod 22 forms supporting point part 23, and supporting point part 23 is used for and ground
Or step surface contact.Connecting rod 22 is formed in one with supporting point part 23, it is preferable that supporting point part 23 is shaped as circle.
It is to be appreciated that when drive mechanism drive link 22 rotates, if being reference position with the first foot 21, it is
Supporting point part 23 rotates relative to the first foot 21；It is that the first foot 21 is relative if being reference position with supporting point part 23
Rotated in supporting point part 23.
Wheel 11 is connected to car body 10 by axletree 25.In the present embodiment, the first running part of axletree 25 and corresponding side
The 24 coaxial heart of foot rotor of part 20.Wheel 11 is located at the outside of the first ground-engaging element 20.Specifically, axletree 25 is from corresponding one
Stretched out in the foot rotor 24 of side, and axletree 25 is driven by the drive mechanism for wheel for being installed to car body 10, wheel 11 with it is corresponding
Overlapping, the fortune of wheel 11 and first connecting rod component is not interfered between the first connecting rod component of first ground-engaging element 20 of side
Dynamic is independent.It should be understood that axletree 25 can also be with the foot rotor 24 of the first ground-engaging element 20 of corresponding side
Parallel or holding certain angle.The radius of wheel 11 is less than the length of connecting rod 22 and more than the radius of the first foot 21, wheel 11
For being run on road surface, connecting rod 22 is used for up/down steps, is so achieved that the balance assistant device can be transported on road surface
OK, the function of and can stair activity.
Second ground-engaging element 40 includes the second foot 41, the drive mechanism being installed in the second foot 41, driven foot
Rotor 44 and second connecting rod component.Drive mechanism includes motor, and is connected with control system, can be according to the signal of control system
Controlled motor, motor are used to drive foot rotor 44.Second connecting rod component includes a connecting rod 42.Second foot 41 is fixed to
Connection member 30, and one end of the second foot 41 connects connecting rod 42 by foot rotor 44.The installation end of connecting rod 42 is fixed to
Foot rotor 44, rotated with the rotation of foot rotor 44.The end of connecting rod 42 forms supporting point part 43, supporting point part
43 are used to contact with ground or step surface.Connecting rod 42 is formed in one with supporting point part 43, it is preferable that the shape of supporting point part 43
For circle.
It is to be appreciated that when drive mechanism drive link 42 rotates, if being reference position with the second foot 41, it is
Supporting point part 43 rotates relative to the second foot 41；It is that the second foot 41 is relative if being reference position with supporting point part 43
Rotated in supporting point part 43.
One end deviated from the phase of connecting rod 42 of second foot 41 is provided with wheel 46 by axletree.The radius of wheel 46 is less than
The length of connecting rod 42 and the radius for being more than the second foot 41, to ensure that the second ground-engaging element 40 can up/down steps.Wheel 46 is set
The speed that the second ground-engaging element 40 is walked in up/down steps can be improved by putting.When connection member 30 turns to water with respect to pedal 12
During level state, as shown in Fig. 2 the bottom of wheel 46 and the bottom of wheel 11 are located in the same horizontal plane, to ensure car body 10
Balance.
The principle of the utility model stair activity is described by taking the up/down steps of the first ground-engaging element 20 as an example below.
As shown in Fig. 2 before up/down steps, first pass through the driving of motor 32 upset rotor 33 and step on connecting plate 31 relatively
Plate 12 turns to horizontality, is located in the same horizontal plane the bottom of wheel 46 and the bottom of two wheels 11.Pass through control
Drive mechanism drive connection rotor 132 turns an angle to the front end of car body 10, and the rotation of connection rotor 132 drives two
Connection pole 131 turns an angle to the front end of car body 10.The relative car body 10 under two drives for connecting pole 132 of pedal 12
A segment distance is translated forward, ensures that the center of gravity of human body is located at two the first ground-engaging elements 20, the second ground-engaging element 40 surrounds
In delta-shaped region.
With reference to Fig. 3, for the schematic diagram of the top bar of the first ground-engaging element 20.The center of rotation of foot rotor 24 is defined as
O, the center of supporting point part 23 are defined as O1.The first step, in original state, corresponding wheel 11 contacts the first ground-engaging element 20
The horizontal plane of low one-level step 100.Drive mechanism drive link 22 rotates, and connecting rod 22 rotates around center of rotation O, until fulcrum
The bottom of part 23 contacts the horizontal plane of high one-level step 100 and the installation end of reaction connecting rod 22, into second step, according to thick stick
Thick stick principle, the installation end of connecting rod 22 are rotated by opposition around supporting point part 23, i.e., connecting rod 22 is in supporting point part 23
Heart O1 is rotated, and the first foot 21 (being not shown on figure) is overturn forward, and corresponding wheel 11, which is also driven, to be overturn forward, Zhi Daoche
The horizontal plane of the high one-level step 100 of the contact of wheel 11, into the 3rd step, drive link 22 is rotated into the 4th step to drive mechanism again.
So it is repeated, you can complete the action of top bar.The principle that first ground-engaging element 20 is got out of a predicament or an embarrassing situation is similar with top bar, here
Repeat no more.Similarly, the top bar of the second ground-engaging element 40 and the principle got out of a predicament or an embarrassing situation are all similar with the first ground-engaging element 20, only
During up/down steps, when the second foot 41 is overturn forward, drive is that wheel 46 is overturn forward rather than wheel 11.This
Sample, under the collective effect of two the first ground-engaging elements 20 and the second ground-engaging element 40, make the up/down steps of car body 10, so as to realize
Stair activity.
Second embodiment
With reference to figure 4, for the present embodiment unlike first embodiment, first connecting rod component includes two connecting rods, two companies
Bar is divided into first level of connecting rod 22a and second level even the rod 22b.First level of connecting rod 22a installation end is fixed to foot rotor 24, with foot
The rotation of rotor 24 and rotate.First level of connecting rod 22a end forms supporting point part 23a and is provided with rotor 26.Second level even the rod
22b installation end is installed to rotor 26.Second level even the rod 22b end forms supporting point part 23b.It can pacify in first level of connecting rod 22a
Transmission device is filled, first level of connecting rod 22a and second level even the rod 22b is driven by same or different drive mechanism.
Preferably, first level of connecting rod 22a supporting point part 23a and second level even the rod 22b supporting point part 23b shape are all half
Circle, first level of connecting rod 22a supporting point part 23a diameter is identical with first level of connecting rod 22a width, second level even the rod 22b fulcrum
Part 23b diameter is identical with second level even the rod 22b width.It will of course be understood that, first level of connecting rod 22a supporting point part 23a
Shape with second level even the rod 22b supporting point part 23b can also be circle.Because there are second level even the rod 22b presence, one-level
Connecting rod 22a supporting point part 23a can not in contact with the ground or step surface.First level of connecting rod 22a and second level even the rod 22b can cause first
Ground-engaging element 20 is walked more flexible, and bearing capacity is stronger.The radius of wheel 11 is less than first level of connecting rod 22a length and more than first
The radius of foot 21, so it is achieved that the balance assistant device can be run on road surface, the function of and can stair activity.
Illustrate that the first row walks the process of the up/down steps of part 20 with reference to Fig. 5 and Fig. 6.
As shown in figure 5, before up/down steps, first pass through the driving of motor 32 upset rotor 33 and step on connecting plate 31 relatively
Plate 12 is turned to horizontality, is located in the same horizontal plane the bottom of wheel 46 and the bottom of two wheels 11.Pass through control
Drive mechanism drive connection rotor 132 turns an angle to the front end of car body 10, and the rotation of connection rotor 132 drives two
Connection pole 131 turns an angle to the front end of car body 10.The relative car body 10 under two drives for connecting pole 132 of pedal 12
A segment distance is translated forward, ensures that the center of gravity of human body is located at two the first ground-engaging elements 20, the second ground-engaging element 40 surrounds
In delta-shaped region.
It is the schematic diagram of the top bar of the first ground-engaging element 20 with reference to shown in Fig. 6.The center of rotation of foot rotor 24 is determined
Justice is O, and the center of rotation of rotor 26 is defined as O1, and second level even the rod 22b supporting point part 23b center is defined as O2.First
Step, for the first ground-engaging element 20 in original state, the first foot 21 (being not shown on figure) does not contact the level of low one-level step 100
Face, corresponding wheel 11 contact the horizontal plane of low one-level step 100, and drive mechanism driving first level of connecting rod 22a is rotated, and makes a cascade
Bar 22a is rotated around center of rotation O, and actuator drives second level even the rod 22b is rotated, and makes second level even the rod 22b around center of rotation
O1 is rotated, until the horizontal plane of the second level even the rod 22b supporting point part 23b high one-level step 100 of bottom contact, into second
Step, second level even the rod 22b supporting point part 23b reaction second level even the rods 22b installation end, makes second level even the rod 22b around fulcrum
Part 23b center O2 is overturn forward, the first foot 21 is overturn forward, low so as to drive corresponding wheel 11 to overturn disengaging forward
The horizontal plane of one-level step 100, meanwhile, first level of connecting rod 22a is overturn forward around center of rotation O1, into the 3rd step, the first foot
Portion 21 drives corresponding wheel 11 to overturn forward until wheel 11 contacts the horizontal plane of high one-level step 100, then, first level of connecting rod
22a is overturn forward around center of rotation O, second level even the rod 22b supporting point part 23b is departed from the horizontal plane of high one-level step 100,
Meanwhile second level even the rod 22b is overturn forward around center of rotation O1, until second level even the rod 22b supporting point part 23b bottom contact
The horizontal plane of higher one-level step 100.So alternately and repeatedly carry out, you can complete the action of top bar.First ground-engaging element 20
The principle got out of a predicament or an embarrassing situation is similar with top bar, repeats no more here.
So, under the collective effect of two the first ground-engaging elements 20 and the second ground-engaging element 40, make to leave office on car body 10
Rank, so as to realize stair activity.
3rd embodiment
With reference to figure 7, for the present embodiment unlike first embodiment, the present embodiment is double link structure.Specifically, first
Link assembly includes two connecting rods 22a, 22b, and foot rotor is two 24a, 24b, from the same side of the first foot 21
The heart stretches out, two coaxial hearts of foot rotor 24a, 24b.Foot rotor 24a covers the periphery for being set to foot rotor 24b.Often
A connecting rod corresponding to individual foot rotor driving.The end of each connecting rod forms supporting point part.
The process of the up/down steps 100 of first ground-engaging element 20 is described with reference to Fig. 8 and Fig. 9.For the ease of description, this pair
Connecting rod is expressed as 22a and 22b, and its supporting point part is expressed as 23a and 23b.
As shown in figure 8, before up/down steps 100, the driving of motor 32 upset rotor 33 is first passed through by the phase of connecting plate 31
Horizontality is turned to pedal 12, is located in the same horizontal plane the bottom of wheel 46 and the bottom of two wheels 11.Pass through
Control drive mechanism drive connection rotor 132 turns an angle to the front end of car body 10, and the rotation of connection rotor 132 drives
Two connection poles 131 turn an angle to the front end of car body 10.The relative car under two drives for connecting pole 132 of pedal 12
Body 10 translates a segment distance forward, ensures that the center of gravity of human body is located at two the first ground-engaging elements 20, the second ground-engaging element 40 encloses
Into delta-shaped region in.
It is the schematic diagram of the top bar 100 of the first ground-engaging element 20 with reference to shown in Fig. 9.By the center of rotation of the first foot 21
O is defined as, foot rotor 24b center of rotation is defined as O1, and foot rotor 24a center is defined as O2.The first step, the
One ground-engaging element 20 is in original state, wherein the supporting point part 23b of connecting rod 22b bottom contacts low one-level step 100
Horizontal plane, in the presence of drive mechanism, the center O of the first foot 21 rotates around supporting point part 23b center O1, Ling Yilian
Bar 22a rotates relative to the center O of the first foot 21, its supporting point part 23a bottom is contacted high one-level step 100
Horizontal plane.Second step, continue connecting rod 22a of the driving positioned at high one-level step 100, so that the center O phases of the first foot 21
Overturn forward for connecting rod 22a supporting point parts 23a center O2, drive link 22b supporting point part 23b is left low one-level platform
The horizontal plane of rank 100.It is to be appreciated that drive mechanism also drive link 22a is rotated.3rd step, the first foot 21 continue forward
Upset, connecting rod 22b continue to rotate forward, until connecting rod 22b supporting point part 23b touches the horizontal plane of step 100, such as when
The horizontal plane of front step 100.Now, the center O of the first foot 21 is located between connecting rod 22a, 22b supporting point part, so as to have
There is very high stability.Then, the first foot 21 is overturn forward on connecting rod 22b supporting point part 23b center O1, connecting rod
22a is rotated forward on the center O of the first foot 21.4th step.So alternately and repeatedly carry out, until one of connecting rod for example
Untill connecting rod 22a supporting point part 23a touches the horizontal plane of high one-level step 100, state now is similar with the first step.The
As soon as step to the step of four steps is constantly circulated, top bar 100 can be continued.
Under the structure using double link, the horizontal plane of the first foot 21, the can of wheel 11 not with step 100 contacts.
So alternately and repeatedly carry out, you can complete the action of top bar.The principle that first ground-engaging element 20 is got out of a predicament or an embarrassing situation is similar with top bar,
Here repeat no more.
So, under the collective effect of two the first ground-engaging elements 20 and the second ground-engaging element 40, make to leave office on car body 10
Rank, so as to realize stair activity.
First connecting rod component or second connecting rod component of the present utility model can also be other in addition to for above-mentioned structure
Structure, such as first connecting rod component or second connecting rod component include multiple connecting rods.Multiple connecting rods are driven by same drive mechanism
Or driven respectively by multiple drive mechanisms.The pivot center of multiple connecting rods overlaps, or parallel.The quantity of connecting rod is different, can hold
The load of load is also different, can be selected according to actual conditions.
Above example only expresses preferred embodiment of the present utility model, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the utility model patent scope can not be interpreted as.It should be pointed out that the ordinary skill for this area
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, such as to each implementation
Different characteristic in example is combined, and these belong to the scope of protection of the utility model.
Claims (10)
1. one kind balance assistant device, including car body, two wheels positioned at car body both sides and it is connected to stepping on for car body upper end
Plate, it is characterised in that：Also include two the first ground-engaging elements, connection member and the second ground-engaging element, described two first walkings
Part is connected respectively to the both sides of the car body；The connection member is connected to one end of the pedal and can relatively described pedal
Rotate, second ground-engaging element is connected to the connection member.
2. balance assistant device according to claim 1, it is characterised in that：First ground-engaging element includes the first foot
Portion, the drive mechanism being installed in the first foot, driven foot rotor and first connecting rod component, the first connecting rod component
Including connecting rod and be formed at connecting rod end be used for contact the supporting point part of ground or step surface, described first foot one end is consolidated
Surely the car body is arrived, the other end connects the connecting rod by the foot rotor, so that the supporting point part and described the
One foot can relatively rotate on the foot rotor.
3. balance assistant device according to claim 2, it is characterised in that：The wheel is connected to the car by axletree
Body, the foot rotor coaxial heart, parallel or holding certain angle of the axletree with first ground-engaging element of corresponding side；
Do not interfered between the first connecting rod component of the wheel and first ground-engaging element of corresponding side overlapping.
4. balance assistant device according to claim 2, it is characterised in that：The connecting rod is one or two, described two
Individual connecting rod is located at the same side of first foot and is driven by same drive mechanism or driven respectively by two drive mechanisms.
5. balance assistant device according to claim 4, it is characterised in that：The pivot center of described two connecting rods overlaps,
Do not interfered between the connecting rod overlapping.
6. balance assistant device according to claim 4, it is characterised in that：Described two connecting rods are divided into first level of connecting rod and two
Level connecting rod, the installation end of the first level of connecting rod are pivotally connected to first foot, and the second level even the rod rotationally connects
It is connected to the end of the first level of connecting rod.
7. balance assistant device according to claim 1, it is characterised in that：Second ground-engaging element includes the second foot
Portion, the drive mechanism being installed in the second foot, driven foot rotor and second connecting rod component, the second connecting rod component
Including connecting rod and be formed at connecting rod end be used for contact the supporting point part of ground or step surface, second foot is fixed to
The connection member, and one end of the second foot connects the connecting rod by the foot rotor, so that the fulcrum
Part can relatively rotate with second foot on the foot rotor.
8. balance assistant device according to claim 7, it is characterised in that：One end of second foot is provided with wheel
Son, when the relatively described pedal of the connection member turns to horizontality, the bottom of the wheel and the bottom of the wheel
It is located in the same horizontal plane.
9. balance assistant device according to claim 1, it is characterised in that：The connection member includes connecting plate and upset
Portion, one end connection turning part of the connecting plate, the other end connect second ground-engaging element；Turning part includes turning over
Turn drive mechanism and driven upset rotor；The turnover driving mechanism is connected to one end of the pedal or the connection
Plate, the upset rotor are connected to one end of the connecting plate or the pedal, so as to which the connecting plate is rotated by overturning
Body can rotate relative to the pedal.
10. balance assistant device according to claim 1, it is characterised in that：The both sides of the pedal pass through activity respectively
Connector is connected to the upper end of the car body；The flexible jumper includes being installed to the drive mechanism of the car body and two
The connection pole being set in parallel, the both ends of the connection pole are connected to the pedal, car body by connecting rotor respectively
Side, so as to which two connection poles and pedal, car bodies form a quadrangle；The connection rotor is by the drive mechanism
Driving, so as to which under the drive of described two connection poles relative translation can occur for the pedal and car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720353983.6U CN206856871U (en) | 2017-04-06 | 2017-04-06 | Balance assistant device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720353983.6U CN206856871U (en) | 2017-04-06 | 2017-04-06 | Balance assistant device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206856871U true CN206856871U (en) | 2018-01-09 |
Family
ID=60817120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720353983.6U Active CN206856871U (en) | 2017-04-06 | 2017-04-06 | Balance assistant device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206856871U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010146A (en) * | 2017-04-06 | 2017-08-04 | 陆任行 | Balance assistant device |
| WO2020103158A1 (en) * | 2018-11-23 | 2020-05-28 | 陆任行 | Mobility scooter |
-
2017
- 2017-04-06 CN CN201720353983.6U patent/CN206856871U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010146A (en) * | 2017-04-06 | 2017-08-04 | 陆任行 | Balance assistant device |
| WO2020103158A1 (en) * | 2018-11-23 | 2020-05-28 | 陆任行 | Mobility scooter |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101943180B1 (en) | Running gear and electric vehicles and toys equipping the same | |
| CN1171575C (en) | Wheelchair | |
| CN105365965B (en) | A kind of self-balancing and dual-purpose electric vehicle of riding | |
| CN206856871U (en) | Balance assistant device | |
| CN109866552B (en) | Wheel foot deformation type robot walking mechanism | |
| CN107361934A (en) | A kind of novel six freedom automatic stari creeping ladder wheelchair | |
| CN101972191A (en) | Self-control wheel-track automatic-switching stair-climbing machine | |
| CN106080852B (en) | A kind of bicycle and its operating method with overturning-preventing auxiliary balance wheel | |
| CN106137585A (en) | The electric wheelchair that a kind of energy up/down steps stair travel pacifically | |
| CN107010146A (en) | Balance assistant device | |
| KR101105667B1 (en) | A standing-up type ride robot directed by recognizing passenger's posture | |
| CN2555821Y (en) | Self-balancing electric wheel-chair | |
| CN102149595A (en) | Tricycle | |
| CN205737908U (en) | A kind of Segway Human Transporter | |
| CN204473001U (en) | Slide type balance truck | |
| CN212471523U (en) | Multifunctional carrying robot | |
| CN210212576U (en) | Moving mechanism of robot | |
| CN109987184B (en) | Scooter | |
| CN111941435A (en) | Multifunctional carrying robot | |
| CN106114667A (en) | A kind of electrodynamic balance car | |
| JP2004049910A (en) | Electric wheelchair capable of ascending or descending on staircase | |
| CN109862861B (en) | Auxiliary mobile robot comprising at least one pivoting support system | |
| CN206781903U (en) | A kind of vehicle using motor | |
| CN105882865B (en) | Imitative step exercise car | |
| CN201375623Y (en) | Electric wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |